mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-23 23:12:04 +08:00
dragonpilot
1988 lines
90 KiB
C++
1988 lines
90 KiB
C++
#include "live.h"
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namespace {
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#define DIM 22
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#define EDIM 21
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#define MEDIM 21
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typedef void (*Hfun)(double *, double *, double *);
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const static double MAHA_THRESH_4 = 7.814727903251177;
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const static double MAHA_THRESH_9 = 7.814727903251177;
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const static double MAHA_THRESH_10 = 7.814727903251177;
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const static double MAHA_THRESH_12 = 7.814727903251177;
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const static double MAHA_THRESH_35 = 7.814727903251177;
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const static double MAHA_THRESH_32 = 9.487729036781154;
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const static double MAHA_THRESH_13 = 7.814727903251177;
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const static double MAHA_THRESH_14 = 7.814727903251177;
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const static double MAHA_THRESH_33 = 7.814727903251177;
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/******************************************************************************
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* Code generated with SymPy 1.12 *
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* *
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* See http://www.sympy.org/ for more information. *
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void H(double *in_vec, double *out_133227908697253646) {
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out_133227908697253646[0] = 0;
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out_133227908697253646[1] = -sin(in_vec[1])*sin(in_vec[2])*in_vec[4] - sin(in_vec[1])*cos(in_vec[2])*in_vec[3] - cos(in_vec[1])*in_vec[5];
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out_133227908697253646[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4];
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out_133227908697253646[3] = cos(in_vec[1])*cos(in_vec[2]);
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out_133227908697253646[4] = sin(in_vec[2])*cos(in_vec[1]);
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out_133227908697253646[5] = -sin(in_vec[1]);
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out_133227908697253646[6] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (-sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*in_vec[5];
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out_133227908697253646[7] = -sin(in_vec[0])*sin(in_vec[1])*in_vec[5] + sin(in_vec[0])*sin(in_vec[2])*cos(in_vec[1])*in_vec[4] + sin(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3];
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out_133227908697253646[8] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]))*in_vec[4];
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out_133227908697253646[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]);
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out_133227908697253646[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]);
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out_133227908697253646[11] = sin(in_vec[0])*cos(in_vec[1]);
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out_133227908697253646[12] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (-sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) + sin(in_vec[2])*cos(in_vec[0]))*in_vec[3] - sin(in_vec[0])*cos(in_vec[1])*in_vec[5];
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out_133227908697253646[13] = -sin(in_vec[1])*cos(in_vec[0])*in_vec[5] + sin(in_vec[2])*cos(in_vec[0])*cos(in_vec[1])*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3];
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out_133227908697253646[14] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (sin(in_vec[0])*cos(in_vec[2]) - sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[3];
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out_133227908697253646[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]);
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out_133227908697253646[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]);
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out_133227908697253646[17] = cos(in_vec[0])*cos(in_vec[1]);
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}
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void err_fun(double *nom_x, double *delta_x, double *out_7956773024485299364) {
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out_7956773024485299364[0] = delta_x[0] + nom_x[0];
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out_7956773024485299364[1] = delta_x[1] + nom_x[1];
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out_7956773024485299364[2] = delta_x[2] + nom_x[2];
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out_7956773024485299364[3] = -0.5*delta_x[3]*nom_x[4] - 0.5*delta_x[4]*nom_x[5] - 0.5*delta_x[5]*nom_x[6] + 1.0*nom_x[3];
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out_7956773024485299364[4] = 0.5*delta_x[3]*nom_x[3] + 0.5*delta_x[4]*nom_x[6] - 0.5*delta_x[5]*nom_x[5] + 1.0*nom_x[4];
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out_7956773024485299364[5] = -0.5*delta_x[3]*nom_x[6] + 0.5*delta_x[4]*nom_x[3] + 0.5*delta_x[5]*nom_x[4] + 1.0*nom_x[5];
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out_7956773024485299364[6] = 0.5*delta_x[3]*nom_x[5] - 0.5*delta_x[4]*nom_x[4] + 0.5*delta_x[5]*nom_x[3] + 1.0*nom_x[6];
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out_7956773024485299364[7] = delta_x[6] + nom_x[7];
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out_7956773024485299364[8] = delta_x[7] + nom_x[8];
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out_7956773024485299364[9] = delta_x[8] + nom_x[9];
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out_7956773024485299364[10] = delta_x[9] + nom_x[10];
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out_7956773024485299364[11] = delta_x[10] + nom_x[11];
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out_7956773024485299364[12] = delta_x[11] + nom_x[12];
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out_7956773024485299364[13] = delta_x[12] + nom_x[13];
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out_7956773024485299364[14] = delta_x[13] + nom_x[14];
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out_7956773024485299364[15] = delta_x[14] + nom_x[15];
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out_7956773024485299364[16] = delta_x[15] + nom_x[16];
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out_7956773024485299364[17] = delta_x[16] + nom_x[17];
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out_7956773024485299364[18] = delta_x[17] + nom_x[18];
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out_7956773024485299364[19] = delta_x[18] + nom_x[19];
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out_7956773024485299364[20] = delta_x[19] + nom_x[20];
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out_7956773024485299364[21] = delta_x[20] + nom_x[21];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_2732543202000143924) {
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out_2732543202000143924[0] = -nom_x[0] + true_x[0];
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out_2732543202000143924[1] = -nom_x[1] + true_x[1];
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out_2732543202000143924[2] = -nom_x[2] + true_x[2];
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out_2732543202000143924[3] = 2*nom_x[3]*true_x[4] - 2*nom_x[4]*true_x[3] + 2*nom_x[5]*true_x[6] - 2*nom_x[6]*true_x[5];
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out_2732543202000143924[4] = 2*nom_x[3]*true_x[5] - 2*nom_x[4]*true_x[6] - 2*nom_x[5]*true_x[3] + 2*nom_x[6]*true_x[4];
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out_2732543202000143924[5] = 2*nom_x[3]*true_x[6] + 2*nom_x[4]*true_x[5] - 2*nom_x[5]*true_x[4] - 2*nom_x[6]*true_x[3];
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out_2732543202000143924[6] = -nom_x[7] + true_x[7];
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out_2732543202000143924[7] = -nom_x[8] + true_x[8];
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out_2732543202000143924[8] = -nom_x[9] + true_x[9];
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out_2732543202000143924[9] = -nom_x[10] + true_x[10];
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out_2732543202000143924[10] = -nom_x[11] + true_x[11];
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out_2732543202000143924[11] = -nom_x[12] + true_x[12];
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out_2732543202000143924[12] = -nom_x[13] + true_x[13];
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out_2732543202000143924[13] = -nom_x[14] + true_x[14];
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out_2732543202000143924[14] = -nom_x[15] + true_x[15];
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out_2732543202000143924[15] = -nom_x[16] + true_x[16];
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out_2732543202000143924[16] = -nom_x[17] + true_x[17];
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out_2732543202000143924[17] = -nom_x[18] + true_x[18];
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out_2732543202000143924[18] = -nom_x[19] + true_x[19];
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out_2732543202000143924[19] = -nom_x[20] + true_x[20];
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out_2732543202000143924[20] = -nom_x[21] + true_x[21];
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}
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void H_mod_fun(double *state, double *out_3009125082534637337) {
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out_3009125082534637337[0] = 1.0;
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out_3009125082534637337[1] = 0;
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out_3009125082534637337[2] = 0;
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out_3009125082534637337[3] = 0;
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out_3009125082534637337[4] = 0;
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out_3009125082534637337[5] = 0;
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out_3009125082534637337[6] = 0;
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out_3009125082534637337[7] = 0;
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out_3009125082534637337[8] = 0;
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out_3009125082534637337[9] = 0;
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out_3009125082534637337[10] = 0;
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out_3009125082534637337[11] = 0;
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out_3009125082534637337[12] = 0;
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out_3009125082534637337[13] = 0;
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out_3009125082534637337[14] = 0;
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out_3009125082534637337[15] = 0;
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out_3009125082534637337[16] = 0;
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out_3009125082534637337[17] = 0;
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out_3009125082534637337[18] = 0;
