#include "pose.h"

namespace {
#define DIM 18
#define EDIM 18
#define MEDIM 18
typedef void (*Hfun)(double *, double *, double *);
const static double MAHA_THRESH_4 = 7.814727903251177;
const static double MAHA_THRESH_10 = 7.814727903251177;
const static double MAHA_THRESH_13 = 7.814727903251177;
const static double MAHA_THRESH_14 = 7.814727903251177;

/******************************************************************************
 *                      Code generated with SymPy 1.14.0                      *
 *                                                                            *
 *              See http://www.sympy.org/ for more information.               *
 *                                                                            *
 *                         This file is part of 'ekf'                         *
 ******************************************************************************/
void err_fun(double *nom_x, double *delta_x, double *out_2789372129447219573) {
   out_2789372129447219573[0] = delta_x[0] + nom_x[0];
   out_2789372129447219573[1] = delta_x[1] + nom_x[1];
   out_2789372129447219573[2] = delta_x[2] + nom_x[2];
   out_2789372129447219573[3] = delta_x[3] + nom_x[3];
   out_2789372129447219573[4] = delta_x[4] + nom_x[4];
   out_2789372129447219573[5] = delta_x[5] + nom_x[5];
   out_2789372129447219573[6] = delta_x[6] + nom_x[6];
   out_2789372129447219573[7] = delta_x[7] + nom_x[7];
   out_2789372129447219573[8] = delta_x[8] + nom_x[8];
   out_2789372129447219573[9] = delta_x[9] + nom_x[9];
   out_2789372129447219573[10] = delta_x[10] + nom_x[10];
   out_2789372129447219573[11] = delta_x[11] + nom_x[11];
   out_2789372129447219573[12] = delta_x[12] + nom_x[12];
   out_2789372129447219573[13] = delta_x[13] + nom_x[13];
   out_2789372129447219573[14] = delta_x[14] + nom_x[14];
   out_2789372129447219573[15] = delta_x[15] + nom_x[15];
   out_2789372129447219573[16] = delta_x[16] + nom_x[16];
   out_2789372129447219573[17] = delta_x[17] + nom_x[17];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_3041949554970523662) {
   out_3041949554970523662[0] = -nom_x[0] + true_x[0];
   out_3041949554970523662[1] = -nom_x[1] + true_x[1];
   out_3041949554970523662[2] = -nom_x[2] + true_x[2];
   out_3041949554970523662[3] = -nom_x[3] + true_x[3];
   out_3041949554970523662[4] = -nom_x[4] + true_x[4];
   out_3041949554970523662[5] = -nom_x[5] + true_x[5];
   out_3041949554970523662[6] = -nom_x[6] + true_x[6];
   out_3041949554970523662[7] = -nom_x[7] + true_x[7];
   out_3041949554970523662[8] = -nom_x[8] + true_x[8];
   out_3041949554970523662[9] = -nom_x[9] + true_x[9];
   out_3041949554970523662[10] = -nom_x[10] + true_x[10];
   out_3041949554970523662[11] = -nom_x[11] + true_x[11];
   out_3041949554970523662[12] = -nom_x[12] + true_x[12];
   out_3041949554970523662[13] = -nom_x[13] + true_x[13];
   out_3041949554970523662[14] = -nom_x[14] + true_x[14];
   out_3041949554970523662[15] = -nom_x[15] + true_x[15];
   out_3041949554970523662[16] = -nom_x[16] + true_x[16];
   out_3041949554970523662[17] = -nom_x[17] + true_x[17];
}
void H_mod_fun(double *state, double *out_8174518171475042103) {
   out_8174518171475042103[0] = 1.0;
   out_8174518171475042103[1] = 0.0;
   out_8174518171475042103[2] = 0.0;
   out_8174518171475042103[3] = 0.0;
   out_8174518171475042103[4] = 0.0;
   out_8174518171475042103[5] = 0.0;
   out_8174518171475042103[6] = 0.0;
   out_8174518171475042103[7] = 0.0;
   out_8174518171475042103[8] = 0.0;
   out_8174518171475042103[9] = 0.0;
   out_8174518171475042103[10] = 0.0;
   out_8174518171475042103[11] = 0.0;
   out_8174518171475042103[12] = 0.0;
   out_8174518171475042103[13] = 0.0;
   out_8174518171475042103[14] = 0.0;
   out_8174518171475042103[15] = 0.0;
   out_8174518171475042103[16] = 0.0;
   out_8174518171475042103[17] = 0.0;
   out_8174518171475042103[18] = 0.0;
   out_8174518171475042103[19] = 1.0;
   out_8174518171475042103[20] = 0.0;
   out_8174518171475042103[21] = 0.0;
   out_8174518171475042103[22] = 0.0;
   out_8174518171475042103[23] = 0.0;
   out_8174518171475042103[24] = 0.0;
   out_8174518171475042103[25] = 0.0;
   out_8174518171475042103[26] = 0.0;
   out_8174518171475042103[27] = 0.0;
   out_8174518171475042103[28] = 0.0;
   out_8174518171475042103[29] = 0.0;
   out_8174518171475042103[30] = 0.0;
   out_8174518171475042103[31] = 0.0;
   out_8174518171475042103[32] = 0.0;
   out_8174518171475042103[33] = 0.0;
   out_8174518171475042103[34] = 0.0;
   out_8174518171475042103[35] = 0.0;
   out_8174518171475042103[36] = 0.0;
   out_8174518171475042103[37] = 0.0;
   out_8174518171475042103[38] = 1.0;
   out_8174518171475042103[39] = 0.0;
   out_8174518171475042103[40] = 0.0;
   out_8174518171475042103[41] = 0.0;
   out_8174518171475042103[42] = 0.0;
   out_8174518171475042103[43] = 0.0;
   out_8174518171475042103[44] = 0.0;
   out_8174518171475042103[45] = 0.0;
   out_8174518171475042103[46] = 0.0;
   out_8174518171475042103[47] = 0.0;
   out_8174518171475042103[48] = 0.0;
   out_8174518171475042103[49] = 0.0;
   out_8174518171475042103[50] = 0.0;
   out_8174518171475042103[51] = 0.0;
   out_8174518171475042103[52] = 0.0;
