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sunnypilot/selfdrive/locationd/models/generated/live.cpp
T
Jason Wen 32f1ca8db4 sunnypilot v0.9.6.1
2023-12-19 22:42:08 +00:00

1988 lines
90 KiB
C++
Raw Blame History

#include "live.h"
namespace {
#define DIM 22
#define EDIM 21
#define MEDIM 21
typedef void (*Hfun)(double *, double *, double *);
const static double MAHA_THRESH_4 = 7.814727903251177;
const static double MAHA_THRESH_9 = 7.814727903251177;
const static double MAHA_THRESH_10 = 7.814727903251177;
const static double MAHA_THRESH_12 = 7.814727903251177;
const static double MAHA_THRESH_35 = 7.814727903251177;
const static double MAHA_THRESH_32 = 9.487729036781154;
const static double MAHA_THRESH_13 = 7.814727903251177;
const static double MAHA_THRESH_14 = 7.814727903251177;
const static double MAHA_THRESH_33 = 7.814727903251177;
/******************************************************************************
* Code generated with SymPy 1.12 *
* *
* See http://www.sympy.org/ for more information. *
* *
* This file is part of 'ekf' *
******************************************************************************/
void H(double *in_vec, double *out_4549882242449710464) {
out_4549882242449710464[0] = 0;
out_4549882242449710464[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];
out_4549882242449710464[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4];
out_4549882242449710464[3] = cos(in_vec[1])*cos(in_vec[2]);
out_4549882242449710464[4] = sin(in_vec[2])*cos(in_vec[1]);
out_4549882242449710464[5] = -sin(in_vec[1]);
out_4549882242449710464[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];
out_4549882242449710464[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];
out_4549882242449710464[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];
out_4549882242449710464[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]);
out_4549882242449710464[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]);
out_4549882242449710464[11] = sin(in_vec[0])*cos(in_vec[1]);
out_4549882242449710464[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];
out_4549882242449710464[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];
out_4549882242449710464[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];
out_4549882242449710464[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]);
out_4549882242449710464[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]);
out_4549882242449710464[17] = cos(in_vec[0])*cos(in_vec[1]);
}
void err_fun(double *nom_x, double *delta_x, double *out_8967192143908981963) {
out_8967192143908981963[0] = delta_x[0] + nom_x[0];
out_8967192143908981963[1] = delta_x[1] + nom_x[1];
out_8967192143908981963[2] = delta_x[2] + nom_x[2];
out_8967192143908981963[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];
out_8967192143908981963[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];
out_8967192143908981963[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];
out_8967192143908981963[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];
out_8967192143908981963[7] = delta_x[6] + nom_x[7];
out_8967192143908981963[8] = delta_x[7] + nom_x[8];
out_8967192143908981963[9] = delta_x[8] + nom_x[9];
out_8967192143908981963[10] = delta_x[9] + nom_x[10];
out_8967192143908981963[11] = delta_x[10] + nom_x[11];
out_8967192143908981963[12] = delta_x[11] + nom_x[12];
out_8967192143908981963[13] = delta_x[12] + nom_x[13];
out_8967192143908981963[14] = delta_x[13] + nom_x[14];
out_8967192143908981963[15] = delta_x[14] + nom_x[15];
out_8967192143908981963[16] = delta_x[15] + nom_x[16];
out_8967192143908981963[17] = delta_x[16] + nom_x[17];
out_8967192143908981963[18] = delta_x[17] + nom_x[18];
out_8967192143908981963[19] = delta_x[18] + nom_x[19];
out_8967192143908981963[20] = delta_x[19] + nom_x[20];
out_8967192143908981963[21] = delta_x[20] + nom_x[21];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_27256379367550061) {
out_27256379367550061[0] = -nom_x[0] + true_x[0];
out_27256379367550061[1] = -nom_x[1] + true_x[1];
out_27256379367550061[2] = -nom_x[2] + true_x[2];
out_27256379367550061[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];
out_27256379367550061[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];
out_27256379367550061[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];
out_27256379367550061[6] = -nom_x[7] + true_x[7];
out_27256379367550061[7] = -nom_x[8] + true_x[8];
out_27256379367550061[8] = -nom_x[9] + true_x[9];
out_27256379367550061[9] = -nom_x[10] + true_x[10];
out_27256379367550061[10] = -nom_x[11] + true_x[11];
out_27256379367550061[11] = -nom_x[12] + true_x[12];
out_27256379367550061[12] = -nom_x[13] + true_x[13];
out_27256379367550061[13] = -nom_x[14] + true_x[14];
out_27256379367550061[14] = -nom_x[15] + true_x[15];
out_27256379367550061[15] = -nom_x[16] + true_x[16];
out_27256379367550061[16] = -nom_x[17] + true_x[17];
out_27256379367550061[17] = -nom_x[18] + true_x[18];
out_27256379367550061[18] = -nom_x[19] + true_x[19];
out_27256379367550061[19] = -nom_x[20] + true_x[20];
out_27256379367550061[20] = -nom_x[21] + true_x[21];
}
void H_mod_fun(double *state, double *out_4824081692195624245) {
out_4824081692195624245[0] = 1.0;
out_4824081692195624245[1] = 0;
out_4824081692195624245[2] = 0;
out_4824081692195624245[3] = 0;
out_4824081692195624245[4] = 0;
out_4824081692195624245[5] = 0;
out_4824081692195624245[6] = 0;
out_4824081692195624245[7] = 0;
out_4824081692195624245[8] = 0;
out_4824081692195624245[9] = 0;
out_4824081692195624245[10] = 0;
out_4824081692195624245[11] = 0;
out_4824081692195624245[12] = 0;
out_4824081692195624245[13] = 0;
out_4824081692195624245[14] = 0;
out_4824081692195624245[15] = 0;
out_4824081692195624245[16] = 0;
out_4824081692195624245[17] = 0;
out_4824081692195624245[18] = 0;
out_4824081692195624245[19] = 0;
out_4824081692195624245[20] = 0;
out_4824081692195624245[21] = 0;
out_4824081692195624245[22] = 1.0;
out_4824081692195624245[23] = 0;
out_4824081692195624245[24] = 0;
out_4824081692195624245[25] = 0;
out_4824081692195624245[26] = 0;
out_4824081692195624245[27] = 0;
out_4824081692195624245[28] = 0;
out_4824081692195624245[29] = 0;
out_4824081692195624245[30] = 0;
out_4824081692195624245[31] = 0;
out_4824081692195624245[32] = 0;
out_4824081692195624245[33] = 0;
out_4824081692195624245[34] = 0;
out_4824081692195624245[35] = 0;
out_4824081692195624245[36] = 0;
out_4824081692195624245[37] = 0;
out_4824081692195624245[38] = 0;
out_4824081692195624245[39] = 0;
out_4824081692195624245[40] = 0;
out_4824081692195624245[41] = 0;
out_4824081692195624245[42] = 0;
out_4824081692195624245[43] = 0;
out_4824081692195624245[44] = 1.0;
out_4824081692195624245[45] = 0;
out_4824081692195624245[46] = 0;
out_4824081692195624245[47] = 0;
out_4824081692195624245[48] = 0;
out_4824081692195624245[49] = 0;
out_4824081692195624245[50] = 0;
out_4824081692195624245[51] = 0;
out_4824081692195624245[52] = 0;
out_4824081692195624245[53] = 0;
out_4824081692195624245[54] = 0;
out_4824081692195624245[55] = 0;
out_4824081692195624245[56] = 0;
out_4824081692195624245[57] = 0;
out_4824081692195624245[58] = 0;
out_4824081692195624245[59] = 0;
out_4824081692195624245[60] = 0;
out_4824081692195624245[61] = 0;
out_4824081692195624245[62] = 0;
out_4824081692195624245[63] = 0;
out_4824081692195624245[64] = 0;
out_4824081692195624245[65] = 0;
out_4824081692195624245[66] = -0.5*state[4];
out_4824081692195624245[67] = -0.5*state[5];
out_4824081692195624245[68] = -0.5*state[6];
out_4824081692195624245[69] = 0;
out_4824081692195624245[70] = 0;
out_4824081692195624245[71] = 0;
out_4824081692195624245[72] = 0;
out_4824081692195624245[73] = 0;
out_4824081692195624245[74] = 0;
out_4824081692195624245[75] = 0;
out_4824081692195624245[76] = 0;
out_4824081692195624245[77] = 0;
out_4824081692195624245[78] = 0;
out_4824081692195624245[79] = 0;
out_4824081692195624245[80] = 0;
out_4824081692195624245[81] = 0;
out_4824081692195624245[82] = 0;
out_4824081692195624245[83] = 0;
out_4824081692195624245[84] = 0;
out_4824081692195624245[85] = 0;
out_4824081692195624245[86] = 0;
out_4824081692195624245[87] = 0.5*state[3];
