mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-18 10:23:43 +08:00
github-actions[bot]
cb5ce1e719
version: sunnypilot v2026.003.000 (feature-branch)
date: 2026-09-16T20:18:41
master commit: 3e8e5f430c
1988 lines
91 KiB
C++
1988 lines
91 KiB
C++
#include "live.h"
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namespace {
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#define DIM 22
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#define EDIM 21
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#define MEDIM 21
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typedef void (*Hfun)(double *, double *, double *);
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const static double MAHA_THRESH_4 = 7.814727903251177;
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const static double MAHA_THRESH_9 = 7.814727903251177;
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const static double MAHA_THRESH_10 = 7.814727903251177;
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const static double MAHA_THRESH_12 = 7.814727903251177;
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const static double MAHA_THRESH_35 = 7.814727903251177;
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const static double MAHA_THRESH_32 = 9.487729036781154;
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const static double MAHA_THRESH_13 = 7.814727903251177;
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const static double MAHA_THRESH_14 = 7.814727903251177;
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const static double MAHA_THRESH_33 = 7.814727903251177;
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/******************************************************************************
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* Code generated with SymPy 1.14.0 *
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* *
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* See http://www.sympy.org/ for more information. *
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void H(double *in_vec, double *out_8536236811475430067) {
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out_8536236811475430067[0] = 0;
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out_8536236811475430067[1] = -sin(in_vec[1])*sin(in_vec[2])*in_vec[4] - sin(in_vec[1])*cos(in_vec[2])*in_vec[3] - cos(in_vec[1])*in_vec[5];
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out_8536236811475430067[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4];
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out_8536236811475430067[3] = cos(in_vec[1])*cos(in_vec[2]);
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out_8536236811475430067[4] = sin(in_vec[2])*cos(in_vec[1]);
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out_8536236811475430067[5] = -sin(in_vec[1]);
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out_8536236811475430067[6] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (-sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*in_vec[5];
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out_8536236811475430067[7] = -sin(in_vec[0])*sin(in_vec[1])*in_vec[5] + sin(in_vec[0])*sin(in_vec[2])*cos(in_vec[1])*in_vec[4] + sin(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3];
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out_8536236811475430067[8] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]))*in_vec[4];
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out_8536236811475430067[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]);
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out_8536236811475430067[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]);
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out_8536236811475430067[11] = sin(in_vec[0])*cos(in_vec[1]);
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out_8536236811475430067[12] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (-sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) + sin(in_vec[2])*cos(in_vec[0]))*in_vec[3] - sin(in_vec[0])*cos(in_vec[1])*in_vec[5];
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out_8536236811475430067[13] = -sin(in_vec[1])*cos(in_vec[0])*in_vec[5] + sin(in_vec[2])*cos(in_vec[0])*cos(in_vec[1])*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3];
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out_8536236811475430067[14] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (sin(in_vec[0])*cos(in_vec[2]) - sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[3];
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out_8536236811475430067[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]);
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out_8536236811475430067[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]);
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out_8536236811475430067[17] = cos(in_vec[0])*cos(in_vec[1]);
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}
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void err_fun(double *nom_x, double *delta_x, double *out_4614868058485758139) {
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out_4614868058485758139[0] = delta_x[0] + nom_x[0];
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out_4614868058485758139[1] = delta_x[1] + nom_x[1];
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out_4614868058485758139[2] = delta_x[2] + nom_x[2];
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out_4614868058485758139[3] = -0.5*delta_x[3]*nom_x[4] - 0.5*delta_x[4]*nom_x[5] - 0.5*delta_x[5]*nom_x[6] + 1.0*nom_x[3];
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out_4614868058485758139[4] = 0.5*delta_x[3]*nom_x[3] + 0.5*delta_x[4]*nom_x[6] - 0.5*delta_x[5]*nom_x[5] + 1.0*nom_x[4];