   out_8174518171475042103[53] = 0.0;
   out_8174518171475042103[54] = 0.0;
   out_8174518171475042103[55] = 0.0;
   out_8174518171475042103[56] = 0.0;
   out_8174518171475042103[57] = 1.0;
   out_8174518171475042103[58] = 0.0;
   out_8174518171475042103[59] = 0.0;
   out_8174518171475042103[60] = 0.0;
   out_8174518171475042103[61] = 0.0;
   out_8174518171475042103[62] = 0.0;
   out_8174518171475042103[63] = 0.0;
   out_8174518171475042103[64] = 0.0;
   out_8174518171475042103[65] = 0.0;
   out_8174518171475042103[66] = 0.0;
   out_8174518171475042103[67] = 0.0;
   out_8174518171475042103[68] = 0.0;
   out_8174518171475042103[69] = 0.0;
   out_8174518171475042103[70] = 0.0;
   out_8174518171475042103[71] = 0.0;
   out_8174518171475042103[72] = 0.0;
   out_8174518171475042103[73] = 0.0;
   out_8174518171475042103[74] = 0.0;
   out_8174518171475042103[75] = 0.0;
   out_8174518171475042103[76] = 1.0;
   out_8174518171475042103[77] = 0.0;
   out_8174518171475042103[78] = 0.0;
   out_8174518171475042103[79] = 0.0;
   out_8174518171475042103[80] = 0.0;
   out_8174518171475042103[81] = 0.0;
   out_8174518171475042103[82] = 0.0;
   out_8174518171475042103[83] = 0.0;
   out_8174518171475042103[84] = 0.0;
   out_8174518171475042103[85] = 0.0;
   out_8174518171475042103[86] = 0.0;
   out_8174518171475042103[87] = 0.0;
   out_8174518171475042103[88] = 0.0;
   out_8174518171475042103[89] = 0.0;
   out_8174518171475042103[90] = 0.0;
   out_8174518171475042103[91] = 0.0;
   out_8174518171475042103[92] = 0.0;
   out_8174518171475042103[93] = 0.0;
   out_8174518171475042103[94] = 0.0;
   out_8174518171475042103[95] = 1.0;
   out_8174518171475042103[96] = 0.0;
   out_8174518171475042103[97] = 0.0;
   out_8174518171475042103[98] = 0.0;
   out_8174518171475042103[99] = 0.0;
   out_8174518171475042103[100] = 0.0;
   out_8174518171475042103[101] = 0.0;
   out_8174518171475042103[102] = 0.0;
   out_8174518171475042103[103] = 0.0;
   out_8174518171475042103[104] = 0.0;
   out_8174518171475042103[105] = 0.0;
   out_8174518171475042103[106] = 0.0;
   out_8174518171475042103[107] = 0.0;
   out_8174518171475042103[108] = 0.0;
   out_8174518171475042103[109] = 0.0;
   out_8174518171475042103[110] = 0.0;
   out_8174518171475042103[111] = 0.0;
   out_8174518171475042103[112] = 0.0;
   out_8174518171475042103[113] = 0.0;
   out_8174518171475042103[114] = 1.0;
   out_8174518171475042103[115] = 0.0;
   out_8174518171475042103[116] = 0.0;
   out_8174518171475042103[117] = 0.0;
   out_8174518171475042103[118] = 0.0;
   out_8174518171475042103[119] = 0.0;
   out_8174518171475042103[120] = 0.0;
   out_8174518171475042103[121] = 0.0;
   out_8174518171475042103[122] = 0.0;
   out_8174518171475042103[123] = 0.0;
   out_8174518171475042103[124] = 0.0;
   out_8174518171475042103[125] = 0.0;
   out_8174518171475042103[126] = 0.0;
   out_8174518171475042103[127] = 0.0;
   out_8174518171475042103[128] = 0.0;
   out_8174518171475042103[129] = 0.0;
   out_8174518171475042103[130] = 0.0;
   out_8174518171475042103[131] = 0.0;
   out_8174518171475042103[132] = 0.0;
   out_8174518171475042103[133] = 1.0;
   out_8174518171475042103[134] = 0.0;
   out_8174518171475042103[135] = 0.0;
   out_8174518171475042103[136] = 0.0;
   out_8174518171475042103[137] = 0.0;
   out_8174518171475042103[138] = 0.0;
   out_8174518171475042103[139] = 0.0;
   out_8174518171475042103[140] = 0.0;
   out_8174518171475042103[141] = 0.0;
   out_8174518171475042103[142] = 0.0;
   out_8174518171475042103[143] = 0.0;
   out_8174518171475042103[144] = 0.0;
   out_8174518171475042103[145] = 0.0;
   out_8174518171475042103[146] = 0.0;
   out_8174518171475042103[147] = 0.0;
   out_8174518171475042103[148] = 0.0;
   out_8174518171475042103[149] = 0.0;
   out_8174518171475042103[150] = 0.0;
   out_8174518171475042103[151] = 0.0;
   out_8174518171475042103[152] = 1.0;
   out_8174518171475042103[153] = 0.0;
   out_8174518171475042103[154] = 0.0;
   out_8174518171475042103[155] = 0.0;
   out_8174518171475042103[156] = 0.0;
   out_8174518171475042103[157] = 0.0;
   out_8174518171475042103[158] = 0.0;
   out_8174518171475042103[159] = 0.0;
   out_8174518171475042103[160] = 0.0;
   out_8174518171475042103[161] = 0.0;
   out_8174518171475042103[162] = 0.0;
   out_8174518171475042103[163] = 0.0;
   out_8174518171475042103[164] = 0.0;
   out_8174518171475042103[165] = 0.0;
   out_8174518171475042103[166] = 0.0;
   out_8174518171475042103[167] = 0.0;
   out_8174518171475042103[168] = 0.0;
   out_8174518171475042103[169] = 0.0;
   out_8174518171475042103[170] = 0.0;
   out_8174518171475042103[171] = 1.0;
   out_8174518171475042103[172] = 0.0;
   out_8174518171475042103[173] = 0.0;
   out_8174518171475042103[174] = 0.0;
   out_8174518171475042103[175] = 0.0;
   out_8174518171475042103[176] = 0.0;
   out_8174518171475042103[177] = 0.0;
   out_8174518171475042103[178] = 0.0;
   out_8174518171475042103[179] = 0.0;
   out_8174518171475042103[180] = 0.0;
   out_8174518171475042103[181] = 0.0;
   out_8174518171475042103[182] = 0.0;
   out_8174518171475042103[183] = 0.0;
   out_8174518171475042103[184] = 0.0;
   out_8174518171475042103[185] = 0.0;
   out_8174518171475042103[186] = 0.0;