out_4824081692195624245[88] = 0.5*state[6];
out_4824081692195624245[89] = -0.5*state[5];
out_4824081692195624245[90] = 0;
out_4824081692195624245[91] = 0;
out_4824081692195624245[92] = 0;
out_4824081692195624245[93] = 0;
out_4824081692195624245[94] = 0;
out_4824081692195624245[95] = 0;
out_4824081692195624245[96] = 0;
out_4824081692195624245[97] = 0;
out_4824081692195624245[98] = 0;
out_4824081692195624245[99] = 0;
out_4824081692195624245[100] = 0;
out_4824081692195624245[101] = 0;
out_4824081692195624245[102] = 0;
out_4824081692195624245[103] = 0;
out_4824081692195624245[104] = 0;
out_4824081692195624245[105] = 0;
out_4824081692195624245[106] = 0;
out_4824081692195624245[107] = 0;
out_4824081692195624245[108] = -0.5*state[6];
out_4824081692195624245[109] = 0.5*state[3];
out_4824081692195624245[110] = 0.5*state[4];
out_4824081692195624245[111] = 0;
out_4824081692195624245[112] = 0;
out_4824081692195624245[113] = 0;
out_4824081692195624245[114] = 0;
out_4824081692195624245[115] = 0;
out_4824081692195624245[116] = 0;
out_4824081692195624245[117] = 0;
out_4824081692195624245[118] = 0;
out_4824081692195624245[119] = 0;
out_4824081692195624245[120] = 0;
out_4824081692195624245[121] = 0;
out_4824081692195624245[122] = 0;
out_4824081692195624245[123] = 0;
out_4824081692195624245[124] = 0;
out_4824081692195624245[125] = 0;
out_4824081692195624245[126] = 0;
out_4824081692195624245[127] = 0;
out_4824081692195624245[128] = 0;
out_4824081692195624245[129] = 0.5*state[5];
out_4824081692195624245[130] = -0.5*state[4];
out_4824081692195624245[131] = 0.5*state[3];
out_4824081692195624245[132] = 0;
out_4824081692195624245[133] = 0;
out_4824081692195624245[134] = 0;
out_4824081692195624245[135] = 0;
out_4824081692195624245[136] = 0;
out_4824081692195624245[137] = 0;
out_4824081692195624245[138] = 0;
out_4824081692195624245[139] = 0;
out_4824081692195624245[140] = 0;
out_4824081692195624245[141] = 0;
out_4824081692195624245[142] = 0;
out_4824081692195624245[143] = 0;
out_4824081692195624245[144] = 0;
out_4824081692195624245[145] = 0;
out_4824081692195624245[146] = 0;
out_4824081692195624245[147] = 0;
out_4824081692195624245[148] = 0;
out_4824081692195624245[149] = 0;
out_4824081692195624245[150] = 0;
out_4824081692195624245[151] = 0;
out_4824081692195624245[152] = 0;
out_4824081692195624245[153] = 1.0;
out_4824081692195624245[154] = 0;
out_4824081692195624245[155] = 0;
out_4824081692195624245[156] = 0;
out_4824081692195624245[157] = 0;
out_4824081692195624245[158] = 0;
out_4824081692195624245[159] = 0;
out_4824081692195624245[160] = 0;
out_4824081692195624245[161] = 0;
out_4824081692195624245[162] = 0;
out_4824081692195624245[163] = 0;
out_4824081692195624245[164] = 0;
out_4824081692195624245[165] = 0;
out_4824081692195624245[166] = 0;
out_4824081692195624245[167] = 0;
out_4824081692195624245[168] = 0;
out_4824081692195624245[169] = 0;
out_4824081692195624245[170] = 0;
out_4824081692195624245[171] = 0;
out_4824081692195624245[172] = 0;
out_4824081692195624245[173] = 0;
out_4824081692195624245[174] = 0;
out_4824081692195624245[175] = 1.0;
out_4824081692195624245[176] = 0;
out_4824081692195624245[177] = 0;
out_4824081692195624245[178] = 0;
out_4824081692195624245[179] = 0;
out_4824081692195624245[180] = 0;
out_4824081692195624245[181] = 0;
out_4824081692195624245[182] = 0;
out_4824081692195624245[183] = 0;
out_4824081692195624245[184] = 0;
out_4824081692195624245[185] = 0;
out_4824081692195624245[186] = 0;
out_4824081692195624245[187] = 0;
out_4824081692195624245[188] = 0;
out_4824081692195624245[189] = 0;
out_4824081692195624245[190] = 0;
out_4824081692195624245[191] = 0;
out_4824081692195624245[192] = 0;
out_4824081692195624245[193] = 0;
out_4824081692195624245[194] = 0;
out_4824081692195624245[195] = 0;
out_4824081692195624245[196] = 0;
out_4824081692195624245[197] = 1.0;
out_4824081692195624245[198] = 0;
out_4824081692195624245[199] = 0;
out_4824081692195624245[200] = 0;
out_4824081692195624245[201] = 0;
out_4824081692195624245[202] = 0;
out_4824081692195624245[203] = 0;
out_4824081692195624245[204] = 0;
out_4824081692195624245[205] = 0;
out_4824081692195624245[206] = 0;
out_4824081692195624245[207] = 0;
out_4824081692195624245[208] = 0;
out_4824081692195624245[209] = 0;
out_4824081692195624245[210] = 0;
out_4824081692195624245[211] = 0;
out_4824081692195624245[212] = 0;
out_4824081692195624245[213] = 0;
out_4824081692195624245[214] = 0;
out_4824081692195624245[215] = 0;
out_4824081692195624245[216] = 0;
out_4824081692195624245[217] = 0;
out_4824081692195624245[218] = 0;
out_4824081692195624245[219] = 1.0;
out_4824081692195624245[220] = 0;
out_4824081692195624245[221] = 0;
out_4824081692195624245[222] = 0;
out_4824081692195624245[223] = 0;
out_4824081692195624245[224] = 0;
out_4824081692195624245[225] = 0;
out_4824081692195624245[226] = 0;
out_4824081692195624245[227] = 0;
out_4824081692195624245[228] = 0;
out_4824081692195624245[229] = 0;
out_4824081692195624245[230] = 0;
out_4824081692195624245[231] = 0;
out_4824081692195624245[232] = 0;
out_4824081692195624245[233] = 0;
out_4824081692195624245[234] = 0;
out_4824081692195624245[235] = 0;
out_4824081692195624245[236] = 0;
out_4824081692195624245[237] = 0;
out_4824081692195624245[238] = 0;
out_4824081692195624245[239] = 0;
out_4824081692195624245[240] = 0;
out_4824081692195624245[241] = 1.0;
out_4824081692195624245[242] = 0;
out_4824081692195624245[243] = 0;
out_4824081692195624245[244] = 0;
out_4824081692195624245[245] = 0;
out_4824081692195624245[246] = 0;
out_4824081692195624245[247] = 0;
out_4824081692195624245[248] = 0;
out_4824081692195624245[249] = 0;
out_4824081692195624245[250] = 0;
out_4824081692195624245[251] = 0;
out_4824081692195624245[252] = 0;
out_4824081692195624245[253] = 0;
out_4824081692195624245[254] = 0;
out_4824081692195624245[255] = 0;
out_4824081692195624245[256] = 0;
out_4824081692195624245[257] = 0;
out_4824081692195624245[258] = 0;
out_4824081692195624245[259] = 0;
out_4824081692195624245[260] = 0;
out_4824081692195624245[261] = 0;
out_4824081692195624245[262] = 0;
out_4824081692195624245[263] = 1.0;
out_4824081692195624245[264] = 0;
out_4824081692195624245[265] = 0;
out_4824081692195624245[266] = 0;
out_4824081692195624245[267] = 0;
out_4824081692195624245[268] = 0;
out_4824081692195624245[269] = 0;
out_4824081692195624245[270] = 0;
out_4824081692195624245[271] = 0;
out_4824081692195624245[272] = 0;
out_4824081692195624245[273] = 0;
out_4824081692195624245[274] = 0;
out_4824081692195624245[275] = 0;
out_4824081692195624245[276] = 0;
out_4824081692195624245[277] = 0;
out_4824081692195624245[278] = 0;
out_4824081692195624245[279] = 0;
out_4824081692195624245[280] = 0;
out_4824081692195624245[281] = 0;
out_4824081692195624245[282] = 0;
out_4824081692195624245[283] = 0;
out_4824081692195624245[284] = 0;
out_4824081692195624245[285] = 1.0;
out_4824081692195624245[286] = 0;
out_4824081692195624245[287] = 0;
out_4824081692195624245[288] = 0;
out_4824081692195624245[289] = 0;
out_4824081692195624245[290] = 0;
out_4824081692195624245[291] = 0;
out_4824081692195624245[292] = 0;
out_4824081692195624245[293] = 0;
out_4824081692195624245[294] = 0;
out_4824081692195624245[295] = 0;
out_4824081692195624245[296] = 0;
out_4824081692195624245[297] = 0;
out_4824081692195624245[298] = 0;
out_4824081692195624245[299] = 0;
out_4824081692195624245[300] = 0;
out_4824081692195624245[301] = 0;
out_4824081692195624245[302] = 0;
out_4824081692195624245[303] = 0;
out_4824081692195624245[304] = 0;
out_4824081692195624245[305] = 0;
out_4824081692195624245[306] = 0;
out_4824081692195624245[307] = 1.0;
out_4824081692195624245[308] = 0;
out_4824081692195624245[309] = 0;
out_4824081692195624245[310] = 0;
out_4824081692195624245[311] = 0;
out_4824081692195624245[312] = 0;
out_4824081692195624245[313] = 0;
out_4824081692195624245[314] = 0;
out_4824081692195624245[315] = 0;
out_4824081692195624245[316] = 0;
out_4824081692195624245[317] = 0;
out_4824081692195624245[318] = 0;
out_4824081692195624245[319] = 0;
out_4824081692195624245[320] = 0;
out_4824081692195624245[321] = 0;
out_4824081692195624245[322] = 0;
out_4824081692195624245[323] = 0;