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out_4614868058485758139[5] = -0.5*delta_x[3]*nom_x[6] + 0.5*delta_x[4]*nom_x[3] + 0.5*delta_x[5]*nom_x[4] + 1.0*nom_x[5];
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out_4614868058485758139[6] = 0.5*delta_x[3]*nom_x[5] - 0.5*delta_x[4]*nom_x[4] + 0.5*delta_x[5]*nom_x[3] + 1.0*nom_x[6];
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out_4614868058485758139[7] = delta_x[6] + nom_x[7];
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out_4614868058485758139[8] = delta_x[7] + nom_x[8];
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out_4614868058485758139[9] = delta_x[8] + nom_x[9];
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out_4614868058485758139[10] = delta_x[9] + nom_x[10];
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out_4614868058485758139[11] = delta_x[10] + nom_x[11];
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out_4614868058485758139[12] = delta_x[11] + nom_x[12];
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out_4614868058485758139[13] = delta_x[12] + nom_x[13];
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out_4614868058485758139[14] = delta_x[13] + nom_x[14];
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out_4614868058485758139[15] = delta_x[14] + nom_x[15];
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out_4614868058485758139[16] = delta_x[15] + nom_x[16];
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out_4614868058485758139[17] = delta_x[16] + nom_x[17];
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out_4614868058485758139[18] = delta_x[17] + nom_x[18];
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out_4614868058485758139[19] = delta_x[18] + nom_x[19];
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out_4614868058485758139[20] = delta_x[19] + nom_x[20];
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out_4614868058485758139[21] = delta_x[20] + nom_x[21];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_8573554928028298681) {
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out_8573554928028298681[0] = -nom_x[0] + true_x[0];
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out_8573554928028298681[1] = -nom_x[1] + true_x[1];
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out_8573554928028298681[2] = -nom_x[2] + true_x[2];
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out_8573554928028298681[3] = 2*nom_x[3]*true_x[4] - 2*nom_x[4]*true_x[3] + 2*nom_x[5]*true_x[6] - 2*nom_x[6]*true_x[5];
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out_8573554928028298681[4] = 2*nom_x[3]*true_x[5] - 2*nom_x[4]*true_x[6] - 2*nom_x[5]*true_x[3] + 2*nom_x[6]*true_x[4];
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out_8573554928028298681[5] = 2*nom_x[3]*true_x[6] + 2*nom_x[4]*true_x[5] - 2*nom_x[5]*true_x[4] - 2*nom_x[6]*true_x[3];
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out_8573554928028298681[6] = -nom_x[7] + true_x[7];
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out_8573554928028298681[7] = -nom_x[8] + true_x[8];
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out_8573554928028298681[8] = -nom_x[9] + true_x[9];
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out_8573554928028298681[9] = -nom_x[10] + true_x[10];
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out_8573554928028298681[10] = -nom_x[11] + true_x[11];
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out_8573554928028298681[11] = -nom_x[12] + true_x[12];
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out_8573554928028298681[12] = -nom_x[13] + true_x[13];
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out_8573554928028298681[13] = -nom_x[14] + true_x[14];
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out_8573554928028298681[14] = -nom_x[15] + true_x[15];
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out_8573554928028298681[15] = -nom_x[16] + true_x[16];
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out_8573554928028298681[16] = -nom_x[17] + true_x[17];
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out_8573554928028298681[17] = -nom_x[18] + true_x[18];
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out_8573554928028298681[18] = -nom_x[19] + true_x[19];
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out_8573554928028298681[19] = -nom_x[20] + true_x[20];
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out_8573554928028298681[20] = -nom_x[21] + true_x[21];
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}
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void H_mod_fun(double *state, double *out_6128852447133223565) {
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out_6128852447133223565[0] = 1.0;
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out_6128852447133223565[1] = 0;
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out_6128852447133223565[2] = 0;
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out_6128852447133223565[3] = 0.0;
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out_6128852447133223565[4] = 0.0;
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out_6128852447133223565[5] = 0.0;
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out_6128852447133223565[6] = 0.0;
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out_6128852447133223565[7] = 0.0;
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out_6128852447133223565[8] = 0.0;
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out_6128852447133223565[9] = 0.0;
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out_6128852447133223565[10] = 0.0;