   out_8174518171475042103[187] = 0.0;
   out_8174518171475042103[188] = 0.0;
   out_8174518171475042103[189] = 0.0;
   out_8174518171475042103[190] = 1.0;
   out_8174518171475042103[191] = 0.0;
   out_8174518171475042103[192] = 0.0;
   out_8174518171475042103[193] = 0.0;
   out_8174518171475042103[194] = 0.0;
   out_8174518171475042103[195] = 0.0;
   out_8174518171475042103[196] = 0.0;
   out_8174518171475042103[197] = 0.0;
   out_8174518171475042103[198] = 0.0;
   out_8174518171475042103[199] = 0.0;
   out_8174518171475042103[200] = 0.0;
   out_8174518171475042103[201] = 0.0;
   out_8174518171475042103[202] = 0.0;
   out_8174518171475042103[203] = 0.0;
   out_8174518171475042103[204] = 0.0;
   out_8174518171475042103[205] = 0.0;
   out_8174518171475042103[206] = 0.0;
   out_8174518171475042103[207] = 0.0;
   out_8174518171475042103[208] = 0.0;
   out_8174518171475042103[209] = 1.0;
   out_8174518171475042103[210] = 0.0;
   out_8174518171475042103[211] = 0.0;
   out_8174518171475042103[212] = 0.0;
   out_8174518171475042103[213] = 0.0;
   out_8174518171475042103[214] = 0.0;
   out_8174518171475042103[215] = 0.0;
   out_8174518171475042103[216] = 0.0;
   out_8174518171475042103[217] = 0.0;
   out_8174518171475042103[218] = 0.0;
   out_8174518171475042103[219] = 0.0;
   out_8174518171475042103[220] = 0.0;
   out_8174518171475042103[221] = 0.0;
   out_8174518171475042103[222] = 0.0;
   out_8174518171475042103[223] = 0.0;
   out_8174518171475042103[224] = 0.0;
   out_8174518171475042103[225] = 0.0;
   out_8174518171475042103[226] = 0.0;
   out_8174518171475042103[227] = 0.0;
   out_8174518171475042103[228] = 1.0;
   out_8174518171475042103[229] = 0.0;
   out_8174518171475042103[230] = 0.0;
   out_8174518171475042103[231] = 0.0;
   out_8174518171475042103[232] = 0.0;
   out_8174518171475042103[233] = 0.0;
   out_8174518171475042103[234] = 0.0;
   out_8174518171475042103[235] = 0.0;
   out_8174518171475042103[236] = 0.0;
   out_8174518171475042103[237] = 0.0;
   out_8174518171475042103[238] = 0.0;
   out_8174518171475042103[239] = 0.0;
   out_8174518171475042103[240] = 0.0;
   out_8174518171475042103[241] = 0.0;
   out_8174518171475042103[242] = 0.0;
   out_8174518171475042103[243] = 0.0;
   out_8174518171475042103[244] = 0.0;
   out_8174518171475042103[245] = 0.0;
   out_8174518171475042103[246] = 0.0;
   out_8174518171475042103[247] = 1.0;
   out_8174518171475042103[248] = 0.0;
   out_8174518171475042103[249] = 0.0;
   out_8174518171475042103[250] = 0.0;
   out_8174518171475042103[251] = 0.0;
   out_8174518171475042103[252] = 0.0;
   out_8174518171475042103[253] = 0.0;
   out_8174518171475042103[254] = 0.0;
   out_8174518171475042103[255] = 0.0;
   out_8174518171475042103[256] = 0.0;
   out_8174518171475042103[257] = 0.0;
   out_8174518171475042103[258] = 0.0;
   out_8174518171475042103[259] = 0.0;
   out_8174518171475042103[260] = 0.0;
   out_8174518171475042103[261] = 0.0;
   out_8174518171475042103[262] = 0.0;
   out_8174518171475042103[263] = 0.0;
   out_8174518171475042103[264] = 0.0;
   out_8174518171475042103[265] = 0.0;
   out_8174518171475042103[266] = 1.0;
   out_8174518171475042103[267] = 0.0;
   out_8174518171475042103[268] = 0.0;
   out_8174518171475042103[269] = 0.0;
   out_8174518171475042103[270] = 0.0;
   out_8174518171475042103[271] = 0.0;
   out_8174518171475042103[272] = 0.0;
   out_8174518171475042103[273] = 0.0;
   out_8174518171475042103[274] = 0.0;
   out_8174518171475042103[275] = 0.0;
   out_8174518171475042103[276] = 0.0;
   out_8174518171475042103[277] = 0.0;
   out_8174518171475042103[278] = 0.0;
   out_8174518171475042103[279] = 0.0;
   out_8174518171475042103[280] = 0.0;
   out_8174518171475042103[281] = 0.0;
   out_8174518171475042103[282] = 0.0;
   out_8174518171475042103[283] = 0.0;
   out_8174518171475042103[284] = 0.0;
   out_8174518171475042103[285] = 1.0;
   out_8174518171475042103[286] = 0.0;
   out_8174518171475042103[287] = 0.0;
   out_8174518171475042103[288] = 0.0;
   out_8174518171475042103[289] = 0.0;
   out_8174518171475042103[290] = 0.0;
   out_8174518171475042103[291] = 0.0;
   out_8174518171475042103[292] = 0.0;
   out_8174518171475042103[293] = 0.0;
   out_8174518171475042103[294] = 0.0;
   out_8174518171475042103[295] = 0.0;
   out_8174518171475042103[296] = 0.0;
   out_8174518171475042103[297] = 0.0;
   out_8174518171475042103[298] = 0.0;
   out_8174518171475042103[299] = 0.0;
   out_8174518171475042103[300] = 0.0;
   out_8174518171475042103[301] = 0.0;
   out_8174518171475042103[302] = 0.0;
   out_8174518171475042103[303] = 0.0;
   out_8174518171475042103[304] = 1.0;
   out_8174518171475042103[305] = 0.0;
   out_8174518171475042103[306] = 0.0;
   out_8174518171475042103[307] = 0.0;
   out_8174518171475042103[308] = 0.0;
   out_8174518171475042103[309] = 0.0;
   out_8174518171475042103[310] = 0.0;
   out_8174518171475042103[311] = 0.0;
   out_8174518171475042103[312] = 0.0;
   out_8174518171475042103[313] = 0.0;
   out_8174518171475042103[314] = 0.0;
   out_8174518171475042103[315] = 0.0;
   out_8174518171475042103[316] = 0.0;
   out_8174518171475042103[317] = 0.0;
   out_8174518171475042103[318] = 0.0;
   out_8174518171475042103[319] = 0.0;
