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7b3ac8fa7032ef93bd73c9816110d49dedd67dc8
sunnypilot/selfdrive/locationd/models/generated/live.cpp
T
Jason Wen 7b3ac8fa70 sunnypilot v0.9.2.1
2023-06-10 23:39:30 -04:00

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 1.11.1 *
* *
* See http://www.sympy.org/ for more information. *
* *
* This file is part of 'ekf' *
******************************************************************************/
void H(double *in_vec, double *out_6409019039917668284) {
out_6409019039917668284[0] = 0;
out_6409019039917668284[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_6409019039917668284[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4];
out_6409019039917668284[3] = cos(in_vec[1])*cos(in_vec[2]);
out_6409019039917668284[4] = sin(in_vec[2])*cos(in_vec[1]);
out_6409019039917668284[5] = -sin(in_vec[1]);
out_6409019039917668284[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_6409019039917668284[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_6409019039917668284[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_6409019039917668284[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]);
out_6409019039917668284[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]);
out_6409019039917668284[11] = sin(in_vec[0])*cos(in_vec[1]);
out_6409019039917668284[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_6409019039917668284[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_6409019039917668284[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_6409019039917668284[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]);
out_6409019039917668284[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]);
out_6409019039917668284[17] = cos(in_vec[0])*cos(in_vec[1]);
}
void err_fun(double *nom_x, double *delta_x, double *out_4061617048242378524) {
out_4061617048242378524[0] = delta_x[0] + nom_x[0];
out_4061617048242378524[1] = delta_x[1] + nom_x[1];
out_4061617048242378524[2] = delta_x[2] + nom_x[2];
out_4061617048242378524[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_4061617048242378524[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_4061617048242378524[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_4061617048242378524[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_4061617048242378524[7] = delta_x[6] + nom_x[7];
out_4061617048242378524[8] = delta_x[7] + nom_x[8];
out_4061617048242378524[9] = delta_x[8] + nom_x[9];
out_4061617048242378524[10] = delta_x[9] + nom_x[10];
out_4061617048242378524[11] = delta_x[10] + nom_x[11];
out_4061617048242378524[12] = delta_x[11] + nom_x[12];
out_4061617048242378524[13] = delta_x[12] + nom_x[13];
out_4061617048242378524[14] = delta_x[13] + nom_x[14];
out_4061617048242378524[15] = delta_x[14] + nom_x[15];
out_4061617048242378524[16] = delta_x[15] + nom_x[16];
out_4061617048242378524[17] = delta_x[16] + nom_x[17];
out_4061617048242378524[18] = delta_x[17] + nom_x[18];
out_4061617048242378524[19] = delta_x[18] + nom_x[19];
out_4061617048242378524[20] = delta_x[19] + nom_x[20];
out_4061617048242378524[21] = delta_x[20] + nom_x[21];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_1032655403399547817) {
out_1032655403399547817[0] = -nom_x[0] + true_x[0];
out_1032655403399547817[1] = -nom_x[1] + true_x[1];
out_1032655403399547817[2] = -nom_x[2] + true_x[2];
out_1032655403399547817[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_1032655403399547817[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_1032655403399547817[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_1032655403399547817[6] = -nom_x[7] + true_x[7];
out_1032655403399547817[7] = -nom_x[8] + true_x[8];
out_1032655403399547817[8] = -nom_x[9] + true_x[9];
out_1032655403399547817[9] = -nom_x[10] + true_x[10];
out_1032655403399547817[10] = -nom_x[11] + true_x[11];
out_1032655403399547817[11] = -nom_x[12] + true_x[12];
out_1032655403399547817[12] = -nom_x[13] + true_x[13];
out_1032655403399547817[13] = -nom_x[14] + true_x[14];
out_1032655403399547817[14] = -nom_x[15] + true_x[15];
out_1032655403399547817[15] = -nom_x[16] + true_x[16];
out_1032655403399547817[16] = -nom_x[17] + true_x[17];
out_1032655403399547817[17] = -nom_x[18] + true_x[18];
out_1032655403399547817[18] = -nom_x[19] + true_x[19];
out_1032655403399547817[19] = -nom_x[20] + true_x[20];
out_1032655403399547817[20] = -nom_x[21] + true_x[21];
}
void H_mod_fun(double *state, double *out_1457537824329529482) {
out_1457537824329529482[0] = 1.0;
out_1457537824329529482[1] = 0;
out_1457537824329529482[2] = 0;
out_1457537824329529482[3] = 0;
out_1457537824329529482[4] = 0;
out_1457537824329529482[5] = 0;
out_1457537824329529482[6] = 0;
out_1457537824329529482[7] = 0;
out_1457537824329529482[8] = 0;
out_1457537824329529482[9] = 0;
out_1457537824329529482[10] = 0;
out_1457537824329529482[11] = 0;
out_1457537824329529482[12] = 0;
out_1457537824329529482[13] = 0;
out_1457537824329529482[14] = 0;
out_1457537824329529482[15] = 0;
out_1457537824329529482[16] = 0;
out_1457537824329529482[17] = 0;
out_1457537824329529482[18] = 0;
out_1457537824329529482[19] = 0;
out_1457537824329529482[20] = 0;
out_1457537824329529482[21] = 0;
out_1457537824329529482[22] = 1.0;
out_1457537824329529482[23] = 0;
out_1457537824329529482[24] = 0;
out_1457537824329529482[25] = 0;
out_1457537824329529482[26] = 0;
out_1457537824329529482[27] = 0;
out_1457537824329529482[28] = 0;
out_1457537824329529482[29] = 0;
out_1457537824329529482[30] = 0;
out_1457537824329529482[31] = 0;
out_1457537824329529482[32] = 0;
out_1457537824329529482[33] = 0;
out_1457537824329529482[34] = 0;
out_1457537824329529482[35] = 0;
out_1457537824329529482[36] = 0;
out_1457537824329529482[37] = 0;
out_1457537824329529482[38] = 0;
out_1457537824329529482[39] = 0;
out_1457537824329529482[40] = 0;
out_1457537824329529482[41] = 0;
out_1457537824329529482[42] = 0;
out_1457537824329529482[43] = 0;
out_1457537824329529482[44] = 1.0;
out_1457537824329529482[45] = 0;
out_1457537824329529482[46] = 0;
out_1457537824329529482[47] = 0;
out_1457537824329529482[48] = 0;
out_1457537824329529482[49] = 0;
out_1457537824329529482[50] = 0;
out_1457537824329529482[51] = 0;
out_1457537824329529482[52] = 0;
out_1457537824329529482[53] = 0;
out_1457537824329529482[54] = 0;
out_1457537824329529482[55] = 0;
out_1457537824329529482[56] = 0;
out_1457537824329529482[57] = 0;
out_1457537824329529482[58] = 0;
out_1457537824329529482[59] = 0;
out_1457537824329529482[60] = 0;
out_1457537824329529482[61] = 0;
out_1457537824329529482[62] = 0;
out_1457537824329529482[63] = 0;
out_1457537824329529482[64] = 0;
out_1457537824329529482[65] = 0;
out_1457537824329529482[66] = -0.5*state[4];
out_1457537824329529482[67] = -0.5*state[5];
out_1457537824329529482[68] = -0.5*state[6];
out_1457537824329529482[69] = 0;
out_1457537824329529482[70] = 0;
out_1457537824329529482[71] = 0;
out_1457537824329529482[72] = 0;
out_1457537824329529482[73] = 0;
out_1457537824329529482[74] = 0;
out_1457537824329529482[75] = 0;
out_1457537824329529482[76] = 0;
out_1457537824329529482[77] = 0;
out_1457537824329529482[78] = 0;
out_1457537824329529482[79] = 0;
out_1457537824329529482[80] = 0;
out_1457537824329529482[81] = 0;
out_1457537824329529482[82] = 0;
out_1457537824329529482[83] = 0;
out_1457537824329529482[84] = 0;
out_1457537824329529482[85] = 0;
out_1457537824329529482[86] = 0;
out_1457537824329529482[87] = 0.5*state[3];
out_1457537824329529482[88] = 0.5*state[6];
out_1457537824329529482[89] = -0.5*state[5];
out_1457537824329529482[90] = 0;
out_1457537824329529482[91] = 0;
out_1457537824329529482[92] = 0;
out_1457537824329529482[93] = 0;
out_1457537824329529482[94] = 0;
out_1457537824329529482[95] = 0;
out_1457537824329529482[96] = 0;
out_1457537824329529482[97] = 0;
out_1457537824329529482[98] = 0;
out_1457537824329529482[99] = 0;
out_1457537824329529482[100] = 0;
out_1457537824329529482[101] = 0;
out_1457537824329529482[102] = 0;
out_1457537824329529482[103] = 0;
out_1457537824329529482[104] = 0;
out_1457537824329529482[105] = 0;