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out_3009125082534637337[19] = 0;
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out_3009125082534637337[20] = 0;
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out_3009125082534637337[21] = 0;
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out_3009125082534637337[22] = 1.0;
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out_3009125082534637337[23] = 0;
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out_3009125082534637337[24] = 0;
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out_3009125082534637337[25] = 0;
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out_3009125082534637337[26] = 0;
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out_3009125082534637337[27] = 0;
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out_3009125082534637337[28] = 0;
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out_3009125082534637337[29] = 0;
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out_3009125082534637337[30] = 0;
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out_3009125082534637337[31] = 0;
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out_3009125082534637337[32] = 0;
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out_3009125082534637337[33] = 0;
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out_3009125082534637337[34] = 0;
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out_3009125082534637337[35] = 0;
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out_3009125082534637337[36] = 0;
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out_3009125082534637337[37] = 0;
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out_3009125082534637337[38] = 0;
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out_3009125082534637337[39] = 0;
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out_3009125082534637337[40] = 0;
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out_3009125082534637337[41] = 0;
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out_3009125082534637337[42] = 0;
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out_3009125082534637337[43] = 0;
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out_3009125082534637337[44] = 1.0;
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out_3009125082534637337[45] = 0;
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out_3009125082534637337[46] = 0;
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out_3009125082534637337[47] = 0;
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out_3009125082534637337[48] = 0;
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out_3009125082534637337[49] = 0;
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out_3009125082534637337[50] = 0;
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out_3009125082534637337[51] = 0;
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out_3009125082534637337[52] = 0;
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out_3009125082534637337[53] = 0;
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out_3009125082534637337[54] = 0;
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out_3009125082534637337[55] = 0;
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out_3009125082534637337[56] = 0;
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out_3009125082534637337[57] = 0;
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out_3009125082534637337[58] = 0;
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out_3009125082534637337[59] = 0;
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out_3009125082534637337[60] = 0;
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out_3009125082534637337[61] = 0;
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out_3009125082534637337[62] = 0;
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out_3009125082534637337[63] = 0;
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out_3009125082534637337[64] = 0;
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out_3009125082534637337[65] = 0;
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out_3009125082534637337[66] = -0.5*state[4];
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out_3009125082534637337[67] = -0.5*state[5];
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out_3009125082534637337[68] = -0.5*state[6];
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out_3009125082534637337[69] = 0;
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out_3009125082534637337[70] = 0;
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out_3009125082534637337[71] = 0;
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out_3009125082534637337[72] = 0;
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out_3009125082534637337[73] = 0;
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out_3009125082534637337[74] = 0;
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out_3009125082534637337[75] = 0;
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out_3009125082534637337[76] = 0;
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out_3009125082534637337[77] = 0;
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out_3009125082534637337[78] = 0;
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out_3009125082534637337[79] = 0;
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out_3009125082534637337[80] = 0;
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out_3009125082534637337[81] = 0;
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out_3009125082534637337[82] = 0;
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out_3009125082534637337[83] = 0;
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out_3009125082534637337[84] = 0;
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out_3009125082534637337[85] = 0;
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out_3009125082534637337[86] = 0;
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out_3009125082534637337[87] = 0.5*state[3];
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out_3009125082534637337[88] = 0.5*state[6];
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out_3009125082534637337[89] = -0.5*state[5];
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out_3009125082534637337[90] = 0;
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out_3009125082534637337[91] = 0;
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out_3009125082534637337[92] = 0;
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out_3009125082534637337[93] = 0;
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out_3009125082534637337[94] = 0;
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out_3009125082534637337[95] = 0;
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out_3009125082534637337[96] = 0;
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out_3009125082534637337[97] = 0;
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out_3009125082534637337[98] = 0;
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out_3009125082534637337[99] = 0;
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out_3009125082534637337[100] = 0;
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out_3009125082534637337[101] = 0;
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out_3009125082534637337[102] = 0;
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out_3009125082534637337[103] = 0;
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out_3009125082534637337[104] = 0;
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out_3009125082534637337[105] = 0;
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out_3009125082534637337[106] = 0;
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out_3009125082534637337[107] = 0;
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out_3009125082534637337[108] = -0.5*state[6];
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out_3009125082534637337[109] = 0.5*state[3];
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out_3009125082534637337[110] = 0.5*state[4];
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out_3009125082534637337[111] = 0;
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out_3009125082534637337[112] = 0;
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out_3009125082534637337[113] = 0;
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out_3009125082534637337[114] = 0;
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out_3009125082534637337[115] = 0;
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out_3009125082534637337[116] = 0;
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out_3009125082534637337[117] = 0;
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out_3009125082534637337[118] = 0;
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out_3009125082534637337[119] = 0;
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out_3009125082534637337[120] = 0;
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out_3009125082534637337[121] = 0;
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out_3009125082534637337[122] = 0;
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out_3009125082534637337[123] = 0;
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out_3009125082534637337[124] = 0;
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out_3009125082534637337[125] = 0;
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out_3009125082534637337[126] = 0;
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out_3009125082534637337[127] = 0;
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out_3009125082534637337[128] = 0;
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out_3009125082534637337[129] = 0.5*state[5];
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out_3009125082534637337[130] = -0.5*state[4];
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out_3009125082534637337[131] = 0.5*state[3];
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out_3009125082534637337[132] = 0;
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out_3009125082534637337[133] = 0;
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out_3009125082534637337[134] = 0;
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out_3009125082534637337[135] = 0;
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out_3009125082534637337[136] = 0;
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out_3009125082534637337[137] = 0;
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out_3009125082534637337[138] = 0;
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out_3009125082534637337[139] = 0;
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out_3009125082534637337[140] = 0;
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out_3009125082534637337[141] = 0;
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out_3009125082534637337[142] = 0;
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out_3009125082534637337[143] = 0;
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out_3009125082534637337[144] = 0;
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out_3009125082534637337[145] = 0;
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out_3009125082534637337[146] = 0;
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out_3009125082534637337[147] = 0;
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out_3009125082534637337[148] = 0;
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out_3009125082534637337[149] = 0;
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out_3009125082534637337[150] = 0;
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out_3009125082534637337[151] = 0;
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out_3009125082534637337[152] = 0;
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out_3009125082534637337[153] = 1.0;
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out_3009125082534637337[154] = 0;
