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a/panda/board/obj/version b/panda/board/obj/version index f40cb0592..c6683ddae 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-713ce294-DEBUG \ No newline at end of file +DEV-d7498e7a-DEBUG \ No newline at end of file diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so index 1d19fbe89..9dd4299e7 100755 Binary files a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so differ diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 1ac3087aa..7cf325ad4 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104) { - out_2798728055434719104[0] = delta_x[0] + nom_x[0]; - out_2798728055434719104[1] = delta_x[1] + nom_x[1]; - out_2798728055434719104[2] = delta_x[2] + nom_x[2]; - out_2798728055434719104[3] = delta_x[3] + nom_x[3]; - out_2798728055434719104[4] = delta_x[4] + nom_x[4]; - out_2798728055434719104[5] = delta_x[5] + nom_x[5]; - out_2798728055434719104[6] = delta_x[6] + nom_x[6]; - out_2798728055434719104[7] = delta_x[7] + nom_x[7]; - out_2798728055434719104[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2633561206191248032) { + out_2633561206191248032[0] = delta_x[0] + nom_x[0]; + out_2633561206191248032[1] = delta_x[1] + nom_x[1]; + out_2633561206191248032[2] = delta_x[2] + nom_x[2]; + out_2633561206191248032[3] = delta_x[3] + nom_x[3]; + out_2633561206191248032[4] = delta_x[4] + nom_x[4]; + out_2633561206191248032[5] = delta_x[5] + nom_x[5]; + out_2633561206191248032[6] = delta_x[6] + nom_x[6]; + out_2633561206191248032[7] = delta_x[7] + nom_x[7]; + out_2633561206191248032[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641) { - out_5158994837086933641[0] = -nom_x[0] + true_x[0]; - out_5158994837086933641[1] = -nom_x[1] + true_x[1]; - out_5158994837086933641[2] = -nom_x[2] + true_x[2]; - out_5158994837086933641[3] = -nom_x[3] + true_x[3]; - out_5158994837086933641[4] = -nom_x[4] + true_x[4]; - out_5158994837086933641[5] = -nom_x[5] + true_x[5]; - out_5158994837086933641[6] = -nom_x[6] + true_x[6]; - out_5158994837086933641[7] = -nom_x[7] + true_x[7]; - out_5158994837086933641[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5222322722539771080) { + out_5222322722539771080[0] = -nom_x[0] + true_x[0]; + out_5222322722539771080[1] = -nom_x[1] + true_x[1]; + out_5222322722539771080[2] = -nom_x[2] + true_x[2]; + out_5222322722539771080[3] = -nom_x[3] + true_x[3]; + out_5222322722539771080[4] = -nom_x[4] + true_x[4]; + out_5222322722539771080[5] = -nom_x[5] + true_x[5]; + out_5222322722539771080[6] = -nom_x[6] + true_x[6]; + out_5222322722539771080[7] = -nom_x[7] + true_x[7]; + out_5222322722539771080[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8807292285450126459) { - out_8807292285450126459[0] = 1.0; - out_8807292285450126459[1] = 0.0; - out_8807292285450126459[2] = 0.0; - out_8807292285450126459[3] = 0.0; - out_8807292285450126459[4] = 0.0; - out_8807292285450126459[5] = 0.0; - out_8807292285450126459[6] = 0.0; - out_8807292285450126459[7] = 0.0; - out_8807292285450126459[8] = 0.0; - out_8807292285450126459[9] = 0.0; - out_8807292285450126459[10] = 1.0; - out_8807292285450126459[11] = 0.0; - out_8807292285450126459[12] = 0.0; - out_8807292285450126459[13] = 0.0; - out_8807292285450126459[14] = 0.0; - out_8807292285450126459[15] = 0.0; - out_8807292285450126459[16] = 0.0; - out_8807292285450126459[17] = 0.0; - out_8807292285450126459[18] = 0.0; - out_8807292285450126459[19] = 0.0; - out_8807292285450126459[20] = 1.0; - out_8807292285450126459[21] = 0.0; - out_8807292285450126459[22] = 0.0; - out_8807292285450126459[23] = 0.0; - out_8807292285450126459[24] = 0.0; - out_8807292285450126459[25] = 0.0; - out_8807292285450126459[26] = 0.0; - out_8807292285450126459[27] = 0.0; - out_8807292285450126459[28] = 0.0; - out_8807292285450126459[29] = 0.0; - out_8807292285450126459[30] = 1.0; - out_8807292285450126459[31] = 0.0; - out_8807292285450126459[32] = 0.0; - out_8807292285450126459[33] = 0.0; - out_8807292285450126459[34] = 0.0; - out_8807292285450126459[35] = 0.0; - out_8807292285450126459[36] = 0.0; - out_8807292285450126459[37] = 0.0; - out_8807292285450126459[38] = 0.0; - out_8807292285450126459[39] = 0.0; - out_8807292285450126459[40] = 1.0; - out_8807292285450126459[41] = 0.0; - out_8807292285450126459[42] = 0.0; - out_8807292285450126459[43] = 0.0; - out_8807292285450126459[44] = 0.0; - out_8807292285450126459[45] = 0.0; - out_8807292285450126459[46] = 0.0; - out_8807292285450126459[47] = 0.0; - out_8807292285450126459[48] = 0.0; - out_8807292285450126459[49] = 0.0; - out_8807292285450126459[50] = 1.0; - out_8807292285450126459[51] = 0.0; - out_8807292285450126459[52] = 0.0; - out_8807292285450126459[53] = 0.0; - out_8807292285450126459[54] = 0.0; - out_8807292285450126459[55] = 0.0; - out_8807292285450126459[56] = 0.0; - out_8807292285450126459[57] = 0.0; - out_8807292285450126459[58] = 0.0; - out_8807292285450126459[59] = 0.0; - out_8807292285450126459[60] = 1.0; - out_8807292285450126459[61] = 0.0; - out_8807292285450126459[62] = 0.0; - out_8807292285450126459[63] = 0.0; - out_8807292285450126459[64] = 0.0; - out_8807292285450126459[65] = 0.0; - out_8807292285450126459[66] = 0.0; - out_8807292285450126459[67] = 0.0; - out_8807292285450126459[68] = 0.0; - out_8807292285450126459[69] = 0.0; - out_8807292285450126459[70] = 1.0; - out_8807292285450126459[71] = 0.0; - out_8807292285450126459[72] = 0.0; - out_8807292285450126459[73] = 0.0; - out_8807292285450126459[74] = 0.0; - out_8807292285450126459[75] = 0.0; - out_8807292285450126459[76] = 0.0; - out_8807292285450126459[77] = 0.0; - out_8807292285450126459[78] = 0.0; - out_8807292285450126459[79] = 0.0; - out_8807292285450126459[80] = 1.0; +void H_mod_fun(double *state, double *out_4733519652188373948) { + out_4733519652188373948[0] = 1.0; + out_4733519652188373948[1] = 0.0; + out_4733519652188373948[2] = 0.0; + out_4733519652188373948[3] = 0.0; + out_4733519652188373948[4] = 0.0; + out_4733519652188373948[5] = 0.0; + out_4733519652188373948[6] = 0.0; + out_4733519652188373948[7] = 0.0; + out_4733519652188373948[8] = 0.0; + out_4733519652188373948[9] = 0.0; + out_4733519652188373948[10] = 1.0; + out_4733519652188373948[11] = 0.0; + out_4733519652188373948[12] = 0.0; + out_4733519652188373948[13] = 0.0; + out_4733519652188373948[14] = 0.0; + out_4733519652188373948[15] = 0.0; + out_4733519652188373948[16] = 0.0; + out_4733519652188373948[17] = 0.0; + out_4733519652188373948[18] = 0.0; + out_4733519652188373948[19] = 0.0; + out_4733519652188373948[20] = 1.0; + out_4733519652188373948[21] = 0.0; + out_4733519652188373948[22] = 0.0; + out_4733519652188373948[23] = 0.0; + out_4733519652188373948[24] = 0.0; + out_4733519652188373948[25] = 0.0; + out_4733519652188373948[26] = 0.0; + out_4733519652188373948[27] = 0.0; + out_4733519652188373948[28] = 0.0; + out_4733519652188373948[29] = 0.0; + out_4733519652188373948[30] = 1.0; + out_4733519652188373948[31] = 0.0; + out_4733519652188373948[32] = 0.0; + out_4733519652188373948[33] = 0.0; + out_4733519652188373948[34] = 0.0; + out_4733519652188373948[35] = 0.0; + out_4733519652188373948[36] = 0.0; + out_4733519652188373948[37] = 0.0; + out_4733519652188373948[38] = 0.0; + out_4733519652188373948[39] = 0.0; + out_4733519652188373948[40] = 1.0; + out_4733519652188373948[41] = 0.0; + out_4733519652188373948[42] = 0.0; + out_4733519652188373948[43] = 0.0; + out_4733519652188373948[44] = 0.0; + out_4733519652188373948[45] = 0.0; + out_4733519652188373948[46] = 0.0; + out_4733519652188373948[47] = 0.0; + out_4733519652188373948[48] = 0.0; + out_4733519652188373948[49] = 0.0; + out_4733519652188373948[50] = 1.0; + out_4733519652188373948[51] = 0.0; + out_4733519652188373948[52] = 0.0; + out_4733519652188373948[53] = 0.0; + out_4733519652188373948[54] = 0.0; + out_4733519652188373948[55] = 0.0; + out_4733519652188373948[56] = 0.0; + out_4733519652188373948[57] = 0.0; + out_4733519652188373948[58] = 0.0; + out_4733519652188373948[59] = 0.0; + out_4733519652188373948[60] = 1.0; + out_4733519652188373948[61] = 0.0; + out_4733519652188373948[62] = 0.0; + out_4733519652188373948[63] = 0.0; + out_4733519652188373948[64] = 0.0; + out_4733519652188373948[65] = 0.0; + out_4733519652188373948[66] = 0.0; + out_4733519652188373948[67] = 0.0; + out_4733519652188373948[68] = 0.0; + out_4733519652188373948[69] = 0.0; + out_4733519652188373948[70] = 1.0; + out_4733519652188373948[71] = 0.0; + out_4733519652188373948[72] = 0.0; + out_4733519652188373948[73] = 0.0; + out_4733519652188373948[74] = 0.0; + out_4733519652188373948[75] = 0.0; + out_4733519652188373948[76] = 0.0; + out_4733519652188373948[77] = 0.0; + out_4733519652188373948[78] = 0.0; + out_4733519652188373948[79] = 0.0; + out_4733519652188373948[80] = 1.0; } -void f_fun(double *state, double dt, double *out_547624329025478730) { - out_547624329025478730[0] = state[0]; - out_547624329025478730[1] = state[1]; - out_547624329025478730[2] = state[2]; - out_547624329025478730[3] = state[3]; - out_547624329025478730[4] = state[4]; - out_547624329025478730[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_547624329025478730[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_547624329025478730[7] = state[7]; - out_547624329025478730[8] = state[8]; +void f_fun(double *state, double dt, double *out_9187320060872601910) { + out_9187320060872601910[0] = state[0]; + out_9187320060872601910[1] = state[1]; + out_9187320060872601910[2] = state[2]; + out_9187320060872601910[3] = state[3]; + out_9187320060872601910[4] = state[4]; + out_9187320060872601910[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_9187320060872601910[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_9187320060872601910[7] = state[7]; + out_9187320060872601910[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6298604141859123794) { - out_6298604141859123794[0] = 1; - out_6298604141859123794[1] = 0; - out_6298604141859123794[2] = 0; - out_6298604141859123794[3] = 0; - out_6298604141859123794[4] = 0; - out_6298604141859123794[5] = 0; - out_6298604141859123794[6] = 0; - out_6298604141859123794[7] = 0; - out_6298604141859123794[8] = 0; - out_6298604141859123794[9] = 0; - out_6298604141859123794[10] = 1; - out_6298604141859123794[11] = 0; - out_6298604141859123794[12] = 0; - out_6298604141859123794[13] = 0; - out_6298604141859123794[14] = 0; - out_6298604141859123794[15] = 0; - out_6298604141859123794[16] = 0; - out_6298604141859123794[17] = 0; - out_6298604141859123794[18] = 0; - out_6298604141859123794[19] = 0; - out_6298604141859123794[20] = 1; - out_6298604141859123794[21] = 0; - out_6298604141859123794[22] = 0; - out_6298604141859123794[23] = 0; - out_6298604141859123794[24] = 0; - out_6298604141859123794[25] = 0; - out_6298604141859123794[26] = 0; - out_6298604141859123794[27] = 0; - out_6298604141859123794[28] = 0; - out_6298604141859123794[29] = 0; - out_6298604141859123794[30] = 1; - out_6298604141859123794[31] = 0; - out_6298604141859123794[32] = 0; - out_6298604141859123794[33] = 0; - out_6298604141859123794[34] = 0; - out_6298604141859123794[35] = 0; - out_6298604141859123794[36] = 0; - out_6298604141859123794[37] = 0; - out_6298604141859123794[38] = 0; - out_6298604141859123794[39] = 0; - out_6298604141859123794[40] = 1; - out_6298604141859123794[41] = 0; - out_6298604141859123794[42] = 0; - out_6298604141859123794[43] = 0; - out_6298604141859123794[44] = 0; - out_6298604141859123794[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_6298604141859123794[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6298604141859123794[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6298604141859123794[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6298604141859123794[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_6298604141859123794[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6298604141859123794[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6298604141859123794[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6298604141859123794[53] = -9.8100000000000005*dt; - out_6298604141859123794[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_6298604141859123794[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6298604141859123794[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6298604141859123794[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6298604141859123794[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_6298604141859123794[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6298604141859123794[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_6298604141859123794[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6298604141859123794[62] = 0; - out_6298604141859123794[63] = 0; - out_6298604141859123794[64] = 0; - out_6298604141859123794[65] = 0; - out_6298604141859123794[66] = 0; - out_6298604141859123794[67] = 0; - out_6298604141859123794[68] = 0; - out_6298604141859123794[69] = 0; - out_6298604141859123794[70] = 1; - out_6298604141859123794[71] = 0; - out_6298604141859123794[72] = 0; - out_6298604141859123794[73] = 0; - out_6298604141859123794[74] = 0; - out_6298604141859123794[75] = 0; - out_6298604141859123794[76] = 0; - out_6298604141859123794[77] = 0; - out_6298604141859123794[78] = 0; - out_6298604141859123794[79] = 0; - out_6298604141859123794[80] = 1; +void F_fun(double *state, double dt, double *out_3219504763184105906) { + out_3219504763184105906[0] = 1; + out_3219504763184105906[1] = 0; + out_3219504763184105906[2] = 0; + out_3219504763184105906[3] = 0; + out_3219504763184105906[4] = 0; + out_3219504763184105906[5] = 0; + out_3219504763184105906[6] = 0; + out_3219504763184105906[7] = 0; + out_3219504763184105906[8] = 0; + out_3219504763184105906[9] = 0; + out_3219504763184105906[10] = 1; + out_3219504763184105906[11] = 0; + out_3219504763184105906[12] = 0; + out_3219504763184105906[13] = 0; + out_3219504763184105906[14] = 0; + out_3219504763184105906[15] = 0; + out_3219504763184105906[16] = 0; + out_3219504763184105906[17] = 0; + out_3219504763184105906[18] = 0; + out_3219504763184105906[19] = 0; + out_3219504763184105906[20] = 1; + out_3219504763184105906[21] = 0; + out_3219504763184105906[22] = 0; + out_3219504763184105906[23] = 