out_1457537824329529482[106] = 0;
out_1457537824329529482[107] = 0;
out_1457537824329529482[108] = -0.5*state[6];
out_1457537824329529482[109] = 0.5*state[3];
out_1457537824329529482[110] = 0.5*state[4];
out_1457537824329529482[111] = 0;
out_1457537824329529482[112] = 0;
out_1457537824329529482[113] = 0;
out_1457537824329529482[114] = 0;
out_1457537824329529482[115] = 0;
out_1457537824329529482[116] = 0;
out_1457537824329529482[117] = 0;
out_1457537824329529482[118] = 0;
out_1457537824329529482[119] = 0;
out_1457537824329529482[120] = 0;
out_1457537824329529482[121] = 0;
out_1457537824329529482[122] = 0;
out_1457537824329529482[123] = 0;
out_1457537824329529482[124] = 0;
out_1457537824329529482[125] = 0;
out_1457537824329529482[126] = 0;
out_1457537824329529482[127] = 0;
out_1457537824329529482[128] = 0;
out_1457537824329529482[129] = 0.5*state[5];
out_1457537824329529482[130] = -0.5*state[4];
out_1457537824329529482[131] = 0.5*state[3];
out_1457537824329529482[132] = 0;
out_1457537824329529482[133] = 0;
out_1457537824329529482[134] = 0;
out_1457537824329529482[135] = 0;
out_1457537824329529482[136] = 0;
out_1457537824329529482[137] = 0;
out_1457537824329529482[138] = 0;
out_1457537824329529482[139] = 0;
out_1457537824329529482[140] = 0;
out_1457537824329529482[141] = 0;
out_1457537824329529482[142] = 0;
out_1457537824329529482[143] = 0;
out_1457537824329529482[144] = 0;
out_1457537824329529482[145] = 0;
out_1457537824329529482[146] = 0;
out_1457537824329529482[147] = 0;
out_1457537824329529482[148] = 0;
out_1457537824329529482[149] = 0;
out_1457537824329529482[150] = 0;
out_1457537824329529482[151] = 0;
out_1457537824329529482[152] = 0;
out_1457537824329529482[153] = 1.0;
out_1457537824329529482[154] = 0;
out_1457537824329529482[155] = 0;
out_1457537824329529482[156] = 0;
out_1457537824329529482[157] = 0;
out_1457537824329529482[158] = 0;
out_1457537824329529482[159] = 0;
out_1457537824329529482[160] = 0;
out_1457537824329529482[161] = 0;
out_1457537824329529482[162] = 0;
out_1457537824329529482[163] = 0;
out_1457537824329529482[164] = 0;
out_1457537824329529482[165] = 0;
out_1457537824329529482[166] = 0;
out_1457537824329529482[167] = 0;
out_1457537824329529482[168] = 0;
out_1457537824329529482[169] = 0;
out_1457537824329529482[170] = 0;
out_1457537824329529482[171] = 0;
out_1457537824329529482[172] = 0;
out_1457537824329529482[173] = 0;
out_1457537824329529482[174] = 0;
out_1457537824329529482[175] = 1.0;
out_1457537824329529482[176] = 0;
out_1457537824329529482[177] = 0;
out_1457537824329529482[178] = 0;
out_1457537824329529482[179] = 0;
out_1457537824329529482[180] = 0;
out_1457537824329529482[181] = 0;
out_1457537824329529482[182] = 0;
out_1457537824329529482[183] = 0;
out_1457537824329529482[184] = 0;
out_1457537824329529482[185] = 0;
out_1457537824329529482[186] = 0;
out_1457537824329529482[187] = 0;
out_1457537824329529482[188] = 0;
out_1457537824329529482[189] = 0;
out_1457537824329529482[190] = 0;
out_1457537824329529482[191] = 0;
out_1457537824329529482[192] = 0;
out_1457537824329529482[193] = 0;
out_1457537824329529482[194] = 0;
out_1457537824329529482[195] = 0;
out_1457537824329529482[196] = 0;
out_1457537824329529482[197] = 1.0;
out_1457537824329529482[198] = 0;
out_1457537824329529482[199] = 0;
out_1457537824329529482[200] = 0;
out_1457537824329529482[201] = 0;
out_1457537824329529482[202] = 0;
out_1457537824329529482[203] = 0;
out_1457537824329529482[204] = 0;
out_1457537824329529482[205] = 0;
out_1457537824329529482[206] = 0;
out_1457537824329529482[207] = 0;
out_1457537824329529482[208] = 0;
out_1457537824329529482[209] = 0;
out_1457537824329529482[210] = 0;
out_1457537824329529482[211] = 0;
out_1457537824329529482[212] = 0;
out_1457537824329529482[213] = 0;
out_1457537824329529482[214] = 0;
out_1457537824329529482[215] = 0;
out_1457537824329529482[216] = 0;
out_1457537824329529482[217] = 0;
out_1457537824329529482[218] = 0;
out_1457537824329529482[219] = 1.0;
out_1457537824329529482[220] = 0;
out_1457537824329529482[221] = 0;
out_1457537824329529482[222] = 0;
out_1457537824329529482[223] = 0;
out_1457537824329529482[224] = 0;
out_1457537824329529482[225] = 0;
out_1457537824329529482[226] = 0;
out_1457537824329529482[227] = 0;
out_1457537824329529482[228] = 0;
out_1457537824329529482[229] = 0;
out_1457537824329529482[230] = 0;
out_1457537824329529482[231] = 0;
out_1457537824329529482[232] = 0;
out_1457537824329529482[233] = 0;
out_1457537824329529482[234] = 0;
out_1457537824329529482[235] = 0;
out_1457537824329529482[236] = 0;
out_1457537824329529482[237] = 0;
out_1457537824329529482[238] = 0;
out_1457537824329529482[239] = 0;
out_1457537824329529482[240] = 0;
out_1457537824329529482[241] = 1.0;
out_1457537824329529482[242] = 0;
out_1457537824329529482[243] = 0;
out_1457537824329529482[244] = 0;
out_1457537824329529482[245] = 0;
out_1457537824329529482[246] = 0;
out_1457537824329529482[247] = 0;
out_1457537824329529482[248] = 0;
out_1457537824329529482[249] = 0;
out_1457537824329529482[250] = 0;
out_1457537824329529482[251] = 0;
out_1457537824329529482[252] = 0;
out_1457537824329529482[253] = 0;
out_1457537824329529482[254] = 0;
out_1457537824329529482[255] = 0;
out_1457537824329529482[256] = 0;
out_1457537824329529482[257] = 0;
out_1457537824329529482[258] = 0;
out_1457537824329529482[259] = 0;
out_1457537824329529482[260] = 0;
out_1457537824329529482[261] = 0;
out_1457537824329529482[262] = 0;
out_1457537824329529482[263] = 1.0;
out_1457537824329529482[264] = 0;
out_1457537824329529482[265] = 0;
out_1457537824329529482[266] = 0;
out_1457537824329529482[267] = 0;
out_1457537824329529482[268] = 0;
out_1457537824329529482[269] = 0;
out_1457537824329529482[270] = 0;
out_1457537824329529482[271] = 0;
out_1457537824329529482[272] = 0;
out_1457537824329529482[273] = 0;
out_1457537824329529482[274] = 0;
out_1457537824329529482[275] = 0;
out_1457537824329529482[276] = 0;
out_1457537824329529482[277] = 0;
out_1457537824329529482[278] = 0;
out_1457537824329529482[279] = 0;
out_1457537824329529482[280] = 0;
out_1457537824329529482[281] = 0;
out_1457537824329529482[282] = 0;
out_1457537824329529482[283] = 0;
out_1457537824329529482[284] = 0;
out_1457537824329529482[285] = 1.0;
out_1457537824329529482[286] = 0;
out_1457537824329529482[287] = 0;
out_1457537824329529482[288] = 0;
out_1457537824329529482[289] = 0;
out_1457537824329529482[290] = 0;
out_1457537824329529482[291] = 0;
out_1457537824329529482[292] = 0;
out_1457537824329529482[293] = 0;
out_1457537824329529482[294] = 0;
out_1457537824329529482[295] = 0;
out_1457537824329529482[296] = 0;
out_1457537824329529482[297] = 0;
out_1457537824329529482[298] = 0;
out_1457537824329529482[299] = 0;
out_1457537824329529482[300] = 0;
out_1457537824329529482[301] = 0;
out_1457537824329529482[302] = 0;
out_1457537824329529482[303] = 0;
out_1457537824329529482[304] = 0;
out_1457537824329529482[305] = 0;
out_1457537824329529482[306] = 0;
out_1457537824329529482[307] = 1.0;
out_1457537824329529482[308] = 0;
out_1457537824329529482[309] = 0;
out_1457537824329529482[310] = 0;
out_1457537824329529482[311] = 0;
out_1457537824329529482[312] = 0;
out_1457537824329529482[313] = 0;
out_1457537824329529482[314] = 0;
out_1457537824329529482[315] = 0;
out_1457537824329529482[316] = 0;
out_1457537824329529482[317] = 0;
out_1457537824329529482[318] = 0;
out_1457537824329529482[319] = 0;
out_1457537824329529482[320] = 0;
out_1457537824329529482[321] = 0;
out_1457537824329529482[322] = 0;
out_1457537824329529482[323] = 0;
out_1457537824329529482[324] = 0;
out_1457537824329529482[325] = 0;
out_1457537824329529482[326] = 0;
out_1457537824329529482[327] = 0;
out_1457537824329529482[328] = 0;
out_1457537824329529482[329] = 1.0;
out_1457537824329529482[330] = 0;
out_1457537824329529482[331] = 0;
out_1457537824329529482[332] = 0;
out_1457537824329529482[333] = 0;
out_1457537824329529482[334] = 0;
out_1457537824329529482[335] = 0;
out_1457537824329529482[336] = 0;
out_1457537824329529482[337] = 0;
out_1457537824329529482[338] = 0;