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out_6128852447133223565[11] = 0.0;
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out_6128852447133223565[12] = 0.0;
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out_6128852447133223565[13] = 0.0;
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out_6128852447133223565[14] = 0.0;
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out_6128852447133223565[15] = 0.0;
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out_6128852447133223565[16] = 0.0;
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out_6128852447133223565[17] = 0.0;
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out_6128852447133223565[18] = 0.0;
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out_6128852447133223565[19] = 0.0;
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out_6128852447133223565[20] = 0.0;
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out_6128852447133223565[21] = 0;
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out_6128852447133223565[22] = 1.0;
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out_6128852447133223565[23] = 0;
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out_6128852447133223565[24] = 0.0;
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out_6128852447133223565[25] = 0.0;
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out_6128852447133223565[26] = 0.0;
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out_6128852447133223565[27] = 0.0;
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out_6128852447133223565[28] = 0.0;
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out_6128852447133223565[29] = 0.0;
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out_6128852447133223565[30] = 0.0;
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out_6128852447133223565[31] = 0.0;
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out_6128852447133223565[32] = 0.0;
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out_6128852447133223565[33] = 0.0;
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out_6128852447133223565[34] = 0.0;
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out_6128852447133223565[35] = 0.0;
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out_6128852447133223565[36] = 0.0;
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out_6128852447133223565[37] = 0.0;
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out_6128852447133223565[38] = 0.0;
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out_6128852447133223565[39] = 0.0;
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out_6128852447133223565[40] = 0.0;
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out_6128852447133223565[41] = 0.0;
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out_6128852447133223565[42] = 0;
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out_6128852447133223565[43] = 0;
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out_6128852447133223565[44] = 1.0;
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out_6128852447133223565[45] = 0.0;
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out_6128852447133223565[46] = 0.0;
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out_6128852447133223565[47] = 0.0;
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out_6128852447133223565[48] = 0.0;
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out_6128852447133223565[49] = 0.0;
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out_6128852447133223565[50] = 0.0;
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out_6128852447133223565[51] = 0.0;
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out_6128852447133223565[52] = 0.0;
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out_6128852447133223565[53] = 0.0;
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out_6128852447133223565[54] = 0.0;
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out_6128852447133223565[55] = 0.0;
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out_6128852447133223565[56] = 0.0;
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out_6128852447133223565[57] = 0.0;
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out_6128852447133223565[58] = 0.0;
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out_6128852447133223565[59] = 0.0;
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out_6128852447133223565[60] = 0.0;
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out_6128852447133223565[61] = 0.0;
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out_6128852447133223565[62] = 0.0;
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out_6128852447133223565[63] = 0.0;
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out_6128852447133223565[64] = 0.0;
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out_6128852447133223565[65] = 0.0;
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out_6128852447133223565[66] = -0.5*state[4];
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out_6128852447133223565[67] = -0.5*state[5];
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out_6128852447133223565[68] = -0.5*state[6];
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out_6128852447133223565[69] = 0.0;
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out_6128852447133223565[70] = 0.0;
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out_6128852447133223565[71] = 0.0;
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out_6128852447133223565[72] = 0.0;
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out_6128852447133223565[73] = 0.0;
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out_6128852447133223565[74] = 0.0;
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out_6128852447133223565[75] = 0.0;