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out_3009125082534637337[155] = 0;
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out_3009125082534637337[156] = 0;
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out_3009125082534637337[157] = 0;
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out_3009125082534637337[158] = 0;
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out_3009125082534637337[159] = 0;
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out_3009125082534637337[160] = 0;
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out_3009125082534637337[161] = 0;
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out_3009125082534637337[162] = 0;
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out_3009125082534637337[163] = 0;
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out_3009125082534637337[164] = 0;
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out_3009125082534637337[165] = 0;
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out_3009125082534637337[166] = 0;
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out_3009125082534637337[167] = 0;
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out_3009125082534637337[168] = 0;
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out_3009125082534637337[169] = 0;
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out_3009125082534637337[170] = 0;
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out_3009125082534637337[171] = 0;
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out_3009125082534637337[172] = 0;
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out_3009125082534637337[173] = 0;
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out_3009125082534637337[174] = 0;
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out_3009125082534637337[175] = 1.0;
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out_3009125082534637337[176] = 0;
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out_3009125082534637337[177] = 0;
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out_3009125082534637337[178] = 0;
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out_3009125082534637337[179] = 0;
|
|
out_3009125082534637337[180] = 0;
|
|
out_3009125082534637337[181] = 0;
|
|
out_3009125082534637337[182] = 0;
|
|
out_3009125082534637337[183] = 0;
|
|
out_3009125082534637337[184] = 0;
|
|
out_3009125082534637337[185] = 0;
|
|
out_3009125082534637337[186] = 0;
|
|
out_3009125082534637337[187] = 0;
|
|
out_3009125082534637337[188] = 0;
|
|
out_3009125082534637337[189] = 0;
|
|
out_3009125082534637337[190] = 0;
|
|
out_3009125082534637337[191] = 0;
|
|
out_3009125082534637337[192] = 0;
|
|
out_3009125082534637337[193] = 0;
|
|
out_3009125082534637337[194] = 0;
|
|
out_3009125082534637337[195] = 0;
|
|
out_3009125082534637337[196] = 0;
|
|
out_3009125082534637337[197] = 1.0;
|
|
out_3009125082534637337[198] = 0;
|
|
out_3009125082534637337[199] = 0;
|
|
out_3009125082534637337[200] = 0;
|
|
out_3009125082534637337[201] = 0;
|
|
out_3009125082534637337[202] = 0;
|
|
out_3009125082534637337[203] = 0;
|
|
out_3009125082534637337[204] = 0;
|
|
out_3009125082534637337[205] = 0;
|
|
out_3009125082534637337[206] = 0;
|
|
out_3009125082534637337[207] = 0;
|
|
out_3009125082534637337[208] = 0;
|
|
out_3009125082534637337[209] = 0;
|
|
out_3009125082534637337[210] = 0;
|
|
out_3009125082534637337[211] = 0;
|
|
out_3009125082534637337[212] = 0;
|
|
out_3009125082534637337[213] = 0;
|
|
out_3009125082534637337[214] = 0;
|
|
out_3009125082534637337[215] = 0;
|
|
out_3009125082534637337[216] = 0;
|
|
out_3009125082534637337[217] = 0;
|
|
out_3009125082534637337[218] = 0;
|
|
out_3009125082534637337[219] = 1.0;
|
|
out_3009125082534637337[220] = 0;
|
|
out_3009125082534637337[221] = 0;
|
|
out_3009125082534637337[222] = 0;
|
|
out_3009125082534637337[223] = 0;
|
|
out_3009125082534637337[224] = 0;
|
|
out_3009125082534637337[225] = 0;
|
|
out_3009125082534637337[226] = 0;
|
|
out_3009125082534637337[227] = 0;
|
|
out_3009125082534637337[228] = 0;
|
|
out_3009125082534637337[229] = 0;
|
|
out_3009125082534637337[230] = 0;
|
|
out_3009125082534637337[231] = 0;
|
|
out_3009125082534637337[232] = 0;
|
|
out_3009125082534637337[233] = 0;
|
|
out_3009125082534637337[234] = 0;
|
|
out_3009125082534637337[235] = 0;
|
|
out_3009125082534637337[236] = 0;
|
|
out_3009125082534637337[237] = 0;
|
|
out_3009125082534637337[238] = 0;
|
|
out_3009125082534637337[239] = 0;
|
|
out_3009125082534637337[240] = 0;
|
|
out_3009125082534637337[241] = 1.0;
|
|
out_3009125082534637337[242] = 0;
|
|
out_3009125082534637337[243] = 0;
|
|
out_3009125082534637337[244] = 0;
|
|
out_3009125082534637337[245] = 0;
|
|
out_3009125082534637337[246] = 0;
|
|
out_3009125082534637337[247] = 0;
|
|
out_3009125082534637337[248] = 0;
|
|
out_3009125082534637337[249] = 0;
|
|
out_3009125082534637337[250] = 0;
|
|
out_3009125082534637337[251] = 0;
|
|
out_3009125082534637337[252] = 0;
|
|
out_3009125082534637337[253] = 0;
|
|
out_3009125082534637337[254] = 0;
|
|
out_3009125082534637337[255] = 0;
|
|
out_3009125082534637337[256] = 0;
|
|
out_3009125082534637337[257] = 0;
|
|
out_3009125082534637337[258] = 0;
|
|
out_3009125082534637337[259] = 0;
|
|
out_3009125082534637337[260] = 0;
|
|
out_3009125082534637337[261] = 0;
|
|
out_3009125082534637337[262] = 0;
|
|
out_3009125082534637337[263] = 1.0;
|
|
out_3009125082534637337[264] = 0;
|
|
out_3009125082534637337[265] = 0;
|
|
out_3009125082534637337[266] = 0;
|
|
out_3009125082534637337[267] = 0;
|
|
out_3009125082534637337[268] = 0;
|
|
out_3009125082534637337[269] = 0;
|
|
out_3009125082534637337[270] = 0;
|
|
out_3009125082534637337[271] = 0;
|
|
out_3009125082534637337[272] = 0;
|
|
out_3009125082534637337[273] = 0;
|
|
out_3009125082534637337[274] = 0;
|
|
out_3009125082534637337[275] = 0;
|
|
out_3009125082534637337[276] = 0;
|
|
out_3009125082534637337[277] = 0;
|
|
out_3009125082534637337[278] = 0;
|
|
out_3009125082534637337[279] = 0;
|
|
out_3009125082534637337[280] = 0;
|
|
out_3009125082534637337[281] = 0;
|
|
out_3009125082534637337[282] = 0;
|
|
out_3009125082534637337[283] = 0;
|
|
out_3009125082534637337[284] = 0;
|
|
out_3009125082534637337[285] = 1.0;
|
|
out_3009125082534637337[286] = 0;
|
|
out_3009125082534637337[287] = 0;
|
|
out_3009125082534637337[288] = 0;
|
|
out_3009125082534637337[289] = 0;
|
|
out_3009125082534637337[290] = 0;
|
|
out_3009125082534637337[291] = 0;
|
|
out_3009125082534637337[292] = 0;
|
|
out_3009125082534637337[293] = 0;
|
|
out_3009125082534637337[294] = 0;
|
|
out_3009125082534637337[295] = 0;
|
|
out_3009125082534637337[296] = 0;
|
|
out_3009125082534637337[297] = 0;
|
|
out_3009125082534637337[298] = 0;
|
|
out_3009125082534637337[299] = 0;
|
|
out_3009125082534637337[300] = 0;
|
|
out_3009125082534637337[301] = 0;
|
|
out_3009125082534637337[302] = 0;
|
|
out_3009125082534637337[303] = 0;
|
|
out_3009125082534637337[304] = 0;
|
|
out_3009125082534637337[305] = 0;
|
|
out_3009125082534637337[306] = 0;
|
|
out_3009125082534637337[307] = 1.0;
|
|
out_3009125082534637337[308] = 0;
|
|
out_3009125082534637337[309] = 0;
|
|
out_3009125082534637337[310] = 0;
|
|
out_3009125082534637337[311] = 0;
|
|
out_3009125082534637337[312] = 0;
|
|
out_3009125082534637337[313] = 0;
|
|
out_3009125082534637337[314] = 0;
|
|
out_3009125082534637337[315] = 0;
|
|
out_3009125082534637337[316] = 0;
|
|
out_3009125082534637337[317] = 0;
|
|
out_3009125082534637337[318] = 0;
|
|
out_3009125082534637337[319] = 0;
|
|
out_3009125082534637337[320] = 0;
|
|
out_3009125082534637337[321] = 0;
|
|
out_3009125082534637337[322] = 0;
|
|
out_3009125082534637337[323] = 0;
|
|
out_3009125082534637337[324] = 0;
|
|
out_3009125082534637337[325] = 0;
|
|
out_3009125082534637337[326] = 0;
|
|
out_3009125082534637337[327] = 0;
|
|
out_3009125082534637337[328] = 0;
|
|
out_3009125082534637337[329] = 1.0;
|
|
out_3009125082534637337[330] = 0;
|
|
out_3009125082534637337[331] = 0;
|
|
out_3009125082534637337[332] = 0;
|
|
out_3009125082534637337[333] = 0;
|
|
out_3009125082534637337[334] = 0;
|
|
out_3009125082534637337[335] = 0;
|
|
out_3009125082534637337[336] = 0;
|
|
out_3009125082534637337[337] = 0;
|
|
out_3009125082534637337[338] = 0;
|
|
out_3009125082534637337[339] = 0;
|
|
out_3009125082534637337[340] = 0;
|
|
out_3009125082534637337[341] = 0;
|
|
out_3009125082534637337[342] = 0;
|
|
out_3009125082534637337[343] = 0;
|
|
out_3009125082534637337[344] = 0;
|
|
out_3009125082534637337[345] = 0;
|
|
out_3009125082534637337[346] = 0;
|
|
out_3009125082534637337[347] = 0;
|
|
out_3009125082534637337[348] = 0;
|
|
out_3009125082534637337[349] = 0;
|
|
out_3009125082534637337[350] = 0;
|
|
out_3009125082534637337[351] = 1.0;
|
|
out_3009125082534637337[352] = 0;
|
|
out_3009125082534637337[353] = 0;
|
|
out_3009125082534637337[354] = 0;
|
|
out_3009125082534637337[355] = 0;
|
|
out_3009125082534637337[356] = 0;
|
|
out_3009125082534637337[357] = 0;
|
|
out_3009125082534637337[358] = 0;
|
|
out_3009125082534637337[359] = 0;
|
|
out_3009125082534637337[360] = 0;
|
|
out_3009125082534637337[361] = 0;
|
|
out_3009125082534637337[362] = 0;
|
|
out_3009125082534637337[363] = 0;
|
|
out_3009125082534637337[364] = 0;
|
|
out_3009125082534637337[365] = 0;
|
|
out_3009125082534637337[366] = 0;
|
|
out_3009125082534637337[367] = 0;
|
|
out_3009125082534637337[368] = 0;
|
|
out_3009125082534637337[369] = 0;
|
|
out_3009125082534637337[370] = 0;
|
|
out_3009125082534637337[371] = 0;
|
|
out_3009125082534637337[372] = 0;
|
|
out_3009125082534637337[373] = 1.0;
|
|
out_3009125082534637337[374] = 0;
|
|
out_3009125082534637337[375] = 0;
|
|
out_3009125082534637337[376] = 0;
|
|
out_3009125082534637337[377] = 0;
|
|
out_3009125082534637337[378] = 0;
|
|
out_3009125082534637337[379] = 0;
|
|
out_3009125082534637337[380] = 0;
|
|
out_3009125082534637337[381] = 0;
|
|
out_3009125082534637337[382] = 0;
|
|
out_3009125082534637337[383] = 0;
|
|
out_3009125082534637337[384] = 0;
|
|
out_3009125082534637337[385] = 0;
|
|
out_3009125082534637337[386] = 0;
|
|
out_3009125082534637337[387] = 0;
|
|
out_3009125082534637337[388] = 0;
|
|
out_3009125082534637337[389] = 0;
|
|
out_3009125082534637337[390] = 0;
|
|
out_3009125082534637337[391] = 0;
|
|
out_3009125082534637337[392] = 0;
|
|
out_3009125082534637337[393] = 0;
|
|
out_3009125082534637337[394] = 0;
|
|
out_3009125082534637337[395] = 1.0;
|
|
out_3009125082534637337[396] = 0;
|
|
out_3009125082534637337[397] = 0;
|
|
out_3009125082534637337[398] = 0;
|
|
out_3009125082534637337[399] = 0;
|
|
out_3009125082534637337[400] = 0;
|
|
out_3009125082534637337[401] = 0;
|
|
out_3009125082534637337[402] = 0;
|
|
out_3009125082534637337[403] = 0;
|
|
out_3009125082534637337[404] = 0;
|
|
out_3009125082534637337[405] = 0;
|
|
out_3009125082534637337[406] = 0;
|
|
out_3009125082534637337[407] = 0;
|
|
out_3009125082534637337[408] = 0;
|
|
out_3009125082534637337[409] = 0;
|
|
out_3009125082534637337[410] = 0;
|
|
out_3009125082534637337[411] = 0;
|
|
out_3009125082534637337[412] = 0;
|
|
out_3009125082534637337[413] = 0;
|
|
out_3009125082534637337[414] = 0;
|
|
out_3009125082534637337[415] = 0;
|
|
out_3009125082534637337[416] = 0;
|
|
out_3009125082534637337[417] = 1.0;
|
|
out_3009125082534637337[418] = 0;
|
|
out_3009125082534637337[419] = 0;
|
|
out_3009125082534637337[420] = 0;
|
|
out_3009125082534637337[421] = 0;
|
|
out_3009125082534637337[422] = 0;
|
|
out_3009125082534637337[423] = 0;
|
|
out_3009125082534637337[424] = 0;
|
|
out_3009125082534637337[425] = 0;
|
|
out_3009125082534637337[426] = 0;
|
|
out_3009125082534637337[427] = 0;
|
|
out_3009125082534637337[428] = 0;
|
|
out_3009125082534637337[429] = 0;
|
|
out_3009125082534637337[430] = 0;
|
|
out_3009125082534637337[431] = 0;
|
|
out_3009125082534637337[432] = 0;
|
|
out_3009125082534637337[433] = 0;
|
|
out_3009125082534637337[434] = 0;
|
|
out_3009125082534637337[435] = 0;