out_1457537824329529482[339] = 0;
out_1457537824329529482[340] = 0;
out_1457537824329529482[341] = 0;
out_1457537824329529482[342] = 0;
out_1457537824329529482[343] = 0;
out_1457537824329529482[344] = 0;
out_1457537824329529482[345] = 0;
out_1457537824329529482[346] = 0;
out_1457537824329529482[347] = 0;
out_1457537824329529482[348] = 0;
out_1457537824329529482[349] = 0;
out_1457537824329529482[350] = 0;
out_1457537824329529482[351] = 1.0;
out_1457537824329529482[352] = 0;
out_1457537824329529482[353] = 0;
out_1457537824329529482[354] = 0;
out_1457537824329529482[355] = 0;
out_1457537824329529482[356] = 0;
out_1457537824329529482[357] = 0;
out_1457537824329529482[358] = 0;
out_1457537824329529482[359] = 0;
out_1457537824329529482[360] = 0;
out_1457537824329529482[361] = 0;
out_1457537824329529482[362] = 0;
out_1457537824329529482[363] = 0;
out_1457537824329529482[364] = 0;
out_1457537824329529482[365] = 0;
out_1457537824329529482[366] = 0;
out_1457537824329529482[367] = 0;
out_1457537824329529482[368] = 0;
out_1457537824329529482[369] = 0;
out_1457537824329529482[370] = 0;
out_1457537824329529482[371] = 0;
out_1457537824329529482[372] = 0;
out_1457537824329529482[373] = 1.0;
out_1457537824329529482[374] = 0;
out_1457537824329529482[375] = 0;
out_1457537824329529482[376] = 0;
out_1457537824329529482[377] = 0;
out_1457537824329529482[378] = 0;
out_1457537824329529482[379] = 0;
out_1457537824329529482[380] = 0;
out_1457537824329529482[381] = 0;
out_1457537824329529482[382] = 0;
out_1457537824329529482[383] = 0;
out_1457537824329529482[384] = 0;
out_1457537824329529482[385] = 0;
out_1457537824329529482[386] = 0;
out_1457537824329529482[387] = 0;
out_1457537824329529482[388] = 0;
out_1457537824329529482[389] = 0;
out_1457537824329529482[390] = 0;
out_1457537824329529482[391] = 0;
out_1457537824329529482[392] = 0;
out_1457537824329529482[393] = 0;
out_1457537824329529482[394] = 0;
out_1457537824329529482[395] = 1.0;
out_1457537824329529482[396] = 0;
out_1457537824329529482[397] = 0;
out_1457537824329529482[398] = 0;
out_1457537824329529482[399] = 0;
out_1457537824329529482[400] = 0;
out_1457537824329529482[401] = 0;
out_1457537824329529482[402] = 0;
out_1457537824329529482[403] = 0;
out_1457537824329529482[404] = 0;
out_1457537824329529482[405] = 0;
out_1457537824329529482[406] = 0;
out_1457537824329529482[407] = 0;
out_1457537824329529482[408] = 0;
out_1457537824329529482[409] = 0;
out_1457537824329529482[410] = 0;
out_1457537824329529482[411] = 0;
out_1457537824329529482[412] = 0;
out_1457537824329529482[413] = 0;
out_1457537824329529482[414] = 0;
out_1457537824329529482[415] = 0;
out_1457537824329529482[416] = 0;
out_1457537824329529482[417] = 1.0;
out_1457537824329529482[418] = 0;
out_1457537824329529482[419] = 0;
out_1457537824329529482[420] = 0;
out_1457537824329529482[421] = 0;
out_1457537824329529482[422] = 0;
out_1457537824329529482[423] = 0;
out_1457537824329529482[424] = 0;
out_1457537824329529482[425] = 0;
out_1457537824329529482[426] = 0;
out_1457537824329529482[427] = 0;
out_1457537824329529482[428] = 0;
out_1457537824329529482[429] = 0;
out_1457537824329529482[430] = 0;
out_1457537824329529482[431] = 0;
out_1457537824329529482[432] = 0;
out_1457537824329529482[433] = 0;
out_1457537824329529482[434] = 0;
out_1457537824329529482[435] = 0;
out_1457537824329529482[436] = 0;
out_1457537824329529482[437] = 0;
out_1457537824329529482[438] = 0;
out_1457537824329529482[439] = 1.0;
out_1457537824329529482[440] = 0;
out_1457537824329529482[441] = 0;
out_1457537824329529482[442] = 0;
out_1457537824329529482[443] = 0;
out_1457537824329529482[444] = 0;
out_1457537824329529482[445] = 0;
out_1457537824329529482[446] = 0;
out_1457537824329529482[447] = 0;
out_1457537824329529482[448] = 0;
out_1457537824329529482[449] = 0;
out_1457537824329529482[450] = 0;
out_1457537824329529482[451] = 0;
out_1457537824329529482[452] = 0;
out_1457537824329529482[453] = 0;
out_1457537824329529482[454] = 0;
out_1457537824329529482[455] = 0;
out_1457537824329529482[456] = 0;
out_1457537824329529482[457] = 0;
out_1457537824329529482[458] = 0;
out_1457537824329529482[459] = 0;
out_1457537824329529482[460] = 0;
out_1457537824329529482[461] = 1.0;
}
void f_fun(double *state, double dt, double *out_7387809313477893541) {
out_7387809313477893541[0] = dt*state[7] + state[0];
out_7387809313477893541[1] = dt*state[8] + state[1];
out_7387809313477893541[2] = dt*state[9] + state[2];
out_7387809313477893541[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3];
out_7387809313477893541[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4];
out_7387809313477893541[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5];
out_7387809313477893541[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6];
out_7387809313477893541[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_7387809313477893541[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_7387809313477893541[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_7387809313477893541[10] = state[10];
out_7387809313477893541[11] = state[11];
out_7387809313477893541[12] = state[12];
out_7387809313477893541[13] = state[13];
out_7387809313477893541[14] = state[14];
out_7387809313477893541[15] = state[15];
out_7387809313477893541[16] = state[16];
out_7387809313477893541[17] = state[17];
out_7387809313477893541[18] = state[18];
out_7387809313477893541[19] = state[19];
out_7387809313477893541[20] = state[20];
out_7387809313477893541[21] = state[21];
}
void F_fun(double *state, double dt, double *out_9180543782983665576) {
out_9180543782983665576[0] = 1;
out_9180543782983665576[1] = 0;
out_9180543782983665576[2] = 0;
out_9180543782983665576[3] = 0;
out_9180543782983665576[4] = 0;
out_9180543782983665576[5] = 0;
out_9180543782983665576[6] = dt;
out_9180543782983665576[7] = 0;
out_9180543782983665576[8] = 0;
out_9180543782983665576[9] = 0;
out_9180543782983665576[10] = 0;
out_9180543782983665576[11] = 0;
out_9180543782983665576[12] = 0;
out_9180543782983665576[13] = 0;
out_9180543782983665576[14] = 0;
out_9180543782983665576[15] = 0;
out_9180543782983665576[16] = 0;
out_9180543782983665576[17] = 0;
out_9180543782983665576[18] = 0;
out_9180543782983665576[19] = 0;
out_9180543782983665576[20] = 0;
out_9180543782983665576[21] = 0;
out_9180543782983665576[22] = 1;
out_9180543782983665576[23] = 0;
out_9180543782983665576[24] = 0;
out_9180543782983665576[25] = 0;
out_9180543782983665576[26] = 0;
out_9180543782983665576[27] = 0;
out_9180543782983665576[28] = dt;
out_9180543782983665576[29] = 0;
out_9180543782983665576[30] = 0;
out_9180543782983665576[31] = 0;
out_9180543782983665576[32] = 0;
out_9180543782983665576[33] = 0;
out_9180543782983665576[34] = 0;
out_9180543782983665576[35] = 0;
out_9180543782983665576[36] = 0;
out_9180543782983665576[37] = 0;
out_9180543782983665576[38] = 0;
out_9180543782983665576[39] = 0;
out_9180543782983665576[40] = 0;
out_9180543782983665576[41] = 0;
out_9180543782983665576[42] = 0;
out_9180543782983665576[43] = 0;
out_9180543782983665576[44] = 1;
out_9180543782983665576[45] = 0;
out_9180543782983665576[46] = 0;
out_9180543782983665576[47] = 0;
out_9180543782983665576[48] = 0;
out_9180543782983665576[49] = 0;
out_9180543782983665576[50] = dt;
out_9180543782983665576[51] = 0;
out_9180543782983665576[52] = 0;
out_9180543782983665576[53] = 0;
out_9180543782983665576[54] = 0;
out_9180543782983665576[55] = 0;
out_9180543782983665576[56] = 0;
out_9180543782983665576[57] = 0;
out_9180543782983665576[58] = 0;
out_9180543782983665576[59] = 0;
out_9180543782983665576[60] = 0;
out_9180543782983665576[61] = 0;
out_9180543782983665576[62] = 0;
out_9180543782983665576[63] = 0;
out_9180543782983665576[64] = 0;
out_9180543782983665576[65] = 0;
out_9180543782983665576[66] = 1;
out_9180543782983665576[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_9180543782983665576[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_9180543782983665576[69] = 0;
out_9180543782983665576[70] = 0;
out_9180543782983665576[71] = 0;