out_4824081692195624245[324] = 0;
out_4824081692195624245[325] = 0;
out_4824081692195624245[326] = 0;
out_4824081692195624245[327] = 0;
out_4824081692195624245[328] = 0;
out_4824081692195624245[329] = 1.0;
out_4824081692195624245[330] = 0;
out_4824081692195624245[331] = 0;
out_4824081692195624245[332] = 0;
out_4824081692195624245[333] = 0;
out_4824081692195624245[334] = 0;
out_4824081692195624245[335] = 0;
out_4824081692195624245[336] = 0;
out_4824081692195624245[337] = 0;
out_4824081692195624245[338] = 0;
out_4824081692195624245[339] = 0;
out_4824081692195624245[340] = 0;
out_4824081692195624245[341] = 0;
out_4824081692195624245[342] = 0;
out_4824081692195624245[343] = 0;
out_4824081692195624245[344] = 0;
out_4824081692195624245[345] = 0;
out_4824081692195624245[346] = 0;
out_4824081692195624245[347] = 0;
out_4824081692195624245[348] = 0;
out_4824081692195624245[349] = 0;
out_4824081692195624245[350] = 0;
out_4824081692195624245[351] = 1.0;
out_4824081692195624245[352] = 0;
out_4824081692195624245[353] = 0;
out_4824081692195624245[354] = 0;
out_4824081692195624245[355] = 0;
out_4824081692195624245[356] = 0;
out_4824081692195624245[357] = 0;
out_4824081692195624245[358] = 0;
out_4824081692195624245[359] = 0;
out_4824081692195624245[360] = 0;
out_4824081692195624245[361] = 0;
out_4824081692195624245[362] = 0;
out_4824081692195624245[363] = 0;
out_4824081692195624245[364] = 0;
out_4824081692195624245[365] = 0;
out_4824081692195624245[366] = 0;
out_4824081692195624245[367] = 0;
out_4824081692195624245[368] = 0;
out_4824081692195624245[369] = 0;
out_4824081692195624245[370] = 0;
out_4824081692195624245[371] = 0;
out_4824081692195624245[372] = 0;
out_4824081692195624245[373] = 1.0;
out_4824081692195624245[374] = 0;
out_4824081692195624245[375] = 0;
out_4824081692195624245[376] = 0;
out_4824081692195624245[377] = 0;
out_4824081692195624245[378] = 0;
out_4824081692195624245[379] = 0;
out_4824081692195624245[380] = 0;
out_4824081692195624245[381] = 0;
out_4824081692195624245[382] = 0;
out_4824081692195624245[383] = 0;
out_4824081692195624245[384] = 0;
out_4824081692195624245[385] = 0;
out_4824081692195624245[386] = 0;
out_4824081692195624245[387] = 0;
out_4824081692195624245[388] = 0;
out_4824081692195624245[389] = 0;
out_4824081692195624245[390] = 0;
out_4824081692195624245[391] = 0;
out_4824081692195624245[392] = 0;
out_4824081692195624245[393] = 0;
out_4824081692195624245[394] = 0;
out_4824081692195624245[395] = 1.0;
out_4824081692195624245[396] = 0;
out_4824081692195624245[397] = 0;
out_4824081692195624245[398] = 0;
out_4824081692195624245[399] = 0;
out_4824081692195624245[400] = 0;
out_4824081692195624245[401] = 0;
out_4824081692195624245[402] = 0;
out_4824081692195624245[403] = 0;
out_4824081692195624245[404] = 0;
out_4824081692195624245[405] = 0;
out_4824081692195624245[406] = 0;
out_4824081692195624245[407] = 0;
out_4824081692195624245[408] = 0;
out_4824081692195624245[409] = 0;
out_4824081692195624245[410] = 0;
out_4824081692195624245[411] = 0;
out_4824081692195624245[412] = 0;
out_4824081692195624245[413] = 0;
out_4824081692195624245[414] = 0;
out_4824081692195624245[415] = 0;
out_4824081692195624245[416] = 0;
out_4824081692195624245[417] = 1.0;
out_4824081692195624245[418] = 0;
out_4824081692195624245[419] = 0;
out_4824081692195624245[420] = 0;
out_4824081692195624245[421] = 0;
out_4824081692195624245[422] = 0;
out_4824081692195624245[423] = 0;
out_4824081692195624245[424] = 0;
out_4824081692195624245[425] = 0;
out_4824081692195624245[426] = 0;
out_4824081692195624245[427] = 0;
out_4824081692195624245[428] = 0;
out_4824081692195624245[429] = 0;
out_4824081692195624245[430] = 0;
out_4824081692195624245[431] = 0;
out_4824081692195624245[432] = 0;
out_4824081692195624245[433] = 0;
out_4824081692195624245[434] = 0;
out_4824081692195624245[435] = 0;
out_4824081692195624245[436] = 0;
out_4824081692195624245[437] = 0;
out_4824081692195624245[438] = 0;
out_4824081692195624245[439] = 1.0;
out_4824081692195624245[440] = 0;
out_4824081692195624245[441] = 0;
out_4824081692195624245[442] = 0;
out_4824081692195624245[443] = 0;
out_4824081692195624245[444] = 0;
out_4824081692195624245[445] = 0;
out_4824081692195624245[446] = 0;
out_4824081692195624245[447] = 0;
out_4824081692195624245[448] = 0;
out_4824081692195624245[449] = 0;
out_4824081692195624245[450] = 0;
out_4824081692195624245[451] = 0;
out_4824081692195624245[452] = 0;
out_4824081692195624245[453] = 0;
out_4824081692195624245[454] = 0;
out_4824081692195624245[455] = 0;
out_4824081692195624245[456] = 0;
out_4824081692195624245[457] = 0;
out_4824081692195624245[458] = 0;
out_4824081692195624245[459] = 0;
out_4824081692195624245[460] = 0;
out_4824081692195624245[461] = 1.0;
}
void f_fun(double *state, double dt, double *out_2925287045854594900) {
out_2925287045854594900[0] = dt*state[7] + state[0];
out_2925287045854594900[1] = dt*state[8] + state[1];
out_2925287045854594900[2] = dt*state[9] + state[2];
out_2925287045854594900[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3];
out_2925287045854594900[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4];
out_2925287045854594900[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5];
out_2925287045854594900[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6];
out_2925287045854594900[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_2925287045854594900[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_2925287045854594900[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_2925287045854594900[10] = state[10];
out_2925287045854594900[11] = state[11];
out_2925287045854594900[12] = state[12];
out_2925287045854594900[13] = state[13];
out_2925287045854594900[14] = state[14];
out_2925287045854594900[15] = state[15];
out_2925287045854594900[16] = state[16];
out_2925287045854594900[17] = state[17];
out_2925287045854594900[18] = state[18];
out_2925287045854594900[19] = state[19];
out_2925287045854594900[20] = state[20];
out_2925287045854594900[21] = state[21];
}
void F_fun(double *state, double dt, double *out_3843924678963003983) {
out_3843924678963003983[0] = 1;
out_3843924678963003983[1] = 0;
out_3843924678963003983[2] = 0;
out_3843924678963003983[3] = 0;
out_3843924678963003983[4] = 0;
out_3843924678963003983[5] = 0;
out_3843924678963003983[6] = dt;
out_3843924678963003983[7] = 0;
out_3843924678963003983[8] = 0;
out_3843924678963003983[9] = 0;
out_3843924678963003983[10] = 0;
out_3843924678963003983[11] = 0;
out_3843924678963003983[12] = 0;
out_3843924678963003983[13] = 0;
out_3843924678963003983[14] = 0;
out_3843924678963003983[15] = 0;
out_3843924678963003983[16] = 0;
out_3843924678963003983[17] = 0;
out_3843924678963003983[18] = 0;
out_3843924678963003983[19] = 0;
out_3843924678963003983[20] = 0;
out_3843924678963003983[21] = 0;
out_3843924678963003983[22] = 1;
out_3843924678963003983[23] = 0;
out_3843924678963003983[24] = 0;
out_3843924678963003983[25] = 0;
out_3843924678963003983[26] = 0;
out_3843924678963003983[27] = 0;
out_3843924678963003983[28] = dt;
out_3843924678963003983[29] = 0;
out_3843924678963003983[30] = 0;
out_3843924678963003983[31] = 0;
out_3843924678963003983[32] = 0;
out_3843924678963003983[33] = 0;
out_3843924678963003983[34] = 0;
out_3843924678963003983[35] = 0;
out_3843924678963003983[36] = 0;
out_3843924678963003983[37] = 0;
out_3843924678963003983[38] = 0;
out_3843924678963003983[39] = 0;
out_3843924678963003983[40] = 0;
out_3843924678963003983[41] = 0;
out_3843924678963003983[42] = 0;
out_3843924678963003983[43] = 0;
out_3843924678963003983[44] = 1;
out_3843924678963003983[45] = 0;
out_3843924678963003983[46] = 0;
out_3843924678963003983[47] = 0;
out_3843924678963003983[48] = 0;
out_3843924678963003983[49] = 0;
out_3843924678963003983[50] = dt;
out_3843924678963003983[51] = 0;
out_3843924678963003983[52] = 0;
out_3843924678963003983[53] = 0;
out_3843924678963003983[54] = 0;
out_3843924678963003983[55] = 0;
out_3843924678963003983[56] = 0;
out_3843924678963003983[57] = 0;
out_3843924678963003983[58] = 0;
out_3843924678963003983[59] = 0;
out_3843924678963003983[60] = 0;
out_3843924678963003983[61] = 0;