0; + out_3219504763184105906[24] = 0; + out_3219504763184105906[25] = 0; + out_3219504763184105906[26] = 0; + out_3219504763184105906[27] = 0; + out_3219504763184105906[28] = 0; + out_3219504763184105906[29] = 0; + out_3219504763184105906[30] = 1; + out_3219504763184105906[31] = 0; + out_3219504763184105906[32] = 0; + out_3219504763184105906[33] = 0; + out_3219504763184105906[34] = 0; + out_3219504763184105906[35] = 0; + out_3219504763184105906[36] = 0; + out_3219504763184105906[37] = 0; + out_3219504763184105906[38] = 0; + out_3219504763184105906[39] = 0; + out_3219504763184105906[40] = 1; + out_3219504763184105906[41] = 0; + out_3219504763184105906[42] = 0; + out_3219504763184105906[43] = 0; + out_3219504763184105906[44] = 0; + out_3219504763184105906[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_3219504763184105906[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3219504763184105906[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3219504763184105906[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3219504763184105906[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_3219504763184105906[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3219504763184105906[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3219504763184105906[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3219504763184105906[53] = -9.8100000000000005*dt; + out_3219504763184105906[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_3219504763184105906[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3219504763184105906[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3219504763184105906[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3219504763184105906[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_3219504763184105906[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3219504763184105906[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_3219504763184105906[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3219504763184105906[62] = 0; + out_3219504763184105906[63] = 0; + out_3219504763184105906[64] = 0; + out_3219504763184105906[65] = 0; + out_3219504763184105906[66] = 0; + out_3219504763184105906[67] = 0; + out_3219504763184105906[68] = 0; + out_3219504763184105906[69] = 0; + out_3219504763184105906[70] = 1; + out_3219504763184105906[71] = 0; + out_3219504763184105906[72] = 0; + out_3219504763184105906[73] = 0; + out_3219504763184105906[74] = 0; + out_3219504763184105906[75] = 0; + out_3219504763184105906[76] = 0; + out_3219504763184105906[77] = 0; + out_3219504763184105906[78] = 0; + out_3219504763184105906[79] = 0; + out_3219504763184105906[80] = 1; } -void h_25(double *state, double *unused, double *out_5598542368802412337) { - out_5598542368802412337[0] = state[6]; +void h_25(double *state, double *unused, double *out_1821652184812404746) { + out_1821652184812404746[0] = state[6]; } -void H_25(double *state, double *unused, double *out_446263562347187920) { - out_446263562347187920[0] = 0; - out_446263562347187920[1] = 0; - out_446263562347187920[2] = 0; - out_446263562347187920[3] = 0; - out_446263562347187920[4] = 0; - out_446263562347187920[5] = 0; - out_446263562347187920[6] = 1; - out_446263562347187920[7] = 0; - out_446263562347187920[8] = 0; +void H_25(double *state, double *unused, double *out_4337363035662665471) { + out_4337363035662665471[0] = 0; + out_4337363035662665471[1] = 0; + out_4337363035662665471[2] = 0; + out_4337363035662665471[3] = 0; + out_4337363035662665471[4] = 0; + out_4337363035662665471[5] = 0; + out_4337363035662665471[6] = 1; + out_4337363035662665471[7] = 0; + out_4337363035662665471[8] = 0; } -void h_24(double *state, double *unused, double *out_281619709901739940) { - out_281619709901739940[0] = state[4]; - out_281619709901739940[1] = state[5]; +void h_24(double *state, double *unused, double *out_258826568498121593) { + out_258826568498121593[0] = state[4]; + out_258826568498121593[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4300245764619321114) { - out_4300245764619321114[0] = 0; - out_4300245764619321114[1] = 0; - out_4300245764619321114[2] = 0; - out_4300245764619321114[3] = 0; - out_4300245764619321114[4] = 1; - out_4300245764619321114[5] = 0; - out_4300245764619321114[6] = 0; - out_4300245764619321114[7] = 0; - out_4300245764619321114[8] = 0; - out_4300245764619321114[9] = 0; - out_4300245764619321114[10] = 0; - out_4300245764619321114[11] = 0; - out_4300245764619321114[12] = 0; - out_4300245764619321114[13] = 0; - out_4300245764619321114[14] = 1; - out_4300245764619321114[15] = 0; - out_4300245764619321114[16] = 0; - out_4300245764619321114[17] = 0; +void H_24(double *state, double *unused, double *out_9206177900690372323) { + out_9206177900690372323[0] = 0; + out_9206177900690372323[1] = 0; + out_9206177900690372323[2] = 0; + out_9206177900690372323[3] = 0; + out_9206177900690372323[4] = 1; + out_9206177900690372323[5] = 0; + out_9206177900690372323[6] = 0; + out_9206177900690372323[7] = 0; + out_9206177900690372323[8] = 0; + out_9206177900690372323[9] = 0; + out_9206177900690372323[10] = 0; + out_9206177900690372323[11] = 0; + out_9206177900690372323[12] = 0; + out_9206177900690372323[13] = 0; + out_9206177900690372323[14] = 1; + out_9206177900690372323[15] = 0; + out_9206177900690372323[16] = 0; + out_9206177900690372323[17] = 0; } -void h_30(double *state, double *unused, double *out_6077366478556788343) { - out_6077366478556788343[0] = state[4]; +void h_30(double *state, double *unused, double *out_1546458122527898857) { + out_1546458122527898857[0] = state[4]; } -void H_30(double *state, double *unused, double *out_7362953903838804675) { - out_7362953903838804675[0] = 0; - out_7362953903838804675[1] = 0; - out_7362953903838804675[2] = 0; - out_7362953903838804675[3] = 0; - out_7362953903838804675[4] = 1; - out_7362953903838804675[5] = 0; - out_7362953903838804675[6] = 0; - out_7362953903838804675[7] = 0; - out_7362953903838804675[8] = 0; +void H_30(double *state, double *unused, double *out_8865059365790273669) { + out_8865059365790273669[0] = 0; + out_8865059365790273669[1] = 0; + out_8865059365790273669[2] = 0; + out_8865059365790273669[3] = 0; + out_8865059365790273669[4] = 1; + out_8865059365790273669[5] = 0; + out_8865059365790273669[6] = 0; + out_8865059365790273669[7] = 0; + out_8865059365790273669[8] = 0; } -void h_26(double *state, double *unused, double *out_714876495074943436) { - out_714876495074943436[0] = state[7]; +void h_26(double *state, double *unused, double *out_4254367670776586025) { + out_4254367670776586025[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3295239756526868304) { - out_3295239756526868304[0] = 0; - out_3295239756526868304[1] = 0; - out_3295239756526868304[2] = 0; - out_3295239756526868304[3] = 0; - out_3295239756526868304[4] = 0; - out_3295239756526868304[5] = 0; - out_3295239756526868304[6] = 0; - out_3295239756526868304[7] = 1; - out_3295239756526868304[8] = 0; +void H_26(double *state, double *unused, double *out_8078866354536721695) { + out_8078866354536721695[0] = 0; + out_8078866354536721695[1] = 0; + out_8078866354536721695[2] = 0; + out_8078866354536721695[3] = 0; + out_8078866354536721695[4] = 0; + out_8078866354536721695[5] = 0; + out_8078866354536721695[6] = 0; + out_8078866354536721695[7] = 1; + out_8078866354536721695[8] = 0; } -void h_27(double *state, double *unused, double *out_3197767095463584803) { - out_3197767095463584803[0] = state[3]; +void h_27(double *state, double *unused, double *out_7579637098806142702) { + out_7579637098806142702[0] = state[3]; } -void H_27(double *state, double *unused, double *out_5188190592038379764) { - out_5188190592038379764[0] = 0; - out_5188190592038379764[1] = 0; - out_5188190592038379764[2] = 0; - out_5188190592038379764[3] = 1; - out_5188190592038379764[4] = 0; - out_5188190592038379764[5] = 0; - out_5188190592038379764[6] = 0; - out_5188190592038379764[7] = 0; - out_5188190592038379764[8] = 0; +void H_27(double *state, double *unused, double *out_7406921396118853036) { + out_7406921396118853036[0] = 0; + out_7406921396118853036[1] = 0; + out_7406921396118853036[2] = 0; + out_7406921396118853036[3] = 1; + out_7406921396118853036[4] = 0; + out_7406921396118853036[5] = 0; + out_7406921396118853036[6] = 0; + out_7406921396118853036[7] = 0; + out_7406921396118853036[8] = 0; } -void h_29(double *state, double *unused, double *out_9093529782405306684) { - out_9093529782405306684[0] = state[1]; +void h_29(double *state, double *unused, double *out_8981601556956599670) { + out_8981601556956599670[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7873185248153196859) { - out_7873185248153196859[0] = 0; - out_7873185248153196859[1] = 1; - out_7873185248153196859[2] = 0; - out_7873185248153196859[3] = 0; - out_7873185248153196859[4] = 0; - out_7873185248153196859[5] = 0; - out_7873185248153196859[6] = 0; - out_7873185248153196859[7] = 0; - out_7873185248153196859[8] = 0; +void H_29(double *state, double *unused, double *out_8354828021475881485) { + out_8354828021475881485[0] = 0; + out_8354828021475881485[1] = 1; + out_8354828021475881485[2] = 0; + out_8354828021475881485[3] = 0; + out_8354828021475881485[4] = 0; + out_8354828021475881485[5] = 0; + out_8354828021475881485[6] = 0; + out_8354828021475881485[7] = 0; + out_8354828021475881485[8] = 0; } -void h_28(double *state, double *unused, double *out_8199440363124430448) { - out_8199440363124430448[0] = state[0]; +void h_28(double *state, double *unused, double *out_4659949187422787859) { + out_4659949187422787859[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2790786231083666285) { - out_2790786231083666285[0] = 1; - out_2790786231083666285[1] = 0; - out_2790786231083666285[2] = 0; - out_2790786231083666285[3] = 0; - out_2790786231083666285[4] = 0; - out_2790786231083666285[5] = 0; - out_2790786231083666285[6] = 0; - out_2790786231083666285[7] = 0; - out_2790786231083666285[8] = 0; +void H_28(double *state, double *unused, double *out_5009517035164139557) { + out_5009517035164139557[0] = 1; + out_5009517035164139557[1] = 0; + out_5009517035164139557[2] = 0; + out_5009517035164139557[3] = 0; + out_5009517035164139557[4] = 0; + out_5009517035164139557[5] = 0; + out_5009517035164139557[6] = 0; + out_5009517035164139557[7] = 0; + out_5009517035164139557[8] = 0; } -void h_31(double *state, double *unused, double *out_5441355700451283192) { - out_5441355700451283192[0] = state[8]; +void h_31(double *state, double *unused, double *out_7316065099871446436) { + out_7316065099871446436[0] = state[8]; } -void H_31(double *state, double *unused, double *out_476909524224148348) { - out_476909524224148348[0] = 0; - out_476909524224148348[1] = 0; - out_476909524224148348[2] = 0; - out_476909524224148348[3] = 0; - out_476909524224148348[4] = 0; - out_476909524224148348[5] = 0; - out_476909524224148348[6] = 0; - out_476909524224148348[7] = 0; - out_476909524224148348[8] = 1; +void H_31(double *state, double *unused, double *out_8705074456770073171) { + out_8705074456770073171[0] = 0; + out_8705074456770073171[1] = 0; + out_8705074456770073171[2] = 0; + out_8705074456770073171[3] = 0; + out_8705074456770073171[4] = 0; + out_8705074456770073171[5] = 0; + out_8705074456770073171[6] = 0; + out_8705074456770073171[7] = 0; + out_8705074456770073171[8] = 1; } #include #include @@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); } -void car_err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104) { - err_fun(nom_x, delta_x, out_2798728055434719104); +void car_err_fun(double *nom_x, double *delta_x, double *out_2633561206191248032) { + err_fun(nom_x, delta_x, out_2633561206191248032); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641) { - inv_err_fun(nom_x, true_x, out_5158994837086933641); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5222322722539771080) { + inv_err_fun(nom_x, true_x, out_5222322722539771080); } -void car_H_mod_fun(double *state, double *out_8807292285450126459) { - H_mod_fun(state, out_8807292285450126459); +void car_H_mod_fun(double *state, double *out_4733519652188373948) { + H_mod_fun(state, out_4733519652188373948); } -void car_f_fun(double *state, double dt, double *out_547624329025478730) { - f_fun(state, dt, out_547624329025478730); +void car_f_fun(double *state, double dt, double *out_9187320060872601910) { + f_fun(state, dt, out_9187320060872601910); } -void car_F_fun(double *state, double dt, double *out_6298604141859123794) { - F_fun(state, dt, out_6298604141859123794); +void car_F_fun(double *state, double dt, double *out_3219504763184105906) { + F_fun(state, dt, out_3219504763184105906); } -void car_h_25(double *state, double *unused, double *out_5598542368802412337) { - h_25(state, unused, out_5598542368802412337); +void car_h_25(double *state, double *unused, double *out_1821652184812404746) { + h_25(state, unused, out_1821652184812404746); } -void car_H_25(double *state, double *unused, double *out_446263562347187920) { - H_25(state, unused, out_446263562347187920); +void car_H_25(double *state, double *unused, double *out_4337363035662665471) { + H_25(state, unused, out_4337363035662665471); } -void car_h_24(double *state, double *unused, double *out_281619709901739940) { - h_24(state, unused, out_281619709901739940); +void car_h_24(double *state, double *unused, double *out_258826568498121593) { + h_24(state, unused, out_258826568498121593); } -void car_H_24(double *state, double *unused, double *out_4300245764619321114) { - H_24(state, unused, out_4300245764619321114); +void car_H_24(double *state, double *unused, double *out_9206177900690372323) { + H_24(state, unused, out_9206177900690372323); } -void car_h_30(double *state, double *unused, double *out_6077366478556788343) { - h_30(state, unused, out_6077366478556788343); +void car_h_30(double *state, double *unused, double *out_1546458122527898857) { + h_30(state, unused, out_1546458122527898857); } -void car_H_30(double *state, double *unused, double *out_7362953903838804675) { - H_30(state, unused, out_7362953903838804675); +void car_H_30(double *state, double *unused, double *out_8865059365790273669) { + H_30(state, unused, out_8865059365790273669); } -void car_h_26(double *state, double *unused, double *out_714876495074943436) { - h_26(state, unused, out_714876495074943436); +void car_h_26(double *state, double *unused, double *out_4254367670776586025) { + h_26(state, unused, out_4254367670776586025); } -void car_H_26(double *state, double *unused, double *out_3295239756526868304) { - H_26(state, unused, out_3295239756526868304); +void car_H_26(double *state, double *unused, double *out_8078866354536721695) { + H_26(state, unused, out_8078866354536721695); } -void car_h_27(double *state, double *unused, double *out_3197767095463584803) { - h_27(state, unused, out_3197767095463584803); +void car_h_27(double *state, double *unused, double *out_7579637098806142702) { + h_27(state, unused, out_7579637098806142702); } -void car_H_27(double *state, double *unused, double *out_5188190592038379764) { - H_27(state, unused, out_5188190592038379764); +void car_H_27(double *state, double *unused, double *out_7406921396118853036) { + H_27(state, unused, out_7406921396118853036); } -void car_h_29(double *state, double *unused, double *out_9093529782405306684) { - h_29(state, unused, out_9093529782405306684); +void car_h_29(double *state, double *unused, double *out_8981601556956599670) { + h_29(state, unused, out_8981601556956599670); } -void car_H_29(double *state, double *unused, double *out_7873185248153196859) { - H_29(state, unused, out_7873185248153196859); +void car_H_29(double *state, double *unused, double *out_8354828021475881485) { + H_29(state, unused, out_8354828021475881485); } -void car_h_28(double *state, double *unused, double *out_8199440363124430448) { - h_28(state, unused, out_8199440363124430448); +void car_h_28(double *state, double *unused, double *out_4659949187422787859) { + h_28(state, unused, out_4659949187422787859); } -void car_H_28(double *state, double *unused, double *out_2790786231083666285) { - H_28(state, unused, out_2790786231083666285); +void car_H_28(double *state, double *unused, double *out_5009517035164139557) { + H_28(state, unused, out_5009517035164139557); } -void car_h_31(double *state, double *unused, double *out_5441355700451283192) { - h_31(state, unused, out_5441355700451283192); +void car_h_31(double *state, double *unused, double *out_7316065099871446436) { + h_31(state, unused, out_7316065099871446436); } -void car_H_31(double *state, double *unused, double *out_476909524224148348) { - H_31(state, unused, out_476909524224148348); +void car_H_31(double *state, double *unused, double *out_8705074456770073171) { + H_31(state, unused, out_8705074456770073171); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index f8b895142..05bacb2f8 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641); -void car_H_mod_fun(double *state, double *out_8807292285450126459); -void car_f_fun(double *state, double dt, double *out_547624329025478730); -void car_F_fun(double *state, double dt, double *out_6298604141859123794); -void car_h_25(double *state, double *unused, double *out_5598542368802412337); -void car_H_25(double *state, double *unused, double *out_446263562347187920); -void car_h_24(double *state, double *unused, double *out_281619709901739940); -void car_H_24(double *state, double *unused, double *out_4300245764619321114); -void car_h_30(double *state, double *unused, double *out_6077366478556788343); -void car_H_30(double *state, double *unused, double *out_7362953903838804675); -void car_h_26(double *state, double *unused, double *out_714876495074943436); -void car_H_26(double *state, double *unused, double *out_3295239756526868304); -void car_h_27(double *state, double *unused, double *out_3197767095463584803); -void car_H_27(double *state, double *unused, double *out_5188190592038379764); -void car_h_29(double *state, double *unused, double *out_9093529782405306684); -void car_H_29(double *state, double *unused, double *out_7873185248153196859); -void car_h_28(double *state, double *unused, double *out_8199440363124430448); -void car_H_28(double *state, double *unused, double *out_2790786231083666285); -void car_h_31(double *state, double *unused, double *out_5441355700451283192); -void car_H_31(double *state, double *unused, double *out_476909524224148348); +void car_err_fun(double *nom_x, double *delta_x, double *out_2633561206191248032); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5222322722539771080); +void car_H_mod_fun(double *state, double *out_4733519652188373948); +void car_f_fun(double *state, double dt, double *out_9187320060872601910); +void car_F_fun(double *state, double dt, double *out_3219504763184105906); +void car_h_25(double *state, double *unused, double *out_1821652184812404746); +void car_H_25(double *state, double *unused, double *out_4337363035662665471); +void car_h_24(double *state, double *unused, double *out_258826568498121593); +void car_H_24(double *state, double *unused, double *out_9206177900690372323); +void car_h_30(double *state, double *unused, double *out_1546458122527898857); +void car_H_30(double *state, double *unused, double *out_8865059365790273669); +void car_h_26(double *state, double *unused, double *out_4254367670776586025); +void car_H_26(double *state, double *unused, double *out_8078866354536721695); +void car_h_27(double *state, double *unused, double *out_7579637098806142702); +void car_H_27(double *state, double *unused, double *out_7406921396118853036); +void car_h_29(double *state, double *unused, double *out_8981601556956599670); +void car_H_29(double *state, double *unused, double *out_8354828021475881485); +void car_h_28(double *state, double *unused, double *out_4659949187422787859); +void car_H_28(double *state, double *unused, double *out_5009517035164139557); +void car_h_31(double *state, double *unused, double *out_7316065099871446436); +void car_H_31(double *state, double *unused, double *out_8705074456770073171); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 4f563d943..87bf87f4a 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_8123935570106658818) { - out_8123935570106658818[0] = delta_x[0] + nom_x[0]; - out_8123935570106658818[1] = delta_x[1] + nom_x[1]; - out_8123935570106658818[2] = delta_x[2] + nom_x[2]; - out_8123935570106658818[3] = delta_x[3] + nom_x[3]; - out_8123935570106658818[4] = delta_x[4] + nom_x[4]; - out_8123935570106658818[5] = delta_x[5] + nom_x[5]; - out_8123935570106658818[6] = delta_x[6] + nom_x[6]; - out_8123935570106658818[7] = delta_x[7] + nom_x[7]; - out_8123935570106658818[8] = delta_x[8] + nom_x[8]; - out_8123935570106658818[9] = delta_x[9] + nom_x[9]; - out_8123935570106658818[10] = delta_x[10] + nom_x[10]; - out_8123935570106658818[11] = delta_x[11] + nom_x[11]; - out_8123935570106658818[12] = delta_x[12] + nom_x[12]; - out_8123935570106658818[13] = delta_x[13] + nom_x[13]; - out_8123935570106658818[14] = delta_x[14] + nom_x[14]; - out_8123935570106658818[15] = delta_x[15] + nom_x[15]; - out_8123935570106658818[16] = delta_x[16] + nom_x[16]; - out_8123935570106658818[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5143015347590812681) { + out_5143015347590812681[0] = delta_x[0] + nom_x[0]; + out_5143015347590812681[1] = delta_x[1] + nom_x[1]; + out_5143015347590812681[2] = delta_x[2] + nom_x[2]; + out_5143015347590812681[3] = delta_x[3] + nom_x[3]; + out_5143015347590812681[4] = delta_x[4] + nom_x[4]; + out_5143015347590812681[5] = delta_x[5] + nom_x[5]; + out_5143015347590812681[6] = delta_x[6] + nom_x[6]; + out_5143015347590812681[7] = delta_x[7] + nom_x[7]; + out_5143015347590812681[8] = delta_x[8] + nom_x[8]; + out_5143015347590812681[9] = delta_x[9] + nom_x[9]; + out_5143015347590812681[10] = delta_x[10] + nom_x[10]; + out_5143015347590812681[11] = delta_x[11] + nom_x[11]; + out_5143015347590812681[12] = delta_x[12] + nom_x[12]; + out_5143015347590812681[13] = delta_x[13] + nom_x[13]; + out_5143015347590812681[14] = delta_x[14] + nom_x[14]; + out_5143015347590812681[15] = delta_x[15] + nom_x[15]; + out_5143015347590812681[16] = delta_x[16] + nom_x[16]; + out_5143015347590812681[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670) { - out_7916605304970807670[0] = -nom_x[0] + true_x[0]; - out_7916605304970807670[1] = -nom_x[1] + true_x[1]; - out_7916605304970807670[2] = -nom_x[2] + true_x[2]; - out_7916605304970807670[3] = -nom_x[3] + true_x[3]; - out_7916605304970807670[4] = -nom_x[4] + true_x[4]; - out_7916605304970807670[5] = -nom_x[5] + true_x[5]; - out_7916605304970807670[6] = -nom_x[6] + true_x[6]; - out_7916605304970807670[7] = -nom_x[7] + true_x[7]; - out_7916605304970807670[8] = -nom_x[8] + true_x[8]; - out_7916605304970807670[9] = -nom_x[9] + true_x[9]; - out_7916605304970807670[10] = -nom_x[10] + true_x[10]; - out_7916605304970807670[11] = -nom_x[11] + true_x[11]; - out_7916605304970807670[12] = -nom_x[12] + true_x[12]; - out_7916605304970807670[13] = -nom_x[13] + true_x[13]; - out_7916605304970807670[14] = -nom_x[14] + true_x[14]; - out_7916605304970807670[15] = -nom_x[15] + true_x[15]; - out_7916605304970807670[16] = -nom_x[16] + true_x[16]; - out_7916605304970807670[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1498290725825032559) { + out_1498290725825032559[0] = -nom_x[0] + true_x[0]; + out_1498290725825032559[1] = -nom_x[1] + true_x[1]; + out_1498290725825032559[2] = -nom_x[2] + true_x[2]; + out_1498290725825032559[3] = -nom_x[3] + true_x[3]; + out_1498290725825032559[4] = -nom_x[4] + true_x[4]; + out_1498290725825032559[5] = -nom_x[5] + true_x[5]; + out_1498290725825032559[6] = -nom_x[6] + true_x[6]; + out_1498290725825032559[7] = -nom_x[7] + true_x[7]; + out_1498290725825032559[8] = -nom_x[8] + true_x[8]; + out_1498290725825032559[9] = -nom_x[9] + true_x[9]; + out_1498290725825032559[10] = -nom_x[10] + true_x[10]; + out_1498290725825032559[11] = -nom_x[11] + true_x[11]; + out_1498290725825032559[12] = -nom_x[12] + true_x[12]; + out_1498290725825032559[13] = -nom_x[13] + true_x[13]; + out_1498290725825032559[14] = -nom_x[14] + true_x[14]; + out_1498290725825032559[15] = -nom_x[15] + true_x[15]; + out_1498290725825032559[16] = -nom_x[16] + true_x[16]; + out_1498290725825032559[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1602815725505969341) { - out_1602815725505969341[0] = 1.0; - out_1602815725505969341[1] = 0.0; - out_1602815725505969341[2] = 0.0; - out_1602815725505969341[3] = 0.0; - out_1602815725505969341[4] = 0.0; - out_1602815725505969341[5] = 0.0; - out_1602815725505969341[6] = 0.0; - out_1602815725505969341[7] = 0.0; - out_1602815725505969341[8] = 0.0; - out_1602815725505969341[9] = 0.0; - out_1602815725505969341[10] = 0.0; - out_1602815725505969341[11] = 0.0; - out_1602815725505969341[12] = 0.0; - out_1602815725505969341[13] = 0.0; - out_1602815725505969341[14] = 0.0; - out_1602815725505969341[15] = 0.0; - out_1602815725505969341[16] = 0.0; - out_1602815725505969341[17] = 0.0; - out_1602815725505969341[18] = 0.0; - out_1602815725505969341[19] = 1.0; - out_1602815725505969341[20] = 0.0; - out_1602815725505969341[21] = 0.0; - out_1602815725505969341[22] = 0.0; - out_1602815725505969341[23] = 0.0; - out_1602815725505969341[24] = 0.0; - out_1602815725505969341[25] = 0.0; - out_1602815725505969341[26] = 0.0; - out_1602815725505969341[27] = 0.0; - out_1602815725505969341[28] = 0.0; - out_1602815725505969341[29] = 0.0; - out_1602815725505969341[30] = 0.0; - out_1602815725505969341[31] = 0.0; - out_1602815725505969341[32] = 0.0; - out_1602815725505969341[33] = 0.0; - out_1602815725505969341[34] = 0.0; - out_1602815725505969341[35] = 0.0; - out_1602815725505969341[36] = 0.0; - out_1602815725505969341[37] = 0.0; - out_1602815725505969341[38] = 1.0; - out_1602815725505969341[39] = 0.0; - out_1602815725505969341[40] = 0.0; - out_1602815725505969341[41] = 0.0; - out_1602815725505969341[42] = 0.0; - out_1602815725505969341[43] = 0.0; - out_1602815725505969341[44] = 0.0; - out_1602815725505969341[45] = 0.0; - out_1602815725505969341[46] = 0.0; - out_1602815725505969341[47] = 0.0; - out_1602815725505969341[48] = 0.0; - out_1602815725505969341[49] = 0.0; - out_1602815725505969341[50] = 0.0; - out_1602815725505969341[51] = 0.0; - out_1602815725505969341[52] = 0.0; - out_1602815725505969341[53] = 0.0; - out_1602815725505969341[54] = 0.0; - out_1602815725505969341[55] = 0.0; - out_1602815725505969341[56] = 0.0; - out_1602815725505969341[57] = 1.0; - out_1602815725505969341[58] = 0.0; - out_1602815725505969341[59] = 0.0; - out_1602815725505969341[60] = 0.0; - out_1602815725505969341[61] = 0.0; - out_1602815725505969341[62] = 0.0; - out_1602815725505969341[63] = 0.0; - out_1602815725505969341[64] = 0.0; - out_1602815725505969341[65] = 0.0; - out_1602815725505969341[66] = 0.0; - out_1602815725505969341[67] = 0.0; - out_1602815725505969341[68] = 0.0; - out_1602815725505969341[69] = 0.0; - out_1602815725505969341[70] = 0.0; - out_1602815725505969341[71] = 0.0; - out_1602815725505969341[72] = 0.0; - out_1602815725505969341[73] = 0.0; - out_1602815725505969341[74] = 0.0; - out_1602815725505969341[75] = 0.0; - out_1602815725505969341[76] = 1.0; - out_1602815725505969341[77] = 0.0; - out_1602815725505969341[78] = 0.0; - out_1602815725505969341[79] = 0.0; - out_1602815725505969341[80] = 0.0; - out_1602815725505969341[81] = 0.0; - out_1602815725505969341[82] = 0.0; - out_1602815725505969341[83] = 0.0; - out_1602815725505969341[84] = 0.0; - out_1602815725505969341[85] = 0.0; - out_1602815725505969341[86] = 0.0; - out_1602815725505969341[87] = 0.0; - out_1602815725505969341[88] = 0.0; - out_1602815725505969341[89] = 0.0; - out_1602815725505969341[90] = 0.0; - out_1602815725505969341[91] = 0.0; - out_1602815725505969341[92] = 0.0; - out_1602815725505969341[93] = 0.0; - out_1602815725505969341[94] = 0.0; - out_1602815725505969341[95] = 1.0; - out_1602815725505969341[96] = 0.0; - out_1602815725505969341[97] = 0.0; - out_1602815725505969341[98] = 0.0; - out_1602815725505969341[99] = 0.0; - out_1602815725505969341[100] = 0.0; - out_1602815725505969341[101] = 0.0; - out_1602815725505969341[102] = 0.0; - out_1602815725505969341[103] = 0.0; - out_1602815725505969341[104] = 0.0; - out_1602815725505969341[105] = 0.0; - out_1602815725505969341[106] = 0.0; - out_1602815725505969341[107] = 0.0; - out_1602815725505969341[108] = 