|
|
out_3009125082534637337[436] = 0;
|
|
out_3009125082534637337[437] = 0;
|
|
out_3009125082534637337[438] = 0;
|
|
out_3009125082534637337[439] = 1.0;
|
|
out_3009125082534637337[440] = 0;
|
|
out_3009125082534637337[441] = 0;
|
|
out_3009125082534637337[442] = 0;
|
|
out_3009125082534637337[443] = 0;
|
|
out_3009125082534637337[444] = 0;
|
|
out_3009125082534637337[445] = 0;
|
|
out_3009125082534637337[446] = 0;
|
|
out_3009125082534637337[447] = 0;
|
|
out_3009125082534637337[448] = 0;
|
|
out_3009125082534637337[449] = 0;
|
|
out_3009125082534637337[450] = 0;
|
|
out_3009125082534637337[451] = 0;
|
|
out_3009125082534637337[452] = 0;
|
|
out_3009125082534637337[453] = 0;
|
|
out_3009125082534637337[454] = 0;
|
|
out_3009125082534637337[455] = 0;
|
|
out_3009125082534637337[456] = 0;
|
|
out_3009125082534637337[457] = 0;
|
|
out_3009125082534637337[458] = 0;
|
|
out_3009125082534637337[459] = 0;
|
|
out_3009125082534637337[460] = 0;
|
|
out_3009125082534637337[461] = 1.0;
|
|
}
|
|
void f_fun(double *state, double dt, double *out_4335391440186581522) {
|
|
out_4335391440186581522[0] = dt*state[7] + state[0];
|
|
out_4335391440186581522[1] = dt*state[8] + state[1];
|
|
out_4335391440186581522[2] = dt*state[9] + state[2];
|
|
out_4335391440186581522[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3];
|
|
out_4335391440186581522[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4];
|
|
out_4335391440186581522[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5];
|
|
out_4335391440186581522[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6];
|
|
out_4335391440186581522[7] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]) + state[7];
|
|
out_4335391440186581522[8] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]) + state[8];
|
|
out_4335391440186581522[9] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]) + state[9];
|
|
out_4335391440186581522[10] = state[10];
|
|
out_4335391440186581522[11] = state[11];
|
|
out_4335391440186581522[12] = state[12];
|
|
out_4335391440186581522[13] = state[13];
|
|
out_4335391440186581522[14] = state[14];
|
|
out_4335391440186581522[15] = state[15];
|
|
out_4335391440186581522[16] = state[16];
|
|
out_4335391440186581522[17] = state[17];
|
|
out_4335391440186581522[18] = state[18];
|
|
out_4335391440186581522[19] = state[19];
|
|
out_4335391440186581522[20] = state[20];
|
|
out_4335391440186581522[21] = state[21];
|
|
}
|
|
void F_fun(double *state, double dt, double *out_5664590113989302035) {
|
|
out_5664590113989302035[0] = 1;
|
|
out_5664590113989302035[1] = 0;
|
|
out_5664590113989302035[2] = 0;
|
|
out_5664590113989302035[3] = 0;
|
|
out_5664590113989302035[4] = 0;
|
|
out_5664590113989302035[5] = 0;
|
|
out_5664590113989302035[6] = dt;
|
|
out_5664590113989302035[7] = 0;
|
|
out_5664590113989302035[8] = 0;
|
|
out_5664590113989302035[9] = 0;
|
|
out_5664590113989302035[10] = 0;
|
|
out_5664590113989302035[11] = 0;
|
|
out_5664590113989302035[12] = 0;
|
|
out_5664590113989302035[13] = 0;
|
|
out_5664590113989302035[14] = 0;
|
|
out_5664590113989302035[15] = 0;
|
|
out_5664590113989302035[16] = 0;
|
|
out_5664590113989302035[17] = 0;
|
|
out_5664590113989302035[18] = 0;
|
|
out_5664590113989302035[19] = 0;
|
|
out_5664590113989302035[20] = 0;
|
|
out_5664590113989302035[21] = 0;
|
|
out_5664590113989302035[22] = 1;
|
|
out_5664590113989302035[23] = 0;
|
|
out_5664590113989302035[24] = 0;
|
|
out_5664590113989302035[25] = 0;
|
|
out_5664590113989302035[26] = 0;
|
|
out_5664590113989302035[27] = 0;
|
|
out_5664590113989302035[28] = dt;
|
|
out_5664590113989302035[29] = 0;
|
|
out_5664590113989302035[30] = 0;
|
|
out_5664590113989302035[31] = 0;
|
|
out_5664590113989302035[32] = 0;
|
|
out_5664590113989302035[33] = 0;
|
|
out_5664590113989302035[34] = 0;
|
|
out_5664590113989302035[35] = 0;
|
|
out_5664590113989302035[36] = 0;
|
|
out_5664590113989302035[37] = 0;
|
|
out_5664590113989302035[38] = 0;
|
|
out_5664590113989302035[39] = 0;
|
|
out_5664590113989302035[40] = 0;
|
|
out_5664590113989302035[41] = 0;
|
|
out_5664590113989302035[42] = 0;
|
|
out_5664590113989302035[43] = 0;
|
|
out_5664590113989302035[44] = 1;
|
|
out_5664590113989302035[45] = 0;
|
|
out_5664590113989302035[46] = 0;
|
|
out_5664590113989302035[47] = 0;
|
|
out_5664590113989302035[48] = 0;
|
|
out_5664590113989302035[49] = 0;
|
|
out_5664590113989302035[50] = dt;
|
|
out_5664590113989302035[51] = 0;
|
|
out_5664590113989302035[52] = 0;
|
|
out_5664590113989302035[53] = 0;
|
|
out_5664590113989302035[54] = 0;
|
|
out_5664590113989302035[55] = 0;
|
|
out_5664590113989302035[56] = 0;
|
|
out_5664590113989302035[57] = 0;
|
|
out_5664590113989302035[58] = 0;
|
|
out_5664590113989302035[59] = 0;
|
|
out_5664590113989302035[60] = 0;
|
|
out_5664590113989302035[61] = 0;
|
|
out_5664590113989302035[62] = 0;
|
|
out_5664590113989302035[63] = 0;
|
|
out_5664590113989302035[64] = 0;
|
|
out_5664590113989302035[65] = 0;
|
|
out_5664590113989302035[66] = 1;
|
|
out_5664590113989302035[67] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[11] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]);
|
|
out_5664590113989302035[68] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[12] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[10] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[11]);
|
|
out_5664590113989302035[69] = 0;
|
|
out_5664590113989302035[70] = 0;
|
|
out_5664590113989302035[71] = 0;
|
|
out_5664590113989302035[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2));
|
|
out_5664590113989302035[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]);
|
|
out_5664590113989302035[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]);
|
|
out_5664590113989302035[75] = 0;
|
|
out_5664590113989302035[76] = 0;
|
|
out_5664590113989302035[77] = 0;
|
|
out_5664590113989302035[78] = 0;
|
|
out_5664590113989302035[79] = 0;
|
|
out_5664590113989302035[80] = 0;
|
|
out_5664590113989302035[81] = 0;
|
|
out_5664590113989302035[82] = 0;
|
|
out_5664590113989302035[83] = 0;
|
|
out_5664590113989302035[84] = 0;
|
|
out_5664590113989302035[85] = 0;
|
|
out_5664590113989302035[86] = 0;
|
|
out_5664590113989302035[87] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[11] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]);
|
|
out_5664590113989302035[88] = 1;
|
|
out_5664590113989302035[89] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[12] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[11] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[10]);
|
|
out_5664590113989302035[90] = 0;
|
|
out_5664590113989302035[91] = 0;
|
|
out_5664590113989302035[92] = 0;
|
|
out_5664590113989302035[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]);
|
|
out_5664590113989302035[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2));
|
|
out_5664590113989302035[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]);
|
|
out_5664590113989302035[96] = 0;
|
|
out_5664590113989302035[97] = 0;
|
|
out_5664590113989302035[98] = 0;
|
|
out_5664590113989302035[99] = 0;
|
|
out_5664590113989302035[100] = 0;
|
|
out_5664590113989302035[101] = 0;
|
|
out_5664590113989302035[102] = 0;
|
|
out_5664590113989302035[103] = 0;
|
|
out_5664590113989302035[104] = 0;
|
|
out_5664590113989302035[105] = 0;
|
|
out_5664590113989302035[106] = 0;
|
|
out_5664590113989302035[107] = 0;
|
|
out_5664590113989302035[108] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[12] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[10] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[11]);
|
|
out_5664590113989302035[109] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[12] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[11] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[10]);
|
|
out_5664590113989302035[110] = 1;
|
|
out_5664590113989302035[111] = 0;
|
|
out_5664590113989302035[112] = 0;
|
|
out_5664590113989302035[113] = 0;
|
|
out_5664590113989302035[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]);
|
|
out_5664590113989302035[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]);
|
|
out_5664590113989302035[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2));
|
|
out_5664590113989302035[117] = 0;
|
|
out_5664590113989302035[118] = 0;
|
|
out_5664590113989302035[119] = 0;
|
|
out_5664590113989302035[120] = 0;
|
|
out_5664590113989302035[121] = 0;
|
|
out_5664590113989302035[122] = 0;
|
|
out_5664590113989302035[123] = 0;
|
|
out_5664590113989302035[124] = 0;
|
|
out_5664590113989302035[125] = 0;
|
|
out_5664590113989302035[126] = 0;
|
|
out_5664590113989302035[127] = 0;
|
|
out_5664590113989302035[128] = 0;
|
|
out_5664590113989302035[129] = 0;
|
|
out_5664590113989302035[130] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]);
|
|
out_5664590113989302035[131] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[18] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[16] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[17]);
|
|
out_5664590113989302035[132] = 1;
|
|
out_5664590113989302035[133] = 0;
|
|
out_5664590113989302035[134] = 0;
|
|
out_5664590113989302035[135] = 0;
|
|
out_5664590113989302035[136] = 0;
|
|
out_5664590113989302035[137] = 0;
|
|
out_5664590113989302035[138] = 0;
|
|
out_5664590113989302035[139] = 0;
|
|
out_5664590113989302035[140] = 0;
|
|
out_5664590113989302035[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2));
|
|
out_5664590113989302035[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]);
|
|
out_5664590113989302035[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]);
|
|
out_5664590113989302035[144] = 0;
|
|
out_5664590113989302035[145] = 0;
|
|
out_5664590113989302035[146] = 0;
|
|
out_5664590113989302035[147] = 0;
|
|
out_5664590113989302035[148] = 0;
|
|
out_5664590113989302035[149] = 0;
|
|
out_5664590113989302035[150] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[17] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]);
|
|
out_5664590113989302035[151] = 0;
|
|
out_5664590113989302035[152] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]);
|
|
out_5664590113989302035[153] = 0;
|
|
out_5664590113989302035[154] = 1;
|
|
out_5664590113989302035[155] = 0;
|
|
out_5664590113989302035[156] = 0;
|
|
out_5664590113989302035[157] = 0;
|
|
out_5664590113989302035[158] = 0;
|
|
out_5664590113989302035[159] = 0;
|
|
out_5664590113989302035[160] = 0;
|
|
out_5664590113989302035[161] = 0;
|
|
out_5664590113989302035[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]);
|
|
out_5664590113989302035[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2));
|
|
out_5664590113989302035[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]);
|
|
out_5664590113989302035[165] = 0;
|
|
out_5664590113989302035[166] = 0;
|
|
out_5664590113989302035[167] = 0;
|
|
out_5664590113989302035[168] = 0;
|
|
out_5664590113989302035[169] = 0;
|
|
out_5664590113989302035[170] = 0;
|
|
out_5664590113989302035[171] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]);
|
|
out_5664590113989302035[172] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[18] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[17] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[16]);
|
|
out_5664590113989302035[173] = 0;
|
|
out_5664590113989302035[174] = 0;
|
|
out_5664590113989302035[175] = 0;
|
|
out_5664590113989302035[176] = 1;
|
|
out_5664590113989302035[177] = 0;
|
|
out_5664590113989302035[178] = 0;
|
|
out_5664590113989302035[179] = 0;
|
|
out_5664590113989302035[180] = 0;
|
|
out_5664590113989302035[181] = 0;
|
|
out_5664590113989302035[182] = 0;
|
|
out_5664590113989302035[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]);
|
|
out_5664590113989302035[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]);
|
|
out_5664590113989302035[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2));
|
|
out_5664590113989302035[186] = 0;
|
|
out_5664590113989302035[187] = 0;
|
|
out_5664590113989302035[188] = 0;