out_3843924678963003983[62] = 0;
out_3843924678963003983[63] = 0;
out_3843924678963003983[64] = 0;
out_3843924678963003983[65] = 0;
out_3843924678963003983[66] = 1;
out_3843924678963003983[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_3843924678963003983[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_3843924678963003983[69] = 0;
out_3843924678963003983[70] = 0;
out_3843924678963003983[71] = 0;
out_3843924678963003983[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2));
out_3843924678963003983[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]);
out_3843924678963003983[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]);
out_3843924678963003983[75] = 0;
out_3843924678963003983[76] = 0;
out_3843924678963003983[77] = 0;
out_3843924678963003983[78] = 0;
out_3843924678963003983[79] = 0;
out_3843924678963003983[80] = 0;
out_3843924678963003983[81] = 0;
out_3843924678963003983[82] = 0;
out_3843924678963003983[83] = 0;
out_3843924678963003983[84] = 0;
out_3843924678963003983[85] = 0;
out_3843924678963003983[86] = 0;
out_3843924678963003983[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_3843924678963003983[88] = 1;
out_3843924678963003983[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_3843924678963003983[90] = 0;
out_3843924678963003983[91] = 0;
out_3843924678963003983[92] = 0;
out_3843924678963003983[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]);
out_3843924678963003983[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2));
out_3843924678963003983[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]);
out_3843924678963003983[96] = 0;
out_3843924678963003983[97] = 0;
out_3843924678963003983[98] = 0;
out_3843924678963003983[99] = 0;
out_3843924678963003983[100] = 0;
out_3843924678963003983[101] = 0;
out_3843924678963003983[102] = 0;
out_3843924678963003983[103] = 0;
out_3843924678963003983[104] = 0;
out_3843924678963003983[105] = 0;
out_3843924678963003983[106] = 0;
out_3843924678963003983[107] = 0;
out_3843924678963003983[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_3843924678963003983[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_3843924678963003983[110] = 1;
out_3843924678963003983[111] = 0;
out_3843924678963003983[112] = 0;
out_3843924678963003983[113] = 0;
out_3843924678963003983[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]);
out_3843924678963003983[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]);
out_3843924678963003983[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2));
out_3843924678963003983[117] = 0;
out_3843924678963003983[118] = 0;
out_3843924678963003983[119] = 0;
out_3843924678963003983[120] = 0;
out_3843924678963003983[121] = 0;
out_3843924678963003983[122] = 0;
out_3843924678963003983[123] = 0;
out_3843924678963003983[124] = 0;
out_3843924678963003983[125] = 0;
out_3843924678963003983[126] = 0;
out_3843924678963003983[127] = 0;
out_3843924678963003983[128] = 0;
out_3843924678963003983[129] = 0;
out_3843924678963003983[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_3843924678963003983[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_3843924678963003983[132] = 1;
out_3843924678963003983[133] = 0;
out_3843924678963003983[134] = 0;
out_3843924678963003983[135] = 0;
out_3843924678963003983[136] = 0;
out_3843924678963003983[137] = 0;
out_3843924678963003983[138] = 0;
out_3843924678963003983[139] = 0;
out_3843924678963003983[140] = 0;
out_3843924678963003983[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2));
out_3843924678963003983[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]);
out_3843924678963003983[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]);
out_3843924678963003983[144] = 0;
out_3843924678963003983[145] = 0;
out_3843924678963003983[146] = 0;
out_3843924678963003983[147] = 0;
out_3843924678963003983[148] = 0;
out_3843924678963003983[149] = 0;
out_3843924678963003983[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_3843924678963003983[151] = 0;
out_3843924678963003983[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_3843924678963003983[153] = 0;
out_3843924678963003983[154] = 1;
out_3843924678963003983[155] = 0;
out_3843924678963003983[156] = 0;
out_3843924678963003983[157] = 0;
out_3843924678963003983[158] = 0;
out_3843924678963003983[159] = 0;
out_3843924678963003983[160] = 0;
out_3843924678963003983[161] = 0;
out_3843924678963003983[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]);
out_3843924678963003983[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2));
out_3843924678963003983[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]);
out_3843924678963003983[165] = 0;
out_3843924678963003983[166] = 0;
out_3843924678963003983[167] = 0;
out_3843924678963003983[168] = 0;
out_3843924678963003983[169] = 0;
out_3843924678963003983[170] = 0;
out_3843924678963003983[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_3843924678963003983[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_3843924678963003983[173] = 0;
out_3843924678963003983[174] = 0;
out_3843924678963003983[175] = 0;
out_3843924678963003983[176] = 1;
out_3843924678963003983[177] = 0;
out_3843924678963003983[178] = 0;
out_3843924678963003983[179] = 0;
out_3843924678963003983[180] = 0;
out_3843924678963003983[181] = 0;
out_3843924678963003983[182] = 0;
out_3843924678963003983[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]);
out_3843924678963003983[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]);
out_3843924678963003983[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2));
out_3843924678963003983[186] = 0;
out_3843924678963003983[187] = 0;
out_3843924678963003983[188] = 0;
out_3843924678963003983[189] = 0;
out_3843924678963003983[190] = 0;
out_3843924678963003983[191] = 0;
out_3843924678963003983[192] = 0;
out_3843924678963003983[193] = 0;
out_3843924678963003983[194] = 0;
out_3843924678963003983[195] = 0;
out_3843924678963003983[196] = 0;
out_3843924678963003983[197] = 0;
out_3843924678963003983[198] = 1;
out_3843924678963003983[199] = 0;
out_3843924678963003983[200] = 0;
out_3843924678963003983[201] = 0;
out_3843924678963003983[202] = 0;
out_3843924678963003983[203] = 0;
out_3843924678963003983[204] = 0;
out_3843924678963003983[205] = 0;
out_3843924678963003983[206] = 0;
out_3843924678963003983[207] = 0;
out_3843924678963003983[208] = 0;
out_3843924678963003983[209] = 0;
out_3843924678963003983[210] = 0;
out_3843924678963003983[211] = 0;
out_3843924678963003983[212] = 0;
out_3843924678963003983[213] = 0;
out_3843924678963003983[214] = 0;
out_3843924678963003983[215] = 0;
out_3843924678963003983[216] = 0;
out_3843924678963003983[217] = 0;
out_3843924678963003983[218] = 0;
out_3843924678963003983[219] = 0;
out_3843924678963003983[220] = 1;
out_3843924678963003983[221] = 0;
out_3843924678963003983[222] = 0;
out_3843924678963003983[223] = 0;
out_3843924678963003983[224] = 0;
out_3843924678963003983[225] = 0;
out_3843924678963003983[226] = 0;
out_3843924678963003983[227] = 0;
out_3843924678963003983[228] = 0;
out_3843924678963003983[229] = 0;
out_3843924678963003983[230] = 0;
out_3843924678963003983[231] = 0;
out_3843924678963003983[232] = 0;
out_3843924678963003983[233] = 0;
out_3843924678963003983[234] = 0;
out_3843924678963003983[235] = 0;
out_3843924678963003983[236] = 0;
out_3843924678963003983[237] = 0;
out_3843924678963003983[238] = 0;
out_3843924678963003983[239] = 0;
out_3843924678963003983[240] = 0;
out_3843924678963003983[241] = 0;
out_3843924678963003983[242] = 1;
out_3843924678963003983[243] = 0;
out_3843924678963003983[244] = 0;
out_3843924678963003983[245] = 0;
out_3843924678963003983[246] = 0;
out_3843924678963003983[247] = 0;
out_3843924678963003983[248] = 0;
out_3843924678963003983[249] = 0;
out_3843924678963003983[250] = 0;
out_3843924678963003983[251] = 0;
out_3843924678963003983[252] = 0;
out_3843924678963003983[253] = 0;
out_3843924678963003983[254] = 0;
out_3843924678963003983[255] = 0;
out_3843924678963003983[256] = 0;
out_3843924678963003983[257] = 0;
out_3843924678963003983[258] = 0;
out_3843924678963003983[259] = 0;
out_3843924678963003983[260] = 0;
out_3843924678963003983[261] = 0;