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out_6128852447133223565[76] = 0.0;
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out_6128852447133223565[77] = 0.0;
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out_6128852447133223565[78] = 0.0;
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out_6128852447133223565[79] = 0.0;
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out_6128852447133223565[80] = 0.0;
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out_6128852447133223565[81] = 0.0;
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out_6128852447133223565[82] = 0.0;
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out_6128852447133223565[83] = 0.0;
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out_6128852447133223565[84] = 0.0;
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out_6128852447133223565[85] = 0.0;
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out_6128852447133223565[86] = 0.0;
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out_6128852447133223565[87] = 0.5*state[3];
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out_6128852447133223565[88] = 0.5*state[6];
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out_6128852447133223565[89] = -0.5*state[5];
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out_6128852447133223565[90] = 0.0;
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out_6128852447133223565[91] = 0.0;
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out_6128852447133223565[92] = 0.0;
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out_6128852447133223565[93] = 0.0;
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out_6128852447133223565[94] = 0.0;
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out_6128852447133223565[95] = 0.0;
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out_6128852447133223565[96] = 0.0;
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out_6128852447133223565[97] = 0.0;
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out_6128852447133223565[98] = 0.0;
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out_6128852447133223565[99] = 0.0;
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out_6128852447133223565[100] = 0.0;
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out_6128852447133223565[101] = 0.0;
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out_6128852447133223565[102] = 0.0;
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out_6128852447133223565[103] = 0.0;
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out_6128852447133223565[104] = 0.0;
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out_6128852447133223565[105] = 0.0;
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out_6128852447133223565[106] = 0.0;
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out_6128852447133223565[107] = 0.0;
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out_6128852447133223565[108] = -0.5*state[6];
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out_6128852447133223565[109] = 0.5*state[3];
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out_6128852447133223565[110] = 0.5*state[4];
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out_6128852447133223565[111] = 0.0;
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out_6128852447133223565[112] = 0.0;
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out_6128852447133223565[113] = 0.0;
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out_6128852447133223565[114] = 0.0;
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out_6128852447133223565[115] = 0.0;
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out_6128852447133223565[116] = 0.0;
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out_6128852447133223565[117] = 0.0;
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out_6128852447133223565[118] = 0.0;
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out_6128852447133223565[119] = 0.0;
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out_6128852447133223565[120] = 0.0;
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out_6128852447133223565[121] = 0.0;
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out_6128852447133223565[122] = 0.0;
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out_6128852447133223565[123] = 0.0;
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out_6128852447133223565[124] = 0.0;
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out_6128852447133223565[125] = 0.0;
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out_6128852447133223565[126] = 0.0;
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out_6128852447133223565[127] = 0.0;
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out_6128852447133223565[128] = 0.0;
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out_6128852447133223565[129] = 0.5*state[5];
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out_6128852447133223565[130] = -0.5*state[4];
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out_6128852447133223565[131] = 0.5*state[3];
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out_6128852447133223565[132] = 0.0;
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out_6128852447133223565[133] = 0.0;
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out_6128852447133223565[134] = 0.0;
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out_6128852447133223565[135] = 0.0;
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out_6128852447133223565[136] = 0.0;
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out_6128852447133223565[137] = 0.0;
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out_6128852447133223565[138] = 0.0;
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out_6128852447133223565[139] = 0.0;