0.0; - out_1602815725505969341[109] = 0.0; - out_1602815725505969341[110] = 0.0; - out_1602815725505969341[111] = 0.0; - out_1602815725505969341[112] = 0.0; - out_1602815725505969341[113] = 0.0; - out_1602815725505969341[114] = 1.0; - out_1602815725505969341[115] = 0.0; - out_1602815725505969341[116] = 0.0; - out_1602815725505969341[117] = 0.0; - out_1602815725505969341[118] = 0.0; - out_1602815725505969341[119] = 0.0; - out_1602815725505969341[120] = 0.0; - out_1602815725505969341[121] = 0.0; - out_1602815725505969341[122] = 0.0; - out_1602815725505969341[123] = 0.0; - out_1602815725505969341[124] = 0.0; - out_1602815725505969341[125] = 0.0; - out_1602815725505969341[126] = 0.0; - out_1602815725505969341[127] = 0.0; - out_1602815725505969341[128] = 0.0; - out_1602815725505969341[129] = 0.0; - out_1602815725505969341[130] = 0.0; - out_1602815725505969341[131] = 0.0; - out_1602815725505969341[132] = 0.0; - out_1602815725505969341[133] = 1.0; - out_1602815725505969341[134] = 0.0; - out_1602815725505969341[135] = 0.0; - out_1602815725505969341[136] = 0.0; - out_1602815725505969341[137] = 0.0; - out_1602815725505969341[138] = 0.0; - out_1602815725505969341[139] = 0.0; - out_1602815725505969341[140] = 0.0; - out_1602815725505969341[141] = 0.0; - out_1602815725505969341[142] = 0.0; - out_1602815725505969341[143] = 0.0; - out_1602815725505969341[144] = 0.0; - out_1602815725505969341[145] = 0.0; - out_1602815725505969341[146] = 0.0; - out_1602815725505969341[147] = 0.0; - out_1602815725505969341[148] = 0.0; - out_1602815725505969341[149] = 0.0; - out_1602815725505969341[150] = 0.0; - out_1602815725505969341[151] = 0.0; - out_1602815725505969341[152] = 1.0; - out_1602815725505969341[153] = 0.0; - out_1602815725505969341[154] = 0.0; - out_1602815725505969341[155] = 0.0; - out_1602815725505969341[156] = 0.0; - out_1602815725505969341[157] = 0.0; - out_1602815725505969341[158] = 0.0; - out_1602815725505969341[159] = 0.0; - out_1602815725505969341[160] = 0.0; - out_1602815725505969341[161] = 0.0; - out_1602815725505969341[162] = 0.0; - out_1602815725505969341[163] = 0.0; - out_1602815725505969341[164] = 0.0; - out_1602815725505969341[165] = 0.0; - out_1602815725505969341[166] = 0.0; - out_1602815725505969341[167] = 0.0; - out_1602815725505969341[168] = 0.0; - out_1602815725505969341[169] = 0.0; - out_1602815725505969341[170] = 0.0; - out_1602815725505969341[171] = 1.0; - out_1602815725505969341[172] = 0.0; - out_1602815725505969341[173] = 0.0; - out_1602815725505969341[174] = 0.0; - out_1602815725505969341[175] = 0.0; - out_1602815725505969341[176] = 0.0; - out_1602815725505969341[177] = 0.0; - out_1602815725505969341[178] = 0.0; - out_1602815725505969341[179] = 0.0; - out_1602815725505969341[180] = 0.0; - out_1602815725505969341[181] = 0.0; - out_1602815725505969341[182] = 0.0; - out_1602815725505969341[183] = 0.0; - out_1602815725505969341[184] = 0.0; - out_1602815725505969341[185] = 0.0; - out_1602815725505969341[186] = 0.0; - out_1602815725505969341[187] = 0.0; - out_1602815725505969341[188] = 0.0; - out_1602815725505969341[189] = 0.0; - out_1602815725505969341[190] = 1.0; - out_1602815725505969341[191] = 0.0; - out_1602815725505969341[192] = 0.0; - out_1602815725505969341[193] = 0.0; - out_1602815725505969341[194] = 0.0; - out_1602815725505969341[195] = 0.0; - out_1602815725505969341[196] = 0.0; - out_1602815725505969341[197] = 0.0; - out_1602815725505969341[198] = 0.0; - out_1602815725505969341[199] = 0.0; - out_1602815725505969341[200] = 0.0; - out_1602815725505969341[201] = 0.0; - out_1602815725505969341[202] = 0.0; - out_1602815725505969341[203] = 0.0; - out_1602815725505969341[204] = 0.0; - out_1602815725505969341[205] = 0.0; - out_1602815725505969341[206] = 0.0; - out_1602815725505969341[207] = 0.0; - out_1602815725505969341[208] = 0.0; - out_1602815725505969341[209] = 1.0; - out_1602815725505969341[210] = 0.0; - out_1602815725505969341[211] = 0.0; - out_1602815725505969341[212] = 0.0; - out_1602815725505969341[213] = 0.0; - out_1602815725505969341[214] = 0.0; - out_1602815725505969341[215] = 0.0; - out_1602815725505969341[216] = 0.0; - out_1602815725505969341[217] = 0.0; - out_1602815725505969341[218] = 0.0; - out_1602815725505969341[219] = 0.0; - out_1602815725505969341[220] = 0.0; - out_1602815725505969341[221] = 0.0; - out_1602815725505969341[222] = 0.0; - out_1602815725505969341[223] = 0.0; - out_1602815725505969341[224] = 0.0; - out_1602815725505969341[225] = 0.0; - out_1602815725505969341[226] = 0.0; - out_1602815725505969341[227] = 0.0; - out_1602815725505969341[228] = 1.0; - out_1602815725505969341[229] = 0.0; - out_1602815725505969341[230] = 0.0; - out_1602815725505969341[231] = 0.0; - out_1602815725505969341[232] = 0.0; - out_1602815725505969341[233] = 0.0; - out_1602815725505969341[234] = 0.0; - out_1602815725505969341[235] = 0.0; - out_1602815725505969341[236] = 0.0; - out_1602815725505969341[237] = 0.0; - out_1602815725505969341[238] = 0.0; - out_1602815725505969341[239] = 0.0; - out_1602815725505969341[240] = 0.0; - out_1602815725505969341[241] = 0.0; - out_1602815725505969341[242] = 0.0; - out_1602815725505969341[243] = 0.0; - out_1602815725505969341[244] = 0.0; - out_1602815725505969341[245] = 0.0; - out_1602815725505969341[246] = 0.0; - out_1602815725505969341[247] = 1.0; - out_1602815725505969341[248] = 0.0; - out_1602815725505969341[249] = 0.0; - out_1602815725505969341[250] = 0.0; - out_1602815725505969341[251] = 0.0; - out_1602815725505969341[252] = 0.0; - out_1602815725505969341[253] = 0.0; - out_1602815725505969341[254] = 0.0; - out_1602815725505969341[255] = 0.0; - out_1602815725505969341[256] = 0.0; - out_1602815725505969341[257] = 0.0; - out_1602815725505969341[258] = 0.0; - out_1602815725505969341[259] = 0.0; - out_1602815725505969341[260] = 0.0; - out_1602815725505969341[261] = 0.0; - out_1602815725505969341[262] = 0.0; - out_1602815725505969341[263] = 0.0; - out_1602815725505969341[264] = 0.0; - out_1602815725505969341[265] = 0.0; - out_1602815725505969341[266] = 1.0; - out_1602815725505969341[267] = 0.0; - out_1602815725505969341[268] = 0.0; - out_1602815725505969341[269] = 0.0; - out_1602815725505969341[270] = 0.0; - out_1602815725505969341[271] = 0.0; - out_1602815725505969341[272] = 0.0; - out_1602815725505969341[273] = 0.0; - out_1602815725505969341[274] = 0.0; - out_1602815725505969341[275] = 0.0; - out_1602815725505969341[276] = 0.0; - out_1602815725505969341[277] = 0.0; - out_1602815725505969341[278] = 0.0; - out_1602815725505969341[279] = 0.0; - out_1602815725505969341[280] = 0.0; - out_1602815725505969341[281] = 0.0; - out_1602815725505969341[282] = 0.0; - out_1602815725505969341[283] = 0.0; - out_1602815725505969341[284] = 0.0; - out_1602815725505969341[285] = 1.0; - out_1602815725505969341[286] = 0.0; - out_1602815725505969341[287] = 0.0; - out_1602815725505969341[288] = 0.0; - out_1602815725505969341[289] = 0.0; - out_1602815725505969341[290] = 0.0; - out_1602815725505969341[291] = 0.0; - out_1602815725505969341[292] = 0.0; - out_1602815725505969341[293] = 0.0; - out_1602815725505969341[294] = 0.0; - out_1602815725505969341[295] = 0.0; - out_1602815725505969341[296] = 0.0; - out_1602815725505969341[297] = 0.0; - out_1602815725505969341[298] = 0.0; - out_1602815725505969341[299] = 0.0; - out_1602815725505969341[300] = 0.0; - out_1602815725505969341[301] = 0.0; - out_1602815725505969341[302] = 0.0; - out_1602815725505969341[303] = 0.0; - out_1602815725505969341[304] = 1.0; - out_1602815725505969341[305] = 0.0; - out_1602815725505969341[306] = 0.0; - out_1602815725505969341[307] = 0.0; - out_1602815725505969341[308] = 0.0; - out_1602815725505969341[309] = 0.0; - out_1602815725505969341[310] = 0.0; - out_1602815725505969341[311] = 0.0; - out_1602815725505969341[312] = 0.0; - out_1602815725505969341[313] = 0.0; - out_1602815725505969341[314] = 0.0; - out_1602815725505969341[315] = 0.0; - out_1602815725505969341[316] = 0.0; - out_1602815725505969341[317] = 0.0; - out_1602815725505969341[318] = 0.0; - out_1602815725505969341[319] = 0.0; - out_1602815725505969341[320] = 0.0; - out_1602815725505969341[321] = 0.0; - out_1602815725505969341[322] = 0.0; - out_1602815725505969341[323] = 1.0; +void H_mod_fun(double *state, double *out_4606755190645614426) { + out_4606755190645614426[0] = 1.0; + out_4606755190645614426[1] = 0.0; + out_4606755190645614426[2] = 0.0; + out_4606755190645614426[3] = 0.0; + out_4606755190645614426[4] = 0.0; + out_4606755190645614426[5] = 0.0; + out_4606755190645614426[6] = 0.0; + out_4606755190645614426[7] = 0.0; + out_4606755190645614426[8] = 0.0; + out_4606755190645614426[9] = 0.0; + out_4606755190645614426[10] = 0.0; + out_4606755190645614426[11] = 0.0; + out_4606755190645614426[12] = 0.0; + out_4606755190645614426[13] = 0.0; + out_4606755190645614426[14] = 0.0; + out_4606755190645614426[15] = 0.0; + out_4606755190645614426[16] = 0.0; + out_4606755190645614426[17] = 0.0; + out_4606755190645614426[18] = 0.0; + out_4606755190645614426[19] = 1.0; + out_4606755190645614426[20] = 0.0; + out_4606755190645614426[21] = 0.0; + out_4606755190645614426[22] = 0.0; + out_4606755190645614426[23] = 0.0; + out_4606755190645614426[24] = 0.0; + out_4606755190645614426[25] = 0.0; + out_4606755190645614426[26] = 0.0; + out_4606755190645614426[27] = 0.0; + out_4606755190645614426[28] = 0.0; + out_4606755190645614426[29] = 0.0; + out_4606755190645614426[30] = 0.0; + out_4606755190645614426[31] = 0.0; + out_4606755190645614426[32] = 0.0; + out_4606755190645614426[33] = 0.0; + out_4606755190645614426[34] = 0.0; + out_4606755190645614426[35] = 0.0; + out_4606755190645614426[36] = 0.0; + out_4606755190645614426[37] = 0.0; + out_4606755190645614426[38] = 1.0; + out_4606755190645614426[39] = 0.0; + out_4606755190645614426[40] = 0.0; + out_4606755190645614426[41] = 0.0; + out_4606755190645614426[42] = 0.0; + out_4606755190645614426[43] = 0.0; + out_4606755190645614426[44] = 0.0; + out_4606755190645614426[45] = 0.0; + out_4606755190645614426[46] = 0.0; + out_4606755190645614426[47] = 0.0; + out_4606755190645614426[48] = 0.0; + out_4606755190645614426[49] = 0.0; + out_4606755190645614426[50] = 0.0; + out_4606755190645614426[51] = 0.0; + out_4606755190645614426[52] = 0.0; + out_4606755190645614426[53] = 0.0; + out_4606755190645614426[54] = 0.0; + out_4606755190645614426[55] = 0.0; + out_4606755190645614426[56] = 0.0; + out_4606755190645614426[57] = 1.0; + out_4606755190645614426[58] = 0.0; + out_4606755190645614426[59] = 0.0; + out_4606755190645614426[60] = 0.0; + out_4606755190645614426[61] = 0.0; + out_4606755190645614426[62] = 0.0; + out_4606755190645614426[63] = 0.0; + out_4606755190645614426[64] = 0.0; + out_4606755190645614426[65] = 0.0; + out_4606755190645614426[66] = 0.0; + out_4606755190645614426[67] = 0.0; + out_4606755190645614426[68] = 0.0; + out_4606755190645614426[69] = 0.0; + out_4606755190645614426[70] = 0.0; + out_4606755190645614426[71] = 0.0; + out_4606755190645614426[72] = 0.0; + out_4606755190645614426[73] = 0.0; + out_4606755190645614426[74] = 0.0; + out_4606755190645614426[75] = 0.0; + out_4606755190645614426[76] = 1.0; + out_4606755190645614426[77] = 0.0; + out_4606755190645614426[78] = 0.0; + out_4606755190645614426[79] = 0.0; + out_4606755190645614426[80] = 0.0; + out_4606755190645614426[81] = 0.0; + out_4606755190645614426[82] = 0.0; + out_4606755190645614426[83] = 0.0; + out_4606755190645614426[84] = 0.0; + out_4606755190645614426[85] = 0.0; + out_4606755190645614426[86] = 0.0; + out_4606755190645614426[87] = 0.0; + out_4606755190645614426[88] = 0.0; + out_4606755190645614426[89] = 0.0; + out_4606755190645614426[90] = 0.0; + out_4606755190645614426[91] = 0.0; + out_4606755190645614426[92] = 0.0; + out_4606755190645614426[93] = 0.0; + out_4606755190645614426[94] = 0.0; + out_4606755190645614426[95] = 1.0; + out_4606755190645614426[96] = 0.0; + out_4606755190645614426[97] = 0.0; + out_4606755190645614426[98] = 0.0; + out_4606755190645614426[99] = 0.0; + out_4606755190645614426[100] = 0.0; + out_4606755190645614426[101] = 0.0; + out_4606755190645614426[102] = 0.0; + out_4606755190645614426[103] = 0.0; + out_4606755190645614426[104] = 0.0; + out_4606755190645614426[105] = 0.0; + out_4606755190645614426[106] = 0.0; + out_4606755190645614426[107] = 0.0; + out_4606755190645614426[108] = 0.0; + out_4606755190645614426[109] = 0.0; + out_4606755190645614426[110] = 0.0; + out_4606755190645614426[111] = 0.0; + out_4606755190645614426[112] = 0.0; + out_4606755190645614426[113] = 0.0; + out_4606755190645614426[114] = 1.0; + out_4606755190645614426[115] = 0.0; + out_4606755190645614426[116] = 0.0; + out_4606755190645614426[117] = 0.0; + out_4606755190645614426[118] = 0.0; + out_4606755190645614426[119] = 0.0; + out_4606755190645614426[120] = 0.0; + out_4606755190645614426[121] = 0.0; + out_4606755190645614426[122] = 0.0; + out_4606755190645614426[123] = 0.0; + out_4606755190645614426[124] = 0.0; + out_4606755190645614426[125] = 0.0; + out_4606755190645614426[126] = 0.0; + out_4606755190645614426[127] = 0.0; + out_4606755190645614426[128] = 0.0; + out_4606755190645614426[129] = 0.0; + out_4606755190645614426[130] = 0.0; + out_4606755190645614426[131] = 0.0; + out_4606755190645614426[132] = 0.0; + out_4606755190645614426[133] = 1.0; + out_4606755190645614426[134] = 0.0; + out_4606755190645614426[135] = 0.0; + out_4606755190645614426[136] = 0.0; + out_4606755190645614426[137] = 0.0; + out_4606755190645614426[138] = 0.0; + out_4606755190645614426[139] = 0.0; + out_4606755190645614426[140] = 0.0; + out_4606755190645614426[141] = 0.0; + out_4606755190645614426[142] = 0.0; + out_4606755190645614426[143] = 0.0; + out_4606755190645614426[144] = 0.0; + out_4606755190645614426[145] = 0.0; + out_4606755190645614426[146] = 0.0; + out_4606755190645614426[147] = 0.0; + out_4606755190645614426[148] = 0.0; + out_4606755190645614426[149] = 0.0; + out_4606755190645614426[150] = 0.0; + out_4606755190645614426[151] = 0.0; + out_4606755190645614426[152] = 1.0; + out_4606755190645614426[153] = 0.0; + out_4606755190645614426[154] = 0.0; + out_4606755190645614426[155] = 0.0; + out_4606755190645614426[156] = 0.0; + out_4606755190645614426[157] = 0.0; + out_4606755190645614426[158] = 