   out_8174518171475042103[320] = 0.0;
   out_8174518171475042103[321] = 0.0;
   out_8174518171475042103[322] = 0.0;
   out_8174518171475042103[323] = 1.0;
}
void f_fun(double *state, double dt, double *out_7700137709198295206) {
   out_7700137709198295206[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]));
   out_7700137709198295206[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]));
   out_7700137709198295206[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]));
   out_7700137709198295206[3] = dt*state[12] + state[3];
   out_7700137709198295206[4] = dt*state[13] + state[4];
   out_7700137709198295206[5] = dt*state[14] + state[5];
   out_7700137709198295206[6] = state[6];
   out_7700137709198295206[7] = state[7];
   out_7700137709198295206[8] = state[8];
   out_7700137709198295206[9] = state[9];
   out_7700137709198295206[10] = state[10];
   out_7700137709198295206[11] = state[11];
   out_7700137709198295206[12] = state[12];
   out_7700137709198295206[13] = state[13];
   out_7700137709198295206[14] = state[14];
   out_7700137709198295206[15] = state[15];
   out_7700137709198295206[16] = state[16];
   out_7700137709198295206[17] = state[17];
}
void F_fun(double *state, double dt, double *out_6708844531230299156) {
   out_6708844531230299156[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
   out_6708844531230299156[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
   out_6708844531230299156[2] = 0;
   out_6708844531230299156[3] = 0;
   out_6708844531230299156[4] = 0;
   out_6708844531230299156[5] = 0;
   out_6708844531230299156[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
   out_6708844531230299156[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
   out_6708844531230299156[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
   out_6708844531230299156[9] = 0;
   out_6708844531230299156[10] = 0;
   out_6708844531230299156[11] = 0;
   out_6708844531230299156[12] = 0;
   out_6708844531230299156[13] = 0;
   out_6708844531230299156[14] = 0;
   out_6708844531230299156[15] = 0;
   out_6708844531230299156[16] = 0;
   out_6708844531230299156[17] = 0;
   out_6708844531230299156[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
   out_6708844531230299156[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
   out_6708844531230299156[20] = 0;
   out_6708844531230299156[21] = 0;
   out_6708844531230299156[22] = 0;
   out_6708844531230299156[23] = 0;
   out_6708844531230299156[24] = 0;
   out_6708844531230299156[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
   out_6708844531230299156[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
   out_6708844531230299156[27] = 0;
   out_6708844531230299156[28] = 0;
   out_6708844531230299156[29] = 0;
   out_6708844531230299156[30] = 0;
   out_6708844531230299156[31] = 0;
   out_6708844531230299156[32] = 0;
   out_6708844531230299156[33] = 0;
   out_6708844531230299156[34] = 0;
   out_6708844531230299156[35] = 0;
   out_6708844531230299156[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
   out_6708844531230299156[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
   out_6708844531230299156[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
   out_6708844531230299156[39] = 0;
   out_6708844531230299156[40] = 0;
   out_6708844531230299156[41] = 0;
   out_6708844531230299156[42] = 0;
   out_6708844531230299156[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
   out_6708844531230299156[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
   out_6708844531230299156[45] = 0;
   out_6708844531230299156[46] = 0;
   out_6708844531230299156[47] = 0;
   out_6708844531230299156[48] = 0;
   out_6708844531230299156[49] = 0;
   out_6708844531230299156[50] = 0;
   out_6708844531230299156[51] = 0;
   out_6708844531230299156[52] = 0;
   out_6708844531230299156[53] = 0;
   out_6708844531230299156[54] = 0;
   out_6708844531230299156[55] = 0;
   out_6708844531230299156[56] = 0;
   out_6708844531230299156[57] = 1;
   out_6708844531230299156[58] = 0;
   out_6708844531230299156[59] = 0;
   out_6708844531230299156[60] = 0;
   out_6708844531230299156[61] = 0;
   out_6708844531230299156[62] = 0;
   out_6708844531230299156[63] = 0;
   out_6708844531230299156[64] = 0;
   out_6708844531230299156[65] = 0;
   out_6708844531230299156[66] = dt;
   out_6708844531230299156[67] = 0;
   out_6708844531230299156[68] = 0;
   out_6708844531230299156[69] = 0;
   out_6708844531230299156[70] = 0;
   out_6708844531230299156[71] = 0;
   out_6708844531230299156[72] = 0;
   out_6708844531230299156[73] = 0;
   out_6708844531230299156[74] = 0;
   out_6708844531230299156[75] = 0;
   out_6708844531230299156[76] = 1;
   out_6708844531230299156[77] = 0;
   out_6708844531230299156[78] = 0;
   out_6708844531230299156[79] = 0;
   out_6708844531230299156[80] = 0;
   out_6708844531230299156[81] = 0;
   out_6708844531230299156[82] = 0;
   out_6708844531230299156[83] = 0;
   out_6708844531230299156[84] = 0;
   out_6708844531230299156[85] = dt;
   out_6708844531230299156[86] = 0;
   out_6708844531230299156[87] = 0;
   out_6708844531230299156[88] = 0;
   out_6708844531230299156[89] = 0;
   out_6708844531230299156[90] = 0;
   out_6708844531230299156[91] = 0;