out_9180543782983665576[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2));
out_9180543782983665576[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]);
out_9180543782983665576[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]);
out_9180543782983665576[75] = 0;
out_9180543782983665576[76] = 0;
out_9180543782983665576[77] = 0;
out_9180543782983665576[78] = 0;
out_9180543782983665576[79] = 0;
out_9180543782983665576[80] = 0;
out_9180543782983665576[81] = 0;
out_9180543782983665576[82] = 0;
out_9180543782983665576[83] = 0;
out_9180543782983665576[84] = 0;
out_9180543782983665576[85] = 0;
out_9180543782983665576[86] = 0;
out_9180543782983665576[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_9180543782983665576[88] = 1;
out_9180543782983665576[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_9180543782983665576[90] = 0;
out_9180543782983665576[91] = 0;
out_9180543782983665576[92] = 0;
out_9180543782983665576[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]);
out_9180543782983665576[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2));
out_9180543782983665576[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]);
out_9180543782983665576[96] = 0;
out_9180543782983665576[97] = 0;
out_9180543782983665576[98] = 0;
out_9180543782983665576[99] = 0;
out_9180543782983665576[100] = 0;
out_9180543782983665576[101] = 0;
out_9180543782983665576[102] = 0;
out_9180543782983665576[103] = 0;
out_9180543782983665576[104] = 0;
out_9180543782983665576[105] = 0;
out_9180543782983665576[106] = 0;
out_9180543782983665576[107] = 0;
out_9180543782983665576[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_9180543782983665576[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_9180543782983665576[110] = 1;
out_9180543782983665576[111] = 0;
out_9180543782983665576[112] = 0;
out_9180543782983665576[113] = 0;
out_9180543782983665576[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]);
out_9180543782983665576[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]);
out_9180543782983665576[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2));
out_9180543782983665576[117] = 0;
out_9180543782983665576[118] = 0;
out_9180543782983665576[119] = 0;
out_9180543782983665576[120] = 0;
out_9180543782983665576[121] = 0;
out_9180543782983665576[122] = 0;
out_9180543782983665576[123] = 0;
out_9180543782983665576[124] = 0;
out_9180543782983665576[125] = 0;
out_9180543782983665576[126] = 0;
out_9180543782983665576[127] = 0;
out_9180543782983665576[128] = 0;
out_9180543782983665576[129] = 0;
out_9180543782983665576[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_9180543782983665576[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_9180543782983665576[132] = 1;
out_9180543782983665576[133] = 0;
out_9180543782983665576[134] = 0;
out_9180543782983665576[135] = 0;
out_9180543782983665576[136] = 0;
out_9180543782983665576[137] = 0;
out_9180543782983665576[138] = 0;
out_9180543782983665576[139] = 0;
out_9180543782983665576[140] = 0;
out_9180543782983665576[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2));
out_9180543782983665576[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]);
out_9180543782983665576[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]);
out_9180543782983665576[144] = 0;
out_9180543782983665576[145] = 0;
out_9180543782983665576[146] = 0;
out_9180543782983665576[147] = 0;
out_9180543782983665576[148] = 0;
out_9180543782983665576[149] = 0;
out_9180543782983665576[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_9180543782983665576[151] = 0;
out_9180543782983665576[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_9180543782983665576[153] = 0;
out_9180543782983665576[154] = 1;
out_9180543782983665576[155] = 0;
out_9180543782983665576[156] = 0;
out_9180543782983665576[157] = 0;
out_9180543782983665576[158] = 0;
out_9180543782983665576[159] = 0;
out_9180543782983665576[160] = 0;
out_9180543782983665576[161] = 0;
out_9180543782983665576[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]);
out_9180543782983665576[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2));
out_9180543782983665576[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]);
out_9180543782983665576[165] = 0;
out_9180543782983665576[166] = 0;
out_9180543782983665576[167] = 0;
out_9180543782983665576[168] = 0;
out_9180543782983665576[169] = 0;
out_9180543782983665576[170] = 0;
out_9180543782983665576[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_9180543782983665576[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_9180543782983665576[173] = 0;
out_9180543782983665576[174] = 0;
out_9180543782983665576[175] = 0;
out_9180543782983665576[176] = 1;
out_9180543782983665576[177] = 0;
out_9180543782983665576[178] = 0;
out_9180543782983665576[179] = 0;
out_9180543782983665576[180] = 0;
out_9180543782983665576[181] = 0;
out_9180543782983665576[182] = 0;
out_9180543782983665576[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]);
out_9180543782983665576[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]);
out_9180543782983665576[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2));
out_9180543782983665576[186] = 0;
out_9180543782983665576[187] = 0;
out_9180543782983665576[188] = 0;
out_9180543782983665576[189] = 0;
out_9180543782983665576[190] = 0;
out_9180543782983665576[191] = 0;
out_9180543782983665576[192] = 0;
out_9180543782983665576[193] = 0;
out_9180543782983665576[194] = 0;
out_9180543782983665576[195] = 0;
out_9180543782983665576[196] = 0;
out_9180543782983665576[197] = 0;
out_9180543782983665576[198] = 1;
out_9180543782983665576[199] = 0;
out_9180543782983665576[200] = 0;
out_9180543782983665576[201] = 0;
out_9180543782983665576[202] = 0;
out_9180543782983665576[203] = 0;
out_9180543782983665576[204] = 0;
out_9180543782983665576[205] = 0;
out_9180543782983665576[206] = 0;
out_9180543782983665576[207] = 0;
out_9180543782983665576[208] = 0;
out_9180543782983665576[209] = 0;
out_9180543782983665576[210] = 0;
out_9180543782983665576[211] = 0;
out_9180543782983665576[212] = 0;
out_9180543782983665576[213] = 0;
out_9180543782983665576[214] = 0;
out_9180543782983665576[215] = 0;
out_9180543782983665576[216] = 0;
out_9180543782983665576[217] = 0;
out_9180543782983665576[218] = 0;
out_9180543782983665576[219] = 0;
out_9180543782983665576[220] = 1;
out_9180543782983665576[221] = 0;
out_9180543782983665576[222] = 0;
out_9180543782983665576[223] = 0;
out_9180543782983665576[224] = 0;
out_9180543782983665576[225] = 0;
out_9180543782983665576[226] = 0;
out_9180543782983665576[227] = 0;
out_9180543782983665576[228] = 0;
out_9180543782983665576[229] = 0;
out_9180543782983665576[230] = 0;
out_9180543782983665576[231] = 0;
out_9180543782983665576[232] = 0;
out_9180543782983665576[233] = 0;
out_9180543782983665576[234] = 0;
out_9180543782983665576[235] = 0;
out_9180543782983665576[236] = 0;
out_9180543782983665576[237] = 0;
out_9180543782983665576[238] = 0;
out_9180543782983665576[239] = 0;
out_9180543782983665576[240] = 0;
out_9180543782983665576[241] = 0;
out_9180543782983665576[242] = 1;
out_9180543782983665576[243] = 0;
out_9180543782983665576[244] = 0;
out_9180543782983665576[245] = 0;
out_9180543782983665576[246] = 0;
out_9180543782983665576[247] = 0;
out_9180543782983665576[248] = 0;
out_9180543782983665576[249] = 0;
out_9180543782983665576[250] = 0;
out_9180543782983665576[251] = 0;
out_9180543782983665576[252] = 0;
out_9180543782983665576[253] = 0;
out_9180543782983665576[254] = 0;
out_9180543782983665576[255] = 0;
out_9180543782983665576[256] = 0;
out_9180543782983665576[257] = 0;
out_9180543782983665576[258] = 0;
out_9180543782983665576[259] = 0;
out_9180543782983665576[260] = 0;
out_9180543782983665576[261] = 0;
out_9180543782983665576[262] = 0;
out_9180543782983665576[263] = 0;
out_9180543782983665576[264] = 1;
out_9180543782983665576[265] = 0;
out_9180543782983665576[266] = 0;
out_9180543782983665576[267] = 0;
out_9180543782983665576[268] = 0;
out_9180543782983665576[269] = 0;
out_9180543782983665576[270] = 0;
out_9180543782983665576[271] = 0;