out_3843924678963003983[262] = 0;
out_3843924678963003983[263] = 0;
out_3843924678963003983[264] = 1;
out_3843924678963003983[265] = 0;
out_3843924678963003983[266] = 0;
out_3843924678963003983[267] = 0;
out_3843924678963003983[268] = 0;
out_3843924678963003983[269] = 0;
out_3843924678963003983[270] = 0;
out_3843924678963003983[271] = 0;
out_3843924678963003983[272] = 0;
out_3843924678963003983[273] = 0;
out_3843924678963003983[274] = 0;
out_3843924678963003983[275] = 0;
out_3843924678963003983[276] = 0;
out_3843924678963003983[277] = 0;
out_3843924678963003983[278] = 0;
out_3843924678963003983[279] = 0;
out_3843924678963003983[280] = 0;
out_3843924678963003983[281] = 0;
out_3843924678963003983[282] = 0;
out_3843924678963003983[283] = 0;
out_3843924678963003983[284] = 0;
out_3843924678963003983[285] = 0;
out_3843924678963003983[286] = 1;
out_3843924678963003983[287] = 0;
out_3843924678963003983[288] = 0;
out_3843924678963003983[289] = 0;
out_3843924678963003983[290] = 0;
out_3843924678963003983[291] = 0;
out_3843924678963003983[292] = 0;
out_3843924678963003983[293] = 0;
out_3843924678963003983[294] = 0;
out_3843924678963003983[295] = 0;
out_3843924678963003983[296] = 0;
out_3843924678963003983[297] = 0;
out_3843924678963003983[298] = 0;
out_3843924678963003983[299] = 0;
out_3843924678963003983[300] = 0;
out_3843924678963003983[301] = 0;
out_3843924678963003983[302] = 0;
out_3843924678963003983[303] = 0;
out_3843924678963003983[304] = 0;
out_3843924678963003983[305] = 0;
out_3843924678963003983[306] = 0;
out_3843924678963003983[307] = 0;
out_3843924678963003983[308] = 1;
out_3843924678963003983[309] = 0;
out_3843924678963003983[310] = 0;
out_3843924678963003983[311] = 0;
out_3843924678963003983[312] = 0;
out_3843924678963003983[313] = 0;
out_3843924678963003983[314] = 0;
out_3843924678963003983[315] = 0;
out_3843924678963003983[316] = 0;
out_3843924678963003983[317] = 0;
out_3843924678963003983[318] = 0;
out_3843924678963003983[319] = 0;
out_3843924678963003983[320] = 0;
out_3843924678963003983[321] = 0;
out_3843924678963003983[322] = 0;
out_3843924678963003983[323] = 0;
out_3843924678963003983[324] = 0;
out_3843924678963003983[325] = 0;
out_3843924678963003983[326] = 0;
out_3843924678963003983[327] = 0;
out_3843924678963003983[328] = 0;
out_3843924678963003983[329] = 0;
out_3843924678963003983[330] = 1;
out_3843924678963003983[331] = 0;
out_3843924678963003983[332] = 0;
out_3843924678963003983[333] = 0;
out_3843924678963003983[334] = 0;
out_3843924678963003983[335] = 0;
out_3843924678963003983[336] = 0;
out_3843924678963003983[337] = 0;
out_3843924678963003983[338] = 0;
out_3843924678963003983[339] = 0;
out_3843924678963003983[340] = 0;
out_3843924678963003983[341] = 0;
out_3843924678963003983[342] = 0;
out_3843924678963003983[343] = 0;
out_3843924678963003983[344] = 0;
out_3843924678963003983[345] = 0;
out_3843924678963003983[346] = 0;
out_3843924678963003983[347] = 0;
out_3843924678963003983[348] = 0;
out_3843924678963003983[349] = 0;
out_3843924678963003983[350] = 0;
out_3843924678963003983[351] = 0;
out_3843924678963003983[352] = 1;
out_3843924678963003983[353] = 0;
out_3843924678963003983[354] = 0;
out_3843924678963003983[355] = 0;
out_3843924678963003983[356] = 0;
out_3843924678963003983[357] = 0;
out_3843924678963003983[358] = 0;
out_3843924678963003983[359] = 0;
out_3843924678963003983[360] = 0;
out_3843924678963003983[361] = 0;
out_3843924678963003983[362] = 0;
out_3843924678963003983[363] = 0;
out_3843924678963003983[364] = 0;
out_3843924678963003983[365] = 0;
out_3843924678963003983[366] = 0;
out_3843924678963003983[367] = 0;
out_3843924678963003983[368] = 0;
out_3843924678963003983[369] = 0;
out_3843924678963003983[370] = 0;
out_3843924678963003983[371] = 0;
out_3843924678963003983[372] = 0;
out_3843924678963003983[373] = 0;
out_3843924678963003983[374] = 1;
out_3843924678963003983[375] = 0;
out_3843924678963003983[376] = 0;
out_3843924678963003983[377] = 0;
out_3843924678963003983[378] = 0;
out_3843924678963003983[379] = 0;
out_3843924678963003983[380] = 0;
out_3843924678963003983[381] = 0;
out_3843924678963003983[382] = 0;
out_3843924678963003983[383] = 0;
out_3843924678963003983[384] = 0;
out_3843924678963003983[385] = 0;
out_3843924678963003983[386] = 0;
out_3843924678963003983[387] = 0;
out_3843924678963003983[388] = 0;
out_3843924678963003983[389] = 0;
out_3843924678963003983[390] = 0;
out_3843924678963003983[391] = 0;
out_3843924678963003983[392] = 0;
out_3843924678963003983[393] = 0;
out_3843924678963003983[394] = 0;
out_3843924678963003983[395] = 0;
out_3843924678963003983[396] = 1;
out_3843924678963003983[397] = 0;
out_3843924678963003983[398] = 0;
out_3843924678963003983[399] = 0;
out_3843924678963003983[400] = 0;
out_3843924678963003983[401] = 0;
out_3843924678963003983[402] = 0;
out_3843924678963003983[403] = 0;
out_3843924678963003983[404] = 0;
out_3843924678963003983[405] = 0;
out_3843924678963003983[406] = 0;
out_3843924678963003983[407] = 0;
out_3843924678963003983[408] = 0;
out_3843924678963003983[409] = 0;
out_3843924678963003983[410] = 0;
out_3843924678963003983[411] = 0;
out_3843924678963003983[412] = 0;
out_3843924678963003983[413] = 0;
out_3843924678963003983[414] = 0;
out_3843924678963003983[415] = 0;
out_3843924678963003983[416] = 0;
out_3843924678963003983[417] = 0;
out_3843924678963003983[418] = 1;
out_3843924678963003983[419] = 0;
out_3843924678963003983[420] = 0;
out_3843924678963003983[421] = 0;
out_3843924678963003983[422] = 0;
out_3843924678963003983[423] = 0;
out_3843924678963003983[424] = 0;
out_3843924678963003983[425] = 0;
out_3843924678963003983[426] = 0;
out_3843924678963003983[427] = 0;
out_3843924678963003983[428] = 0;
out_3843924678963003983[429] = 0;
out_3843924678963003983[430] = 0;
out_3843924678963003983[431] = 0;
out_3843924678963003983[432] = 0;
out_3843924678963003983[433] = 0;
out_3843924678963003983[434] = 0;
out_3843924678963003983[435] = 0;
out_3843924678963003983[436] = 0;
out_3843924678963003983[437] = 0;
out_3843924678963003983[438] = 0;
out_3843924678963003983[439] = 0;
out_3843924678963003983[440] = 1;
}
void h_4(double *state, double *unused, double *out_4595523822163121539) {
out_4595523822163121539[0] = state[10] + state[13];
out_4595523822163121539[1] = state[11] + state[14];
out_4595523822163121539[2] = state[12] + state[15];
}
void H_4(double *state, double *unused, double *out_4041185209348209430) {
out_4041185209348209430[0] = 0;
out_4041185209348209430[1] = 0;
out_4041185209348209430[2] = 0;
out_4041185209348209430[3] = 0;
out_4041185209348209430[4] = 0;
out_4041185209348209430[5] = 0;
out_4041185209348209430[6] = 0;
out_4041185209348209430[7] = 0;
out_4041185209348209430[8] = 0;
out_4041185209348209430[9] = 0;
out_4041185209348209430[10] = 1;
out_4041185209348209430[11] = 0;
out_4041185209348209430[12] = 0;
out_4041185209348209430[13] = 1;
out_4041185209348209430[14] = 0;
out_4041185209348209430[15] = 0;
out_4041185209348209430[16] = 0;
out_4041185209348209430[17] = 0;
out_4041185209348209430[18] = 0;
out_4041185209348209430[19] = 0;
out_4041185209348209430[20] = 0;
out_4041185209348209430[21] = 0;
out_4041185209348209430[22] = 0;
out_4041185209348209430[23] = 0;
out_4041185209348209430[24] = 0;
out_4041185209348209430[25] = 0;
out_4041185209348209430[26] = 0;
out_4041185209348209430[27] = 0;
out_4041185209348209430[28] = 0;
out_4041185209348209430[29] = 0;
out_4041185209348209430[30] = 0;
out_4041185209348209430[31] = 0;
out_4041185209348209430[32] = 0;
out_4041185209348209430[33] = 1;
out_4041185209348209430[34] = 0;
out_4041185209348209430[35] = 0;
out_4041185209348209430[36] = 1;
out_4041185209348209430[37] = 0;
out_4041185209348209430[38] = 0;
out_4041185209348209430[39] = 0;
out_4041185209348209430[40] = 0;
out_4041185209348209430[41] = 0;
out_4041185209348209430[42] = 0;
out_4041185209348209430[43] = 0;
out_4041185209348209430[44] = 0;
out_4041185209348209430[45] = 0;
out_4041185209348209430[46] = 0;
out_4041185209348209430[47] = 0;
out_4041185209348209430[48] = 0;
out_4041185209348209430[49] = 0;
out_4041185209348209430[50] = 0;
out_4041185209348209430[51] = 0;
out_4041185209348209430[52] = 0;