   out_6708844531230299156[92] = 0;
   out_6708844531230299156[93] = 0;
   out_6708844531230299156[94] = 0;
   out_6708844531230299156[95] = 1;
   out_6708844531230299156[96] = 0;
   out_6708844531230299156[97] = 0;
   out_6708844531230299156[98] = 0;
   out_6708844531230299156[99] = 0;
   out_6708844531230299156[100] = 0;
   out_6708844531230299156[101] = 0;
   out_6708844531230299156[102] = 0;
   out_6708844531230299156[103] = 0;
   out_6708844531230299156[104] = dt;
   out_6708844531230299156[105] = 0;
   out_6708844531230299156[106] = 0;
   out_6708844531230299156[107] = 0;
   out_6708844531230299156[108] = 0;
   out_6708844531230299156[109] = 0;
   out_6708844531230299156[110] = 0;
   out_6708844531230299156[111] = 0;
   out_6708844531230299156[112] = 0;
   out_6708844531230299156[113] = 0;
   out_6708844531230299156[114] = 1;
   out_6708844531230299156[115] = 0;
   out_6708844531230299156[116] = 0;
   out_6708844531230299156[117] = 0;
   out_6708844531230299156[118] = 0;
   out_6708844531230299156[119] = 0;
   out_6708844531230299156[120] = 0;
   out_6708844531230299156[121] = 0;
   out_6708844531230299156[122] = 0;
   out_6708844531230299156[123] = 0;
   out_6708844531230299156[124] = 0;
   out_6708844531230299156[125] = 0;
   out_6708844531230299156[126] = 0;
   out_6708844531230299156[127] = 0;
   out_6708844531230299156[128] = 0;
   out_6708844531230299156[129] = 0;
   out_6708844531230299156[130] = 0;
   out_6708844531230299156[131] = 0;
   out_6708844531230299156[132] = 0;
   out_6708844531230299156[133] = 1;
   out_6708844531230299156[134] = 0;
   out_6708844531230299156[135] = 0;
   out_6708844531230299156[136] = 0;
   out_6708844531230299156[137] = 0;
   out_6708844531230299156[138] = 0;
   out_6708844531230299156[139] = 0;
   out_6708844531230299156[140] = 0;
   out_6708844531230299156[141] = 0;
   out_6708844531230299156[142] = 0;
   out_6708844531230299156[143] = 0;
   out_6708844531230299156[144] = 0;
   out_6708844531230299156[145] = 0;
   out_6708844531230299156[146] = 0;
   out_6708844531230299156[147] = 0;
   out_6708844531230299156[148] = 0;
   out_6708844531230299156[149] = 0;
   out_6708844531230299156[150] = 0;
   out_6708844531230299156[151] = 0;
   out_6708844531230299156[152] = 1;
   out_6708844531230299156[153] = 0;
   out_6708844531230299156[154] = 0;
   out_6708844531230299156[155] = 0;
   out_6708844531230299156[156] = 0;
   out_6708844531230299156[157] = 0;
   out_6708844531230299156[158] = 0;
   out_6708844531230299156[159] = 0;
   out_6708844531230299156[160] = 0;
   out_6708844531230299156[161] = 0;
   out_6708844531230299156[162] = 0;
   out_6708844531230299156[163] = 0;
   out_6708844531230299156[164] = 0;
   out_6708844531230299156[165] = 0;
   out_6708844531230299156[166] = 0;
   out_6708844531230299156[167] = 0;
   out_6708844531230299156[168] = 0;
   out_6708844531230299156[169] = 0;
   out_6708844531230299156[170] = 0;
   out_6708844531230299156[171] = 1;
   out_6708844531230299156[172] = 0;
   out_6708844531230299156[173] = 0;
   out_6708844531230299156[174] = 0;
   out_6708844531230299156[175] = 0;
   out_6708844531230299156[176] = 0;
   out_6708844531230299156[177] = 0;
   out_6708844531230299156[178] = 0;
   out_6708844531230299156[179] = 0;
   out_6708844531230299156[180] = 0;
   out_6708844531230299156[181] = 0;
   out_6708844531230299156[182] = 0;
   out_6708844531230299156[183] = 0;
   out_6708844531230299156[184] = 0;
   out_6708844531230299156[185] = 0;
   out_6708844531230299156[186] = 0;
   out_6708844531230299156[187] = 0;
   out_6708844531230299156[188] = 0;
   out_6708844531230299156[189] = 0;
   out_6708844531230299156[190] = 1;
   out_6708844531230299156[191] = 0;
   out_6708844531230299156[192] = 0;
   out_6708844531230299156[193] = 0;
   out_6708844531230299156[194] = 0;
   out_6708844531230299156[195] = 0;
   out_6708844531230299156[196] = 0;
   out_6708844531230299156[197] = 0;
   out_6708844531230299156[198] = 0;
   out_6708844531230299156[199] = 0;
   out_6708844531230299156[200] = 0;
   out_6708844531230299156[201] = 0;
   out_6708844531230299156[202] = 0;
   out_6708844531230299156[203] = 0;
   out_6708844531230299156[204] = 0;
   out_6708844531230299156[205] = 0;
   out_6708844531230299156[206] = 0;
   out_6708844531230299156[207] = 0;
   out_6708844531230299156[208] = 0;
   out_6708844531230299156[209] = 1;
   out_6708844531230299156[210] = 0;
   out_6708844531230299156[211] = 0;
   out_6708844531230299156[212] = 0;
   out_6708844531230299156[213] = 0;
   out_6708844531230299156[214] = 0;
   out_6708844531230299156[215] = 0;
   out_6708844531230299156[216] = 0;
   out_6708844531230299156[217] = 0;
   out_6708844531230299156[218] = 0;
   out_6708844531230299156[219] = 0;
   out_6708844531230299156[220] = 0;
   out_6708844531230299156[221] = 0;
   out_6708844531230299156[222] = 0;
   out_6708844531230299156[223] = 0;
   out_6708844531230299156[224] = 0;
   out_6708844531230299156[225] = 0;
   out_6708844531230299156[226] = 0;
   out_6708844531230299156[227] = 0;
   out_6708844531230299156[228] = 1;
   out_6708844531230299156[229] = 0;
   out_6708844531230299156[230] = 0;
   out_6708844531230299156[231] = 0;