|
|
out_5664590113989302035[189] = 0;
|
|
out_5664590113989302035[190] = 0;
|
|
out_5664590113989302035[191] = 0;
|
|
out_5664590113989302035[192] = 0;
|
|
out_5664590113989302035[193] = 0;
|
|
out_5664590113989302035[194] = 0;
|
|
out_5664590113989302035[195] = 0;
|
|
out_5664590113989302035[196] = 0;
|
|
out_5664590113989302035[197] = 0;
|
|
out_5664590113989302035[198] = 1;
|
|
out_5664590113989302035[199] = 0;
|
|
out_5664590113989302035[200] = 0;
|
|
out_5664590113989302035[201] = 0;
|
|
out_5664590113989302035[202] = 0;
|
|
out_5664590113989302035[203] = 0;
|
|
out_5664590113989302035[204] = 0;
|
|
out_5664590113989302035[205] = 0;
|
|
out_5664590113989302035[206] = 0;
|
|
out_5664590113989302035[207] = 0;
|
|
out_5664590113989302035[208] = 0;
|
|
out_5664590113989302035[209] = 0;
|
|
out_5664590113989302035[210] = 0;
|
|
out_5664590113989302035[211] = 0;
|
|
out_5664590113989302035[212] = 0;
|
|
out_5664590113989302035[213] = 0;
|
|
out_5664590113989302035[214] = 0;
|
|
out_5664590113989302035[215] = 0;
|
|
out_5664590113989302035[216] = 0;
|
|
out_5664590113989302035[217] = 0;
|
|
out_5664590113989302035[218] = 0;
|
|
out_5664590113989302035[219] = 0;
|
|
out_5664590113989302035[220] = 1;
|
|
out_5664590113989302035[221] = 0;
|
|
out_5664590113989302035[222] = 0;
|
|
out_5664590113989302035[223] = 0;
|
|
out_5664590113989302035[224] = 0;
|
|
out_5664590113989302035[225] = 0;
|
|
out_5664590113989302035[226] = 0;
|
|
out_5664590113989302035[227] = 0;
|
|
out_5664590113989302035[228] = 0;
|
|
out_5664590113989302035[229] = 0;
|
|
out_5664590113989302035[230] = 0;
|
|
out_5664590113989302035[231] = 0;
|
|
out_5664590113989302035[232] = 0;
|
|
out_5664590113989302035[233] = 0;
|
|
out_5664590113989302035[234] = 0;
|
|
out_5664590113989302035[235] = 0;
|
|
out_5664590113989302035[236] = 0;
|
|
out_5664590113989302035[237] = 0;
|
|
out_5664590113989302035[238] = 0;
|
|
out_5664590113989302035[239] = 0;
|
|
out_5664590113989302035[240] = 0;
|
|
out_5664590113989302035[241] = 0;
|
|
out_5664590113989302035[242] = 1;
|
|
out_5664590113989302035[243] = 0;
|
|
out_5664590113989302035[244] = 0;
|
|
out_5664590113989302035[245] = 0;
|
|
out_5664590113989302035[246] = 0;
|
|
out_5664590113989302035[247] = 0;
|
|
out_5664590113989302035[248] = 0;
|
|
out_5664590113989302035[249] = 0;
|
|
out_5664590113989302035[250] = 0;
|
|
out_5664590113989302035[251] = 0;
|
|
out_5664590113989302035[252] = 0;
|
|
out_5664590113989302035[253] = 0;
|
|
out_5664590113989302035[254] = 0;
|
|
out_5664590113989302035[255] = 0;
|
|
out_5664590113989302035[256] = 0;
|
|
out_5664590113989302035[257] = 0;
|
|
out_5664590113989302035[258] = 0;
|
|
out_5664590113989302035[259] = 0;
|
|
out_5664590113989302035[260] = 0;
|
|
out_5664590113989302035[261] = 0;
|
|
out_5664590113989302035[262] = 0;
|
|
out_5664590113989302035[263] = 0;
|
|
out_5664590113989302035[264] = 1;
|
|
out_5664590113989302035[265] = 0;
|
|
out_5664590113989302035[266] = 0;
|
|
out_5664590113989302035[267] = 0;
|
|
out_5664590113989302035[268] = 0;
|
|
out_5664590113989302035[269] = 0;
|
|
out_5664590113989302035[270] = 0;
|
|
out_5664590113989302035[271] = 0;
|
|
out_5664590113989302035[272] = 0;
|
|
out_5664590113989302035[273] = 0;
|
|
out_5664590113989302035[274] = 0;
|
|
out_5664590113989302035[275] = 0;
|
|
out_5664590113989302035[276] = 0;
|
|
out_5664590113989302035[277] = 0;
|
|
out_5664590113989302035[278] = 0;
|
|
out_5664590113989302035[279] = 0;
|
|
out_5664590113989302035[280] = 0;
|
|
out_5664590113989302035[281] = 0;
|
|
out_5664590113989302035[282] = 0;
|
|
out_5664590113989302035[283] = 0;
|
|
out_5664590113989302035[284] = 0;
|
|
out_5664590113989302035[285] = 0;
|
|
out_5664590113989302035[286] = 1;
|
|
out_5664590113989302035[287] = 0;
|
|
out_5664590113989302035[288] = 0;
|
|
out_5664590113989302035[289] = 0;
|
|
out_5664590113989302035[290] = 0;
|
|
out_5664590113989302035[291] = 0;
|
|
out_5664590113989302035[292] = 0;
|
|
out_5664590113989302035[293] = 0;
|
|
out_5664590113989302035[294] = 0;
|
|
out_5664590113989302035[295] = 0;
|
|
out_5664590113989302035[296] = 0;
|
|
out_5664590113989302035[297] = 0;
|
|
out_5664590113989302035[298] = 0;
|
|
out_5664590113989302035[299] = 0;
|
|
out_5664590113989302035[300] = 0;
|
|
out_5664590113989302035[301] = 0;
|
|
out_5664590113989302035[302] = 0;
|
|
out_5664590113989302035[303] = 0;
|
|
out_5664590113989302035[304] = 0;
|
|
out_5664590113989302035[305] = 0;
|
|
out_5664590113989302035[306] = 0;
|
|
out_5664590113989302035[307] = 0;
|
|
out_5664590113989302035[308] = 1;
|
|
out_5664590113989302035[309] = 0;
|
|
out_5664590113989302035[310] = 0;
|
|
out_5664590113989302035[311] = 0;
|
|
out_5664590113989302035[312] = 0;
|
|
out_5664590113989302035[313] = 0;
|
|
out_5664590113989302035[314] = 0;
|
|
out_5664590113989302035[315] = 0;
|
|
out_5664590113989302035[316] = 0;
|
|
out_5664590113989302035[317] = 0;
|
|
out_5664590113989302035[318] = 0;
|
|
out_5664590113989302035[319] = 0;
|
|
out_5664590113989302035[320] = 0;
|
|
out_5664590113989302035[321] = 0;
|
|
out_5664590113989302035[322] = 0;
|
|
out_5664590113989302035[323] = 0;
|
|
out_5664590113989302035[324] = 0;
|
|
out_5664590113989302035[325] = 0;
|
|
out_5664590113989302035[326] = 0;
|
|
out_5664590113989302035[327] = 0;
|
|
out_5664590113989302035[328] = 0;
|
|
out_5664590113989302035[329] = 0;
|
|
out_5664590113989302035[330] = 1;
|
|
out_5664590113989302035[331] = 0;
|
|
out_5664590113989302035[332] = 0;
|
|
out_5664590113989302035[333] = 0;
|
|
out_5664590113989302035[334] = 0;
|
|
out_5664590113989302035[335] = 0;
|
|
out_5664590113989302035[336] = 0;
|
|
out_5664590113989302035[337] = 0;
|
|
out_5664590113989302035[338] = 0;
|
|
out_5664590113989302035[339] = 0;
|
|
out_5664590113989302035[340] = 0;
|
|
out_5664590113989302035[341] = 0;
|
|
out_5664590113989302035[342] = 0;
|
|
out_5664590113989302035[343] = 0;
|
|
out_5664590113989302035[344] = 0;
|
|
out_5664590113989302035[345] = 0;
|
|
out_5664590113989302035[346] = 0;
|
|
out_5664590113989302035[347] = 0;
|
|
out_5664590113989302035[348] = 0;
|
|
out_5664590113989302035[349] = 0;
|
|
out_5664590113989302035[350] = 0;
|
|
out_5664590113989302035[351] = 0;
|
|
out_5664590113989302035[352] = 1;
|
|
out_5664590113989302035[353] = 0;
|
|
out_5664590113989302035[354] = 0;
|
|
out_5664590113989302035[355] = 0;
|
|
out_5664590113989302035[356] = 0;
|
|
out_5664590113989302035[357] = 0;
|
|
out_5664590113989302035[358] = 0;
|
|
out_5664590113989302035[359] = 0;
|
|
out_5664590113989302035[360] = 0;
|
|
out_5664590113989302035[361] = 0;
|
|
out_5664590113989302035[362] = 0;
|
|
out_5664590113989302035[363] = 0;
|
|
out_5664590113989302035[364] = 0;
|
|
out_5664590113989302035[365] = 0;
|
|
out_5664590113989302035[366] = 0;
|
|
out_5664590113989302035[367] = 0;
|
|
out_5664590113989302035[368] = 0;
|
|
out_5664590113989302035[369] = 0;
|
|
out_5664590113989302035[370] = 0;
|
|
out_5664590113989302035[371] = 0;
|
|
out_5664590113989302035[372] = 0;
|
|
out_5664590113989302035[373] = 0;
|
|
out_5664590113989302035[374] = 1;
|
|
out_5664590113989302035[375] = 0;
|
|
out_5664590113989302035[376] = 0;
|
|
out_5664590113989302035[377] = 0;
|
|
out_5664590113989302035[378] = 0;
|
|
out_5664590113989302035[379] = 0;
|
|
out_5664590113989302035[380] = 0;
|
|
out_5664590113989302035[381] = 0;
|
|
out_5664590113989302035[382] = 0;
|
|
out_5664590113989302035[383] = 0;
|
|
out_5664590113989302035[384] = 0;
|
|
out_5664590113989302035[385] = 0;
|
|
out_5664590113989302035[386] = 0;
|
|
out_5664590113989302035[387] = 0;
|
|
out_5664590113989302035[388] = 0;
|
|
out_5664590113989302035[389] = 0;
|
|
out_5664590113989302035[390] = 0;
|
|
out_5664590113989302035[391] = 0;
|
|
out_5664590113989302035[392] = 0;
|
|
out_5664590113989302035[393] = 0;
|
|
out_5664590113989302035[394] = 0;
|
|
out_5664590113989302035[395] = 0;
|
|
out_5664590113989302035[396] = 1;
|
|
out_5664590113989302035[397] = 0;
|
|
out_5664590113989302035[398] = 0;
|
|
out_5664590113989302035[399] = 0;
|
|
out_5664590113989302035[400] = 0;
|
|
out_5664590113989302035[401] = 0;
|
|
out_5664590113989302035[402] = 0;
|
|
out_5664590113989302035[403] = 0;
|
|
out_5664590113989302035[404] = 0;
|
|
out_5664590113989302035[405] = 0;
|
|
out_5664590113989302035[406] = 0;
|
|
out_5664590113989302035[407] = 0;
|
|
out_5664590113989302035[408] = 0;
|
|
out_5664590113989302035[409] = 0;
|
|
out_5664590113989302035[410] = 0;
|
|
out_5664590113989302035[411] = 0;
|
|
out_5664590113989302035[412] = 0;
|
|
out_5664590113989302035[413] = 0;
|
|
out_5664590113989302035[414] = 0;
|
|
out_5664590113989302035[415] = 0;
|
|
out_5664590113989302035[416] = 0;
|
|
out_5664590113989302035[417] = 0;
|
|
out_5664590113989302035[418] = 1;
|
|
out_5664590113989302035[419] = 0;
|
|
out_5664590113989302035[420] = 0;
|
|
out_5664590113989302035[421] = 0;
|
|
out_5664590113989302035[422] = 0;
|
|
out_5664590113989302035[423] = 0;
|
|
out_5664590113989302035[424] = 0;
|
|
out_5664590113989302035[425] = 0;
|
|
out_5664590113989302035[426] = 0;
|
|
out_5664590113989302035[427] = 0;
|
|
out_5664590113989302035[428] = 0;
|
|
out_5664590113989302035[429] = 0;
|
|
out_5664590113989302035[430] = 0;
|
|
out_5664590113989302035[431] = 0;
|
|
out_5664590113989302035[432] = 0;
|
|
out_5664590113989302035[433] = 0;
|
|
out_5664590113989302035[434] = 0;
|
|
out_5664590113989302035[435] = 0;
|
|
out_5664590113989302035[436] = 0;
|
|
out_5664590113989302035[437] = 0;
|
|
out_5664590113989302035[438] = 0;
|
|
out_5664590113989302035[439] = 0;
|
|
out_5664590113989302035[440] = 1;
|
|
}
|
|
void h_4(double *state, double *unused, double *out_3014692161587012603) {
|
|
out_3014692161587012603[0] = state[10] + state[13];
|
|
out_3014692161587012603[1] = state[11] + state[14];
|
|
out_3014692161587012603[2] = state[12] + state[15];
|
|
}
|
|
void H_4(double *state, double *unused, double *out_5026841573156437834) {
|
|
out_5026841573156437834[0] = 0;
|
|
out_5026841573156437834[1] = 0;
|
|
out_5026841573156437834[2] = 0;
|
|
out_5026841573156437834[3] = 0;
|
|
out_5026841573156437834[4] = 0;
|
|
out_5026841573156437834[5] = 0;
|
|
out_5026841573156437834[6] = 0;
|
|
out_5026841573156437834[7] = 0;
|
|
out_5026841573156437834[8] = 0;
|
|
out_5026841573156437834[9] = 0;
|
|
out_5026841573156437834[10] = 1;
|
|
out_5026841573156437834[11] = 0;
|
|
out_5026841573156437834[12] = 0;
|
|
out_5026841573156437834[13] = 1;
|
|
out_5026841573156437834[14] = 0;
|
|
out_5026841573156437834[15] = 0;
|
|
out_5026841573156437834[16] = 0;
|
|
out_5026841573156437834[17] = 0;
|
|
out_5026841573156437834[18] = 0;
|
|
out_5026841573156437834[19] = 0;
|
|
out_5026841573156437834[20] = 0;
|
|
out_5026841573156437834[21] = 0;
|
|
out_5026841573156437834[22] = 0;
|
|
out_5026841573156437834[23] = 0;
|
|
out_5026841573156437834[24] = 0;
|
|
out_5026841573156437834[25] = 0;
|
|
out_5026841573156437834[26] = 0;
|
|
out_5026841573156437834[27] = 0;
|
|
out_5026841573156437834[28] = 0;
|
|
out_5026841573156437834[29] = 0;
|
|
out_5026841573156437834[30] = 0;
|
|
out_5026841573156437834[31] = 0;
|
|
out_5026841573156437834[32] = 0;
|
|
out_5026841573156437834[33] = 1;
|
|
out_5026841573156437834[34] = 0;
|
|
out_5026841573156437834[35] = 0;
|
|
out_5026841573156437834[36] = 1;
|
|
out_5026841573156437834[37] = 0;
|
|
out_5026841573156437834[38] = 0;
|
|
out_5026841573156437834[39] = 0;
|
|
out_5026841573156437834[40] = 0;
|
|
out_5026841573156437834[41] = 0;
|
|
out_5026841573156437834[42] = 0;
|
|
out_5026841573156437834[43] = 0;
|
|
out_5026841573156437834[44] = 0;
|
|
out_5026841573156437834[45] = 0;
|
|
out_5026841573156437834[46] = 0;
|
|
out_5026841573156437834[47] = 0;
|
|
out_5026841573156437834[48] = 0;
|
|
out_5026841573156437834[49] = 0;
|
|
out_5026841573156437834[50] = 0;
|
|
out_5026841573156437834[51] = 0;
|
|
out_5026841573156437834[52] = 0;
|
|
out_5026841573156437834[53] = 0;
|
|