out_4041185209348209430[53] = 0;
out_4041185209348209430[54] = 0;
out_4041185209348209430[55] = 0;
out_4041185209348209430[56] = 1;
out_4041185209348209430[57] = 0;
out_4041185209348209430[58] = 0;
out_4041185209348209430[59] = 1;
out_4041185209348209430[60] = 0;
out_4041185209348209430[61] = 0;
out_4041185209348209430[62] = 0;
out_4041185209348209430[63] = 0;
out_4041185209348209430[64] = 0;
out_4041185209348209430[65] = 0;
}
void h_9(double *state, double *unused, double *out_8234121719314103006) {
out_8234121719314103006[0] = state[10];
out_8234121719314103006[1] = state[11];
out_8234121719314103006[2] = state[12];
}
void H_9(double *state, double *unused, double *out_115982527006568053) {
out_115982527006568053[0] = 0;
out_115982527006568053[1] = 0;
out_115982527006568053[2] = 0;
out_115982527006568053[3] = 0;
out_115982527006568053[4] = 0;
out_115982527006568053[5] = 0;
out_115982527006568053[6] = 0;
out_115982527006568053[7] = 0;
out_115982527006568053[8] = 0;
out_115982527006568053[9] = 0;
out_115982527006568053[10] = 1;
out_115982527006568053[11] = 0;
out_115982527006568053[12] = 0;
out_115982527006568053[13] = 0;
out_115982527006568053[14] = 0;
out_115982527006568053[15] = 0;
out_115982527006568053[16] = 0;
out_115982527006568053[17] = 0;
out_115982527006568053[18] = 0;
out_115982527006568053[19] = 0;
out_115982527006568053[20] = 0;
out_115982527006568053[21] = 0;
out_115982527006568053[22] = 0;
out_115982527006568053[23] = 0;
out_115982527006568053[24] = 0;
out_115982527006568053[25] = 0;
out_115982527006568053[26] = 0;
out_115982527006568053[27] = 0;
out_115982527006568053[28] = 0;
out_115982527006568053[29] = 0;
out_115982527006568053[30] = 0;
out_115982527006568053[31] = 0;
out_115982527006568053[32] = 0;
out_115982527006568053[33] = 1;
out_115982527006568053[34] = 0;
out_115982527006568053[35] = 0;
out_115982527006568053[36] = 0;
out_115982527006568053[37] = 0;
out_115982527006568053[38] = 0;
out_115982527006568053[39] = 0;
out_115982527006568053[40] = 0;
out_115982527006568053[41] = 0;
out_115982527006568053[42] = 0;
out_115982527006568053[43] = 0;
out_115982527006568053[44] = 0;
out_115982527006568053[45] = 0;
out_115982527006568053[46] = 0;
out_115982527006568053[47] = 0;
out_115982527006568053[48] = 0;
out_115982527006568053[49] = 0;
out_115982527006568053[50] = 0;
out_115982527006568053[51] = 0;
out_115982527006568053[52] = 0;
out_115982527006568053[53] = 0;
out_115982527006568053[54] = 0;
out_115982527006568053[55] = 0;
out_115982527006568053[56] = 1;
out_115982527006568053[57] = 0;
out_115982527006568053[58] = 0;
out_115982527006568053[59] = 0;
out_115982527006568053[60] = 0;
out_115982527006568053[61] = 0;
out_115982527006568053[62] = 0;
out_115982527006568053[63] = 0;
out_115982527006568053[64] = 0;
out_115982527006568053[65] = 0;
}
void h_10(double *state, double *unused, double *out_7026349636546874626) {
out_7026349636546874626[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_7026349636546874626[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_7026349636546874626[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_9081879764692710014) {
out_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[7] = 0;
out_9081879764692710014[8] = 0;
out_9081879764692710014[9] = 0;
out_9081879764692710014[10] = 0;
out_9081879764692710014[11] = 0;
out_9081879764692710014[12] = 0;
out_9081879764692710014[13] = 0;
out_9081879764692710014[14] = 0;
out_9081879764692710014[15] = 0;
out_9081879764692710014[16] = 1;
out_9081879764692710014[17] = 0;
out_9081879764692710014[18] = 0;
out_9081879764692710014[19] = 1;
out_9081879764692710014[20] = 0;
out_9081879764692710014[21] = 0;
out_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[29] = 0;
out_9081879764692710014[30] = 0;
out_9081879764692710014[31] = 0;
out_9081879764692710014[32] = 0;
out_9081879764692710014[33] = 0;
out_9081879764692710014[34] = 0;
out_9081879764692710014[35] = 0;
out_9081879764692710014[36] = 0;
out_9081879764692710014[37] = 0;
out_9081879764692710014[38] = 0;
out_9081879764692710014[39] = 1;
out_9081879764692710014[40] = 0;
out_9081879764692710014[41] = 0;
out_9081879764692710014[42] = 1;
out_9081879764692710014[43] = 0;
out_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[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_9081879764692710014[51] = 0;
out_9081879764692710014[52] = 0;
out_9081879764692710014[53] = 0;
out_9081879764692710014[54] = 0;
out_9081879764692710014[55] = 0;
out_9081879764692710014[56] = 0;
out_9081879764692710014[57] = 0;
out_9081879764692710014[58] = 0;
out_9081879764692710014[59] = 0;
out_9081879764692710014[60] = 0;
out_9081879764692710014[61] = 0;
out_9081879764692710014[62] = 1;
out_9081879764692710014[63] = 0;
out_9081879764692710014[64] = 0;
out_9081879764692710014[65] = 1;
}
void h_12(double *state, double *unused, double *out_5365386081988364470) {
out_5365386081988364470[0] = state[0];
out_5365386081988364470[1] = state[1];
out_5365386081988364470[2] = state[2];
}
void H_12(double *state, double *unused, double *out_4662284234395803097) {
out_4662284234395803097[0] = 1;
out_4662284234395803097[1] = 0;
out_4662284234395803097[2] = 0;
out_4662284234395803097[3] = 0;
out_4662284234395803097[4] = 0;
out_4662284234395803097[5] = 0;
out_4662284234395803097[6] = 0;
out_4662284234395803097[7] = 0;
out_4662284234395803097[8] = 0;
out_4662284234395803097[9] = 0;
out_4662284234395803097[10] = 0;
out_4662284234395803097[11] = 0;
out_4662284234395803097[12] = 0;
out_4662284234395803097[13] = 0;
out_4662284234395803097[14] = 0;
out_4662284234395803097[15] = 0;
out_4662284234395803097[16] = 0;
out_4662284234395803097[17] = 0;
out_4662284234395803097[18] = 0;
out_4662284234395803097[19] = 0;
out_4662284234395803097[20] = 0;
out_4662284234395803097[21] = 0;
out_4662284234395803097[22] = 0;
out_4662284234395803097[23] = 1;
out_4662284234395803097[24] = 0;
out_4662284234395803097[25] = 0;
out_4662284234395803097[26] = 0;
out_4662284234395803097[27] = 0;
out_4662284234395803097[28] = 0;
out_4662284234395803097[29] = 0;
out_4662284234395803097[30] = 0;
out_4662284234395803097[31] = 0;
out_4662284234395803097[32] = 0;
out_4662284234395803097[33] = 0;
out_4662284234395803097[34] = 0;
out_4662284234395803097[35] = 0;
out_4662284234395803097[36] = 0;
out_4662284234395803097[37] = 0;
out_4662284234395803097[38] = 0;
out_4662284234395803097[39] = 0;
out_4662284234395803097[40] = 0;
out_4662284234395803097[41] = 0;
out_4662284234395803097[42] = 0;
out_4662284234395803097[43] = 0;
out_4662284234395803097[44] = 0;
out_4662284234395803097[45] = 0;
out_4662284234395803097[46] = 1;
out_4662284234395803097[47] = 0;
out_4662284234395803097[48] = 0;
out_4662284234395803097[49] = 0;
out_4662284234395803097[50] = 0;
out_4662284234395803097[51] = 0;
out_4662284234395803097[52] = 0;
out_4662284234395803097[53] = 0;
out_4662284234395803097[54] = 0;
out_4662284234395803097[55] = 0;
out_4662284234395803097[56] = 0;
out_4662284234395803097[57] = 0;
out_4662284234395803097[58] = 0;
out_4662284234395803097[59] = 0;
out_4662284234395803097[60] = 0;
out_4662284234395803097[61] = 0;
out_4662284234395803097[62] = 0;
out_4662284234395803097[63] = 0;
out_4662284234395803097[64] = 0;
out_4662284234395803097[65] = 0;
}
void h_35(double *state, double *unused, double *out_6678787183634411294) {
out_6678787183634411294[0] = state[7];
out_6678787183634411294[1] = state[8];
out_6678787183634411294[2] = state[9];
}
void H_35(double *state, double *unused, double *out_7407847266720816806) {
out_7407847266720816806[0] = 0;
out_7407847266720816806[1] = 0;
out_7407847266720816806[2] = 0;
out_7407847266720816806[3] = 0;
out_7407847266720816806[4] = 0;
out_7407847266720816806[5] = 0;
out_7407847266720816806[6] = 0;
out_7407847266720816806[7] = 1;
out_7407847266720816806[8] = 0;
out_7407847266720816806[9] = 0;
out_7407847266720816806[10] = 0;
out_7407847266720816806[11] = 0;
out_7407847266720816806[12] = 0;
out_7407847266720816806[13] = 0;
out_7407847266720816806[14] = 0;
out_7407847266720816806[15] = 0;
out_7407847266720816806[16] = 0;
out_7407847266720816806[17] = 0;