out_9180543782983665576[272] = 0;
out_9180543782983665576[273] = 0;
out_9180543782983665576[274] = 0;
out_9180543782983665576[275] = 0;
out_9180543782983665576[276] = 0;
out_9180543782983665576[277] = 0;
out_9180543782983665576[278] = 0;
out_9180543782983665576[279] = 0;
out_9180543782983665576[280] = 0;
out_9180543782983665576[281] = 0;
out_9180543782983665576[282] = 0;
out_9180543782983665576[283] = 0;
out_9180543782983665576[284] = 0;
out_9180543782983665576[285] = 0;
out_9180543782983665576[286] = 1;
out_9180543782983665576[287] = 0;
out_9180543782983665576[288] = 0;
out_9180543782983665576[289] = 0;
out_9180543782983665576[290] = 0;
out_9180543782983665576[291] = 0;
out_9180543782983665576[292] = 0;
out_9180543782983665576[293] = 0;
out_9180543782983665576[294] = 0;
out_9180543782983665576[295] = 0;
out_9180543782983665576[296] = 0;
out_9180543782983665576[297] = 0;
out_9180543782983665576[298] = 0;
out_9180543782983665576[299] = 0;
out_9180543782983665576[300] = 0;
out_9180543782983665576[301] = 0;
out_9180543782983665576[302] = 0;
out_9180543782983665576[303] = 0;
out_9180543782983665576[304] = 0;
out_9180543782983665576[305] = 0;
out_9180543782983665576[306] = 0;
out_9180543782983665576[307] = 0;
out_9180543782983665576[308] = 1;
out_9180543782983665576[309] = 0;
out_9180543782983665576[310] = 0;
out_9180543782983665576[311] = 0;
out_9180543782983665576[312] = 0;
out_9180543782983665576[313] = 0;
out_9180543782983665576[314] = 0;
out_9180543782983665576[315] = 0;
out_9180543782983665576[316] = 0;
out_9180543782983665576[317] = 0;
out_9180543782983665576[318] = 0;
out_9180543782983665576[319] = 0;
out_9180543782983665576[320] = 0;
out_9180543782983665576[321] = 0;
out_9180543782983665576[322] = 0;
out_9180543782983665576[323] = 0;
out_9180543782983665576[324] = 0;
out_9180543782983665576[325] = 0;
out_9180543782983665576[326] = 0;
out_9180543782983665576[327] = 0;
out_9180543782983665576[328] = 0;
out_9180543782983665576[329] = 0;
out_9180543782983665576[330] = 1;
out_9180543782983665576[331] = 0;
out_9180543782983665576[332] = 0;
out_9180543782983665576[333] = 0;
out_9180543782983665576[334] = 0;
out_9180543782983665576[335] = 0;
out_9180543782983665576[336] = 0;
out_9180543782983665576[337] = 0;
out_9180543782983665576[338] = 0;
out_9180543782983665576[339] = 0;
out_9180543782983665576[340] = 0;
out_9180543782983665576[341] = 0;
out_9180543782983665576[342] = 0;
out_9180543782983665576[343] = 0;
out_9180543782983665576[344] = 0;
out_9180543782983665576[345] = 0;
out_9180543782983665576[346] = 0;
out_9180543782983665576[347] = 0;
out_9180543782983665576[348] = 0;
out_9180543782983665576[349] = 0;
out_9180543782983665576[350] = 0;
out_9180543782983665576[351] = 0;
out_9180543782983665576[352] = 1;
out_9180543782983665576[353] = 0;
out_9180543782983665576[354] = 0;
out_9180543782983665576[355] = 0;
out_9180543782983665576[356] = 0;
out_9180543782983665576[357] = 0;
out_9180543782983665576[358] = 0;
out_9180543782983665576[359] = 0;
out_9180543782983665576[360] = 0;
out_9180543782983665576[361] = 0;
out_9180543782983665576[362] = 0;
out_9180543782983665576[363] = 0;
out_9180543782983665576[364] = 0;
out_9180543782983665576[365] = 0;
out_9180543782983665576[366] = 0;
out_9180543782983665576[367] = 0;
out_9180543782983665576[368] = 0;
out_9180543782983665576[369] = 0;
out_9180543782983665576[370] = 0;
out_9180543782983665576[371] = 0;
out_9180543782983665576[372] = 0;
out_9180543782983665576[373] = 0;
out_9180543782983665576[374] = 1;
out_9180543782983665576[375] = 0;
out_9180543782983665576[376] = 0;
out_9180543782983665576[377] = 0;
out_9180543782983665576[378] = 0;
out_9180543782983665576[379] = 0;
out_9180543782983665576[380] = 0;
out_9180543782983665576[381] = 0;
out_9180543782983665576[382] = 0;
out_9180543782983665576[383] = 0;
out_9180543782983665576[384] = 0;
out_9180543782983665576[385] = 0;
out_9180543782983665576[386] = 0;
out_9180543782983665576[387] = 0;
out_9180543782983665576[388] = 0;
out_9180543782983665576[389] = 0;
out_9180543782983665576[390] = 0;
out_9180543782983665576[391] = 0;
out_9180543782983665576[392] = 0;
out_9180543782983665576[393] = 0;
out_9180543782983665576[394] = 0;
out_9180543782983665576[395] = 0;
out_9180543782983665576[396] = 1;
out_9180543782983665576[397] = 0;
out_9180543782983665576[398] = 0;
out_9180543782983665576[399] = 0;
out_9180543782983665576[400] = 0;
out_9180543782983665576[401] = 0;
out_9180543782983665576[402] = 0;
out_9180543782983665576[403] = 0;
out_9180543782983665576[404] = 0;
out_9180543782983665576[405] = 0;
out_9180543782983665576[406] = 0;
out_9180543782983665576[407] = 0;
out_9180543782983665576[408] = 0;
out_9180543782983665576[409] = 0;
out_9180543782983665576[410] = 0;
out_9180543782983665576[411] = 0;
out_9180543782983665576[412] = 0;
out_9180543782983665576[413] = 0;
out_9180543782983665576[414] = 0;
out_9180543782983665576[415] = 0;
out_9180543782983665576[416] = 0;
out_9180543782983665576[417] = 0;
out_9180543782983665576[418] = 1;
out_9180543782983665576[419] = 0;
out_9180543782983665576[420] = 0;
out_9180543782983665576[421] = 0;
out_9180543782983665576[422] = 0;
out_9180543782983665576[423] = 0;
out_9180543782983665576[424] = 0;
out_9180543782983665576[425] = 0;
out_9180543782983665576[426] = 0;
out_9180543782983665576[427] = 0;
out_9180543782983665576[428] = 0;
out_9180543782983665576[429] = 0;
out_9180543782983665576[430] = 0;
out_9180543782983665576[431] = 0;
out_9180543782983665576[432] = 0;
out_9180543782983665576[433] = 0;
out_9180543782983665576[434] = 0;
out_9180543782983665576[435] = 0;
out_9180543782983665576[436] = 0;
out_9180543782983665576[437] = 0;
out_9180543782983665576[438] = 0;
out_9180543782983665576[439] = 0;
out_9180543782983665576[440] = 1;
}
void h_4(double *state, double *unused, double *out_4492390463949384143) {
out_4492390463949384143[0] = state[10] + state[13];
out_4492390463949384143[1] = state[11] + state[14];
out_4492390463949384143[2] = state[12] + state[15];
}
void H_4(double *state, double *unused, double *out_6840823934948797475) {
out_6840823934948797475[0] = 0;
out_6840823934948797475[1] = 0;
out_6840823934948797475[2] = 0;
out_6840823934948797475[3] = 0;
out_6840823934948797475[4] = 0;
out_6840823934948797475[5] = 0;
out_6840823934948797475[6] = 0;
out_6840823934948797475[7] = 0;
out_6840823934948797475[8] = 0;
out_6840823934948797475[9] = 0;
out_6840823934948797475[10] = 1;
out_6840823934948797475[11] = 0;
out_6840823934948797475[12] = 0;
out_6840823934948797475[13] = 1;
out_6840823934948797475[14] = 0;
out_6840823934948797475[15] = 0;
out_6840823934948797475[16] = 0;
out_6840823934948797475[17] = 0;
out_6840823934948797475[18] = 0;
out_6840823934948797475[19] = 0;
out_6840823934948797475[20] = 0;
out_6840823934948797475[21] = 0;
out_6840823934948797475[22] = 0;
out_6840823934948797475[23] = 0;
out_6840823934948797475[24] = 0;
out_6840823934948797475[25] = 0;
out_6840823934948797475[26] = 0;
out_6840823934948797475[27] = 0;
out_6840823934948797475[28] = 0;
out_6840823934948797475[29] = 0;
out_6840823934948797475[30] = 0;
out_6840823934948797475[31] = 0;
out_6840823934948797475[32] = 0;
out_6840823934948797475[33] = 1;
out_6840823934948797475[34] = 0;
out_6840823934948797475[35] = 0;
out_6840823934948797475[36] = 1;
out_6840823934948797475[37] = 0;
out_6840823934948797475[38] = 0;
out_6840823934948797475[39] = 0;
out_6840823934948797475[40] = 0;
out_6840823934948797475[41] = 0;
out_6840823934948797475[42] = 0;
out_6840823934948797475[43] = 0;
out_6840823934948797475[44] = 0;
out_6840823934948797475[45] = 0;
out_6840823934948797475[46] = 0;
out_6840823934948797475[47] = 0;
out_6840823934948797475[48] = 0;
out_6840823934948797475[49] = 0;
out_6840823934948797475[50] = 0;
out_6840823934948797475[51] = 0;
out_6840823934948797475[52] = 0;
out_6840823934948797475[53] = 0;
out_6840823934948797475[54] = 0;
out_6840823934948797475[55] = 0;
out_6840823934948797475[56] = 1;
out_6840823934948797475[57] = 0;
out_6840823934948797475[58] = 0;
out_6840823934948797475[59] = 1;