out_5026841573156437834[54] = 0;
|
|
out_5026841573156437834[55] = 0;
|
|
out_5026841573156437834[56] = 1;
|
|
out_5026841573156437834[57] = 0;
|
|
out_5026841573156437834[58] = 0;
|
|
out_5026841573156437834[59] = 1;
|
|
out_5026841573156437834[60] = 0;
|
|
out_5026841573156437834[61] = 0;
|
|
out_5026841573156437834[62] = 0;
|
|
out_5026841573156437834[63] = 0;
|
|
out_5026841573156437834[64] = 0;
|
|
out_5026841573156437834[65] = 0;
|
|
}
|
|
void h_9(double *state, double *unused, double *out_3562980285330159985) {
|
|
out_3562980285330159985[0] = state[10];
|
|
out_3562980285330159985[1] = state[11];
|
|
out_3562980285330159985[2] = state[12];
|
|
}
|
|
void H_9(double *state, double *unused, double *out_6132683565288666312) {
|
|
out_6132683565288666312[0] = 0;
|
|
out_6132683565288666312[1] = 0;
|
|
out_6132683565288666312[2] = 0;
|
|
out_6132683565288666312[3] = 0;
|
|
out_6132683565288666312[4] = 0;
|
|
out_6132683565288666312[5] = 0;
|
|
out_6132683565288666312[6] = 0;
|
|
out_6132683565288666312[7] = 0;
|
|
out_6132683565288666312[8] = 0;
|
|
out_6132683565288666312[9] = 0;
|
|
out_6132683565288666312[10] = 1;
|
|
out_6132683565288666312[11] = 0;
|
|
out_6132683565288666312[12] = 0;
|
|
out_6132683565288666312[13] = 0;
|
|
out_6132683565288666312[14] = 0;
|
|
out_6132683565288666312[15] = 0;
|
|
out_6132683565288666312[16] = 0;
|
|
out_6132683565288666312[17] = 0;
|
|
out_6132683565288666312[18] = 0;
|
|
out_6132683565288666312[19] = 0;
|
|
out_6132683565288666312[20] = 0;
|
|
out_6132683565288666312[21] = 0;
|
|
out_6132683565288666312[22] = 0;
|
|
out_6132683565288666312[23] = 0;
|
|
out_6132683565288666312[24] = 0;
|
|
out_6132683565288666312[25] = 0;
|
|
out_6132683565288666312[26] = 0;
|
|
out_6132683565288666312[27] = 0;
|
|
out_6132683565288666312[28] = 0;
|
|
out_6132683565288666312[29] = 0;
|
|
out_6132683565288666312[30] = 0;
|
|
out_6132683565288666312[31] = 0;
|
|
out_6132683565288666312[32] = 0;
|
|
out_6132683565288666312[33] = 1;
|
|
out_6132683565288666312[34] = 0;
|
|
out_6132683565288666312[35] = 0;
|
|
out_6132683565288666312[36] = 0;
|
|
out_6132683565288666312[37] = 0;
|
|
out_6132683565288666312[38] = 0;
|
|
out_6132683565288666312[39] = 0;
|
|
out_6132683565288666312[40] = 0;
|
|
out_6132683565288666312[41] = 0;
|
|
out_6132683565288666312[42] = 0;
|
|
out_6132683565288666312[43] = 0;
|
|
out_6132683565288666312[44] = 0;
|
|
out_6132683565288666312[45] = 0;
|
|
out_6132683565288666312[46] = 0;
|
|
out_6132683565288666312[47] = 0;
|
|
out_6132683565288666312[48] = 0;
|
|
out_6132683565288666312[49] = 0;
|
|
out_6132683565288666312[50] = 0;
|
|
out_6132683565288666312[51] = 0;
|
|
out_6132683565288666312[52] = 0;
|
|
out_6132683565288666312[53] = 0;
|
|
out_6132683565288666312[54] = 0;
|
|
out_6132683565288666312[55] = 0;
|
|
out_6132683565288666312[56] = 1;
|
|
out_6132683565288666312[57] = 0;
|
|
out_6132683565288666312[58] = 0;
|
|
out_6132683565288666312[59] = 0;
|
|
out_6132683565288666312[60] = 0;
|
|
out_6132683565288666312[61] = 0;
|
|
out_6132683565288666312[62] = 0;
|
|
out_6132683565288666312[63] = 0;
|
|
out_6132683565288666312[64] = 0;
|
|
out_6132683565288666312[65] = 0;
|
|
}
|
|
void h_10(double *state, double *unused, double *out_535862169176880815) {
|
|
out_535862169176880815[0] = 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0] + state[16] + state[19];
|
|
out_535862169176880815[1] = 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1] + state[17] + state[20];
|
|
out_535862169176880815[2] = 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[2] + state[18] + state[21];
|
|
}
|
|
void H_10(double *state, double *unused, double *out_8297258708073091465) {
|
|
out_8297258708073091465[0] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*pow(state[0], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2));
|
|
out_8297258708073091465[1] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1];
|
|
out_8297258708073091465[2] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[2];
|
|
out_8297258708073091465[3] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5];
|
|
out_8297258708073091465[4] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6];
|
|
out_8297258708073091465[5] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3];
|
|
out_8297258708073091465[6] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4];
|
|
out_8297258708073091465[7] = 0;
|
|
out_8297258708073091465[8] = 0;
|
|
out_8297258708073091465[9] = 0;
|
|
out_8297258708073091465[10] = 0;
|
|
out_8297258708073091465[11] = 0;
|
|
out_8297258708073091465[12] = 0;
|
|
out_8297258708073091465[13] = 0;
|
|
out_8297258708073091465[14] = 0;
|
|
out_8297258708073091465[15] = 0;
|
|
out_8297258708073091465[16] = 1;
|
|
out_8297258708073091465[17] = 0;
|
|
out_8297258708073091465[18] = 0;
|
|
out_8297258708073091465[19] = 1;
|
|
out_8297258708073091465[20] = 0;
|
|
out_8297258708073091465[21] = 0;
|
|
out_8297258708073091465[22] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1];
|
|
out_8297258708073091465[23] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*pow(state[1], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2));
|
|
out_8297258708073091465[24] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1]*state[2];
|
|
out_8297258708073091465[25] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4];
|
|
out_8297258708073091465[26] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3];
|
|
out_8297258708073091465[27] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6];
|
|
out_8297258708073091465[28] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5];
|
|
out_8297258708073091465[29] = 0;
|
|
out_8297258708073091465[30] = 0;
|
|
out_8297258708073091465[31] = 0;
|
|
out_8297258708073091465[32] = 0;
|
|
out_8297258708073091465[33] = 0;
|
|
out_8297258708073091465[34] = 0;
|
|
out_8297258708073091465[35] = 0;
|
|
out_8297258708073091465[36] = 0;
|
|
out_8297258708073091465[37] = 0;
|
|
out_8297258708073091465[38] = 0;
|
|
out_8297258708073091465[39] = 1;
|
|
out_8297258708073091465[40] = 0;
|
|
out_8297258708073091465[41] = 0;
|
|
out_8297258708073091465[42] = 1;
|
|
out_8297258708073091465[43] = 0;
|
|
out_8297258708073091465[44] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[0]*state[2];
|
|
out_8297258708073091465[45] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[1]*state[2];
|
|
out_8297258708073091465[46] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*pow(state[2], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2));
|
|
out_8297258708073091465[47] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3];
|
|
out_8297258708073091465[48] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4];
|
|
out_8297258708073091465[49] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5];
|
|
out_8297258708073091465[50] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6];
|
|
out_8297258708073091465[51] = 0;
|
|
out_8297258708073091465[52] = 0;
|
|
out_8297258708073091465[53] = 0;
|
|
out_8297258708073091465[54] = 0;
|
|
out_8297258708073091465[55] = 0;
|
|
out_8297258708073091465[56] = 0;
|
|
out_8297258708073091465[57] = 0;
|
|
out_8297258708073091465[58] = 0;
|
|
out_8297258708073091465[59] = 0;
|
|
out_8297258708073091465[60] = 0;
|
|
out_8297258708073091465[61] = 0;
|
|
out_8297258708073091465[62] = 1;
|
|
out_8297258708073091465[63] = 0;
|
|
out_8297258708073091465[64] = 0;
|
|
out_8297258708073091465[65] = 1;
|
|
}
|
|
void h_12(double *state, double *unused, double *out_925715247818340264) {
|
|
out_925715247818340264[0] = state[0];
|
|
out_925715247818340264[1] = state[1];
|
|
out_925715247818340264[2] = state[2];
|
|
}
|
|
void H_12(double *state, double *unused, double *out_5647940598204031501) {
|
|
out_5647940598204031501[0] = 1;
|
|
out_5647940598204031501[1] = 0;
|
|
out_5647940598204031501[2] = 0;
|
|
out_5647940598204031501[3] = 0;
|
|
out_5647940598204031501[4] = 0;
|
|
out_5647940598204031501[5] = 0;
|
|
out_5647940598204031501[6] = 0;
|
|
out_5647940598204031501[7] = 0;
|
|
out_5647940598204031501[8] = 0;
|
|
out_5647940598204031501[9] = 0;
|
|
out_5647940598204031501[10] = 0;
|
|
out_5647940598204031501[11] = 0;
|
|
out_5647940598204031501[12] = 0;
|
|
out_5647940598204031501[13] = 0;
|
|
out_5647940598204031501[14] = 0;
|
|
out_5647940598204031501[15] = 0;
|
|
out_5647940598204031501[16] = 0;
|
|
out_5647940598204031501[17] = 0;
|
|
out_5647940598204031501[18] = 0;
|
|
out_5647940598204031501[19] = 0;
|
|
out_5647940598204031501[20] = 0;
|
|
out_5647940598204031501[21] = 0;
|
|
out_5647940598204031501[22] = 0;
|
|
out_5647940598204031501[23] = 1;
|
|
out_5647940598204031501[24] = 0;
|
|
out_5647940598204031501[25] = 0;
|
|
out_5647940598204031501[26] = 0;
|
|
out_5647940598204031501[27] = 0;
|
|
out_5647940598204031501[28] = 0;
|
|
out_5647940598204031501[29] = 0;
|
|
out_5647940598204031501[30] = 0;
|
|
out_5647940598204031501[31] = 0;
|
|
out_5647940598204031501[32] = 0;
|
|
out_5647940598204031501[33] = 0;
|
|
out_5647940598204031501[34] = 0;
|
|
out_5647940598204031501[35] = 0;
|
|
out_5647940598204031501[36] = 0;
|
|
out_5647940598204031501[37] = 0;
|
|
out_5647940598204031501[38] = 0;
|
|
out_5647940598204031501[39] = 0;
|
|
out_5647940598204031501[40] = 0;
|
|
out_5647940598204031501[41] = 0;
|
|
out_5647940598204031501[42] = 0;
|
|
out_5647940598204031501[43] = 0;
|
|
out_5647940598204031501[44] = 0;
|
|
out_5647940598204031501[45] = 0;
|
|
out_5647940598204031501[46] = 1;
|
|
out_5647940598204031501[47] = 0;
|
|
out_5647940598204031501[48] = 0;
|
|
out_5647940598204031501[49] = 0;
|
|
out_5647940598204031501[50] = 0;
|
|
out_5647940598204031501[51] = 0;
|
|
out_5647940598204031501[52] = 0;
|
|
out_5647940598204031501[53] = 0;
|
|
out_5647940598204031501[54] = 0;
|
|
out_5647940598204031501[55] = 0;
|
|
out_5647940598204031501[56] = 0;
|
|
out_5647940598204031501[57] = 0;
|
|
out_5647940598204031501[58] = 0;
|
|
out_5647940598204031501[59] = 0;
|
|
out_5647940598204031501[60] = 0;
|
|
out_5647940598204031501[61] = 0;
|
|
out_5647940598204031501[62] = 0;
|
|
out_5647940598204031501[63] = 0;
|
|
out_5647940598204031501[64] = 0;
|
|
out_5647940598204031501[65] = 0;
|
|
}
|
|
void h_35(double *state, double *unused, double *out_9149207542038296554) {
|
|
out_9149207542038296554[0] = state[7];
|
|
out_9149207542038296554[1] = state[8];
|
|
out_9149207542038296554[2] = state[9];
|
|
}
|
|
void H_35(double *state, double *unused, double *out_8393503630529045210) {
|
|
out_8393503630529045210[0] = 0;
|
|
out_8393503630529045210[1] = 0;
|
|
out_8393503630529045210[2] = 0;
|
|
out_8393503630529045210[3] = 0;
|
|
out_8393503630529045210[4] = 0;
|
|
out_8393503630529045210[5] = 0;
|
|
out_8393503630529045210[6] = 0;
|
|
out_8393503630529045210[7] = 1;
|
|
out_8393503630529045210[8] = 0;
|
|
out_8393503630529045210[9] = 0;
|
|
out_8393503630529045210[10] = 0;
|
|
out_8393503630529045210[11] = 0;
|
|
out_8393503630529045210[12] = 0;
|
|
out_8393503630529045210[13] = 0;
|
|
out_8393503630529045210[14] = 0;
|
|
out_8393503630529045210[15] = 0;
|
|
out_8393503630529045210[16] = 0;
|
|
out_8393503630529045210[17] = 0;
|
|
out_8393503630529045210[18] = 0;
|
|
out_8393503630529045210[19] = 0;
|
|
out_8393503630529045210[20] = 0;
|
|
out_8393503630529045210[21] = 0;
|
|
out_8393503630529045210[22] = 0;
|
|
out_8393503630529045210[23] = 0;
|
|
out_8393503630529045210[24] = 0;
|
|
out_8393503630529045210[25] = 0;
|
|
out_8393503630529045210[26] = 0;
|
|
out_8393503630529045210[27] = 0;
|
|
out_8393503630529045210[28] = 0;
|
|
out_8393503630529045210[29] = 0;
|
|
out_8393503630529045210[30] = 1;
|
|
out_8393503630529045210[31] = 0;
|
|
out_8393503630529045210[32] = 0;
|
|
out_8393503630529045210[33] = 0;
|
|
out_8393503630529045210[34] = 0;
|
|
out_8393503630529045210[35] = 0;
|
|
out_8393503630529045210[36] = 0;
|
|
out_8393503630529045210[37] = 0;
|
|
out_8393503630529045210[38] = 0;
|
|
out_8393503630529045210[39] = 0;