0.0; + out_4606755190645614426[159] = 0.0; + out_4606755190645614426[160] = 0.0; + out_4606755190645614426[161] = 0.0; + out_4606755190645614426[162] = 0.0; + out_4606755190645614426[163] = 0.0; + out_4606755190645614426[164] = 0.0; + out_4606755190645614426[165] = 0.0; + out_4606755190645614426[166] = 0.0; + out_4606755190645614426[167] = 0.0; + out_4606755190645614426[168] = 0.0; + out_4606755190645614426[169] = 0.0; + out_4606755190645614426[170] = 0.0; + out_4606755190645614426[171] = 1.0; + out_4606755190645614426[172] = 0.0; + out_4606755190645614426[173] = 0.0; + out_4606755190645614426[174] = 0.0; + out_4606755190645614426[175] = 0.0; + out_4606755190645614426[176] = 0.0; + out_4606755190645614426[177] = 0.0; + out_4606755190645614426[178] = 0.0; + out_4606755190645614426[179] = 0.0; + out_4606755190645614426[180] = 0.0; + out_4606755190645614426[181] = 0.0; + out_4606755190645614426[182] = 0.0; + out_4606755190645614426[183] = 0.0; + out_4606755190645614426[184] = 0.0; + out_4606755190645614426[185] = 0.0; + out_4606755190645614426[186] = 0.0; + out_4606755190645614426[187] = 0.0; + out_4606755190645614426[188] = 0.0; + out_4606755190645614426[189] = 0.0; + out_4606755190645614426[190] = 1.0; + out_4606755190645614426[191] = 0.0; + out_4606755190645614426[192] = 0.0; + out_4606755190645614426[193] = 0.0; + out_4606755190645614426[194] = 0.0; + out_4606755190645614426[195] = 0.0; + out_4606755190645614426[196] = 0.0; + out_4606755190645614426[197] = 0.0; + out_4606755190645614426[198] = 0.0; + out_4606755190645614426[199] = 0.0; + out_4606755190645614426[200] = 0.0; + out_4606755190645614426[201] = 0.0; + out_4606755190645614426[202] = 0.0; + out_4606755190645614426[203] = 0.0; + out_4606755190645614426[204] = 0.0; + out_4606755190645614426[205] = 0.0; + out_4606755190645614426[206] = 0.0; + out_4606755190645614426[207] = 0.0; + out_4606755190645614426[208] = 0.0; + out_4606755190645614426[209] = 1.0; + out_4606755190645614426[210] = 0.0; + out_4606755190645614426[211] = 0.0; + out_4606755190645614426[212] = 0.0; + out_4606755190645614426[213] = 0.0; + out_4606755190645614426[214] = 0.0; + out_4606755190645614426[215] = 0.0; + out_4606755190645614426[216] = 0.0; + out_4606755190645614426[217] = 0.0; + out_4606755190645614426[218] = 0.0; + out_4606755190645614426[219] = 0.0; + out_4606755190645614426[220] = 0.0; + out_4606755190645614426[221] = 0.0; + out_4606755190645614426[222] = 0.0; + out_4606755190645614426[223] = 0.0; + out_4606755190645614426[224] = 0.0; + out_4606755190645614426[225] = 0.0; + out_4606755190645614426[226] = 0.0; + out_4606755190645614426[227] = 0.0; + out_4606755190645614426[228] = 1.0; + out_4606755190645614426[229] = 0.0; + out_4606755190645614426[230] = 0.0; + out_4606755190645614426[231] = 0.0; + out_4606755190645614426[232] = 0.0; + out_4606755190645614426[233] = 0.0; + out_4606755190645614426[234] = 0.0; + out_4606755190645614426[235] = 0.0; + out_4606755190645614426[236] = 0.0; + out_4606755190645614426[237] = 0.0; + out_4606755190645614426[238] = 0.0; + out_4606755190645614426[239] = 0.0; + out_4606755190645614426[240] = 0.0; + out_4606755190645614426[241] = 0.0; + out_4606755190645614426[242] = 0.0; + out_4606755190645614426[243] = 0.0; + out_4606755190645614426[244] = 0.0; + out_4606755190645614426[245] = 0.0; + out_4606755190645614426[246] = 0.0; + out_4606755190645614426[247] = 1.0; + out_4606755190645614426[248] = 0.0; + out_4606755190645614426[249] = 0.0; + out_4606755190645614426[250] = 0.0; + out_4606755190645614426[251] = 0.0; + out_4606755190645614426[252] = 0.0; + out_4606755190645614426[253] = 0.0; + out_4606755190645614426[254] = 0.0; + out_4606755190645614426[255] = 0.0; + out_4606755190645614426[256] = 0.0; + out_4606755190645614426[257] = 0.0; + out_4606755190645614426[258] = 0.0; + out_4606755190645614426[259] = 0.0; + out_4606755190645614426[260] = 0.0; + out_4606755190645614426[261] = 0.0; + out_4606755190645614426[262] = 0.0; + out_4606755190645614426[263] = 0.0; + out_4606755190645614426[264] = 0.0; + out_4606755190645614426[265] = 0.0; + out_4606755190645614426[266] = 1.0; + out_4606755190645614426[267] = 0.0; + out_4606755190645614426[268] = 0.0; + out_4606755190645614426[269] = 0.0; + out_4606755190645614426[270] = 0.0; + out_4606755190645614426[271] = 0.0; + out_4606755190645614426[272] = 0.0; + out_4606755190645614426[273] = 0.0; + out_4606755190645614426[274] = 0.0; + out_4606755190645614426[275] = 0.0; + out_4606755190645614426[276] = 0.0; + out_4606755190645614426[277] = 0.0; + out_4606755190645614426[278] = 0.0; + out_4606755190645614426[279] = 0.0; + out_4606755190645614426[280] = 0.0; + out_4606755190645614426[281] = 0.0; + out_4606755190645614426[282] = 0.0; + out_4606755190645614426[283] = 0.0; + out_4606755190645614426[284] = 0.0; + out_4606755190645614426[285] = 1.0; + out_4606755190645614426[286] = 0.0; + out_4606755190645614426[287] = 0.0; + out_4606755190645614426[288] = 0.0; + out_4606755190645614426[289] = 0.0; + out_4606755190645614426[290] = 0.0; + out_4606755190645614426[291] = 0.0; + out_4606755190645614426[292] = 0.0; + out_4606755190645614426[293] = 0.0; + out_4606755190645614426[294] = 0.0; + out_4606755190645614426[295] = 0.0; + out_4606755190645614426[296] = 0.0; + out_4606755190645614426[297] = 0.0; + out_4606755190645614426[298] = 0.0; + out_4606755190645614426[299] = 0.0; + out_4606755190645614426[300] = 0.0; + out_4606755190645614426[301] = 0.0; + out_4606755190645614426[302] = 0.0; + out_4606755190645614426[303] = 0.0; + out_4606755190645614426[304] = 1.0; + out_4606755190645614426[305] = 0.0; + out_4606755190645614426[306] = 0.0; + out_4606755190645614426[307] = 0.0; + out_4606755190645614426[308] = 0.0; + out_4606755190645614426[309] = 0.0; + out_4606755190645614426[310] = 0.0; + out_4606755190645614426[311] = 0.0; + out_4606755190645614426[312] = 0.0; + out_4606755190645614426[313] = 0.0; + out_4606755190645614426[314] = 0.0; + out_4606755190645614426[315] = 0.0; + out_4606755190645614426[316] = 0.0; + out_4606755190645614426[317] = 0.0; + out_4606755190645614426[318] = 0.0; + out_4606755190645614426[319] = 0.0; + out_4606755190645614426[320] = 0.0; + out_4606755190645614426[321] = 0.0; + out_4606755190645614426[322] = 0.0; + out_4606755190645614426[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6941148323357631663) { - out_6941148323357631663[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); - out_6941148323357631663[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); - out_6941148323357631663[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); - out_6941148323357631663[3] = dt*state[12] + state[3]; - out_6941148323357631663[4] = dt*state[13] + state[4]; - out_6941148323357631663[5] = dt*state[14] + state[5]; - out_6941148323357631663[6] = state[6]; - out_6941148323357631663[7] = state[7]; - out_6941148323357631663[8] = state[8]; - out_6941148323357631663[9] = state[9]; - out_6941148323357631663[10] = state[10]; - out_6941148323357631663[11] = state[11]; - out_6941148323357631663[12] = state[12]; - out_6941148323357631663[13] = state[13]; - out_6941148323357631663[14] = state[14]; - out_6941148323357631663[15] = state[15]; - out_6941148323357631663[16] = state[16]; - out_6941148323357631663[17] = state[17]; +void f_fun(double *state, double dt, double *out_8576950781836710085) { + out_8576950781836710085[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_8576950781836710085[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_8576950781836710085[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_8576950781836710085[3] = dt*state[12] + state[3]; + out_8576950781836710085[4] = dt*state[13] + state[4]; + out_8576950781836710085[5] = dt*state[14] + state[5]; + out_8576950781836710085[6] = state[6]; + out_8576950781836710085[7] = state[7]; + out_8576950781836710085[8] = state[8]; + out_8576950781836710085[9] = state[9]; + out_8576950781836710085[10] = state[10]; + out_8576950781836710085[11] = state[11]; + out_8576950781836710085[12] = state[12]; + out_8576950781836710085[13] = state[13]; + out_8576950781836710085[14] = state[14]; + out_8576950781836710085[15] = state[15]; + out_8576950781836710085[16] = state[16]; + out_8576950781836710085[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8174317485626071951) { - out_8174317485626071951[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_8174317485626071951[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_8174317485626071951[2] = 0; - out_8174317485626071951[3] = 0; - out_8174317485626071951[4] = 0; - out_8174317485626071951[5] = 0; - out_8174317485626071951[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_8174317485626071951[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_8174317485626071951[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_8174317485626071951[9] = 0; - out_8174317485626071951[10] = 0; - out_8174317485626071951[11] = 0; - out_8174317485626071951[12] = 0; - out_8174317485626071951[13] = 0; - out_8174317485626071951[14] = 0; - out_8174317485626071951[15] = 0; - out_8174317485626071951[16] = 0; - out_8174317485626071951[17] = 0; - out_8174317485626071951[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_8174317485626071951[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_8174317485626071951[20] = 0; - out_8174317485626071951[21] = 0; - out_8174317485626071951[22] = 0; - out_8174317485626071951[23] = 0; - out_8174317485626071951[24] = 0; - out_8174317485626071951[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_8174317485626071951[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_8174317485626071951[27] = 0; - out_8174317485626071951[28] = 0; - out_8174317485626071951[29] = 0; - out_8174317485626071951[30] = 0; - out_8174317485626071951[31] = 0; - out_8174317485626071951[32] = 0; - out_8174317485626071951[33] = 0; - out_8174317485626071951[34] = 0; - out_8174317485626071951[35] = 0; - out_8174317485626071951[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_8174317485626071951[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_8174317485626071951[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_8174317485626071951[39] = 0; - out_8174317485626071951[40] = 0; - out_8174317485626071951[41] = 0; - out_8174317485626071951[42] = 0; - out_8174317485626071951[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_8174317485626071951[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_8174317485626071951[45] = 0; - out_8174317485626071951[46] = 0; - out_8174317485626071951[47] = 0; - out_8174317485626071951[48] = 0; - out_8174317485626071951[49] = 0; - out_8174317485626071951[50] = 0; - out_8174317485626071951[51] = 0; - out_8174317485626071951[52] = 0; - out_8174317485626071951[53] = 0; - out_8174317485626071951[54] = 0; - out_8174317485626071951[55] = 0; - out_8174317485626071951[56] = 0; - out_8174317485626071951[57] = 1; - out_8174317485626071951[58] = 0; - out_8174317485626071951[59] = 0; - out_8174317485626071951[60] = 0; - out_8174317485626071951[61] = 0; - out_8174317485626071951[62] = 0; - out_8174317485626071951[63] = 0; - out_8174317485626071951[64] = 0; - out_8174317485626071951[65] = 0; - out_8174317485626071951[66] = dt; - out_8174317485626071951[67] = 0; - out_8174317485626071951[68] = 0; - out_8174317485626071951[69] = 0; - out_8174317485626071951[70] = 0; - out_8174317485626071951[71] = 0; - out_8174317485626071951[72] = 0; - out_8174317485626071951[73] = 0; - out_8174317485626071951[74] = 0; - out_8174317485626071951[75] = 0; - out_8174317485626071951[76] = 1; - out_8174317485626071951[77] = 0; - out_8174317485626071951[78] = 0; - out_8174317485626071951[79] = 0; - out_8174317485626071951[80] = 0; - out_8174317485626071951[81] = 0; - out_8174317485626071951[82] = 0; - out_8174317485626071951[83] = 0; - out_8174317485626071951[84] = 0; - out_8174317485626071951[85] = dt; - out_8174317485626071951[86] = 0; - out_8174317485626071951[87] = 0; - out_8174317485626071951[88] = 0; - out_8174317485626071951[89] = 0; - out_8174317485626071951[90] = 0; - out_8174317485626071951[91] = 0; - out_8174317485626071951[92] = 0; - out_8174317485626071951[93] = 0; - out_8174317485626071951[94] = 0; - out_8174317485626071951[95] = 1; - out_8174317485626071951[96] = 0; - out_8174317485626071951[97] = 0; - out_8174317485626071951[98] = 0; - out_8174317485626071951[99] = 0; - out_8174317485626071951[100] = 0; - out_8174317485626071951[101] = 0; - out_8174317485626071951[102] = 0; - out_8174317485626071951[103] = 0; - out_8174317485626071951[104] = dt; - out_8174317485626071951[105] = 0; - out_8174317485626071951[106] = 0; - out_8174317485626071951[107] = 0; - out_8174317485626071951[108] = 0; - out_8174317485626071951[109] = 0; - out_8174317485626071951[110] = 0; - out_8174317485626071951[111] = 0; - out_8174317485626071951[112] = 0; - out_8174317485626071951[113] = 0; - out_8174317485626071951[114] = 1; - out_8174317485626071951[115] = 0; - out_8174317485626071951[116] = 0; - out_8174317485626071951[117] = 0; - out_8174317485626071951[118] = 0; - out_8174317485626071951[119] = 0; - out_8174317485626071951[120] = 0; - out_8174317485626071951[121] = 0; - out_8174317485626071951[122] = 0; - out_8174317485626071951[123] = 0; - out_8174317485626071951[124] = 0; - out_8174317485626071951[125] = 0; - out_8174317485626071951[126] = 0; - out_8174317485626071951[127] = 0; - out_8174317485626071951[128] = 0; - out_8174317485626071951[129] = 0; - out_8174317485626071951[130] = 0; - out_8174317485626071951[131] = 0; - out_8174317485626071951[132] = 0; - out_8174317485626071951[133] = 1; - out_8174317485626071951[134] = 0; - out_8174317485626071951[135] = 0; - out_8174317485626071951[136] = 0; - out_8174317485626071951[137] = 0; - out_8174317485626071951[138] = 0; - out_8174317485626071951[139] = 0; - out_8174317485626071951[140] = 0; - out_8174317485626071951[141] = 0; - out_8174317485626071951[142] = 0; - out_8174317485626071951[143] = 0; - out_8174317485626071951[144] = 0; - out_8174317485626071951[145] = 0; - out_8174317485626071951[146] = 0; - out_8174317485626071951[147] = 0; - out_8174317485626071951[148] = 0; - out_8174317485626071951[149] = 0; - out_8174317485626071951[150] = 