   out_6708844531230299156[232] = 0;
   out_6708844531230299156[233] = 0;
   out_6708844531230299156[234] = 0;
   out_6708844531230299156[235] = 0;
   out_6708844531230299156[236] = 0;
   out_6708844531230299156[237] = 0;
   out_6708844531230299156[238] = 0;
   out_6708844531230299156[239] = 0;
   out_6708844531230299156[240] = 0;
   out_6708844531230299156[241] = 0;
   out_6708844531230299156[242] = 0;
   out_6708844531230299156[243] = 0;
   out_6708844531230299156[244] = 0;
   out_6708844531230299156[245] = 0;
   out_6708844531230299156[246] = 0;
   out_6708844531230299156[247] = 1;
   out_6708844531230299156[248] = 0;
   out_6708844531230299156[249] = 0;
   out_6708844531230299156[250] = 0;
   out_6708844531230299156[251] = 0;
   out_6708844531230299156[252] = 0;
   out_6708844531230299156[253] = 0;
   out_6708844531230299156[254] = 0;
   out_6708844531230299156[255] = 0;
   out_6708844531230299156[256] = 0;
   out_6708844531230299156[257] = 0;
   out_6708844531230299156[258] = 0;
   out_6708844531230299156[259] = 0;
   out_6708844531230299156[260] = 0;
   out_6708844531230299156[261] = 0;
   out_6708844531230299156[262] = 0;
   out_6708844531230299156[263] = 0;
   out_6708844531230299156[264] = 0;
   out_6708844531230299156[265] = 0;
   out_6708844531230299156[266] = 1;
   out_6708844531230299156[267] = 0;
   out_6708844531230299156[268] = 0;
   out_6708844531230299156[269] = 0;
   out_6708844531230299156[270] = 0;
   out_6708844531230299156[271] = 0;
   out_6708844531230299156[272] = 0;
   out_6708844531230299156[273] = 0;
   out_6708844531230299156[274] = 0;
   out_6708844531230299156[275] = 0;
   out_6708844531230299156[276] = 0;
   out_6708844531230299156[277] = 0;
   out_6708844531230299156[278] = 0;
   out_6708844531230299156[279] = 0;
   out_6708844531230299156[280] = 0;
   out_6708844531230299156[281] = 0;
   out_6708844531230299156[282] = 0;
   out_6708844531230299156[283] = 0;
   out_6708844531230299156[284] = 0;
   out_6708844531230299156[285] = 1;
   out_6708844531230299156[286] = 0;
   out_6708844531230299156[287] = 0;
   out_6708844531230299156[288] = 0;
   out_6708844531230299156[289] = 0;
   out_6708844531230299156[290] = 0;
   out_6708844531230299156[291] = 0;
   out_6708844531230299156[292] = 0;
   out_6708844531230299156[293] = 0;
   out_6708844531230299156[294] = 0;
   out_6708844531230299156[295] = 0;
   out_6708844531230299156[296] = 0;
   out_6708844531230299156[297] = 0;
   out_6708844531230299156[298] = 0;
   out_6708844531230299156[299] = 0;
   out_6708844531230299156[300] = 0;
   out_6708844531230299156[301] = 0;
   out_6708844531230299156[302] = 0;
   out_6708844531230299156[303] = 0;
   out_6708844531230299156[304] = 1;
   out_6708844531230299156[305] = 0;
   out_6708844531230299156[306] = 0;
   out_6708844531230299156[307] = 0;
   out_6708844531230299156[308] = 0;
   out_6708844531230299156[309] = 0;
   out_6708844531230299156[310] = 0;
   out_6708844531230299156[311] = 0;
   out_6708844531230299156[312] = 0;
   out_6708844531230299156[313] = 0;
   out_6708844531230299156[314] = 0;
   out_6708844531230299156[315] = 0;
   out_6708844531230299156[316] = 0;
   out_6708844531230299156[317] = 0;
   out_6708844531230299156[318] = 0;
   out_6708844531230299156[319] = 0;
   out_6708844531230299156[320] = 0;
   out_6708844531230299156[321] = 0;
   out_6708844531230299156[322] = 0;
   out_6708844531230299156[323] = 1;
}
void h_4(double *state, double *unused, double *out_4534339451048415671) {
   out_4534339451048415671[0] = state[6] + state[9];
   out_4534339451048415671[1] = state[7] + state[10];
   out_4534339451048415671[2] = state[8] + state[11];
}
void H_4(double *state, double *unused, double *out_2326436364723083382) {
   out_2326436364723083382[0] = 0;
   out_2326436364723083382[1] = 0;
   out_2326436364723083382[2] = 0;
   out_2326436364723083382[3] = 0;
   out_2326436364723083382[4] = 0;
   out_2326436364723083382[5] = 0;
   out_2326436364723083382[6] = 1;
   out_2326436364723083382[7] = 0;
   out_2326436364723083382[8] = 0;
   out_2326436364723083382[9] = 1;
   out_2326436364723083382[10] = 0;
   out_2326436364723083382[11] = 0;
   out_2326436364723083382[12] = 0;
   out_2326436364723083382[13] = 0;
   out_2326436364723083382[14] = 0;
   out_2326436364723083382[15] = 0;
   out_2326436364723083382[16] = 0;
   out_2326436364723083382[17] = 0;
   out_2326436364723083382[18] = 0;
   out_2326436364723083382[19] = 0;
   out_2326436364723083382[20] = 0;
   out_2326436364723083382[21] = 0;
   out_2326436364723083382[22] = 0;
   out_2326436364723083382[23] = 0;
   out_2326436364723083382[24] = 0;
   out_2326436364723083382[25] = 1;
   out_2326436364723083382[26] = 0;
   out_2326436364723083382[27] = 0;
   out_2326436364723083382[28] = 1;
   out_2326436364723083382[29] = 0;
   out_2326436364723083382[30] = 0;
   out_2326436364723083382[31] = 0;
   out_2326436364723083382[32] = 0;
   out_2326436364723083382[33] = 0;
   out_2326436364723083382[34] = 0;
   out_2326436364723083382[35] = 0;
   out_2326436364723083382[36] = 0;
   out_2326436364723083382[37] = 0;
   out_2326436364723083382[38] = 0;
   out_2326436364723083382[39] = 0;
   out_2326436364723083382[40] = 0;