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out_6128852447133223565[140] = 0.0;
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out_6128852447133223565[141] = 0.0;
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out_6128852447133223565[142] = 0.0;
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out_6128852447133223565[143] = 0.0;
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out_6128852447133223565[144] = 0.0;
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out_6128852447133223565[145] = 0.0;
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out_6128852447133223565[146] = 0.0;
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out_6128852447133223565[147] = 0.0;
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out_6128852447133223565[148] = 0.0;
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out_6128852447133223565[149] = 0.0;
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out_6128852447133223565[150] = 0.0;
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out_6128852447133223565[151] = 0.0;
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out_6128852447133223565[152] = 0.0;
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out_6128852447133223565[153] = 1.0;
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out_6128852447133223565[154] = 0;
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out_6128852447133223565[155] = 0;
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out_6128852447133223565[156] = 0;
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out_6128852447133223565[157] = 0;
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out_6128852447133223565[158] = 0;
|
|
out_6128852447133223565[159] = 0;
|
|
out_6128852447133223565[160] = 0;
|
|
out_6128852447133223565[161] = 0;
|
|
out_6128852447133223565[162] = 0;
|
|
out_6128852447133223565[163] = 0;
|
|
out_6128852447133223565[164] = 0;
|
|
out_6128852447133223565[165] = 0;
|
|
out_6128852447133223565[166] = 0;
|
|
out_6128852447133223565[167] = 0;
|
|
out_6128852447133223565[168] = 0.0;
|
|
out_6128852447133223565[169] = 0.0;
|
|
out_6128852447133223565[170] = 0.0;
|
|
out_6128852447133223565[171] = 0.0;
|
|
out_6128852447133223565[172] = 0.0;
|
|
out_6128852447133223565[173] = 0.0;
|
|
out_6128852447133223565[174] = 0;
|
|
out_6128852447133223565[175] = 1.0;
|
|
out_6128852447133223565[176] = 0;
|
|
out_6128852447133223565[177] = 0;
|
|
out_6128852447133223565[178] = 0;
|
|
out_6128852447133223565[179] = 0;
|
|
out_6128852447133223565[180] = 0;
|
|
out_6128852447133223565[181] = 0;
|
|
out_6128852447133223565[182] = 0;
|
|
out_6128852447133223565[183] = 0;
|
|
out_6128852447133223565[184] = 0;
|
|
out_6128852447133223565[185] = 0;
|
|
out_6128852447133223565[186] = 0;
|
|
out_6128852447133223565[187] = 0;
|
|
out_6128852447133223565[188] = 0;
|
|
out_6128852447133223565[189] = 0.0;
|
|
out_6128852447133223565[190] = 0.0;
|
|
out_6128852447133223565[191] = 0.0;
|
|
out_6128852447133223565[192] = 0.0;
|
|
out_6128852447133223565[193] = 0.0;
|
|
out_6128852447133223565[194] = 0.0;
|
|
out_6128852447133223565[195] = 0;
|
|
out_6128852447133223565[196] = 0;
|
|
out_6128852447133223565[197] = 1.0;
|
|
out_6128852447133223565[198] = 0;
|
|
out_6128852447133223565[199] = 0;
|
|
out_6128852447133223565[200] = 0;
|
|
out_6128852447133223565[201] = 0;
|
|
out_6128852447133223565[202] = 0;
|
|
out_6128852447133223565[203] = 0;
|
|
out_6128852447133223565[204] = 0;
|
|
out_6128852447133223565[205] = 0;
|
|
out_6128852447133223565[206] = 0;
|
|
out_6128852447133223565[207] = 0;
|
|
out_6128852447133223565[208] = 0;
|
|
out_6128852447133223565[209] = 0;
|
|
out_6128852447133223565[210] = 0.0;
|
|
out_6128852447133223565[211] = 0.0;
|
|
out_6128852447133223565[212] = 0.0;
|
|
out_6128852447133223565[213] = 0.0;
|
|
out_6128852447133223565[214] = 0.0;
|
|
out_6128852447133223565[215] = 0.0;
|
|
out_6128852447133223565[216] = 0;
|
|
out_6128852447133223565[217] = 0;
|
|
out_6128852447133223565[218] = 0;
|
|
out_6128852447133223565[219] = 1.0;
|
|
out_6128852447133223565[220] = 0;
|
|
out_6128852447133223565[221] = 0;
|
|
out_6128852447133223565[222] = 0;
|
|
out_6128852447133223565[223] = 0;
|
|
out_6128852447133223565[224] = 0;
|
|
out_6128852447133223565[225] = 0;
|
|
out_6128852447133223565[226] = 0;
|
|
out_6128852447133223565[227] = 0;
|
|
out_6128852447133223565[228] = 0;
|
|
out_6128852447133223565[229] = 0;
|
|
out_6128852447133223565[230] = 0;
|
|
out_6128852447133223565[231] = 0.0;
|
|
out_6128852447133223565[232] = 0.0;
|
|
out_6128852447133223565[233] = 0.0;
|
|
out_6128852447133223565[234] = 0.0;
|
|
out_6128852447133223565[235] = 0.0;
|
|
out_6128852447133223565[236] = 0.0;
|
|
out_6128852447133223565[237] = 0;
|
|
out_6128852447133223565[238] = 0;
|
|
out_6128852447133223565[239] = 0;
|
|
out_6128852447133223565[240] = 0;
|
|
out_6128852447133223565[241] = 1.0;
|
|
out_6128852447133223565[242] = 0;
|
|
out_6128852447133223565[243] = 0;
|
|
out_6128852447133223565[244] = 0;
|
|
out_6128852447133223565[245] = 0;
|
|
out_6128852447133223565[246] = 0;
|
|
out_6128852447133223565[247] = 0;
|
|
out_6128852447133223565[248] = 0;
|
|
out_6128852447133223565[249] = 0;
|
|
out_6128852447133223565[250] = 0;
|
|
out_6128852447133223565[251] = 0;
|
|
out_6128852447133223565[252] = 0.0;
|
|
out_6128852447133223565[253] = 0.0;
|
|
out_6128852447133223565[254] = 0.0;
|
|
out_6128852447133223565[255] = 0.0;
|
|
out_6128852447133223565[256] = 0.0;
|
|
out_6128852447133223565[257] = 0.0;
|
|
out_6128852447133223565[258] = 0;
|
|
out_6128852447133223565[259] = 0;
|
|
out_6128852447133223565[260] = 0;
|
|
out_6128852447133223565[261] = 0;
|
|