0; - out_8174317485626071951[151] = 0; - out_8174317485626071951[152] = 1; - out_8174317485626071951[153] = 0; - out_8174317485626071951[154] = 0; - out_8174317485626071951[155] = 0; - out_8174317485626071951[156] = 0; - out_8174317485626071951[157] = 0; - out_8174317485626071951[158] = 0; - out_8174317485626071951[159] = 0; - out_8174317485626071951[160] = 0; - out_8174317485626071951[161] = 0; - out_8174317485626071951[162] = 0; - out_8174317485626071951[163] = 0; - out_8174317485626071951[164] = 0; - out_8174317485626071951[165] = 0; - out_8174317485626071951[166] = 0; - out_8174317485626071951[167] = 0; - out_8174317485626071951[168] = 0; - out_8174317485626071951[169] = 0; - out_8174317485626071951[170] = 0; - out_8174317485626071951[171] = 1; - out_8174317485626071951[172] = 0; - out_8174317485626071951[173] = 0; - out_8174317485626071951[174] = 0; - out_8174317485626071951[175] = 0; - out_8174317485626071951[176] = 0; - out_8174317485626071951[177] = 0; - out_8174317485626071951[178] = 0; - out_8174317485626071951[179] = 0; - out_8174317485626071951[180] = 0; - out_8174317485626071951[181] = 0; - out_8174317485626071951[182] = 0; - out_8174317485626071951[183] = 0; - out_8174317485626071951[184] = 0; - out_8174317485626071951[185] = 0; - out_8174317485626071951[186] = 0; - out_8174317485626071951[187] = 0; - out_8174317485626071951[188] = 0; - out_8174317485626071951[189] = 0; - out_8174317485626071951[190] = 1; - out_8174317485626071951[191] = 0; - out_8174317485626071951[192] = 0; - out_8174317485626071951[193] = 0; - out_8174317485626071951[194] = 0; - out_8174317485626071951[195] = 0; - out_8174317485626071951[196] = 0; - out_8174317485626071951[197] = 0; - out_8174317485626071951[198] = 0; - out_8174317485626071951[199] = 0; - out_8174317485626071951[200] = 0; - out_8174317485626071951[201] = 0; - out_8174317485626071951[202] = 0; - out_8174317485626071951[203] = 0; - out_8174317485626071951[204] = 0; - out_8174317485626071951[205] = 0; - out_8174317485626071951[206] = 0; - out_8174317485626071951[207] = 0; - out_8174317485626071951[208] = 0; - out_8174317485626071951[209] = 1; - out_8174317485626071951[210] = 0; - out_8174317485626071951[211] = 0; - out_8174317485626071951[212] = 0; - out_8174317485626071951[213] = 0; - out_8174317485626071951[214] = 0; - out_8174317485626071951[215] = 0; - out_8174317485626071951[216] = 0; - out_8174317485626071951[217] = 0; - out_8174317485626071951[218] = 0; - out_8174317485626071951[219] = 0; - out_8174317485626071951[220] = 0; - out_8174317485626071951[221] = 0; - out_8174317485626071951[222] = 0; - out_8174317485626071951[223] = 0; - out_8174317485626071951[224] = 0; - out_8174317485626071951[225] = 0; - out_8174317485626071951[226] = 0; - out_8174317485626071951[227] = 0; - out_8174317485626071951[228] = 1; - out_8174317485626071951[229] = 0; - out_8174317485626071951[230] = 0; - out_8174317485626071951[231] = 0; - out_8174317485626071951[232] = 0; - out_8174317485626071951[233] = 0; - out_8174317485626071951[234] = 0; - out_8174317485626071951[235] = 0; - out_8174317485626071951[236] = 0; - out_8174317485626071951[237] = 0; - out_8174317485626071951[238] = 0; - out_8174317485626071951[239] = 0; - out_8174317485626071951[240] = 0; - out_8174317485626071951[241] = 0; - out_8174317485626071951[242] = 0; - out_8174317485626071951[243] = 0; - out_8174317485626071951[244] = 0; - out_8174317485626071951[245] = 0; - out_8174317485626071951[246] = 0; - out_8174317485626071951[247] = 1; - out_8174317485626071951[248] = 0; - out_8174317485626071951[249] = 0; - out_8174317485626071951[250] = 0; - out_8174317485626071951[251] = 0; - out_8174317485626071951[252] = 0; - out_8174317485626071951[253] = 0; - out_8174317485626071951[254] = 0; - out_8174317485626071951[255] = 0; - out_8174317485626071951[256] = 0; - out_8174317485626071951[257] = 0; - out_8174317485626071951[258] = 0; - out_8174317485626071951[259] = 0; - out_8174317485626071951[260] = 0; - out_8174317485626071951[261] = 0; - out_8174317485626071951[262] = 0; - out_8174317485626071951[263] = 0; - out_8174317485626071951[264] = 0; - out_8174317485626071951[265] = 0; - out_8174317485626071951[266] = 1; - out_8174317485626071951[267] = 0; - out_8174317485626071951[268] = 0; - out_8174317485626071951[269] = 0; - out_8174317485626071951[270] = 0; - out_8174317485626071951[271] = 0; - out_8174317485626071951[272] = 0; - out_8174317485626071951[273] = 0; - out_8174317485626071951[274] = 0; - out_8174317485626071951[275] = 0; - out_8174317485626071951[276] = 0; - out_8174317485626071951[277] = 0; - out_8174317485626071951[278] = 0; - out_8174317485626071951[279] = 0; - out_8174317485626071951[280] = 0; - out_8174317485626071951[281] = 0; - out_8174317485626071951[282] = 0; - out_8174317485626071951[283] = 0; - out_8174317485626071951[284] = 0; - out_8174317485626071951[285] = 1; - out_8174317485626071951[286] = 0; - out_8174317485626071951[287] = 0; - out_8174317485626071951[288] = 0; - out_8174317485626071951[289] = 0; - out_8174317485626071951[290] = 0; - out_8174317485626071951[291] = 0; - out_8174317485626071951[292] = 0; - out_8174317485626071951[293] = 0; - out_8174317485626071951[294] = 0; - out_8174317485626071951[295] = 0; - out_8174317485626071951[296] = 0; - out_8174317485626071951[297] = 0; - out_8174317485626071951[298] = 0; - out_8174317485626071951[299] = 0; - out_8174317485626071951[300] = 0; - out_8174317485626071951[301] = 0; - out_8174317485626071951[302] = 0; - out_8174317485626071951[303] = 0; - out_8174317485626071951[304] = 1; - out_8174317485626071951[305] = 0; - out_8174317485626071951[306] = 0; - out_8174317485626071951[307] = 0; - out_8174317485626071951[308] = 0; - out_8174317485626071951[309] = 0; - out_8174317485626071951[310] = 0; - out_8174317485626071951[311] = 0; - out_8174317485626071951[312] = 0; - out_8174317485626071951[313] = 0; - out_8174317485626071951[314] = 0; - out_8174317485626071951[315] = 0; - out_8174317485626071951[316] = 0; - out_8174317485626071951[317] = 0; - out_8174317485626071951[318] = 0; - out_8174317485626071951[319] = 0; - out_8174317485626071951[320] = 0; - out_8174317485626071951[321] = 0; - out_8174317485626071951[322] = 0; - out_8174317485626071951[323] = 1; +void F_fun(double *state, double dt, double *out_9071365926554278405) { + out_9071365926554278405[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_9071365926554278405[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_9071365926554278405[2] = 0; + out_9071365926554278405[3] = 0; + out_9071365926554278405[4] = 0; + out_9071365926554278405[5] = 0; + out_9071365926554278405[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_9071365926554278405[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_9071365926554278405[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_9071365926554278405[9] = 0; + out_9071365926554278405[10] = 0; + out_9071365926554278405[11] = 0; + out_9071365926554278405[12] = 0; + out_9071365926554278405[13] = 0; + out_9071365926554278405[14] = 0; + out_9071365926554278405[15] = 0; + out_9071365926554278405[16] = 0; + out_9071365926554278405[17] = 0; + out_9071365926554278405[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_9071365926554278405[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_9071365926554278405[20] = 0; + out_9071365926554278405[21] = 0; + out_9071365926554278405[22] = 0; + out_9071365926554278405[23] = 0; + out_9071365926554278405[24] = 0; + out_9071365926554278405[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_9071365926554278405[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_9071365926554278405[27] = 0; + out_9071365926554278405[28] = 0; + out_9071365926554278405[29] = 0; + out_9071365926554278405[30] = 0; + out_9071365926554278405[31] = 0; + out_9071365926554278405[32] = 0; + out_9071365926554278405[33] = 0; + out_9071365926554278405[34] = 0; + out_9071365926554278405[35] = 0; + out_9071365926554278405[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_9071365926554278405[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_9071365926554278405[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_9071365926554278405[39] = 0; + out_9071365926554278405[40] = 0; + out_9071365926554278405[41] = 0; + out_9071365926554278405[42] = 0; + out_9071365926554278405[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_9071365926554278405[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_9071365926554278405[45] = 0; + out_9071365926554278405[46] = 0; + out_9071365926554278405[47] = 0; + out_9071365926554278405[48] = 0; + out_9071365926554278405[49] = 0; + out_9071365926554278405[50] = 0; + out_9071365926554278405[51] = 0; + out_9071365926554278405[52] = 0; + out_9071365926554278405[53] = 0; + out_9071365926554278405[54] = 0; + out_9071365926554278405[55] = 0; + out_9071365926554278405[56] = 0; + out_9071365926554278405[57] = 1; + out_9071365926554278405[58] = 0; + out_9071365926554278405[59] = 0; + out_9071365926554278405[60] = 0; + out_9071365926554278405[61] = 0; + out_9071365926554278405[62] = 0; + out_9071365926554278405[63] = 0; + out_9071365926554278405[64] = 0; + out_9071365926554278405[65] = 0; + out_9071365926554278405[66] = dt; + out_9071365926554278405[67] = 0; + out_9071365926554278405[68] = 0; + out_9071365926554278405[69] = 0; + out_9071365926554278405[70] = 0; + out_9071365926554278405[71] = 0; + out_9071365926554278405[72] = 0; + out_9071365926554278405[73] = 0; + out_9071365926554278405[74] = 0; + out_9071365926554278405[75] = 0; + out_9071365926554278405[76] = 1; + out_9071365926554278405[77] = 0; + out_9071365926554278405[78] = 0; + out_9071365926554278405[79] = 0; + out_9071365926554278405[80] = 0; + out_9071365926554278405[81] = 0; + out_9071365926554278405[82] = 0; + out_9071365926554278405[83] = 0; + out_9071365926554278405[84] = 0; + out_9071365926554278405[85] = dt; + out_9071365926554278405[86] = 0; + out_9071365926554278405[87] = 0; + out_9071365926554278405[88] = 0; + out_9071365926554278405[89] = 0; + out_9071365926554278405[90] = 0; + out_9071365926554278405[91] = 0; + out_9071365926554278405[92] = 0; + out_9071365926554278405[93] = 0; + out_9071365926554278405[94] = 0; + out_9071365926554278405[95] = 1; + out_9071365926554278405[96] = 0; + out_9071365926554278405[97] = 0; + out_9071365926554278405[98] = 0; + out_9071365926554278405[99] = 0; + out_9071365926554278405[100] = 0; + out_9071365926554278405[101] = 0; + out_9071365926554278405[102] = 0; + out_9071365926554278405[103] = 0; + out_9071365926554278405[104] = dt; + out_9071365926554278405[105] = 0; + out_9071365926554278405[106] = 0; + out_9071365926554278405[107] = 0; + out_9071365926554278405[108] = 0; + out_9071365926554278405[109] = 0; + out_9071365926554278405[110] = 0; + out_9071365926554278405[111] = 0; + out_9071365926554278405[112] = 0; + out_9071365926554278405[113] = 0; + out_9071365926554278405[114] = 1; + out_9071365926554278405[115] = 0; + out_9071365926554278405[116] = 0; + out_9071365926554278405[117] = 0; + out_9071365926554278405[118] = 0; + out_9071365926554278405[119] = 0; + out_9071365926554278405[120] = 0; + out_9071365926554278405[121] = 0; + out_9071365926554278405[122] = 0; + out_9071365926554278405[123] = 0; + out_9071365926554278405[124] = 0; + out_9071365926554278405[125] = 0; + out_9071365926554278405[126] = 0; + out_9071365926554278405[127] = 0; + out_9071365926554278405[128] = 0; + out_9071365926554278405[129] = 0; + out_9071365926554278405[130] = 0; + out_9071365926554278405[131] = 0; + out_9071365926554278405[132] = 0; + out_9071365926554278405[133] = 1; + out_9071365926554278405[134] = 0; + out_9071365926554278405[135] = 0; + out_9071365926554278405[136] = 0; + out_9071365926554278405[137] = 0; + out_9071365926554278405[138] = 0; + out_9071365926554278405[139] = 0; + out_9071365926554278405[140] = 0; + out_9071365926554278405[141] = 0; + out_9071365926554278405[142] = 0; + out_9071365926554278405[143] = 0; + out_9071365926554278405[144] = 0; + out_9071365926554278405[145] = 0; + out_9071365926554278405[146] = 0; + out_9071365926554278405[147] = 0; + out_9071365926554278405[148] = 0; + out_9071365926554278405[149] = 0; + out_9071365926554278405[150] = 0; + out_9071365926554278405[151] = 0; + out_9071365926554278405[152] = 1; + out_9071365926554278405[153] = 0; + out_9071365926554278405[154] = 0; + out_9071365926554278405[155] = 0; + out_9071365926554278405[156] = 0; + out_9071365926554278405[157] = 0; + out_9071365926554278405[158] = 0; + out_9071365926554278405[159] = 0; + out_9071365926554278405[160] = 0; + out_9071365926554278405[161] = 0; + out_9071365926554278405[162] = 0; + out_9071365926554278405[163] = 0; + out_9071365926554278405[164] = 0; + out_9071365926554278405[165] = 0; + out_9071365926554278405[166] = 0; + out_9071365926554278405[167] = 0; + out_9071365926554278405[168] = 0; + out_9071365926554278405[169] = 0; + out_9071365926554278405[170] = 0; + out_9071365926554278405[171] = 1; + out_9071365926554278405[172] = 0; + out_9071365926554278405[173] = 0; + out_9071365926554278405[174] = 0; + out_9071365926554278405[175] = 0; + out_9071365926554278405[176] = 0; + out_9071365926554278405[177] = 0; + out_9071365926554278405[178] = 0; + out_9071365926554278405[179] = 0; + out_9071365926554278405[180] = 0; + out_9071365926554278405[181] = 0; + out_9071365926554278405[182] = 0; + out_9071365926554278405[183] = 0; + out_9071365926554278405[184] = 0; + out_9071365926554278405[185] = 0; + out_9071365926554278405[186] = 0; + out_9071365926554278405[187] = 0; + out_9071365926554278405[188] = 0; + out_9071365926554278405[189] = 0; + out_9071365926554278405[190] = 1; + out_9071365926554278405[191] = 0; + out_9071365926554278405[192] = 0; + out_9071365926554278405[193] = 0; + out_9071365926554278405[194] = 0; + out_9071365926554278405[195] = 0; + out_9071365926554278405[196] = 0; + out_9071365926554278405[197] = 0; + out_9071365926554278405[198] = 0; + out_9071365926554278405[199] = 0; + out_9071365926554278405[200] = 0; + out_9071365926554278405[201] = 0; + out_9071365926554278405[202] = 0; + out_9071365926554278405[203] = 0; + out_9071365926554278405[204] = 0; + out_9071365926554278405[205] = 