out_7407847266720816806[18] = 0;
out_7407847266720816806[19] = 0;
out_7407847266720816806[20] = 0;
out_7407847266720816806[21] = 0;
out_7407847266720816806[22] = 0;
out_7407847266720816806[23] = 0;
out_7407847266720816806[24] = 0;
out_7407847266720816806[25] = 0;
out_7407847266720816806[26] = 0;
out_7407847266720816806[27] = 0;
out_7407847266720816806[28] = 0;
out_7407847266720816806[29] = 0;
out_7407847266720816806[30] = 1;
out_7407847266720816806[31] = 0;
out_7407847266720816806[32] = 0;
out_7407847266720816806[33] = 0;
out_7407847266720816806[34] = 0;
out_7407847266720816806[35] = 0;
out_7407847266720816806[36] = 0;
out_7407847266720816806[37] = 0;
out_7407847266720816806[38] = 0;
out_7407847266720816806[39] = 0;
out_7407847266720816806[40] = 0;
out_7407847266720816806[41] = 0;
out_7407847266720816806[42] = 0;
out_7407847266720816806[43] = 0;
out_7407847266720816806[44] = 0;
out_7407847266720816806[45] = 0;
out_7407847266720816806[46] = 0;
out_7407847266720816806[47] = 0;
out_7407847266720816806[48] = 0;
out_7407847266720816806[49] = 0;
out_7407847266720816806[50] = 0;
out_7407847266720816806[51] = 0;
out_7407847266720816806[52] = 0;
out_7407847266720816806[53] = 1;
out_7407847266720816806[54] = 0;
out_7407847266720816806[55] = 0;
out_7407847266720816806[56] = 0;
out_7407847266720816806[57] = 0;
out_7407847266720816806[58] = 0;
out_7407847266720816806[59] = 0;
out_7407847266720816806[60] = 0;
out_7407847266720816806[61] = 0;
out_7407847266720816806[62] = 0;
out_7407847266720816806[63] = 0;
out_7407847266720816806[64] = 0;
out_7407847266720816806[65] = 0;
}
void h_32(double *state, double *unused, double *out_2417329670678050885) {
out_2417329670678050885[0] = state[3];
out_2417329670678050885[1] = state[4];
out_2417329670678050885[2] = state[5];
out_2417329670678050885[3] = state[6];
}
void H_32(double *state, double *unused, double *out_3367483271847903307) {
out_3367483271847903307[0] = 0;
out_3367483271847903307[1] = 0;
out_3367483271847903307[2] = 0;
out_3367483271847903307[3] = 1;
out_3367483271847903307[4] = 0;
out_3367483271847903307[5] = 0;
out_3367483271847903307[6] = 0;
out_3367483271847903307[7] = 0;
out_3367483271847903307[8] = 0;
out_3367483271847903307[9] = 0;
out_3367483271847903307[10] = 0;
out_3367483271847903307[11] = 0;
out_3367483271847903307[12] = 0;
out_3367483271847903307[13] = 0;
out_3367483271847903307[14] = 0;
out_3367483271847903307[15] = 0;
out_3367483271847903307[16] = 0;
out_3367483271847903307[17] = 0;
out_3367483271847903307[18] = 0;
out_3367483271847903307[19] = 0;
out_3367483271847903307[20] = 0;
out_3367483271847903307[21] = 0;
out_3367483271847903307[22] = 0;
out_3367483271847903307[23] = 0;
out_3367483271847903307[24] = 0;
out_3367483271847903307[25] = 0;
out_3367483271847903307[26] = 1;
out_3367483271847903307[27] = 0;
out_3367483271847903307[28] = 0;
out_3367483271847903307[29] = 0;
out_3367483271847903307[30] = 0;
out_3367483271847903307[31] = 0;
out_3367483271847903307[32] = 0;
out_3367483271847903307[33] = 0;
out_3367483271847903307[34] = 0;
out_3367483271847903307[35] = 0;
out_3367483271847903307[36] = 0;
out_3367483271847903307[37] = 0;
out_3367483271847903307[38] = 0;
out_3367483271847903307[39] = 0;
out_3367483271847903307[40] = 0;
out_3367483271847903307[41] = 0;
out_3367483271847903307[42] = 0;
out_3367483271847903307[43] = 0;
out_3367483271847903307[44] = 0;
out_3367483271847903307[45] = 0;
out_3367483271847903307[46] = 0;
out_3367483271847903307[47] = 0;
out_3367483271847903307[48] = 0;
out_3367483271847903307[49] = 1;
out_3367483271847903307[50] = 0;
out_3367483271847903307[51] = 0;
out_3367483271847903307[52] = 0;
out_3367483271847903307[53] = 0;
out_3367483271847903307[54] = 0;
out_3367483271847903307[55] = 0;
out_3367483271847903307[56] = 0;
out_3367483271847903307[57] = 0;
out_3367483271847903307[58] = 0;
out_3367483271847903307[59] = 0;
out_3367483271847903307[60] = 0;
out_3367483271847903307[61] = 0;
out_3367483271847903307[62] = 0;
out_3367483271847903307[63] = 0;
out_3367483271847903307[64] = 0;
out_3367483271847903307[65] = 0;
out_3367483271847903307[66] = 0;
out_3367483271847903307[67] = 0;
out_3367483271847903307[68] = 0;
out_3367483271847903307[69] = 0;
out_3367483271847903307[70] = 0;
out_3367483271847903307[71] = 0;
out_3367483271847903307[72] = 1;
out_3367483271847903307[73] = 0;
out_3367483271847903307[74] = 0;
out_3367483271847903307[75] = 0;
out_3367483271847903307[76] = 0;
out_3367483271847903307[77] = 0;
out_3367483271847903307[78] = 0;
out_3367483271847903307[79] = 0;
out_3367483271847903307[80] = 0;
out_3367483271847903307[81] = 0;
out_3367483271847903307[82] = 0;
out_3367483271847903307[83] = 0;
out_3367483271847903307[84] = 0;
out_3367483271847903307[85] = 0;
out_3367483271847903307[86] = 0;
out_3367483271847903307[87] = 0;
}
void h_13(double *state, double *unused, double *out_5805477272828296767) {
out_5805477272828296767[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_5805477272828296767[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_5805477272828296767[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_1027302974098499320) {
out_1027302974098499320[0] = 0;
out_1027302974098499320[1] = 0;
out_1027302974098499320[2] = 0;
out_1027302974098499320[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8];
out_1027302974098499320[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
out_1027302974098499320[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7];
out_1027302974098499320[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7];
out_1027302974098499320[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2);
out_1027302974098499320[8] = 2*state[3]*state[6] + 2*state[4]*state[5];
out_1027302974098499320[9] = -2*state[3]*state[5] + 2*state[4]*state[6];
out_1027302974098499320[10] = 0;
out_1027302974098499320[11] = 0;
out_1027302974098499320[12] = 0;
out_1027302974098499320[13] = 0;
out_1027302974098499320[14] = 0;
out_1027302974098499320[15] = 0;
out_1027302974098499320[16] = 0;
out_1027302974098499320[17] = 0;
out_1027302974098499320[18] = 0;
out_1027302974098499320[19] = 0;
out_1027302974098499320[20] = 0;
out_1027302974098499320[21] = 0;
out_1027302974098499320[22] = 0;
out_1027302974098499320[23] = 0;
out_1027302974098499320[24] = 0;
out_1027302974098499320[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7];
out_1027302974098499320[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7];
out_1027302974098499320[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
out_1027302974098499320[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8];
out_1027302974098499320[29] = -2*state[3]*state[6] + 2*state[4]*state[5];
out_1027302974098499320[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2);
out_1027302974098499320[31] = 2*state[3]*state[4] + 2*state[5]*state[6];
out_1027302974098499320[32] = 0;
out_1027302974098499320[33] = 0;
out_1027302974098499320[34] = 0;
out_1027302974098499320[35] = 0;
out_1027302974098499320[36] = 0;
out_1027302974098499320[37] = 0;
out_1027302974098499320[38] = 0;
out_1027302974098499320[39] = 0;
out_1027302974098499320[40] = 0;
out_1027302974098499320[41] = 0;
out_1027302974098499320[42] = 0;
out_1027302974098499320[43] = 0;
out_1027302974098499320[44] = 0;
out_1027302974098499320[45] = 0;
out_1027302974098499320[46] = 0;
out_1027302974098499320[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7];
out_1027302974098499320[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7];
out_1027302974098499320[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8];
out_1027302974098499320[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
out_1027302974098499320[51] = 2*state[3]*state[5] + 2*state[4]*state[6];
out_1027302974098499320[52] = -2*state[3]*state[4] + 2*state[5]*state[6];
out_1027302974098499320[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2);
out_1027302974098499320[54] = 0;
out_1027302974098499320[55] = 0;
out_1027302974098499320[56] = 0;
out_1027302974098499320[57] = 0;
out_1027302974098499320[58] = 0;
out_1027302974098499320[59] = 0;
out_1027302974098499320[60] = 0;
out_1027302974098499320[61] = 0;