out_6128852447133223565[262] = 0;
|
|
out_6128852447133223565[263] = 1.0;
|
|
out_6128852447133223565[264] = 0;
|
|
out_6128852447133223565[265] = 0;
|
|
out_6128852447133223565[266] = 0;
|
|
out_6128852447133223565[267] = 0;
|
|
out_6128852447133223565[268] = 0;
|
|
out_6128852447133223565[269] = 0;
|
|
out_6128852447133223565[270] = 0;
|
|
out_6128852447133223565[271] = 0;
|
|
out_6128852447133223565[272] = 0;
|
|
out_6128852447133223565[273] = 0.0;
|
|
out_6128852447133223565[274] = 0.0;
|
|
out_6128852447133223565[275] = 0.0;
|
|
out_6128852447133223565[276] = 0.0;
|
|
out_6128852447133223565[277] = 0.0;
|
|
out_6128852447133223565[278] = 0.0;
|
|
out_6128852447133223565[279] = 0;
|
|
out_6128852447133223565[280] = 0;
|
|
out_6128852447133223565[281] = 0;
|
|
out_6128852447133223565[282] = 0;
|
|
out_6128852447133223565[283] = 0;
|
|
out_6128852447133223565[284] = 0;
|
|
out_6128852447133223565[285] = 1.0;
|
|
out_6128852447133223565[286] = 0;
|
|
out_6128852447133223565[287] = 0;
|
|
out_6128852447133223565[288] = 0;
|
|
out_6128852447133223565[289] = 0;
|
|
out_6128852447133223565[290] = 0;
|
|
out_6128852447133223565[291] = 0;
|
|
out_6128852447133223565[292] = 0;
|
|
out_6128852447133223565[293] = 0;
|
|
out_6128852447133223565[294] = 0.0;
|
|
out_6128852447133223565[295] = 0.0;
|
|
out_6128852447133223565[296] = 0.0;
|
|
out_6128852447133223565[297] = 0.0;
|
|
out_6128852447133223565[298] = 0.0;
|
|
out_6128852447133223565[299] = 0.0;
|
|
out_6128852447133223565[300] = 0;
|
|
out_6128852447133223565[301] = 0;
|
|
out_6128852447133223565[302] = 0;
|
|
out_6128852447133223565[303] = 0;
|
|
out_6128852447133223565[304] = 0;
|
|
out_6128852447133223565[305] = 0;
|
|
out_6128852447133223565[306] = 0;
|
|
out_6128852447133223565[307] = 1.0;
|
|
out_6128852447133223565[308] = 0;
|
|
out_6128852447133223565[309] = 0;
|
|
out_6128852447133223565[310] = 0;
|
|
out_6128852447133223565[311] = 0;
|
|
out_6128852447133223565[312] = 0;
|
|
out_6128852447133223565[313] = 0;
|
|
out_6128852447133223565[314] = 0;
|
|
out_6128852447133223565[315] = 0.0;
|
|
out_6128852447133223565[316] = 0.0;
|
|
out_6128852447133223565[317] = 0.0;
|
|
out_6128852447133223565[318] = 0.0;
|
|
out_6128852447133223565[319] = 0.0;
|
|
out_6128852447133223565[320] = 0.0;
|
|
out_6128852447133223565[321] = 0;
|
|
out_6128852447133223565[322] = 0;
|
|
out_6128852447133223565[323] = 0;
|
|
out_6128852447133223565[324] = 0;
|
|
out_6128852447133223565[325] = 0;
|
|
out_6128852447133223565[326] = 0;
|
|
out_6128852447133223565[327] = 0;
|
|
out_6128852447133223565[328] = 0;
|
|
out_6128852447133223565[329] = 1.0;
|
|
out_6128852447133223565[330] = 0;
|
|
out_6128852447133223565[331] = 0;
|
|
out_6128852447133223565[332] = 0;
|
|
out_6128852447133223565[333] = 0;
|
|
out_6128852447133223565[334] = 0;
|
|
out_6128852447133223565[335] = 0;
|
|
out_6128852447133223565[336] = 0.0;
|
|
out_6128852447133223565[337] = 0.0;
|
|
out_6128852447133223565[338] = 0.0;
|
|
out_6128852447133223565[339] = 0.0;
|
|
out_6128852447133223565[340] = 0.0;
|
|
out_6128852447133223565[341] = 0.0;
|
|
out_6128852447133223565[342] = 0;
|
|
out_6128852447133223565[343] = 0;
|
|
out_6128852447133223565[344] = 0;
|
|
out_6128852447133223565[345] = 0;
|
|
out_6128852447133223565[346] = 0;
|
|
out_6128852447133223565[347] = 0;
|
|
out_6128852447133223565[348] = 0;
|
|
out_6128852447133223565[349] = 0;
|
|
out_6128852447133223565[350] = 0;
|
|
out_6128852447133223565[351] = 1.0;
|
|
out_6128852447133223565[352] = 0;
|
|
out_6128852447133223565[353] = 0;
|
|
out_6128852447133223565[354] = 0;
|
|
out_6128852447133223565[355] = 0;
|
|
out_6128852447133223565[356] = 0;
|
|
out_6128852447133223565[357] = 0.0;
|
|
out_6128852447133223565[358] = 0.0;
|
|
out_6128852447133223565[359] = 0.0;
|
|
out_6128852447133223565[360] = 0.0;
|
|
out_6128852447133223565[361] = 0.0;
|
|
out_6128852447133223565[362] = 0.0;
|
|
out_6128852447133223565[363] = 0;
|
|
out_6128852447133223565[364] = 0;
|
|
out_6128852447133223565[365] = 0;
|
|
out_6128852447133223565[366] = 0;
|
|
out_6128852447133223565[367] = 0;
|
|
out_6128852447133223565[368] = 0;
|
|
out_6128852447133223565[369] = 0;
|
|
out_6128852447133223565[370] = 0;
|
|
out_6128852447133223565[371] = 0;
|
|
out_6128852447133223565[372] = 0;
|
|
out_6128852447133223565[373] = 1.0;
|
|
out_6128852447133223565[374] = 0;
|
|
out_6128852447133223565[375] = 0;
|
|
out_6128852447133223565[376] = 0;
|
|
out_6128852447133223565[377] = 0;
|
|
out_6128852447133223565[378] = 0.0;
|
|
out_6128852447133223565[379] = 0.0;
|
|
out_6128852447133223565[380] = 0.0;
|
|
out_6128852447133223565[381] = 0.0;
|
|
out_6128852447133223565[382] = 0.0;
|
|
out_6128852447133223565[383] = 0.0;
|
|
out_6128852447133223565[384] = 0;
|
|
out_6128852447133223565[385] = 0;
|
|
out_6128852447133223565[386] = 0;
|
|
out_6128852447133223565[387] = 0;
|
|
out_6128852447133223565[388] = 0;
|
|
out_6128852447133223565[389] = 0;
|
|
out_6128852447133223565[390] = 0;
|
|
out_6128852447133223565[391] = 0;
|
|
out_6128852447133223565[392] = 0;
|
|
out_6128852447133223565[393] = 0;
|
|
out_6128852447133223565[394] = 0;
|
|
out_6128852447133223565[395] = 1.0;
|
|
out_6128852447133223565[396] = 0;
|
|
out_6128852447133223565[397] = 0;
|
|
out_6128852447133223565[398] = 0;
|
|
out_6128852447133223565[399] = 0.0;
|
|
out_6128852447133223565[400] = 0.0;
|
|
out_6128852447133223565[401] = 0.0;
|
|
out_6128852447133223565[402] = 0.0;
|
|
out_6128852447133223565[403] = 0.0;
|
|
out_6128852447133223565[404] = 0.0;
|
|
out_6128852447133223565[405] = 0;
|
|
out_6128852447133223565[406] = 0;
|
|
out_6128852447133223565[407] = 0;
|
|
out_6128852447133223565[408] = 0;
|
|
out_6128852447133223565[409] = 0;
|
|