0; + out_9071365926554278405[206] = 0; + out_9071365926554278405[207] = 0; + out_9071365926554278405[208] = 0; + out_9071365926554278405[209] = 1; + out_9071365926554278405[210] = 0; + out_9071365926554278405[211] = 0; + out_9071365926554278405[212] = 0; + out_9071365926554278405[213] = 0; + out_9071365926554278405[214] = 0; + out_9071365926554278405[215] = 0; + out_9071365926554278405[216] = 0; + out_9071365926554278405[217] = 0; + out_9071365926554278405[218] = 0; + out_9071365926554278405[219] = 0; + out_9071365926554278405[220] = 0; + out_9071365926554278405[221] = 0; + out_9071365926554278405[222] = 0; + out_9071365926554278405[223] = 0; + out_9071365926554278405[224] = 0; + out_9071365926554278405[225] = 0; + out_9071365926554278405[226] = 0; + out_9071365926554278405[227] = 0; + out_9071365926554278405[228] = 1; + out_9071365926554278405[229] = 0; + out_9071365926554278405[230] = 0; + out_9071365926554278405[231] = 0; + out_9071365926554278405[232] = 0; + out_9071365926554278405[233] = 0; + out_9071365926554278405[234] = 0; + out_9071365926554278405[235] = 0; + out_9071365926554278405[236] = 0; + out_9071365926554278405[237] = 0; + out_9071365926554278405[238] = 0; + out_9071365926554278405[239] = 0; + out_9071365926554278405[240] = 0; + out_9071365926554278405[241] = 0; + out_9071365926554278405[242] = 0; + out_9071365926554278405[243] = 0; + out_9071365926554278405[244] = 0; + out_9071365926554278405[245] = 0; + out_9071365926554278405[246] = 0; + out_9071365926554278405[247] = 1; + out_9071365926554278405[248] = 0; + out_9071365926554278405[249] = 0; + out_9071365926554278405[250] = 0; + out_9071365926554278405[251] = 0; + out_9071365926554278405[252] = 0; + out_9071365926554278405[253] = 0; + out_9071365926554278405[254] = 0; + out_9071365926554278405[255] = 0; + out_9071365926554278405[256] = 0; + out_9071365926554278405[257] = 0; + out_9071365926554278405[258] = 0; + out_9071365926554278405[259] = 0; + out_9071365926554278405[260] = 0; + out_9071365926554278405[261] = 0; + out_9071365926554278405[262] = 0; + out_9071365926554278405[263] = 0; + out_9071365926554278405[264] = 0; + out_9071365926554278405[265] = 0; + out_9071365926554278405[266] = 1; + out_9071365926554278405[267] = 0; + out_9071365926554278405[268] = 0; + out_9071365926554278405[269] = 0; + out_9071365926554278405[270] = 0; + out_9071365926554278405[271] = 0; + out_9071365926554278405[272] = 0; + out_9071365926554278405[273] = 0; + out_9071365926554278405[274] = 0; + out_9071365926554278405[275] = 0; + out_9071365926554278405[276] = 0; + out_9071365926554278405[277] = 0; + out_9071365926554278405[278] = 0; + out_9071365926554278405[279] = 0; + out_9071365926554278405[280] = 0; + out_9071365926554278405[281] = 0; + out_9071365926554278405[282] = 0; + out_9071365926554278405[283] = 0; + out_9071365926554278405[284] = 0; + out_9071365926554278405[285] = 1; + out_9071365926554278405[286] = 0; + out_9071365926554278405[287] = 0; + out_9071365926554278405[288] = 0; + out_9071365926554278405[289] = 0; + out_9071365926554278405[290] = 0; + out_9071365926554278405[291] = 0; + out_9071365926554278405[292] = 0; + out_9071365926554278405[293] = 0; + out_9071365926554278405[294] = 0; + out_9071365926554278405[295] = 0; + out_9071365926554278405[296] = 0; + out_9071365926554278405[297] = 0; + out_9071365926554278405[298] = 0; + out_9071365926554278405[299] = 0; + out_9071365926554278405[300] = 0; + out_9071365926554278405[301] = 0; + out_9071365926554278405[302] = 0; + out_9071365926554278405[303] = 0; + out_9071365926554278405[304] = 1; + out_9071365926554278405[305] = 0; + out_9071365926554278405[306] = 0; + out_9071365926554278405[307] = 0; + out_9071365926554278405[308] = 0; + out_9071365926554278405[309] = 0; + out_9071365926554278405[310] = 0; + out_9071365926554278405[311] = 0; + out_9071365926554278405[312] = 0; + out_9071365926554278405[313] = 0; + out_9071365926554278405[314] = 0; + out_9071365926554278405[315] = 0; + out_9071365926554278405[316] = 0; + out_9071365926554278405[317] = 0; + out_9071365926554278405[318] = 0; + out_9071365926554278405[319] = 0; + out_9071365926554278405[320] = 0; + out_9071365926554278405[321] = 0; + out_9071365926554278405[322] = 0; + out_9071365926554278405[323] = 1; } -void h_4(double *state, double *unused, double *out_5523365294760256360) { - out_5523365294760256360[0] = state[6] + state[9]; - out_5523365294760256360[1] = state[7] + state[10]; - out_5523365294760256360[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7694457163636602289) { + out_7694457163636602289[0] = state[6] + state[9]; + out_7694457163636602289[1] = state[7] + state[10]; + out_7694457163636602289[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_848654723451256734) { - out_848654723451256734[0] = 0; - out_848654723451256734[1] = 0; - out_848654723451256734[2] = 0; - out_848654723451256734[3] = 0; - out_848654723451256734[4] = 0; - out_848654723451256734[5] = 0; - out_848654723451256734[6] = 1; - out_848654723451256734[7] = 0; - out_848654723451256734[8] = 0; - out_848654723451256734[9] = 1; - out_848654723451256734[10] = 0; - out_848654723451256734[11] = 0; - out_848654723451256734[12] = 0; - out_848654723451256734[13] = 0; - out_848654723451256734[14] = 0; - out_848654723451256734[15] = 0; - out_848654723451256734[16] = 0; - out_848654723451256734[17] = 0; - out_848654723451256734[18] = 0; - out_848654723451256734[19] = 0; - out_848654723451256734[20] = 0; - out_848654723451256734[21] = 0; - out_848654723451256734[22] = 0; - out_848654723451256734[23] = 0; - out_848654723451256734[24] = 0; - out_848654723451256734[25] = 1; - out_848654723451256734[26] = 0; - out_848654723451256734[27] = 0; - out_848654723451256734[28] = 1; - out_848654723451256734[29] = 0; - out_848654723451256734[30] = 0; - out_848654723451256734[31] = 0; - out_848654723451256734[32] = 0; - out_848654723451256734[33] = 0; - out_848654723451256734[34] = 0; - out_848654723451256734[35] = 0; - out_848654723451256734[36] = 0; - out_848654723451256734[37] = 0; - out_848654723451256734[38] = 0; - out_848654723451256734[39] = 0; - out_848654723451256734[40] = 0; - out_848654723451256734[41] = 0; - out_848654723451256734[42] = 0; - out_848654723451256734[43] = 0; - out_848654723451256734[44] = 1; - out_848654723451256734[45] = 0; - out_848654723451256734[46] = 0; - out_848654723451256734[47] = 1; - out_848654723451256734[48] = 0; - out_848654723451256734[49] = 0; - out_848654723451256734[50] = 0; - out_848654723451256734[51] = 0; - out_848654723451256734[52] = 0; - out_848654723451256734[53] = 0; +void H_4(double *state, double *unused, double *out_7880977269436563679) { + out_7880977269436563679[0] = 0; + out_7880977269436563679[1] = 0; + out_7880977269436563679[2] = 0; + out_7880977269436563679[3] = 0; + out_7880977269436563679[4] = 0; + out_7880977269436563679[5] = 0; + out_7880977269436563679[6] = 1; + out_7880977269436563679[7] = 0; + out_7880977269436563679[8] = 0; + out_7880977269436563679[9] = 1; + out_7880977269436563679[10] = 0; + out_7880977269436563679[11] = 0; + out_7880977269436563679[12] = 0; + out_7880977269436563679[13] = 0; + out_7880977269436563679[14] = 0; + out_7880977269436563679[15] = 0; + out_7880977269436563679[16] = 0; + out_7880977269436563679[17] = 0; + out_7880977269436563679[18] = 0; + out_7880977269436563679[19] = 0; + out_7880977269436563679[20] = 0; + out_7880977269436563679[21] = 0; + out_7880977269436563679[22] = 0; + out_7880977269436563679[23] = 0; + out_7880977269436563679[24] = 0; + out_7880977269436563679[25] = 1; + out_7880977269436563679[26] = 0; + out_7880977269436563679[27] = 0; + out_7880977269436563679[28] = 1; + out_7880977269436563679[29] = 0; + out_7880977269436563679[30] = 0; + out_7880977269436563679[31] = 0; + out_7880977269436563679[32] = 0; + out_7880977269436563679[33] = 0; + out_7880977269436563679[34] = 0; + out_7880977269436563679[35] = 0; + out_7880977269436563679[36] = 0; + out_7880977269436563679[37] = 0; + out_7880977269436563679[38] = 0; + out_7880977269436563679[39] = 0; + out_7880977269436563679[40] = 0; + out_7880977269436563679[41] = 0; + out_7880977269436563679[42] = 0; + out_7880977269436563679[43] = 0; + out_7880977269436563679[44] = 1; + out_7880977269436563679[45] = 0; + out_7880977269436563679[46] = 0; + out_7880977269436563679[47] = 1; + out_7880977269436563679[48] = 0; + out_7880977269436563679[49] = 0; + out_7880977269436563679[50] = 0; + out_7880977269436563679[51] = 0; + out_7880977269436563679[52] = 0; + out_7880977269436563679[53] = 0; } -void h_10(double *state, double *unused, double *out_1239079208898706284) { - out_1239079208898706284[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1239079208898706284[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1239079208898706284[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; +void h_10(double *state, double *unused, double *out_5236443719394936462) { + out_5236443719394936462[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5236443719394936462[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5236443719394936462[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_1001724707531765931) { - out_1001724707531765931[0] = 0; - out_1001724707531765931[1] = 9.8100000000000005*cos(state[1]); - out_1001724707531765931[2] = 0; - out_1001724707531765931[3] = 0; - out_1001724707531765931[4] = -state[8]; - out_1001724707531765931[5] = state[7]; - out_1001724707531765931[6] = 0; - out_1001724707531765931[7] = state[5]; - out_1001724707531765931[8] = -state[4]; - out_1001724707531765931[9] = 0; - out_1001724707531765931[10] = 0; - out_1001724707531765931[11] = 0; - out_1001724707531765931[12] = 1; - out_1001724707531765931[13] = 0; - out_1001724707531765931[14] = 0; - out_1001724707531765931[15] = 1; - out_1001724707531765931[16] = 0; - out_1001724707531765931[17] = 0; - out_1001724707531765931[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1001724707531765931[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1001724707531765931[20] = 0; - out_1001724707531765931[21] = state[8]; - out_1001724707531765931[22] = 0; - out_1001724707531765931[23] = -state[6]; - out_1001724707531765931[24] = -state[5]; - out_1001724707531765931[25] = 0; - out_1001724707531765931[26] = state[3]; - out_1001724707531765931[27] = 0; - out_1001724707531765931[28] = 0; - out_1001724707531765931[29] = 0; - out_1001724707531765931[30] = 0; - out_1001724707531765931[31] = 1; - out_1001724707531765931[32] = 0; - out_1001724707531765931[33] = 0; - out_1001724707531765931[34] = 1; - out_1001724707531765931[35] = 0; - out_1001724707531765931[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1001724707531765931[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1001724707531765931[38] = 0; - out_1001724707531765931[39] = -state[7]; - out_1001724707531765931[40] = state[6]; - out_1001724707531765931[41] = 0; - out_1001724707531765931[42] = state[4]; - out_1001724707531765931[43] = -state[3]; - out_1001724707531765931[44] = 0; - out_1001724707531765931[45] = 0; - out_1001724707531765931[46] = 0; - out_1001724707531765931[47] = 0; - out_1001724707531765931[48] = 0; - out_1001724707531765931[49] = 0; - out_1001724707531765931[50] = 1; - out_1001724707531765931[51] = 0; - out_1001724707531765931[52] = 0; - out_1001724707531765931[53] = 1; +void H_10(double *state, double *unused, double *out_8689295297570059510) { + out_8689295297570059510[0] = 0; + out_8689295297570059510[1] = 9.8100000000000005*cos(state[1]); + out_8689295297570059510[2] = 0; + out_8689295297570059510[3] = 0; + out_8689295297570059510[4] = -state[8]; + out_8689295297570059510[5] = state[7]; + out_8689295297570059510[6] = 0; + out_8689295297570059510[7] = state[5]; + out_8689295297570059510[8] = -state[4]; + out_8689295297570059510[9] = 0; + out_8689295297570059510[10] = 0; + out_8689295297570059510[11] = 0; + out_8689295297570059510[12] = 1; + out_8689295297570059510[13] = 0; + out_8689295297570059510[14] = 0; + out_8689295297570059510[15] = 1; + out_8689295297570059510[16] = 0; + out_8689295297570059510[17] = 0; + out_8689295297570059510[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8689295297570059510[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8689295297570059510[20] = 0; + out_8689295297570059510[21] = state[8]; + out_8689295297570059510[22] = 0; + out_8689295297570059510[23] = -state[6]; + out_8689295297570059510[24] = -state[5]; + out_8689295297570059510[25] = 0; + out_8689295297570059510[26] = state[3]; + out_8689295297570059510[27] = 0; + out_8689295297570059510[28] = 0; + out_8689295297570059510[29] = 0; + out_8689295297570059510[30] = 0; + out_8689295297570059510[31] = 1; + out_8689295297570059510[32] = 0; + out_8689295297570059510[33] = 0; + out_8689295297570059510[34] = 1; + out_8689295297570059510[35] = 0; + out_8689295297570059510[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8689295297570059510[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8689295297570059510[38] = 0; + out_8689295297570059510[39] = -state[7]; + out_8689295297570059510[40] = state[6]; + out_8689295297570059510[41] = 0; + out_8689295297570059510[42] = state[4]; + out_8689295297570059510[43] = -state[3]; + out_8689295297570059510[44] = 0; + out_8689295297570059510[45] = 0; + out_8689295297570059510[46] = 0; + out_8689295297570059510[47] = 0; + out_8689295297570059510[48] = 0; + out_8689295297570059510[49] = 0; + out_8689295297570059510[50] = 1; + out_8689295297570059510[51] = 0; + out_8689295297570059510[52] = 0; + out_8689295297570059510[53] = 1; } -void h_13(double *state, double *unused, double *out_7307670055393162069) { - out_7307670055393162069[0] = state[3]; - out_7307670055393162069[1] = state[4]; - out_7307670055393162069[2] = state[5]; +void h_13(double *state, double *unused, double *out_9075529594653175555) { + out_9075529594653175555[0] = state[3]; + out_9075529594653175555[1] = state[4]; + out_9075529594653175555[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6761976484865444195) { - out_6761976484865444195[0] = 0; - out_6761976484865444195[1] = 0; - out_6761976484865444195[2] = 0; - out_6761976484865444195[3] = 1; - out_6761976484865444195[4] = 