out_6840823934948797475[60] = 0;
out_6840823934948797475[61] = 0;
out_6840823934948797475[62] = 0;
out_6840823934948797475[63] = 0;
out_6840823934948797475[64] = 0;
out_6840823934948797475[65] = 0;
}
void h_9(double *state, double *unused, double *out_7683409762000862661) {
out_7683409762000862661[0] = state[10];
out_7683409762000862661[1] = state[11];
out_7683409762000862661[2] = state[12];
}
void H_9(double *state, double *unused, double *out_6599634288319206830) {
out_6599634288319206830[0] = 0;
out_6599634288319206830[1] = 0;
out_6599634288319206830[2] = 0;
out_6599634288319206830[3] = 0;
out_6599634288319206830[4] = 0;
out_6599634288319206830[5] = 0;
out_6599634288319206830[6] = 0;
out_6599634288319206830[7] = 0;
out_6599634288319206830[8] = 0;
out_6599634288319206830[9] = 0;
out_6599634288319206830[10] = 1;
out_6599634288319206830[11] = 0;
out_6599634288319206830[12] = 0;
out_6599634288319206830[13] = 0;
out_6599634288319206830[14] = 0;
out_6599634288319206830[15] = 0;
out_6599634288319206830[16] = 0;
out_6599634288319206830[17] = 0;
out_6599634288319206830[18] = 0;
out_6599634288319206830[19] = 0;
out_6599634288319206830[20] = 0;
out_6599634288319206830[21] = 0;
out_6599634288319206830[22] = 0;
out_6599634288319206830[23] = 0;
out_6599634288319206830[24] = 0;
out_6599634288319206830[25] = 0;
out_6599634288319206830[26] = 0;
out_6599634288319206830[27] = 0;
out_6599634288319206830[28] = 0;
out_6599634288319206830[29] = 0;
out_6599634288319206830[30] = 0;
out_6599634288319206830[31] = 0;
out_6599634288319206830[32] = 0;
out_6599634288319206830[33] = 1;
out_6599634288319206830[34] = 0;
out_6599634288319206830[35] = 0;
out_6599634288319206830[36] = 0;
out_6599634288319206830[37] = 0;
out_6599634288319206830[38] = 0;
out_6599634288319206830[39] = 0;
out_6599634288319206830[40] = 0;
out_6599634288319206830[41] = 0;
out_6599634288319206830[42] = 0;
out_6599634288319206830[43] = 0;
out_6599634288319206830[44] = 0;
out_6599634288319206830[45] = 0;
out_6599634288319206830[46] = 0;
out_6599634288319206830[47] = 0;
out_6599634288319206830[48] = 0;
out_6599634288319206830[49] = 0;
out_6599634288319206830[50] = 0;
out_6599634288319206830[51] = 0;
out_6599634288319206830[52] = 0;
out_6599634288319206830[53] = 0;
out_6599634288319206830[54] = 0;
out_6599634288319206830[55] = 0;
out_6599634288319206830[56] = 1;
out_6599634288319206830[57] = 0;
out_6599634288319206830[58] = 0;
out_6599634288319206830[59] = 0;
out_6599634288319206830[60] = 0;
out_6599634288319206830[61] = 0;
out_6599634288319206830[62] = 0;
out_6599634288319206830[63] = 0;
out_6599634288319206830[64] = 0;
out_6599634288319206830[65] = 0;
}
void h_10(double *state, double *unused, double *out_9216865912583274047) {
out_9216865912583274047[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_9216865912583274047[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_9216865912583274047[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_773562674632846954) {
out_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[7] = 0;
out_773562674632846954[8] = 0;
out_773562674632846954[9] = 0;
out_773562674632846954[10] = 0;
out_773562674632846954[11] = 0;
out_773562674632846954[12] = 0;
out_773562674632846954[13] = 0;
out_773562674632846954[14] = 0;
out_773562674632846954[15] = 0;
out_773562674632846954[16] = 1;
out_773562674632846954[17] = 0;
out_773562674632846954[18] = 0;
out_773562674632846954[19] = 1;
out_773562674632846954[20] = 0;
out_773562674632846954[21] = 0;
out_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[29] = 0;
out_773562674632846954[30] = 0;
out_773562674632846954[31] = 0;
out_773562674632846954[32] = 0;
out_773562674632846954[33] = 0;
out_773562674632846954[34] = 0;
out_773562674632846954[35] = 0;
out_773562674632846954[36] = 0;
out_773562674632846954[37] = 0;
out_773562674632846954[38] = 0;
out_773562674632846954[39] = 1;
out_773562674632846954[40] = 0;
out_773562674632846954[41] = 0;
out_773562674632846954[42] = 1;
out_773562674632846954[43] = 0;
out_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[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_773562674632846954[51] = 0;
out_773562674632846954[52] = 0;
out_773562674632846954[53] = 0;
out_773562674632846954[54] = 0;
out_773562674632846954[55] = 0;
out_773562674632846954[56] = 0;
out_773562674632846954[57] = 0;
out_773562674632846954[58] = 0;
out_773562674632846954[59] = 0;
out_773562674632846954[60] = 0;
out_773562674632846954[61] = 0;
out_773562674632846954[62] = 1;
out_773562674632846954[63] = 0;
out_773562674632846954[64] = 0;
out_773562674632846954[65] = 1;
}
void h_12(double *state, double *unused, double *out_7476619097990127394) {
out_7476619097990127394[0] = state[0];
out_7476619097990127394[1] = state[1];
out_7476619097990127394[2] = state[2];
}
void H_12(double *state, double *unused, double *out_1821367526916835680) {
out_1821367526916835680[0] = 1;
out_1821367526916835680[1] = 0;
out_1821367526916835680[2] = 0;
out_1821367526916835680[3] = 0;
out_1821367526916835680[4] = 0;
out_1821367526916835680[5] = 0;
out_1821367526916835680[6] = 0;
out_1821367526916835680[7] = 0;
out_1821367526916835680[8] = 0;
out_1821367526916835680[9] = 0;
out_1821367526916835680[10] = 0;
out_1821367526916835680[11] = 0;
out_1821367526916835680[12] = 0;
out_1821367526916835680[13] = 0;
out_1821367526916835680[14] = 0;
out_1821367526916835680[15] = 0;
out_1821367526916835680[16] = 0;
out_1821367526916835680[17] = 0;
out_1821367526916835680[18] = 0;
out_1821367526916835680[19] = 0;
out_1821367526916835680[20] = 0;
out_1821367526916835680[21] = 0;
out_1821367526916835680[22] = 0;
out_1821367526916835680[23] = 1;
out_1821367526916835680[24] = 0;
out_1821367526916835680[25] = 0;
out_1821367526916835680[26] = 0;
out_1821367526916835680[27] = 0;
out_1821367526916835680[28] = 0;
out_1821367526916835680[29] = 0;
out_1821367526916835680[30] = 0;
out_1821367526916835680[31] = 0;
out_1821367526916835680[32] = 0;
out_1821367526916835680[33] = 0;
out_1821367526916835680[34] = 0;
out_1821367526916835680[35] = 0;
out_1821367526916835680[36] = 0;
out_1821367526916835680[37] = 0;
out_1821367526916835680[38] = 0;
out_1821367526916835680[39] = 0;
out_1821367526916835680[40] = 0;
out_1821367526916835680[41] = 0;
out_1821367526916835680[42] = 0;
out_1821367526916835680[43] = 0;
out_1821367526916835680[44] = 0;
out_1821367526916835680[45] = 0;
out_1821367526916835680[46] = 1;
out_1821367526916835680[47] = 0;
out_1821367526916835680[48] = 0;
out_1821367526916835680[49] = 0;
out_1821367526916835680[50] = 0;
out_1821367526916835680[51] = 0;
out_1821367526916835680[52] = 0;
out_1821367526916835680[53] = 0;
out_1821367526916835680[54] = 0;
out_1821367526916835680[55] = 0;
out_1821367526916835680[56] = 0;
out_1821367526916835680[57] = 0;
out_1821367526916835680[58] = 0;
out_1821367526916835680[59] = 0;
out_1821367526916835680[60] = 0;
out_1821367526916835680[61] = 0;
out_1821367526916835680[62] = 0;
out_1821367526916835680[63] = 0;
out_1821367526916835680[64] = 0;
out_1821367526916835680[65] = 0;
}
void h_35(double *state, double *unused, double *out_162724865929704519) {
out_162724865929704519[0] = state[7];
out_162724865929704519[1] = state[8];
out_162724865929704519[2] = state[9];
}
void H_35(double *state, double *unused, double *out_924195505408178029) {
out_924195505408178029[0] = 0;
out_924195505408178029[1] = 0;
out_924195505408178029[2] = 0;
out_924195505408178029[3] = 0;
out_924195505408178029[4] = 0;
out_924195505408178029[5] = 0;
out_924195505408178029[6] = 0;
out_924195505408178029[7] = 1;
out_924195505408178029[8] = 0;
out_924195505408178029[9] = 0;
out_924195505408178029[10] = 0;
out_924195505408178029[11] = 0;
out_924195505408178029[12] = 0;
out_924195505408178029[13] = 0;
out_924195505408178029[14] = 0;
out_924195505408178029[15] = 0;
out_924195505408178029[16] = 0;
out_924195505408178029[17] = 0;
out_924195505408178029[18] = 0;
out_924195505408178029[19] = 0;
out_924195505408178029[20] = 0;
out_924195505408178029[21] = 0;
out_924195505408178029[22] = 0;