out_6128852447133223565[410] = 0;
|
|
out_6128852447133223565[411] = 0;
|
|
out_6128852447133223565[412] = 0;
|
|
out_6128852447133223565[413] = 0;
|
|
out_6128852447133223565[414] = 0;
|
|
out_6128852447133223565[415] = 0;
|
|
out_6128852447133223565[416] = 0;
|
|
out_6128852447133223565[417] = 1.0;
|
|
out_6128852447133223565[418] = 0;
|
|
out_6128852447133223565[419] = 0;
|
|
out_6128852447133223565[420] = 0.0;
|
|
out_6128852447133223565[421] = 0.0;
|
|
out_6128852447133223565[422] = 0.0;
|
|
out_6128852447133223565[423] = 0.0;
|
|
out_6128852447133223565[424] = 0.0;
|
|
out_6128852447133223565[425] = 0.0;
|
|
out_6128852447133223565[426] = 0;
|
|
out_6128852447133223565[427] = 0;
|
|
out_6128852447133223565[428] = 0;
|
|
out_6128852447133223565[429] = 0;
|
|
out_6128852447133223565[430] = 0;
|
|
out_6128852447133223565[431] = 0;
|
|
out_6128852447133223565[432] = 0;
|
|
out_6128852447133223565[433] = 0;
|
|
out_6128852447133223565[434] = 0;
|
|
out_6128852447133223565[435] = 0;
|
|
out_6128852447133223565[436] = 0;
|
|
out_6128852447133223565[437] = 0;
|
|
out_6128852447133223565[438] = 0;
|
|
out_6128852447133223565[439] = 1.0;
|
|
out_6128852447133223565[440] = 0;
|
|
out_6128852447133223565[441] = 0.0;
|
|
out_6128852447133223565[442] = 0.0;
|
|
out_6128852447133223565[443] = 0.0;
|
|
out_6128852447133223565[444] = 0.0;
|
|
out_6128852447133223565[445] = 0.0;
|
|
out_6128852447133223565[446] = 0.0;
|
|
out_6128852447133223565[447] = 0;
|
|
out_6128852447133223565[448] = 0;
|
|
out_6128852447133223565[449] = 0;
|
|
out_6128852447133223565[450] = 0;
|
|
out_6128852447133223565[451] = 0;
|
|
out_6128852447133223565[452] = 0;
|
|
out_6128852447133223565[453] = 0;
|
|
out_6128852447133223565[454] = 0;
|
|
out_6128852447133223565[455] = 0;
|
|
out_6128852447133223565[456] = 0;
|
|
out_6128852447133223565[457] = 0;
|
|
out_6128852447133223565[458] = 0;
|
|
out_6128852447133223565[459] = 0;
|
|
out_6128852447133223565[460] = 0;
|
|
out_6128852447133223565[461] = 1.0;
|
|
}
|
|
void f_fun(double *state, double dt, double *out_7195534889995166041) {
|
|
out_7195534889995166041[0] = dt*state[7] + state[0];
|
|
out_7195534889995166041[1] = dt*state[8] + state[1];
|
|
out_7195534889995166041[2] = dt*state[9] + state[2];
|
|
out_7195534889995166041[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3];
|
|
out_7195534889995166041[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4];
|
|
out_7195534889995166041[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5];
|
|
out_7195534889995166041[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6];
|
|
out_7195534889995166041[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_7195534889995166041[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_7195534889995166041[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_7195534889995166041[10] = state[10];
|
|
out_7195534889995166041[11] = state[11];
|
|
out_7195534889995166041[12] = state[12];
|
|
out_7195534889995166041[13] = state[13];
|
|
out_7195534889995166041[14] = state[14];
|
|
out_7195534889995166041[15] = state[15];
|
|
out_7195534889995166041[16] = state[16];
|
|
out_7195534889995166041[17] = state[17];
|
|
out_7195534889995166041[18] = state[18];
|
|
out_7195534889995166041[19] = state[19];
|
|
out_7195534889995166041[20] = state[20];
|
|
out_7195534889995166041[21] = state[21];
|
|
}
|
|
void F_fun(double *state, double dt, double *out_9012508306389018670) {
|
|
out_9012508306389018670[0] = 1;
|
|
out_9012508306389018670[1] = 0;
|
|
out_9012508306389018670[2] = 0;
|
|
out_9012508306389018670[3] = 0;
|
|
out_9012508306389018670[4] = 0;
|
|
out_9012508306389018670[5] = 0;
|
|
out_9012508306389018670[6] = dt;
|
|
out_9012508306389018670[7] = 0;
|
|
out_9012508306389018670[8] = 0;
|
|
out_9012508306389018670[9] = 0;
|
|
out_9012508306389018670[10] = 0;
|
|
out_9012508306389018670[11] = 0;
|
|
out_9012508306389018670[12] = 0;
|
|
out_9012508306389018670[13] = 0;
|
|
out_9012508306389018670[14] = 0;
|
|
out_9012508306389018670[15] = 0;
|
|
out_9012508306389018670[16] = 0;
|
|
out_9012508306389018670[17] = 0;
|
|
out_9012508306389018670[18] = 0;
|
|
out_9012508306389018670[19] = 0;
|
|
out_9012508306389018670[20] = 0;
|
|
out_9012508306389018670[21] = 0;
|
|
out_9012508306389018670[22] = 1;
|
|
out_9012508306389018670[23] = 0;
|
|
out_9012508306389018670[24] = 0;
|
|
out_9012508306389018670[25] = 0;
|
|
out_9012508306389018670[26] = 0;
|
|
out_9012508306389018670[27] = 0;
|
|
out_9012508306389018670[28] = dt;
|
|
out_9012508306389018670[29] = 0;
|
|
out_9012508306389018670[30] = 0;
|
|
out_9012508306389018670[31] = 0;
|
|
out_9012508306389018670[32] = 0;
|
|
out_9012508306389018670[33] = 0;
|
|
out_9012508306389018670[34] = 0;
|
|
out_9012508306389018670[35] = 0;
|
|
out_9012508306389018670[36] = 0;
|
|
out_9012508306389018670[37] = 0;
|
|
out_9012508306389018670[38] = 0;
|
|
out_9012508306389018670[39] = 0;
|
|
out_9012508306389018670[40] = 0;
|
|
out_9012508306389018670[41] = 0;
|
|
out_9012508306389018670[42] = 0;
|
|
out_9012508306389018670[43] = 0;
|
|
out_9012508306389018670[44] = 1;
|
|
out_9012508306389018670[45] = 0;
|
|
out_9012508306389018670[46] = 0;
|
|
out_9012508306389018670[47] = 0;
|
|
out_9012508306389018670[48] = 0;
|
|
out_9012508306389018670[49] = 0;
|
|
out_9012508306389018670[50] = dt;
|
|
out_9012508306389018670[51] = 0;
|
|
out_9012508306389018670[52] = 0;
|
|
out_9012508306389018670[53] = 0;
|
|
out_9012508306389018670[54] = 0;
|
|
out_9012508306389018670[55] = 0;
|
|
out_9012508306389018670[56] = 0;
|
|
out_9012508306389018670[57] = 0;
|
|
out_9012508306389018670[58] = 0;
|
|
out_9012508306389018670[59] = 0;
|
|
out_9012508306389018670[60] = 0;
|
|
out_9012508306389018670[61] = 0;