0; - out_6761976484865444195[5] = 0; - out_6761976484865444195[6] = 0; - out_6761976484865444195[7] = 0; - out_6761976484865444195[8] = 0; - out_6761976484865444195[9] = 0; - out_6761976484865444195[10] = 0; - out_6761976484865444195[11] = 0; - out_6761976484865444195[12] = 0; - out_6761976484865444195[13] = 0; - out_6761976484865444195[14] = 0; - out_6761976484865444195[15] = 0; - out_6761976484865444195[16] = 0; - out_6761976484865444195[17] = 0; - out_6761976484865444195[18] = 0; - out_6761976484865444195[19] = 0; - out_6761976484865444195[20] = 0; - out_6761976484865444195[21] = 0; - out_6761976484865444195[22] = 1; - out_6761976484865444195[23] = 0; - out_6761976484865444195[24] = 0; - out_6761976484865444195[25] = 0; - out_6761976484865444195[26] = 0; - out_6761976484865444195[27] = 0; - out_6761976484865444195[28] = 0; - out_6761976484865444195[29] = 0; - out_6761976484865444195[30] = 0; - out_6761976484865444195[31] = 0; - out_6761976484865444195[32] = 0; - out_6761976484865444195[33] = 0; - out_6761976484865444195[34] = 0; - out_6761976484865444195[35] = 0; - out_6761976484865444195[36] = 0; - out_6761976484865444195[37] = 0; - out_6761976484865444195[38] = 0; - out_6761976484865444195[39] = 0; - out_6761976484865444195[40] = 0; - out_6761976484865444195[41] = 1; - out_6761976484865444195[42] = 0; - out_6761976484865444195[43] = 0; - out_6761976484865444195[44] = 0; - out_6761976484865444195[45] = 0; - out_6761976484865444195[46] = 0; - out_6761976484865444195[47] = 0; - out_6761976484865444195[48] = 0; - out_6761976484865444195[49] = 0; - out_6761976484865444195[50] = 0; - out_6761976484865444195[51] = 0; - out_6761976484865444195[52] = 0; - out_6761976484865444195[53] = 0; +void H_13(double *state, double *unused, double *out_4668703444104230878) { + out_4668703444104230878[0] = 0; + out_4668703444104230878[1] = 0; + out_4668703444104230878[2] = 0; + out_4668703444104230878[3] = 1; + out_4668703444104230878[4] = 0; + out_4668703444104230878[5] = 0; + out_4668703444104230878[6] = 0; + out_4668703444104230878[7] = 0; + out_4668703444104230878[8] = 0; + out_4668703444104230878[9] = 0; + out_4668703444104230878[10] = 0; + out_4668703444104230878[11] = 0; + out_4668703444104230878[12] = 0; + out_4668703444104230878[13] = 0; + out_4668703444104230878[14] = 0; + out_4668703444104230878[15] = 0; + out_4668703444104230878[16] = 0; + out_4668703444104230878[17] = 0; + out_4668703444104230878[18] = 0; + out_4668703444104230878[19] = 0; + out_4668703444104230878[20] = 0; + out_4668703444104230878[21] = 0; + out_4668703444104230878[22] = 1; + out_4668703444104230878[23] = 0; + out_4668703444104230878[24] = 0; + out_4668703444104230878[25] = 0; + out_4668703444104230878[26] = 0; + out_4668703444104230878[27] = 0; + out_4668703444104230878[28] = 0; + out_4668703444104230878[29] = 0; + out_4668703444104230878[30] = 0; + out_4668703444104230878[31] = 0; + out_4668703444104230878[32] = 0; + out_4668703444104230878[33] = 0; + out_4668703444104230878[34] = 0; + out_4668703444104230878[35] = 0; + out_4668703444104230878[36] = 0; + out_4668703444104230878[37] = 0; + out_4668703444104230878[38] = 0; + out_4668703444104230878[39] = 0; + out_4668703444104230878[40] = 0; + out_4668703444104230878[41] = 1; + out_4668703444104230878[42] = 0; + out_4668703444104230878[43] = 0; + out_4668703444104230878[44] = 0; + out_4668703444104230878[45] = 0; + out_4668703444104230878[46] = 0; + out_4668703444104230878[47] = 0; + out_4668703444104230878[48] = 0; + out_4668703444104230878[49] = 0; + out_4668703444104230878[50] = 0; + out_4668703444104230878[51] = 0; + out_4668703444104230878[52] = 0; + out_4668703444104230878[53] = 0; } -void h_14(double *state, double *unused, double *out_7233663736752442507) { - out_7233663736752442507[0] = state[6]; - out_7233663736752442507[1] = state[7]; - out_7233663736752442507[2] = state[8]; +void h_14(double *state, double *unused, double *out_6684644170062039646) { + out_6684644170062039646[0] = state[6]; + out_6684644170062039646[1] = state[7]; + out_6684644170062039646[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3114586132888227795) { - out_3114586132888227795[0] = 0; - out_3114586132888227795[1] = 0; - out_3114586132888227795[2] = 0; - out_3114586132888227795[3] = 0; - out_3114586132888227795[4] = 0; - out_3114586132888227795[5] = 0; - out_3114586132888227795[6] = 1; - out_3114586132888227795[7] = 0; - out_3114586132888227795[8] = 0; - out_3114586132888227795[9] = 0; - out_3114586132888227795[10] = 0; - out_3114586132888227795[11] = 0; - out_3114586132888227795[12] = 0; - out_3114586132888227795[13] = 0; - out_3114586132888227795[14] = 0; - out_3114586132888227795[15] = 0; - out_3114586132888227795[16] = 0; - out_3114586132888227795[17] = 0; - out_3114586132888227795[18] = 0; - out_3114586132888227795[19] = 0; - out_3114586132888227795[20] = 0; - out_3114586132888227795[21] = 0; - out_3114586132888227795[22] = 0; - out_3114586132888227795[23] = 0; - out_3114586132888227795[24] = 0; - out_3114586132888227795[25] = 1; - out_3114586132888227795[26] = 0; - out_3114586132888227795[27] = 0; - out_3114586132888227795[28] = 0; - out_3114586132888227795[29] = 0; - out_3114586132888227795[30] = 0; - out_3114586132888227795[31] = 0; - out_3114586132888227795[32] = 0; - out_3114586132888227795[33] = 0; - out_3114586132888227795[34] = 0; - out_3114586132888227795[35] = 0; - out_3114586132888227795[36] = 0; - out_3114586132888227795[37] = 0; - out_3114586132888227795[38] = 0; - out_3114586132888227795[39] = 0; - out_3114586132888227795[40] = 0; - out_3114586132888227795[41] = 0; - out_3114586132888227795[42] = 0; - out_3114586132888227795[43] = 0; - out_3114586132888227795[44] = 1; - out_3114586132888227795[45] = 0; - out_3114586132888227795[46] = 0; - out_3114586132888227795[47] = 0; - out_3114586132888227795[48] = 0; - out_3114586132888227795[49] = 0; - out_3114586132888227795[50] = 0; - out_3114586132888227795[51] = 0; - out_3114586132888227795[52] = 0; - out_3114586132888227795[53] = 0; +void H_14(double *state, double *unused, double *out_3917736413097079150) { + out_3917736413097079150[0] = 0; + out_3917736413097079150[1] = 0; + out_3917736413097079150[2] = 0; + out_3917736413097079150[3] = 0; + out_3917736413097079150[4] = 0; + out_3917736413097079150[5] = 0; + out_3917736413097079150[6] = 1; + out_3917736413097079150[7] = 0; + out_3917736413097079150[8] = 0; + out_3917736413097079150[9] = 0; + out_3917736413097079150[10] = 0; + out_3917736413097079150[11] = 0; + out_3917736413097079150[12] = 0; + out_3917736413097079150[13] = 0; + out_3917736413097079150[14] = 0; + out_3917736413097079150[15] = 0; + out_3917736413097079150[16] = 0; + out_3917736413097079150[17] = 0; + out_3917736413097079150[18] = 0; + out_3917736413097079150[19] = 0; + out_3917736413097079150[20] = 0; + out_3917736413097079150[21] = 0; + out_3917736413097079150[22] = 0; + out_3917736413097079150[23] = 0; + out_3917736413097079150[24] = 0; + out_3917736413097079150[25] = 1; + out_3917736413097079150[26] = 0; + out_3917736413097079150[27] = 0; + out_3917736413097079150[28] = 0; + out_3917736413097079150[29] = 0; + out_3917736413097079150[30] = 0; + out_3917736413097079150[31] = 0; + out_3917736413097079150[32] = 0; + out_3917736413097079150[33] = 0; + out_3917736413097079150[34] = 0; + out_3917736413097079150[35] = 0; + out_3917736413097079150[36] = 0; + out_3917736413097079150[37] = 0; + out_3917736413097079150[38] = 0; + out_3917736413097079150[39] = 0; + out_3917736413097079150[40] = 0; + out_3917736413097079150[41] = 0; + out_3917736413097079150[42] = 0; + out_3917736413097079150[43] = 0; + out_3917736413097079150[44] = 1; + out_3917736413097079150[45] = 0; + out_3917736413097079150[46] = 0; + out_3917736413097079150[47] = 0; + out_3917736413097079150[48] = 0; + out_3917736413097079150[49] = 0; + out_3917736413097079150[50] = 0; + out_3917736413097079150[51] = 0; + out_3917736413097079150[52] = 0; + out_3917736413097079150[53] = 0; } #include #include @@ -1113,44 +1113,44 @@ void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, doub void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14); } -void pose_err_fun(double *nom_x, double *delta_x, double *out_8123935570106658818) { - err_fun(nom_x, delta_x, out_8123935570106658818); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5143015347590812681) { + err_fun(nom_x, delta_x, out_5143015347590812681); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670) { - inv_err_fun(nom_x, true_x, out_7916605304970807670); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1498290725825032559) { + inv_err_fun(nom_x, true_x, out_1498290725825032559); } -void pose_H_mod_fun(double *state, double *out_1602815725505969341) { - H_mod_fun(state, out_1602815725505969341); +void pose_H_mod_fun(double *state, double *out_4606755190645614426) { + H_mod_fun(state, out_4606755190645614426); } -void pose_f_fun(double *state, double dt, double *out_6941148323357631663) { - f_fun(state, dt, out_6941148323357631663); +void pose_f_fun(double *state, double dt, double *out_8576950781836710085) { + f_fun(state, dt, out_8576950781836710085); } -void pose_F_fun(double *state, double dt, double *out_8174317485626071951) { - F_fun(state, dt, out_8174317485626071951); +void pose_F_fun(double *state, double dt, double *out_9071365926554278405) { + F_fun(state, dt, out_9071365926554278405); } -void pose_h_4(double *state, double *unused, double *out_5523365294760256360) { - h_4(state, unused, out_5523365294760256360); +void pose_h_4(double *state, double *unused, double *out_7694457163636602289) { + h_4(state, unused, out_7694457163636602289); } -void pose_H_4(double *state, double *unused, double *out_848654723451256734) { - H_4(state, unused, out_848654723451256734); +void pose_H_4(double *state, double *unused, double *out_7880977269436563679) { + H_4(state, unused, out_7880977269436563679); } -void pose_h_10(double *state, double *unused, double *out_1239079208898706284) { - h_10(state, unused, out_1239079208898706284); +void pose_h_10(double *state, double *unused, double *out_5236443719394936462) { + h_10(state, unused, out_5236443719394936462); } -void pose_H_10(double *state, double *unused, double *out_1001724707531765931) { - H_10(state, unused, out_1001724707531765931); +void pose_H_10(double *state, double *unused, double *out_8689295297570059510) { + H_10(state, unused, out_8689295297570059510); } -void pose_h_13(double *state, double *unused, double *out_7307670055393162069) { - h_13(state, unused, out_7307670055393162069); +void pose_h_13(double *state, double *unused, double *out_9075529594653175555) { + h_13(state, unused, out_9075529594653175555); } -void pose_H_13(double *state, double *unused, double *out_6761976484865444195) { - H_13(state, unused, out_6761976484865444195); +void pose_H_13(double *state, double *unused, double *out_4668703444104230878) { + H_13(state, unused, out_4668703444104230878); } -void pose_h_14(double *state, double *unused, double *out_7233663736752442507) { - h_14(state, unused, out_7233663736752442507); +void pose_h_14(double *state, double *unused, double *out_6684644170062039646) { + h_14(state, unused, out_6684644170062039646); } -void pose_H_14(double *state, double *unused, double *out_3114586132888227795) { - H_14(state, unused, out_3114586132888227795); +void pose_H_14(double *state, double *unused, double *out_3917736413097079150) { + H_14(state, unused, out_3917736413097079150); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/pose.h b/selfdrive/locationd/models/generated/pose.h index 2d40ef84f..7bef35a3e 100644 --- a/selfdrive/locationd/models/generated/pose.h +++ b/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_8123935570106658818); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670); -void pose_H_mod_fun(double *state, double *out_1602815725505969341); -void pose_f_fun(double *state, double dt, double *out_6941148323357631663); -void pose_F_fun(double *state, double dt, double *out_8174317485626071951); -void pose_h_4(double *state, double *unused, double *out_5523365294760256360); -void pose_H_4(double *state, double *unused, double *out_848654723451256734); -void pose_h_10(double *state, double *unused, double *out_1239079208898706284); -void pose_H_10(double *state, double *unused, double *out_1001724707531765931); -void pose_h_13(double *state, double *unused, double *out_7307670055393162069); -void pose_H_13(double *state, double *unused, double *out_6761976484865444195); -void pose_h_14(double *state, double *unused, double *out_7233663736752442507); -void pose_H_14(double *state, double *unused, double *out_3114586132888227795); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5143015347590812681); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1498290725825032559); +void pose_H_mod_fun(double *state, double *out_4606755190645614426); +void pose_f_fun(double *state, double dt, double *out_8576950781836710085); +void pose_F_fun(double *state, double dt, double *out_9071365926554278405); +void pose_h_4(double *state, double *unused, double *out_7694457163636602289); +void pose_H_4(double *state, double *unused, double *out_7880977269436563679); +void pose_h_10(double *state, double *unused, double *out_5236443719394936462); +void pose_H_10(double *state, double *unused, double *out_8689295297570059510); +void pose_h_13(double *state, double *unused, double *out_9075529594653175555); +void pose_H_13(double *state, double *unused, double *out_4668703444104230878); +void pose_h_14(double *state, double *unused, double *out_6684644170062039646); +void pose_H_14(double *state, double *unused, double *out_3917736413097079150); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index b0098126c..ed59d4253 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 1bdc16d05..08c427e87 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 6cd5d514f..d0a6fdba0 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index b15b7e93b..66ed8dba3 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 249db8460..36fe3ac9d 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git 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