out_1027302974098499320[62] = 0;
out_1027302974098499320[63] = 0;
out_1027302974098499320[64] = 0;
out_1027302974098499320[65] = 0;
}
void h_14(double *state, double *unused, double *out_8234121719314103006) {
out_8234121719314103006[0] = state[10];
out_8234121719314103006[1] = state[11];
out_8234121719314103006[2] = state[12];
}
void H_14(double *state, double *unused, double *out_115982527006568053) {
out_115982527006568053[0] = 0;
out_115982527006568053[1] = 0;
out_115982527006568053[2] = 0;
out_115982527006568053[3] = 0;
out_115982527006568053[4] = 0;
out_115982527006568053[5] = 0;
out_115982527006568053[6] = 0;
out_115982527006568053[7] = 0;
out_115982527006568053[8] = 0;
out_115982527006568053[9] = 0;
out_115982527006568053[10] = 1;
out_115982527006568053[11] = 0;
out_115982527006568053[12] = 0;
out_115982527006568053[13] = 0;
out_115982527006568053[14] = 0;
out_115982527006568053[15] = 0;
out_115982527006568053[16] = 0;
out_115982527006568053[17] = 0;
out_115982527006568053[18] = 0;
out_115982527006568053[19] = 0;
out_115982527006568053[20] = 0;
out_115982527006568053[21] = 0;
out_115982527006568053[22] = 0;
out_115982527006568053[23] = 0;
out_115982527006568053[24] = 0;
out_115982527006568053[25] = 0;
out_115982527006568053[26] = 0;
out_115982527006568053[27] = 0;
out_115982527006568053[28] = 0;
out_115982527006568053[29] = 0;
out_115982527006568053[30] = 0;
out_115982527006568053[31] = 0;
out_115982527006568053[32] = 0;
out_115982527006568053[33] = 1;
out_115982527006568053[34] = 0;
out_115982527006568053[35] = 0;
out_115982527006568053[36] = 0;
out_115982527006568053[37] = 0;
out_115982527006568053[38] = 0;
out_115982527006568053[39] = 0;
out_115982527006568053[40] = 0;
out_115982527006568053[41] = 0;
out_115982527006568053[42] = 0;
out_115982527006568053[43] = 0;
out_115982527006568053[44] = 0;
out_115982527006568053[45] = 0;
out_115982527006568053[46] = 0;
out_115982527006568053[47] = 0;
out_115982527006568053[48] = 0;
out_115982527006568053[49] = 0;
out_115982527006568053[50] = 0;
out_115982527006568053[51] = 0;
out_115982527006568053[52] = 0;
out_115982527006568053[53] = 0;
out_115982527006568053[54] = 0;
out_115982527006568053[55] = 0;
out_115982527006568053[56] = 1;
out_115982527006568053[57] = 0;
out_115982527006568053[58] = 0;
out_115982527006568053[59] = 0;
out_115982527006568053[60] = 0;
out_115982527006568053[61] = 0;
out_115982527006568053[62] = 0;
out_115982527006568053[63] = 0;
out_115982527006568053[64] = 0;
out_115982527006568053[65] = 0;
}
void h_33(double *state, double *unused, double *out_7147939535237127299) {
out_7147939535237127299[0] = state[16];
out_7147939535237127299[1] = state[17];
out_7147939535237127299[2] = state[18];
}
void H_33(double *state, double *unused, double *out_7888339802349877206) {
out_7888339802349877206[0] = 0;
out_7888339802349877206[1] = 0;
out_7888339802349877206[2] = 0;
out_7888339802349877206[3] = 0;
out_7888339802349877206[4] = 0;
out_7888339802349877206[5] = 0;
out_7888339802349877206[6] = 0;
out_7888339802349877206[7] = 0;
out_7888339802349877206[8] = 0;
out_7888339802349877206[9] = 0;
out_7888339802349877206[10] = 0;
out_7888339802349877206[11] = 0;
out_7888339802349877206[12] = 0;
out_7888339802349877206[13] = 0;
out_7888339802349877206[14] = 0;
out_7888339802349877206[15] = 0;
out_7888339802349877206[16] = 1;
out_7888339802349877206[17] = 0;
out_7888339802349877206[18] = 0;
out_7888339802349877206[19] = 0;
out_7888339802349877206[20] = 0;
out_7888339802349877206[21] = 0;
out_7888339802349877206[22] = 0;
out_7888339802349877206[23] = 0;
out_7888339802349877206[24] = 0;
out_7888339802349877206[25] = 0;
out_7888339802349877206[26] = 0;
out_7888339802349877206[27] = 0;
out_7888339802349877206[28] = 0;
out_7888339802349877206[29] = 0;
out_7888339802349877206[30] = 0;
out_7888339802349877206[31] = 0;
out_7888339802349877206[32] = 0;
out_7888339802349877206[33] = 0;
out_7888339802349877206[34] = 0;
out_7888339802349877206[35] = 0;
out_7888339802349877206[36] = 0;
out_7888339802349877206[37] = 0;
out_7888339802349877206[38] = 0;
out_7888339802349877206[39] = 1;
out_7888339802349877206[40] = 0;
out_7888339802349877206[41] = 0;
out_7888339802349877206[42] = 0;
out_7888339802349877206[43] = 0;
out_7888339802349877206[44] = 0;
out_7888339802349877206[45] = 0;
out_7888339802349877206[46] = 0;
out_7888339802349877206[47] = 0;
out_7888339802349877206[48] = 0;
out_7888339802349877206[49] = 0;
out_7888339802349877206[50] = 0;
out_7888339802349877206[51] = 0;
out_7888339802349877206[52] = 0;
out_7888339802349877206[53] = 0;
out_7888339802349877206[54] = 0;
out_7888339802349877206[55] = 0;
out_7888339802349877206[56] = 0;
out_7888339802349877206[57] = 0;
out_7888339802349877206[58] = 0;
out_7888339802349877206[59] = 0;
out_7888339802349877206[60] = 0;
out_7888339802349877206[61] = 0;
out_7888339802349877206[62] = 1;
out_7888339802349877206[63] = 0;
out_7888339802349877206[64] = 0;
out_7888339802349877206[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_4549882242449710464) {
H(in_vec, out_4549882242449710464);
}
void live_err_fun(double *nom_x, double *delta_x, double *out_8967192143908981963) {
err_fun(nom_x, delta_x, out_8967192143908981963);
}
void live_inv_err_fun(double *nom_x, double *true_x, double *out_27256379367550061) {
inv_err_fun(nom_x, true_x, out_27256379367550061);
}
void live_H_mod_fun(double *state, double *out_4824081692195624245) {
H_mod_fun(state, out_4824081692195624245);
}
void live_f_fun(double *state, double dt, double *out_2925287045854594900) {
f_fun(state, dt, out_2925287045854594900);
}
void live_F_fun(double *state, double dt, double *out_3843924678963003983) {
F_fun(state, dt, out_3843924678963003983);
}
void live_h_4(double *state, double *unused, double *out_4595523822163121539) {
h_4(state, unused, out_4595523822163121539);
}
void live_H_4(double *state, double *unused, double *out_4041185209348209430) {
H_4(state, unused, out_4041185209348209430);
}
void live_h_9(double *state, double *unused, double *out_8234121719314103006) {
h_9(state, unused, out_8234121719314103006);
}
void live_H_9(double *state, double *unused, double *out_115982527006568053) {
H_9(state, unused, out_115982527006568053);
}
void live_h_10(double *state, double *unused, double *out_7026349636546874626) {
h_10(state, unused, out_7026349636546874626);
}
void live_H_10(double *state, double *unused, double *out_9081879764692710014) {
H_10(state, unused, out_9081879764692710014);
}
void live_h_12(double *state, double *unused, double *out_5365386081988364470) {
h_12(state, unused, out_5365386081988364470);
}
void live_H_12(double *state, double *unused, double *out_4662284234395803097) {
H_12(state, unused, out_4662284234395803097);
}
void live_h_35(double *state, double *unused, double *out_6678787183634411294) {
h_35(state, unused, out_6678787183634411294);
}
void live_H_35(double *state, double *unused, double *out_7407847266720816806) {
H_35(state, unused, out_7407847266720816806);
}
void live_h_32(double *state, double *unused, double *out_2417329670678050885) {
h_32(state, unused, out_2417329670678050885);
}
void live_H_32(double *state, double *unused, double *out_3367483271847903307) {
H_32(state, unused, out_3367483271847903307);
}
void live_h_13(double *state, double *unused, double *out_5805477272828296767) {
h_13(state, unused, out_5805477272828296767);
}
void live_H_13(double *state, double *unused, double *out_1027302974098499320) {
H_13(state, unused, out_1027302974098499320);
}
void live_h_14(double *state, double *unused, double *out_8234121719314103006) {
h_14(state, unused, out_8234121719314103006);
}
void live_H_14(double *state, double *unused, double *out_115982527006568053) {
H_14(state, unused, out_115982527006568053);
}
void live_h_33(double *state, double *unused, double *out_7147939535237127299) {
h_33(state, unused, out_7147939535237127299);
}
void live_H_33(double *state, double *unused, double *out_7888339802349877206) {
H_33(state, unused, out_7888339802349877206);
}
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);
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