   out_2326436364723083382[41] = 0;
   out_2326436364723083382[42] = 0;
   out_2326436364723083382[43] = 0;
   out_2326436364723083382[44] = 1;
   out_2326436364723083382[45] = 0;
   out_2326436364723083382[46] = 0;
   out_2326436364723083382[47] = 1;
   out_2326436364723083382[48] = 0;
   out_2326436364723083382[49] = 0;
   out_2326436364723083382[50] = 0;
   out_2326436364723083382[51] = 0;
   out_2326436364723083382[52] = 0;
   out_2326436364723083382[53] = 0;
}
void h_10(double *state, double *unused, double *out_429045378722111571) {
   out_429045378722111571[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15];
   out_429045378722111571[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16];
   out_429045378722111571[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17];
}
void H_10(double *state, double *unused, double *out_7074158806852230651) {
   out_7074158806852230651[0] = 0;
   out_7074158806852230651[1] = 9.8100000000000005*cos(state[1]);
   out_7074158806852230651[2] = 0;
   out_7074158806852230651[3] = 0;
   out_7074158806852230651[4] = -state[8];
   out_7074158806852230651[5] = state[7];
   out_7074158806852230651[6] = 0;
   out_7074158806852230651[7] = state[5];
   out_7074158806852230651[8] = -state[4];
   out_7074158806852230651[9] = 0;
   out_7074158806852230651[10] = 0;
   out_7074158806852230651[11] = 0;
   out_7074158806852230651[12] = 1;
   out_7074158806852230651[13] = 0;
   out_7074158806852230651[14] = 0;
   out_7074158806852230651[15] = 1;
   out_7074158806852230651[16] = 0;
   out_7074158806852230651[17] = 0;
   out_7074158806852230651[18] = -9.8100000000000005*cos(state[0])*cos(state[1]);
   out_7074158806852230651[19] = 9.8100000000000005*sin(state[0])*sin(state[1]);
   out_7074158806852230651[20] = 0;
   out_7074158806852230651[21] = state[8];
   out_7074158806852230651[22] = 0;
   out_7074158806852230651[23] = -state[6];
   out_7074158806852230651[24] = -state[5];
   out_7074158806852230651[25] = 0;
   out_7074158806852230651[26] = state[3];
   out_7074158806852230651[27] = 0;
   out_7074158806852230651[28] = 0;
   out_7074158806852230651[29] = 0;
   out_7074158806852230651[30] = 0;
   out_7074158806852230651[31] = 1;
   out_7074158806852230651[32] = 0;
   out_7074158806852230651[33] = 0;
   out_7074158806852230651[34] = 1;
   out_7074158806852230651[35] = 0;
   out_7074158806852230651[36] = 9.8100000000000005*sin(state[0])*cos(state[1]);
   out_7074158806852230651[37] = 9.8100000000000005*sin(state[1])*cos(state[0]);
   out_7074158806852230651[38] = 0;
   out_7074158806852230651[39] = -state[7];
   out_7074158806852230651[40] = state[6];
   out_7074158806852230651[41] = 0;
   out_7074158806852230651[42] = state[4];
   out_7074158806852230651[43] = -state[3];
   out_7074158806852230651[44] = 0;
   out_7074158806852230651[45] = 0;
   out_7074158806852230651[46] = 0;
   out_7074158806852230651[47] = 0;
   out_7074158806852230651[48] = 0;
   out_7074158806852230651[49] = 0;
   out_7074158806852230651[50] = 1;
   out_7074158806852230651[51] = 0;
   out_7074158806852230651[52] = 0;
   out_7074158806852230651[53] = 1;
}
void h_13(double *state, double *unused, double *out_5846041328714172087) {
   out_5846041328714172087[0] = state[3];
   out_5846041328714172087[1] = state[4];
   out_5846041328714172087[2] = state[5];
}
void H_13(double *state, double *unused, double *out_5538710190055416183) {
   out_5538710190055416183[0] = 0;
   out_5538710190055416183[1] = 0;
   out_5538710190055416183[2] = 0;
   out_5538710190055416183[3] = 1;
   out_5538710190055416183[4] = 0;
   out_5538710190055416183[5] = 0;
   out_5538710190055416183[6] = 0;
   out_5538710190055416183[7] = 0;
   out_5538710190055416183[8] = 0;
   out_5538710190055416183[9] = 0;
   out_5538710190055416183[10] = 0;
   out_5538710190055416183[11] = 0;
   out_5538710190055416183[12] = 0;
   out_5538710190055416183[13] = 0;
   out_5538710190055416183[14] = 0;
   out_5538710190055416183[15] = 0;
   out_5538710190055416183[16] = 0;
   out_5538710190055416183[17] = 0;
   out_5538710190055416183[18] = 0;
   out_5538710190055416183[19] = 0;
   out_5538710190055416183[20] = 0;
   out_5538710190055416183[21] = 0;
   out_5538710190055416183[22] = 1;
   out_5538710190055416183[23] = 0;
   out_5538710190055416183[24] = 0;
   out_5538710190055416183[25] = 0;
   out_5538710190055416183[26] = 0;
   out_5538710190055416183[27] = 0;
   out_5538710190055416183[28] = 0;
   out_5538710190055416183[29] = 0;
   out_5538710190055416183[30] = 0;
   out_5538710190055416183[31] = 0;
   out_5538710190055416183[32] = 0;
   out_5538710190055416183[33] = 0;
   out_5538710190055416183[34] = 0;
   out_5538710190055416183[35] = 0;
   out_5538710190055416183[36] = 0;
   out_5538710190055416183[37] = 0;
   out_5538710190055416183[38] = 0;
   out_5538710190055416183[39] = 0;
   out_5538710190055416183[40] = 0;
   out_5538710190055416183[41] = 1;
   out_5538710190055416183[42] = 0;
   out_5538710190055416183[43] = 0;
   out_5538710190055416183[44] = 0;
   out_5538710190055416183[45] = 0;
   out_5538710190055416183[46] = 0;
   out_5538710190055416183[47] = 0;
   out_5538710190055416183[48] = 0;
   out_5538710190055416183[49] = 0;