|
|
out_8393503630529045210[40] = 0;
|
|
out_8393503630529045210[41] = 0;
|
|
out_8393503630529045210[42] = 0;
|
|
out_8393503630529045210[43] = 0;
|
|
out_8393503630529045210[44] = 0;
|
|
out_8393503630529045210[45] = 0;
|
|
out_8393503630529045210[46] = 0;
|
|
out_8393503630529045210[47] = 0;
|
|
out_8393503630529045210[48] = 0;
|
|
out_8393503630529045210[49] = 0;
|
|
out_8393503630529045210[50] = 0;
|
|
out_8393503630529045210[51] = 0;
|
|
out_8393503630529045210[52] = 0;
|
|
out_8393503630529045210[53] = 1;
|
|
out_8393503630529045210[54] = 0;
|
|
out_8393503630529045210[55] = 0;
|
|
out_8393503630529045210[56] = 0;
|
|
out_8393503630529045210[57] = 0;
|
|
out_8393503630529045210[58] = 0;
|
|
out_8393503630529045210[59] = 0;
|
|
out_8393503630529045210[60] = 0;
|
|
out_8393503630529045210[61] = 0;
|
|
out_8393503630529045210[62] = 0;
|
|
out_8393503630529045210[63] = 0;
|
|
out_8393503630529045210[64] = 0;
|
|
out_8393503630529045210[65] = 0;
|
|
}
|
|
void h_32(double *state, double *unused, double *out_8538571874421941973) {
|
|
out_8538571874421941973[0] = state[3];
|
|
out_8538571874421941973[1] = state[4];
|
|
out_8538571874421941973[2] = state[5];
|
|
out_8538571874421941973[3] = state[6];
|
|
}
|
|
void H_32(double *state, double *unused, double *out_5507022207680590714) {
|
|
out_5507022207680590714[0] = 0;
|
|
out_5507022207680590714[1] = 0;
|
|
out_5507022207680590714[2] = 0;
|
|
out_5507022207680590714[3] = 1;
|
|
out_5507022207680590714[4] = 0;
|
|
out_5507022207680590714[5] = 0;
|
|
out_5507022207680590714[6] = 0;
|
|
out_5507022207680590714[7] = 0;
|
|
out_5507022207680590714[8] = 0;
|
|
out_5507022207680590714[9] = 0;
|
|
out_5507022207680590714[10] = 0;
|
|
out_5507022207680590714[11] = 0;
|
|
out_5507022207680590714[12] = 0;
|
|
out_5507022207680590714[13] = 0;
|
|
out_5507022207680590714[14] = 0;
|
|
out_5507022207680590714[15] = 0;
|
|
out_5507022207680590714[16] = 0;
|
|
out_5507022207680590714[17] = 0;
|
|
out_5507022207680590714[18] = 0;
|
|
out_5507022207680590714[19] = 0;
|
|
out_5507022207680590714[20] = 0;
|
|
out_5507022207680590714[21] = 0;
|
|
out_5507022207680590714[22] = 0;
|
|
out_5507022207680590714[23] = 0;
|
|
out_5507022207680590714[24] = 0;
|
|
out_5507022207680590714[25] = 0;
|
|
out_5507022207680590714[26] = 1;
|
|
out_5507022207680590714[27] = 0;
|
|
out_5507022207680590714[28] = 0;
|
|
out_5507022207680590714[29] = 0;
|
|
out_5507022207680590714[30] = 0;
|
|
out_5507022207680590714[31] = 0;
|
|
out_5507022207680590714[32] = 0;
|
|
out_5507022207680590714[33] = 0;
|
|
out_5507022207680590714[34] = 0;
|
|
out_5507022207680590714[35] = 0;
|
|
out_5507022207680590714[36] = 0;
|
|
out_5507022207680590714[37] = 0;
|
|
out_5507022207680590714[38] = 0;
|
|
out_5507022207680590714[39] = 0;
|
|
out_5507022207680590714[40] = 0;
|
|
out_5507022207680590714[41] = 0;
|
|
out_5507022207680590714[42] = 0;
|
|
out_5507022207680590714[43] = 0;
|
|
out_5507022207680590714[44] = 0;
|
|
out_5507022207680590714[45] = 0;
|
|
out_5507022207680590714[46] = 0;
|
|
out_5507022207680590714[47] = 0;
|
|
out_5507022207680590714[48] = 0;
|
|
out_5507022207680590714[49] = 1;
|
|
out_5507022207680590714[50] = 0;
|
|
out_5507022207680590714[51] = 0;
|
|
out_5507022207680590714[52] = 0;
|
|
out_5507022207680590714[53] = 0;
|
|
out_5507022207680590714[54] = 0;
|
|
out_5507022207680590714[55] = 0;
|
|
out_5507022207680590714[56] = 0;
|
|
out_5507022207680590714[57] = 0;
|
|
out_5507022207680590714[58] = 0;
|
|
out_5507022207680590714[59] = 0;
|
|
out_5507022207680590714[60] = 0;
|
|
out_5507022207680590714[61] = 0;
|
|
out_5507022207680590714[62] = 0;
|
|
out_5507022207680590714[63] = 0;
|
|
out_5507022207680590714[64] = 0;
|
|
out_5507022207680590714[65] = 0;
|
|
out_5507022207680590714[66] = 0;
|
|
out_5507022207680590714[67] = 0;
|
|
out_5507022207680590714[68] = 0;
|
|
out_5507022207680590714[69] = 0;
|
|
out_5507022207680590714[70] = 0;
|
|
out_5507022207680590714[71] = 0;
|
|
out_5507022207680590714[72] = 1;
|
|
out_5507022207680590714[73] = 0;
|
|
out_5507022207680590714[74] = 0;
|
|
out_5507022207680590714[75] = 0;
|
|
out_5507022207680590714[76] = 0;
|
|
out_5507022207680590714[77] = 0;
|
|
out_5507022207680590714[78] = 0;
|
|
out_5507022207680590714[79] = 0;
|
|
out_5507022207680590714[80] = 0;
|
|
out_5507022207680590714[81] = 0;
|
|
out_5507022207680590714[82] = 0;
|
|
out_5507022207680590714[83] = 0;
|
|
out_5507022207680590714[84] = 0;
|
|
out_5507022207680590714[85] = 0;
|
|
out_5507022207680590714[86] = 0;
|
|
out_5507022207680590714[87] = 0;
|
|
}
|
|
void h_13(double *state, double *unused, double *out_3046368725689310100) {
|
|
out_3046368725689310100[0] = (-2*state[3]*state[5] + 2*state[4]*state[6])*state[9] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[8] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[7];
|
|
out_3046368725689310100[1] = (2*state[3]*state[4] + 2*state[5]*state[6])*state[9] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[7] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[8];
|
|
out_3046368725689310100[2] = (-2*state[3]*state[4] + 2*state[5]*state[6])*state[8] + (2*state[3]*state[5] + 2*state[4]*state[6])*state[7] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[9];
|
|
}
|
|
void H_13(double *state, double *unused, double *out_619902790956587499) {
|
|
out_619902790956587499[0] = 0;
|
|
out_619902790956587499[1] = 0;
|
|
out_619902790956587499[2] = 0;
|
|
out_619902790956587499[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8];
|
|
out_619902790956587499[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
|
|
out_619902790956587499[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7];
|
|
out_619902790956587499[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7];
|
|
out_619902790956587499[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2);
|
|
out_619902790956587499[8] = 2*state[3]*state[6] + 2*state[4]*state[5];
|
|
out_619902790956587499[9] = -2*state[3]*state[5] + 2*state[4]*state[6];
|
|
out_619902790956587499[10] = 0;
|
|
out_619902790956587499[11] = 0;
|
|
out_619902790956587499[12] = 0;
|
|
out_619902790956587499[13] = 0;
|
|
out_619902790956587499[14] = 0;
|
|
out_619902790956587499[15] = 0;
|
|
out_619902790956587499[16] = 0;
|
|
out_619902790956587499[17] = 0;
|
|
out_619902790956587499[18] = 0;
|
|
out_619902790956587499[19] = 0;
|
|
out_619902790956587499[20] = 0;
|
|
out_619902790956587499[21] = 0;
|
|
out_619902790956587499[22] = 0;
|
|
out_619902790956587499[23] = 0;
|
|
out_619902790956587499[24] = 0;
|
|
out_619902790956587499[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7];
|
|
out_619902790956587499[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7];
|
|
out_619902790956587499[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
|
|
out_619902790956587499[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8];
|
|
out_619902790956587499[29] = -2*state[3]*state[6] + 2*state[4]*state[5];
|
|
out_619902790956587499[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2);
|
|
out_619902790956587499[31] = 2*state[3]*state[4] + 2*state[5]*state[6];
|
|
out_619902790956587499[32] = 0;
|
|
out_619902790956587499[33] = 0;
|
|
out_619902790956587499[34] = 0;
|
|
out_619902790956587499[35] = 0;
|
|
out_619902790956587499[36] = 0;
|
|
out_619902790956587499[37] = 0;
|
|
out_619902790956587499[38] = 0;
|
|
out_619902790956587499[39] = 0;
|
|
out_619902790956587499[40] = 0;
|
|
out_619902790956587499[41] = 0;
|
|
out_619902790956587499[42] = 0;
|
|
out_619902790956587499[43] = 0;
|
|
out_619902790956587499[44] = 0;
|
|
out_619902790956587499[45] = 0;
|
|
out_619902790956587499[46] = 0;
|
|
out_619902790956587499[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7];
|
|
out_619902790956587499[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7];
|
|
out_619902790956587499[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8];
|
|
out_619902790956587499[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
|
|
out_619902790956587499[51] = 2*state[3]*state[5] + 2*state[4]*state[6];
|
|
out_619902790956587499[52] = -2*state[3]*state[4] + 2*state[5]*state[6];
|
|
out_619902790956587499[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2);
|
|
out_619902790956587499[54] = 0;
|
|
out_619902790956587499[55] = 0;
|
|
out_619902790956587499[56] = 0;
|
|
out_619902790956587499[57] = 0;
|
|
out_619902790956587499[58] = 0;
|
|
out_619902790956587499[59] = 0;
|
|
out_619902790956587499[60] = 0;
|
|
out_619902790956587499[61] = 0;
|
|
out_619902790956587499[62] = 0;
|
|
out_619902790956587499[63] = 0;
|
|
out_619902790956587499[64] = 0;
|
|
out_619902790956587499[65] = 0;
|
|
}
|
|
void h_14(double *state, double *unused, double *out_3562980285330159985) {
|
|
out_3562980285330159985[0] = state[10];
|
|
out_3562980285330159985[1] = state[11];
|
|
out_3562980285330159985[2] = state[12];
|
|
}
|
|
void H_14(double *state, double *unused, double *out_6132683565288666312) {
|
|
out_6132683565288666312[0] = 0;
|
|
out_6132683565288666312[1] = 0;
|
|
out_6132683565288666312[2] = 0;
|
|
out_6132683565288666312[3] = 0;
|
|
out_6132683565288666312[4] = 0;
|
|
out_6132683565288666312[5] = 0;
|
|
out_6132683565288666312[6] = 0;
|
|
out_6132683565288666312[7] = 0;
|
|
out_6132683565288666312[8] = 0;
|
|
out_6132683565288666312[9] = 0;
|
|
out_6132683565288666312[10] = 1;
|
|
out_6132683565288666312[11] = 0;
|
|
out_6132683565288666312[12] = 0;
|
|
out_6132683565288666312[13] = 0;
|
|
out_6132683565288666312[14] = 0;
|
|
out_6132683565288666312[15] = 0;
|
|
out_6132683565288666312[16] = 0;
|
|
out_6132683565288666312[17] = 0;
|
|
out_6132683565288666312[18] = 0;
|
|
out_6132683565288666312[19] = 0;
|
|
out_6132683565288666312[20] = 0;
|
|
out_6132683565288666312[21] = 0;
|
|
out_6132683565288666312[22] = 0;
|
|
out_6132683565288666312[23] = 0;
|
|
out_6132683565288666312[24] = 0;
|
|
out_6132683565288666312[25] = 0;
|
|
out_6132683565288666312[26] = 0;
|
|
out_6132683565288666312[27] = 0;
|
|
out_6132683565288666312[28] = 0;
|
|
out_6132683565288666312[29] = 0;
|
|
out_6132683565288666312[30] = 0;
|
|
out_6132683565288666312[31] = 0;
|
|
out_6132683565288666312[32] = 0;
|
|
out_6132683565288666312[33] = 1;
|
|
out_6132683565288666312[34] = 0;
|
|
out_6132683565288666312[35] = 0;
|
|
out_6132683565288666312[36] = 0;
|
|
out_6132683565288666312[37] = 0;
|
|
out_6132683565288666312[38] = 0;
|
|
out_6132683565288666312[39] = 0;
|
|
out_6132683565288666312[40] = 0;
|
|
out_6132683565288666312[41] = 0;
|
|
out_6132683565288666312[42] = 0;
|
|
out_6132683565288666312[43] = 0;
|
|
out_6132683565288666312[44] = 0;
|
|
out_6132683565288666312[45] = 0;
|
|
out_6132683565288666312[46] = 0;
|
|
out_6132683565288666312[47] = 0;
|
|
out_6132683565288666312[48] = 0;
|
|
out_6132683565288666312[49] = 0;
|
|
out_6132683565288666312[50] = 0;
|
|
out_6132683565288666312[51] = 0;
|
|
out_6132683565288666312[52] = 0;
|
|
out_6132683565288666312[53] = 0;
|
|
out_6132683565288666312[54] = 0;
|
|
out_6132683565288666312[55] = 0;
|
|
out_6132683565288666312[56] = 1;
|
|
out_6132683565288666312[57] = 0;
|
|
out_6132683565288666312[58] = 0;
|
|
out_6132683565288666312[59] = 0;
|
|
out_6132683565288666312[60] = 0;
|
|
out_6132683565288666312[61] = 0;
|
|
out_6132683565288666312[62] = 0;
|
|
out_6132683565288666312[63] = 0;
|
|
out_6132683565288666312[64] = 0;
|
|
out_6132683565288666312[65] = 0;
|
|
}
|
|
void h_33(double *state, double *unused, double *out_6545880632453829262) {
|
|
out_6545880632453829262[0] = state[16];
|
|
out_6545880632453829262[1] = state[17];
|
|
out_6545880632453829262[2] = state[18];
|
|
}
|
|
void H_33(double *state, double *unused, double *out_6902683438541648802) {
|
|
out_6902683438541648802[0] = 0;
|
|
out_6902683438541648802[1] = 0;
|
|
out_6902683438541648802[2] = 0;
|
|
out_6902683438541648802[3] = 0;
|
|
out_6902683438541648802[4] = 0;
|
|
out_6902683438541648802[5] = 0;
|
|