out_924195505408178029[23] = 0;
out_924195505408178029[24] = 0;
out_924195505408178029[25] = 0;
out_924195505408178029[26] = 0;
out_924195505408178029[27] = 0;
out_924195505408178029[28] = 0;
out_924195505408178029[29] = 0;
out_924195505408178029[30] = 1;
out_924195505408178029[31] = 0;
out_924195505408178029[32] = 0;
out_924195505408178029[33] = 0;
out_924195505408178029[34] = 0;
out_924195505408178029[35] = 0;
out_924195505408178029[36] = 0;
out_924195505408178029[37] = 0;
out_924195505408178029[38] = 0;
out_924195505408178029[39] = 0;
out_924195505408178029[40] = 0;
out_924195505408178029[41] = 0;
out_924195505408178029[42] = 0;
out_924195505408178029[43] = 0;
out_924195505408178029[44] = 0;
out_924195505408178029[45] = 0;
out_924195505408178029[46] = 0;
out_924195505408178029[47] = 0;
out_924195505408178029[48] = 0;
out_924195505408178029[49] = 0;
out_924195505408178029[50] = 0;
out_924195505408178029[51] = 0;
out_924195505408178029[52] = 0;
out_924195505408178029[53] = 1;
out_924195505408178029[54] = 0;
out_924195505408178029[55] = 0;
out_924195505408178029[56] = 0;
out_924195505408178029[57] = 0;
out_924195505408178029[58] = 0;
out_924195505408178029[59] = 0;
out_924195505408178029[60] = 0;
out_924195505408178029[61] = 0;
out_924195505408178029[62] = 0;
out_924195505408178029[63] = 0;
out_924195505408178029[64] = 0;
out_924195505408178029[65] = 0;
}
void h_32(double *state, double *unused, double *out_4377549943098853278) {
out_4377549943098853278[0] = state[3];
out_4377549943098853278[1] = state[4];
out_4377549943098853278[2] = state[5];
out_4377549943098853278[3] = state[6];
}
void H_32(double *state, double *unused, double *out_3416809270324928859) {
out_3416809270324928859[0] = 0;
out_3416809270324928859[1] = 0;
out_3416809270324928859[2] = 0;
out_3416809270324928859[3] = 1;
out_3416809270324928859[4] = 0;
out_3416809270324928859[5] = 0;
out_3416809270324928859[6] = 0;
out_3416809270324928859[7] = 0;
out_3416809270324928859[8] = 0;
out_3416809270324928859[9] = 0;
out_3416809270324928859[10] = 0;
out_3416809270324928859[11] = 0;
out_3416809270324928859[12] = 0;
out_3416809270324928859[13] = 0;
out_3416809270324928859[14] = 0;
out_3416809270324928859[15] = 0;
out_3416809270324928859[16] = 0;
out_3416809270324928859[17] = 0;
out_3416809270324928859[18] = 0;
out_3416809270324928859[19] = 0;
out_3416809270324928859[20] = 0;
out_3416809270324928859[21] = 0;
out_3416809270324928859[22] = 0;
out_3416809270324928859[23] = 0;
out_3416809270324928859[24] = 0;
out_3416809270324928859[25] = 0;
out_3416809270324928859[26] = 1;
out_3416809270324928859[27] = 0;
out_3416809270324928859[28] = 0;
out_3416809270324928859[29] = 0;
out_3416809270324928859[30] = 0;
out_3416809270324928859[31] = 0;
out_3416809270324928859[32] = 0;
out_3416809270324928859[33] = 0;
out_3416809270324928859[34] = 0;
out_3416809270324928859[35] = 0;
out_3416809270324928859[36] = 0;
out_3416809270324928859[37] = 0;
out_3416809270324928859[38] = 0;
out_3416809270324928859[39] = 0;
out_3416809270324928859[40] = 0;
out_3416809270324928859[41] = 0;
out_3416809270324928859[42] = 0;
out_3416809270324928859[43] = 0;
out_3416809270324928859[44] = 0;
out_3416809270324928859[45] = 0;
out_3416809270324928859[46] = 0;
out_3416809270324928859[47] = 0;
out_3416809270324928859[48] = 0;
out_3416809270324928859[49] = 1;
out_3416809270324928859[50] = 0;
out_3416809270324928859[51] = 0;
out_3416809270324928859[52] = 0;
out_3416809270324928859[53] = 0;
out_3416809270324928859[54] = 0;
out_3416809270324928859[55] = 0;
out_3416809270324928859[56] = 0;
out_3416809270324928859[57] = 0;
out_3416809270324928859[58] = 0;
out_3416809270324928859[59] = 0;
out_3416809270324928859[60] = 0;
out_3416809270324928859[61] = 0;
out_3416809270324928859[62] = 0;
out_3416809270324928859[63] = 0;
out_3416809270324928859[64] = 0;
out_3416809270324928859[65] = 0;
out_3416809270324928859[66] = 0;
out_3416809270324928859[67] = 0;
out_3416809270324928859[68] = 0;
out_3416809270324928859[69] = 0;
out_3416809270324928859[70] = 0;
out_3416809270324928859[71] = 0;
out_3416809270324928859[72] = 1;
out_3416809270324928859[73] = 0;
out_3416809270324928859[74] = 0;
out_3416809270324928859[75] = 0;
out_3416809270324928859[76] = 0;
out_3416809270324928859[77] = 0;
out_3416809270324928859[78] = 0;
out_3416809270324928859[79] = 0;
out_3416809270324928859[80] = 0;
out_3416809270324928859[81] = 0;
out_3416809270324928859[82] = 0;
out_3416809270324928859[83] = 0;
out_3416809270324928859[84] = 0;
out_3416809270324928859[85] = 0;
out_3416809270324928859[86] = 0;
out_3416809270324928859[87] = 0;
}
void h_13(double *state, double *unused, double *out_1977043243384356195) {
out_1977043243384356195[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_1977043243384356195[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_1977043243384356195[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_7445239302620530630) {
out_7445239302620530630[0] = 0;
out_7445239302620530630[1] = 0;
out_7445239302620530630[2] = 0;
out_7445239302620530630[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8];
out_7445239302620530630[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
out_7445239302620530630[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7];
out_7445239302620530630[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7];
out_7445239302620530630[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2);
out_7445239302620530630[8] = 2*state[3]*state[6] + 2*state[4]*state[5];
out_7445239302620530630[9] = -2*state[3]*state[5] + 2*state[4]*state[6];
out_7445239302620530630[10] = 0;
out_7445239302620530630[11] = 0;
out_7445239302620530630[12] = 0;
out_7445239302620530630[13] = 0;
out_7445239302620530630[14] = 0;
out_7445239302620530630[15] = 0;
out_7445239302620530630[16] = 0;
out_7445239302620530630[17] = 0;
out_7445239302620530630[18] = 0;
out_7445239302620530630[19] = 0;
out_7445239302620530630[20] = 0;
out_7445239302620530630[21] = 0;
out_7445239302620530630[22] = 0;
out_7445239302620530630[23] = 0;
out_7445239302620530630[24] = 0;
out_7445239302620530630[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7];
out_7445239302620530630[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7];
out_7445239302620530630[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
out_7445239302620530630[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8];
out_7445239302620530630[29] = -2*state[3]*state[6] + 2*state[4]*state[5];
out_7445239302620530630[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2);
out_7445239302620530630[31] = 2*state[3]*state[4] + 2*state[5]*state[6];
out_7445239302620530630[32] = 0;
out_7445239302620530630[33] = 0;
out_7445239302620530630[34] = 0;
out_7445239302620530630[35] = 0;
out_7445239302620530630[36] = 0;
out_7445239302620530630[37] = 0;
out_7445239302620530630[38] = 0;
out_7445239302620530630[39] = 0;
out_7445239302620530630[40] = 0;
out_7445239302620530630[41] = 0;
out_7445239302620530630[42] = 0;
out_7445239302620530630[43] = 0;
out_7445239302620530630[44] = 0;
out_7445239302620530630[45] = 0;
out_7445239302620530630[46] = 0;
out_7445239302620530630[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7];
out_7445239302620530630[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7];
out_7445239302620530630[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8];
out_7445239302620530630[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
out_7445239302620530630[51] = 2*state[3]*state[5] + 2*state[4]*state[6];
out_7445239302620530630[52] = -2*state[3]*state[4] + 2*state[5]*state[6];
out_7445239302620530630[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2);
out_7445239302620530630[54] = 0;
out_7445239302620530630[55] = 0;
out_7445239302620530630[56] = 0;
out_7445239302620530630[57] = 0;
out_7445239302620530630[58] = 0;
out_7445239302620530630[59] = 0;
out_7445239302620530630[60] = 0;
out_7445239302620530630[61] = 0;
out_7445239302620530630[62] = 0;
out_7445239302620530630[63] = 0;
out_7445239302620530630[64] = 0;