   out_5538710190055416183[50] = 0;
   out_5538710190055416183[51] = 0;
   out_5538710190055416183[52] = 0;
   out_5538710190055416183[53] = 0;
}
void h_14(double *state, double *unused, double *out_7107634555968973053) {
   out_7107634555968973053[0] = state[6];
   out_7107634555968973053[1] = state[7];
   out_7107634555968973053[2] = state[8];
}
void H_14(double *state, double *unused, double *out_6289677221062567911) {
   out_6289677221062567911[0] = 0;
   out_6289677221062567911[1] = 0;
   out_6289677221062567911[2] = 0;
   out_6289677221062567911[3] = 0;
   out_6289677221062567911[4] = 0;
   out_6289677221062567911[5] = 0;
   out_6289677221062567911[6] = 1;
   out_6289677221062567911[7] = 0;
   out_6289677221062567911[8] = 0;
   out_6289677221062567911[9] = 0;
   out_6289677221062567911[10] = 0;
   out_6289677221062567911[11] = 0;
   out_6289677221062567911[12] = 0;
   out_6289677221062567911[13] = 0;
   out_6289677221062567911[14] = 0;
   out_6289677221062567911[15] = 0;
   out_6289677221062567911[16] = 0;
   out_6289677221062567911[17] = 0;
   out_6289677221062567911[18] = 0;
   out_6289677221062567911[19] = 0;
   out_6289677221062567911[20] = 0;
   out_6289677221062567911[21] = 0;
   out_6289677221062567911[22] = 0;
   out_6289677221062567911[23] = 0;
   out_6289677221062567911[24] = 0;
   out_6289677221062567911[25] = 1;
   out_6289677221062567911[26] = 0;
   out_6289677221062567911[27] = 0;
   out_6289677221062567911[28] = 0;
   out_6289677221062567911[29] = 0;
   out_6289677221062567911[30] = 0;
   out_6289677221062567911[31] = 0;
   out_6289677221062567911[32] = 0;
   out_6289677221062567911[33] = 0;
   out_6289677221062567911[34] = 0;
   out_6289677221062567911[35] = 0;
   out_6289677221062567911[36] = 0;
   out_6289677221062567911[37] = 0;
   out_6289677221062567911[38] = 0;
   out_6289677221062567911[39] = 0;
   out_6289677221062567911[40] = 0;
   out_6289677221062567911[41] = 0;
   out_6289677221062567911[42] = 0;
   out_6289677221062567911[43] = 0;
   out_6289677221062567911[44] = 1;
   out_6289677221062567911[45] = 0;
   out_6289677221062567911[46] = 0;
   out_6289677221062567911[47] = 0;
   out_6289677221062567911[48] = 0;
   out_6289677221062567911[49] = 0;
   out_6289677221062567911[50] = 0;
   out_6289677221062567911[51] = 0;
   out_6289677221062567911[52] = 0;
   out_6289677221062567911[53] = 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 pose_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 pose_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 pose_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 pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
  update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14);
}
void pose_err_fun(double *nom_x, double *delta_x, double *out_2789372129447219573) {
  err_fun(nom_x, delta_x, out_2789372129447219573);
}
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3041949554970523662) {
  inv_err_fun(nom_x, true_x, out_3041949554970523662);
}
void pose_H_mod_fun(double *state, double *out_8174518171475042103) {
  H_mod_fun(state, out_8174518171475042103);
}
void pose_f_fun(double *state, double dt, double *out_7700137709198295206) {
  f_fun(state,  dt, out_7700137709198295206);
}
void pose_F_fun(double *state, double dt, double *out_6708844531230299156) {
  F_fun(state,  dt, out_6708844531230299156);
}
void pose_h_4(double *state, double *unused, double *out_4534339451048415671) {
  h_4(state, unused, out_4534339451048415671);
}
void pose_H_4(double *state, double *unused, double *out_2326436364723083382) {
  H_4(state, unused, out_2326436364723083382);
}
void pose_h_10(double *state, double *unused, double *out_429045378722111571) {
  h_10(state, unused, out_429045378722111571);
}
void pose_H_10(double *state, double *unused, double *out_7074158806852230651) {
  H_10(state, unused, out_7074158806852230651);
}
void pose_h_13(double *state, double *unused, double *out_5846041328714172087) {
  h_13(state, unused, out_5846041328714172087);
}
void pose_H_13(double *state, double *unused, double *out_5538710190055416183) {
  H_13(state, unused, out_5538710190055416183);
}
void pose_h_14(double *state, double *unused, double *out_7107634555968973053) {
  h_14(state, unused, out_7107634555968973053);
}
void pose_H_14(double *state, double *unused, double *out_6289677221062567911) {
  H_14(state, unused, out_6289677221062567911);
}
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) {
  predict(in_x, in_P, in_Q, dt);
}
}

const EKF pose = {
  .name = "pose",
  .kinds = { 4, 10, 13, 14 },
  .feature_kinds = {  },
  .f_fun = pose_f_fun,
  .F_fun = pose_F_fun,
  .err_fun = pose_err_fun,
  .inv_err_fun = pose_inv_err_fun,
  .H_mod_fun = pose_H_mod_fun,
  .predict = pose_predict,
  .hs = {
    { 4, pose_h_4 },
    { 10, pose_h_10 },
    { 13, pose_h_13 },
    { 14, pose_h_14 },
  },
  .Hs = {
    { 4, pose_H_4 },
    { 10, pose_H_10 },
    { 13, pose_H_13 },
    { 14, pose_H_14 },
  },
  .updates = {
    { 4, pose_update_4 },
    { 10, pose_update_10 },
    { 13, pose_update_13 },
    { 14, pose_update_14 },
  },
  .Hes = {
  },
  .sets = {
  },
  .extra_routines = {
  },
};

ekf_lib_init(pose)