out_6902683438541648802[6] = 0;
|
|
out_6902683438541648802[7] = 0;
|
|
out_6902683438541648802[8] = 0;
|
|
out_6902683438541648802[9] = 0;
|
|
out_6902683438541648802[10] = 0;
|
|
out_6902683438541648802[11] = 0;
|
|
out_6902683438541648802[12] = 0;
|
|
out_6902683438541648802[13] = 0;
|
|
out_6902683438541648802[14] = 0;
|
|
out_6902683438541648802[15] = 0;
|
|
out_6902683438541648802[16] = 1;
|
|
out_6902683438541648802[17] = 0;
|
|
out_6902683438541648802[18] = 0;
|
|
out_6902683438541648802[19] = 0;
|
|
out_6902683438541648802[20] = 0;
|
|
out_6902683438541648802[21] = 0;
|
|
out_6902683438541648802[22] = 0;
|
|
out_6902683438541648802[23] = 0;
|
|
out_6902683438541648802[24] = 0;
|
|
out_6902683438541648802[25] = 0;
|
|
out_6902683438541648802[26] = 0;
|
|
out_6902683438541648802[27] = 0;
|
|
out_6902683438541648802[28] = 0;
|
|
out_6902683438541648802[29] = 0;
|
|
out_6902683438541648802[30] = 0;
|
|
out_6902683438541648802[31] = 0;
|
|
out_6902683438541648802[32] = 0;
|
|
out_6902683438541648802[33] = 0;
|
|
out_6902683438541648802[34] = 0;
|
|
out_6902683438541648802[35] = 0;
|
|
out_6902683438541648802[36] = 0;
|
|
out_6902683438541648802[37] = 0;
|
|
out_6902683438541648802[38] = 0;
|
|
out_6902683438541648802[39] = 1;
|
|
out_6902683438541648802[40] = 0;
|
|
out_6902683438541648802[41] = 0;
|
|
out_6902683438541648802[42] = 0;
|
|
out_6902683438541648802[43] = 0;
|
|
out_6902683438541648802[44] = 0;
|
|
out_6902683438541648802[45] = 0;
|
|
out_6902683438541648802[46] = 0;
|
|
out_6902683438541648802[47] = 0;
|
|
out_6902683438541648802[48] = 0;
|
|
out_6902683438541648802[49] = 0;
|
|
out_6902683438541648802[50] = 0;
|
|
out_6902683438541648802[51] = 0;
|
|
out_6902683438541648802[52] = 0;
|
|
out_6902683438541648802[53] = 0;
|
|
out_6902683438541648802[54] = 0;
|
|
out_6902683438541648802[55] = 0;
|
|
out_6902683438541648802[56] = 0;
|
|
out_6902683438541648802[57] = 0;
|
|
out_6902683438541648802[58] = 0;
|
|
out_6902683438541648802[59] = 0;
|
|
out_6902683438541648802[60] = 0;
|
|
out_6902683438541648802[61] = 0;
|
|
out_6902683438541648802[62] = 1;
|
|
out_6902683438541648802[63] = 0;
|
|
out_6902683438541648802[64] = 0;
|
|
out_6902683438541648802[65] = 0;
|
|
}
|
|
#include <eigen3/Eigen/Dense>
|
|
#include <iostream>
|
|
|
|
typedef Eigen::Matrix<double, DIM, DIM, Eigen::RowMajor> DDM;
|
|
typedef Eigen::Matrix<double, EDIM, EDIM, Eigen::RowMajor> EEM;
|
|
typedef Eigen::Matrix<double, DIM, EDIM, Eigen::RowMajor> DEM;
|
|
|
|
void predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
|
typedef Eigen::Matrix<double, MEDIM, MEDIM, Eigen::RowMajor> RRM;
|
|
|
|
double nx[DIM] = {0};
|
|
double in_F[EDIM*EDIM] = {0};
|
|
|
|
// functions from sympy
|
|
f_fun(in_x, dt, nx);
|
|
F_fun(in_x, dt, in_F);
|
|
|
|
|
|
EEM F(in_F);
|
|
EEM P(in_P);
|
|
EEM Q(in_Q);
|
|
|
|
RRM F_main = F.topLeftCorner(MEDIM, MEDIM);
|
|
P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose();
|
|
P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM);
|
|
P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose();
|
|
|
|
P = P + dt*Q;
|
|
|
|
// copy out state
|
|
memcpy(in_x, nx, DIM * sizeof(double));
|
|
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
|
|
}
|
|
|
|
// note: extra_args dim only correct when null space projecting
|
|
// otherwise 1
|
|
template <int ZDIM, int EADIM, bool MAHA_TEST>
|
|
void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) {
|
|
typedef Eigen::Matrix<double, ZDIM, ZDIM, Eigen::RowMajor> ZZM;
|
|
typedef Eigen::Matrix<double, ZDIM, DIM, Eigen::RowMajor> ZDM;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, EDIM, Eigen::RowMajor> XEM;
|
|
//typedef Eigen::Matrix<double, EDIM, ZDIM, Eigen::RowMajor> EZM;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> X1M;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> XXM;
|
|
|
|
double in_hx[ZDIM] = {0};
|
|
double in_H[ZDIM * DIM] = {0};
|
|
double in_H_mod[EDIM * DIM] = {0};
|
|
double delta_x[EDIM] = {0};
|
|
double x_new[DIM] = {0};
|
|
|
|
|
|
// state x, P
|
|
Eigen::Matrix<double, ZDIM, 1> z(in_z);
|
|
EEM P(in_P);
|
|
ZZM pre_R(in_R);
|
|
|
|
// functions from sympy
|
|
h_fun(in_x, in_ea, in_hx);
|
|
H_fun(in_x, in_ea, in_H);
|
|
ZDM pre_H(in_H);
|
|
|
|
// get y (y = z - hx)
|
|
Eigen::Matrix<double, ZDIM, 1> pre_y(in_hx); pre_y = z - pre_y;
|
|
X1M y; XXM H; XXM R;
|
|
if (Hea_fun){
|
|
typedef Eigen::Matrix<double, ZDIM, EADIM, Eigen::RowMajor> ZAM;
|
|
double in_Hea[ZDIM * EADIM] = {0};
|
|
Hea_fun(in_x, in_ea, in_Hea);
|
|
ZAM Hea(in_Hea);
|
|
XXM A = Hea.transpose().fullPivLu().kernel();
|
|
|
|
|
|
y = A.transpose() * pre_y;
|
|
H = A.transpose() * pre_H;
|
|
R = A.transpose() * pre_R * A;
|
|
} else {
|
|
y = pre_y;
|
|
H = pre_H;
|
|
R = pre_R;
|
|
}
|
|
// get modified H
|
|
H_mod_fun(in_x, in_H_mod);
|
|
DEM H_mod(in_H_mod);
|
|
XEM H_err = H * H_mod;
|
|
|
|
// Do mahalobis distance test
|
|
if (MAHA_TEST){
|
|
XXM a = (H_err * P * H_err.transpose() + R).inverse();
|
|
double maha_dist = y.transpose() * a * y;
|
|
if (maha_dist > MAHA_THRESHOLD){
|
|
R = 1.0e16 * R;
|
|
}
|
|
}
|
|
|
|
// Outlier resilient weighting
|
|
double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum());
|
|
|
|
// kalman gains and I_KH
|
|
XXM S = ((H_err * P) * H_err.transpose()) + R/weight;
|
|
XEM KT = S.fullPivLu().solve(H_err * P.transpose());
|
|
//EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE?
|
|
//EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose();
|
|
//std::cout << "Here is the matrix rot:\n" << K << std::endl;
|
|
EEM I_KH = Eigen::Matrix<double, EDIM, EDIM>::Identity() - (KT.transpose() * H_err);
|
|
|
|
// update state by injecting dx
|
|
Eigen::Matrix<double, EDIM, 1> dx(delta_x);
|
|
dx = (KT.transpose() * y);
|
|
memcpy(delta_x, dx.data(), EDIM * sizeof(double));
|
|
err_fun(in_x, delta_x, x_new);
|
|
Eigen::Matrix<double, DIM, 1> x(x_new);
|
|
|
|
// update cov
|
|
P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT);
|
|
|
|
// copy out state
|
|
memcpy(in_x, x.data(), DIM * sizeof(double));
|
|
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
|
|
memcpy(in_z, y.data(), y.rows() * sizeof(double));
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
extern "C" {
|
|
|
|
void live_update_4(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_4, H_4, NULL, in_z, in_R, in_ea, MAHA_THRESH_4);
|
|
}
|
|
void live_update_9(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_9, H_9, NULL, in_z, in_R, in_ea, MAHA_THRESH_9);
|
|
}
|
|
void live_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_10, H_10, NULL, in_z, in_R, in_ea, MAHA_THRESH_10);
|
|
}
|
|
void live_update_12(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_12, H_12, NULL, in_z, in_R, in_ea, MAHA_THRESH_12);
|
|
}
|
|
void live_update_35(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_35, H_35, NULL, in_z, in_R, in_ea, MAHA_THRESH_35);
|
|
}
|
|
void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<4, 3, 0>(in_x, in_P, h_32, H_32, NULL, in_z, in_R, in_ea, MAHA_THRESH_32);
|
|
}
|
|
void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_13, H_13, NULL, in_z, in_R, in_ea, MAHA_THRESH_13);
|
|
}
|
|
void live_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 live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_33, H_33, NULL, in_z, in_R, in_ea, MAHA_THRESH_33);
|
|
}
|
|
void live_H(double *in_vec, double *out_133227908697253646) {
|
|
H(in_vec, out_133227908697253646);
|
|
}
|
|
void live_err_fun(double *nom_x, double *delta_x, double *out_7956773024485299364) {
|
|
err_fun(nom_x, delta_x, out_7956773024485299364);
|
|
}
|
|
void live_inv_err_fun(double *nom_x, double *true_x, double *out_2732543202000143924) {
|
|
inv_err_fun(nom_x, true_x, out_2732543202000143924);
|
|
}
|
|
void live_H_mod_fun(double *state, double *out_3009125082534637337) {
|
|
H_mod_fun(state, out_3009125082534637337);
|
|
}
|
|
void live_f_fun(double *state, double dt, double *out_4335391440186581522) {
|
|
f_fun(state, dt, out_4335391440186581522);
|
|
}
|
|
void live_F_fun(double *state, double dt, double *out_5664590113989302035) {
|
|
F_fun(state, dt, out_5664590113989302035);
|
|
}
|
|
void live_h_4(double *state, double *unused, double *out_3014692161587012603) {
|
|
h_4(state, unused, out_3014692161587012603);
|
|
}
|
|
void live_H_4(double *state, double *unused, double *out_5026841573156437834) {
|
|
H_4(state, unused, out_5026841573156437834);
|
|
}
|
|
void live_h_9(double *state, double *unused, double *out_3562980285330159985) {
|
|
h_9(state, unused, out_3562980285330159985);
|
|
}
|
|
void live_H_9(double *state, double *unused, double *out_6132683565288666312) {
|
|
H_9(state, unused, out_6132683565288666312);
|
|
}
|
|
void live_h_10(double *state, double *unused, double *out_535862169176880815) {
|
|
h_10(state, unused, out_535862169176880815);
|
|
}
|
|
void live_H_10(double *state, double *unused, double *out_8297258708073091465) {
|
|
H_10(state, unused, out_8297258708073091465);
|
|
}
|
|
void live_h_12(double *state, double *unused, double *out_925715247818340264) {
|
|
h_12(state, unused, out_925715247818340264);
|
|
}
|
|
void live_H_12(double *state, double *unused, double *out_5647940598204031501) {
|
|
H_12(state, unused, out_5647940598204031501);
|
|
}
|
|
void live_h_35(double *state, double *unused, double *out_9149207542038296554) {
|
|
h_35(state, unused, out_9149207542038296554);
|
|
}
|
|
void live_H_35(double *state, double *unused, double *out_8393503630529045210) {
|
|
H_35(state, unused, out_8393503630529045210);
|
|
}
|
|
void live_h_32(double *state, double *unused, double *out_8538571874421941973) {
|
|
h_32(state, unused, out_8538571874421941973);
|
|
}
|
|
void live_H_32(double *state, double *unused, double *out_5507022207680590714) {
|
|
H_32(state, unused, out_5507022207680590714);
|
|
}
|
|
void live_h_13(double *state, double *unused, double *out_3046368725689310100) {
|
|
h_13(state, unused, out_3046368725689310100);
|
|
}
|
|
void live_H_13(double *state, double *unused, double *out_619902790956587499) {
|
|
H_13(state, unused, out_619902790956587499);
|
|
}
|
|
void live_h_14(double *state, double *unused, double *out_3562980285330159985) {
|
|
h_14(state, unused, out_3562980285330159985);
|
|
}
|
|
void live_H_14(double *state, double *unused, double *out_6132683565288666312) {
|
|
H_14(state, unused, out_6132683565288666312);
|
|
}
|
|
void live_h_33(double *state, double *unused, double *out_6545880632453829262) {
|
|
h_33(state, unused, out_6545880632453829262);
|
|
}
|
|
void live_H_33(double *state, double *unused, double *out_6902683438541648802) {
|
|
H_33(state, unused, out_6902683438541648802);
|
|
}
|
|
void live_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
|
predict(in_x, in_P, in_Q, dt);
|
|
}
|
|
}
|
|
|
|
const EKF live = {
|
|
.name = "live",
|
|
.kinds = { 4, 9, 10, 12, 35, 32, 13, 14, 33 },
|
|
.feature_kinds = { },
|
|
.f_fun = live_f_fun,
|
|
.F_fun = live_F_fun,
|
|
.err_fun = live_err_fun,
|
|
.inv_err_fun = live_inv_err_fun,
|
|
.H_mod_fun = live_H_mod_fun,
|
|
.predict = live_predict,
|
|
.hs = {
|
|
{ 4, live_h_4 },
|
|
{ 9, live_h_9 },
|
|
{ 10, live_h_10 },
|
|
{ 12, live_h_12 },
|
|
{ 35, live_h_35 },
|
|
{ 32, live_h_32 },
|
|
{ 13, live_h_13 },
|
|
{ 14, live_h_14 },
|
|
{ 33, live_h_33 },
|
|
},
|
|
.Hs = {
|
|
{ 4, live_H_4 },
|
|
{ 9, live_H_9 },
|
|
{ 10, live_H_10 },
|
|
{ 12, live_H_12 },
|
|
{ 35, live_H_35 },
|
|
{ 32, live_H_32 },
|
|
{ 13, live_H_13 },
|
|
{ 14, live_H_14 },
|
|
{ 33, live_H_33 },
|
|
},
|
|
.updates = {
|
|
{ 4, live_update_4 },
|
|
{ 9, live_update_9 },
|
|
{ 10, live_update_10 },
|
|
{ 12, live_update_12 },
|
|
{ 35, live_update_35 },
|
|
{ 32, live_update_32 },
|
|
{ 13, live_update_13 },
|
|
{ 14, live_update_14 },
|
|
{ 33, live_update_33 },
|
|
},
|
|
.Hes = {
|
|
},
|
|
.sets = {
|
|
},
|
|
.extra_routines = {
|
|
{ "H", live_H },
|
|
},
|
|
};
|
|
|
|
ekf_init(live);
|