out_7445239302620530630[65] = 0;
}
void h_14(double *state, double *unused, double *out_7683409762000862661) {
out_7683409762000862661[0] = state[10];
out_7683409762000862661[1] = state[11];
out_7683409762000862661[2] = state[12];
}
void H_14(double *state, double *unused, double *out_6599634288319206830) {
out_6599634288319206830[0] = 0;
out_6599634288319206830[1] = 0;
out_6599634288319206830[2] = 0;
out_6599634288319206830[3] = 0;
out_6599634288319206830[4] = 0;
out_6599634288319206830[5] = 0;
out_6599634288319206830[6] = 0;
out_6599634288319206830[7] = 0;
out_6599634288319206830[8] = 0;
out_6599634288319206830[9] = 0;
out_6599634288319206830[10] = 1;
out_6599634288319206830[11] = 0;
out_6599634288319206830[12] = 0;
out_6599634288319206830[13] = 0;
out_6599634288319206830[14] = 0;
out_6599634288319206830[15] = 0;
out_6599634288319206830[16] = 0;
out_6599634288319206830[17] = 0;
out_6599634288319206830[18] = 0;
out_6599634288319206830[19] = 0;
out_6599634288319206830[20] = 0;
out_6599634288319206830[21] = 0;
out_6599634288319206830[22] = 0;
out_6599634288319206830[23] = 0;
out_6599634288319206830[24] = 0;
out_6599634288319206830[25] = 0;
out_6599634288319206830[26] = 0;
out_6599634288319206830[27] = 0;
out_6599634288319206830[28] = 0;
out_6599634288319206830[29] = 0;
out_6599634288319206830[30] = 0;
out_6599634288319206830[31] = 0;
out_6599634288319206830[32] = 0;
out_6599634288319206830[33] = 1;
out_6599634288319206830[34] = 0;
out_6599634288319206830[35] = 0;
out_6599634288319206830[36] = 0;
out_6599634288319206830[37] = 0;
out_6599634288319206830[38] = 0;
out_6599634288319206830[39] = 0;
out_6599634288319206830[40] = 0;
out_6599634288319206830[41] = 0;
out_6599634288319206830[42] = 0;
out_6599634288319206830[43] = 0;
out_6599634288319206830[44] = 0;
out_6599634288319206830[45] = 0;
out_6599634288319206830[46] = 0;
out_6599634288319206830[47] = 0;
out_6599634288319206830[48] = 0;
out_6599634288319206830[49] = 0;
out_6599634288319206830[50] = 0;
out_6599634288319206830[51] = 0;
out_6599634288319206830[52] = 0;
out_6599634288319206830[53] = 0;
out_6599634288319206830[54] = 0;
out_6599634288319206830[55] = 0;
out_6599634288319206830[56] = 1;
out_6599634288319206830[57] = 0;
out_6599634288319206830[58] = 0;
out_6599634288319206830[59] = 0;
out_6599634288319206830[60] = 0;
out_6599634288319206830[61] = 0;
out_6599634288319206830[62] = 0;
out_6599634288319206830[63] = 0;
out_6599634288319206830[64] = 0;
out_6599634288319206830[65] = 0;
}
void h_33(double *state, double *unused, double *out_605021574862289458) {
out_605021574862289458[0] = state[16];
out_605021574862289458[1] = state[17];
out_605021574862289458[2] = state[18];
}
void H_33(double *state, double *unused, double *out_323604872937332495) {
out_323604872937332495[0] = 0;
out_323604872937332495[1] = 0;
out_323604872937332495[2] = 0;
out_323604872937332495[3] = 0;
out_323604872937332495[4] = 0;
out_323604872937332495[5] = 0;
out_323604872937332495[6] = 0;
out_323604872937332495[7] = 0;
out_323604872937332495[8] = 0;
out_323604872937332495[9] = 0;
out_323604872937332495[10] = 0;
out_323604872937332495[11] = 0;
out_323604872937332495[12] = 0;
out_323604872937332495[13] = 0;
out_323604872937332495[14] = 0;
out_323604872937332495[15] = 0;
out_323604872937332495[16] = 1;
out_323604872937332495[17] = 0;
out_323604872937332495[18] = 0;
out_323604872937332495[19] = 0;
out_323604872937332495[20] = 0;
out_323604872937332495[21] = 0;
out_323604872937332495[22] = 0;
out_323604872937332495[23] = 0;
out_323604872937332495[24] = 0;
out_323604872937332495[25] = 0;
out_323604872937332495[26] = 0;
out_323604872937332495[27] = 0;
out_323604872937332495[28] = 0;
out_323604872937332495[29] = 0;
out_323604872937332495[30] = 0;
out_323604872937332495[31] = 0;
out_323604872937332495[32] = 0;
out_323604872937332495[33] = 0;
out_323604872937332495[34] = 0;
out_323604872937332495[35] = 0;
out_323604872937332495[36] = 0;
out_323604872937332495[37] = 0;
out_323604872937332495[38] = 0;
out_323604872937332495[39] = 1;
out_323604872937332495[40] = 0;
out_323604872937332495[41] = 0;
out_323604872937332495[42] = 0;
out_323604872937332495[43] = 0;
out_323604872937332495[44] = 0;
out_323604872937332495[45] = 0;
out_323604872937332495[46] = 0;
out_323604872937332495[47] = 0;
out_323604872937332495[48] = 0;
out_323604872937332495[49] = 0;
out_323604872937332495[50] = 0;
out_323604872937332495[51] = 0;
out_323604872937332495[52] = 0;
out_323604872937332495[53] = 0;
out_323604872937332495[54] = 0;
out_323604872937332495[55] = 0;
out_323604872937332495[56] = 0;
out_323604872937332495[57] = 0;
out_323604872937332495[58] = 0;
out_323604872937332495[59] = 0;
out_323604872937332495[60] = 0;
out_323604872937332495[61] = 0;
out_323604872937332495[62] = 1;
out_323604872937332495[63] = 0;
out_323604872937332495[64] = 0;
out_323604872937332495[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_6409019039917668284) {
H(in_vec, out_6409019039917668284);
}
void live_err_fun(double *nom_x, double *delta_x, double *out_4061617048242378524) {
err_fun(nom_x, delta_x, out_4061617048242378524);
}
void live_inv_err_fun(double *nom_x, double *true_x, double *out_1032655403399547817) {
inv_err_fun(nom_x, true_x, out_1032655403399547817);
}
void live_H_mod_fun(double *state, double *out_1457537824329529482) {
H_mod_fun(state, out_1457537824329529482);
}
void live_f_fun(double *state, double dt, double *out_7387809313477893541) {
f_fun(state, dt, out_7387809313477893541);
}
void live_F_fun(double *state, double dt, double *out_9180543782983665576) {
F_fun(state, dt, out_9180543782983665576);
}
void live_h_4(double *state, double *unused, double *out_4492390463949384143) {
h_4(state, unused, out_4492390463949384143);
}
void live_H_4(double *state, double *unused, double *out_6840823934948797475) {
H_4(state, unused, out_6840823934948797475);
}
void live_h_9(double *state, double *unused, double *out_7683409762000862661) {
h_9(state, unused, out_7683409762000862661);
}
void live_H_9(double *state, double *unused, double *out_6599634288319206830) {
H_9(state, unused, out_6599634288319206830);
}
void live_h_10(double *state, double *unused, double *out_9216865912583274047) {
h_10(state, unused, out_9216865912583274047);
}
void live_H_10(double *state, double *unused, double *out_773562674632846954) {
H_10(state, unused, out_773562674632846954);
}
void live_h_12(double *state, double *unused, double *out_7476619097990127394) {
h_12(state, unused, out_7476619097990127394);
}
void live_H_12(double *state, double *unused, double *out_1821367526916835680) {
H_12(state, unused, out_1821367526916835680);
}
void live_h_35(double *state, double *unused, double *out_162724865929704519) {
h_35(state, unused, out_162724865929704519);
}
void live_H_35(double *state, double *unused, double *out_924195505408178029) {
H_35(state, unused, out_924195505408178029);
}
void live_h_32(double *state, double *unused, double *out_4377549943098853278) {
h_32(state, unused, out_4377549943098853278);
}
void live_H_32(double *state, double *unused, double *out_3416809270324928859) {
H_32(state, unused, out_3416809270324928859);
}
void live_h_13(double *state, double *unused, double *out_1977043243384356195) {
h_13(state, unused, out_1977043243384356195);
}
void live_H_13(double *state, double *unused, double *out_7445239302620530630) {
H_13(state, unused, out_7445239302620530630);
}
void live_h_14(double *state, double *unused, double *out_7683409762000862661) {
h_14(state, unused, out_7683409762000862661);
}
void live_H_14(double *state, double *unused, double *out_6599634288319206830) {
H_14(state, unused, out_6599634288319206830);
}
void live_h_33(double *state, double *unused, double *out_605021574862289458) {
h_33(state, unused, out_605021574862289458);
}
void live_H_33(double *state, double *unused, double *out_323604872937332495) {
H_33(state, unused, out_323604872937332495);
}
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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