|
|
out_9012508306389018670[62] = 0;
|
|
out_9012508306389018670[63] = 0;
|
|
out_9012508306389018670[64] = 0;
|
|
out_9012508306389018670[65] = 0;
|
|
out_9012508306389018670[66] = 1;
|
|
out_9012508306389018670[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_9012508306389018670[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_9012508306389018670[69] = 0;
|
|
out_9012508306389018670[70] = 0;
|
|
out_9012508306389018670[71] = 0;
|
|
out_9012508306389018670[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2));
|
|
out_9012508306389018670[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]);
|
|
out_9012508306389018670[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]);
|
|
out_9012508306389018670[75] = 0;
|
|
out_9012508306389018670[76] = 0;
|
|
out_9012508306389018670[77] = 0;
|
|
out_9012508306389018670[78] = 0;
|
|
out_9012508306389018670[79] = 0;
|
|
out_9012508306389018670[80] = 0;
|
|
out_9012508306389018670[81] = 0;
|
|
out_9012508306389018670[82] = 0;
|
|
out_9012508306389018670[83] = 0;
|
|
out_9012508306389018670[84] = 0;
|
|
out_9012508306389018670[85] = 0;
|
|
out_9012508306389018670[86] = 0;
|
|
out_9012508306389018670[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_9012508306389018670[88] = 1;
|
|
out_9012508306389018670[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_9012508306389018670[90] = 0;
|
|
out_9012508306389018670[91] = 0;
|
|
out_9012508306389018670[92] = 0;
|
|
out_9012508306389018670[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]);
|
|
out_9012508306389018670[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2));
|
|
out_9012508306389018670[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]);
|
|
out_9012508306389018670[96] = 0;
|
|
out_9012508306389018670[97] = 0;
|
|
out_9012508306389018670[98] = 0;
|
|
out_9012508306389018670[99] = 0;
|
|
out_9012508306389018670[100] = 0;
|
|
out_9012508306389018670[101] = 0;
|
|
out_9012508306389018670[102] = 0;
|
|
out_9012508306389018670[103] = 0;
|
|
out_9012508306389018670[104] = 0;
|
|
out_9012508306389018670[105] = 0;
|
|
out_9012508306389018670[106] = 0;
|
|
out_9012508306389018670[107] = 0;
|
|
out_9012508306389018670[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_9012508306389018670[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_9012508306389018670[110] = 1;
|
|
out_9012508306389018670[111] = 0;
|
|
out_9012508306389018670[112] = 0;
|
|
out_9012508306389018670[113] = 0;
|
|
out_9012508306389018670[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]);
|
|
out_9012508306389018670[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]);
|
|
out_9012508306389018670[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2));
|
|
out_9012508306389018670[117] = 0;
|
|
out_9012508306389018670[118] = 0;
|
|
out_9012508306389018670[119] = 0;
|
|
out_9012508306389018670[120] = 0;
|
|
out_9012508306389018670[121] = 0;
|
|
out_9012508306389018670[122] = 0;
|
|
out_9012508306389018670[123] = 0;
|
|
out_9012508306389018670[124] = 0;
|
|
out_9012508306389018670[125] = 0;
|
|
out_9012508306389018670[126] = 0;
|
|
out_9012508306389018670[127] = 0;
|
|
out_9012508306389018670[128] = 0;
|
|
out_9012508306389018670[129] = 0;
|
|
out_9012508306389018670[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_9012508306389018670[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_9012508306389018670[132] = 1;
|
|
out_9012508306389018670[133] = 0;
|
|
out_9012508306389018670[134] = 0;
|
|
out_9012508306389018670[135] = 0;
|
|
out_9012508306389018670[136] = 0;
|
|
out_9012508306389018670[137] = 0;
|
|
out_9012508306389018670[138] = 0;
|
|
out_9012508306389018670[139] = 0;
|
|
out_9012508306389018670[140] = 0;
|
|
out_9012508306389018670[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2));
|
|
out_9012508306389018670[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]);
|
|
out_9012508306389018670[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]);
|
|
out_9012508306389018670[144] = 0;
|
|
out_9012508306389018670[145] = 0;
|
|
out_9012508306389018670[146] = 0;
|
|
out_9012508306389018670[147] = 0;
|
|
out_9012508306389018670[148] = 0;
|
|
out_9012508306389018670[149] = 0;
|
|
out_9012508306389018670[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_9012508306389018670[151] = 0;
|
|
out_9012508306389018670[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_9012508306389018670[153] = 0;
|
|
out_9012508306389018670[154] = 1;
|
|
out_9012508306389018670[155] = 0;
|
|
out_9012508306389018670[156] = 0;
|
|
out_9012508306389018670[157] = 0;
|
|
out_9012508306389018670[158] = 0;
|
|
out_9012508306389018670[159] = 0;
|
|
out_9012508306389018670[160] = 0;
|
|
out_9012508306389018670[161] = 0;
|
|
out_9012508306389018670[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]);
|
|
out_9012508306389018670[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2));
|
|
out_9012508306389018670[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]);
|
|
out_9012508306389018670[165] = 0;
|
|
out_9012508306389018670[166] = 0;
|
|
out_9012508306389018670[167] = 0;
|
|
out_9012508306389018670[168] = 0;
|
|
out_9012508306389018670[169] = 0;
|
|
out_9012508306389018670[170] = 0;
|
|
out_9012508306389018670[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_9012508306389018670[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_9012508306389018670[173] = 0;
|
|
out_9012508306389018670[174] = 0;
|
|
out_9012508306389018670[175] = 0;
|
|
out_9012508306389018670[176] = 1;
|
|
out_9012508306389018670[177] = 0;
|
|
out_9012508306389018670[178] = 0;
|
|
out_9012508306389018670[179] = 0;
|
|
out_9012508306389018670[180] = 0;
|
|
out_9012508306389018670[181] = 0;
|
|
out_9012508306389018670[182] = 0;
|
|
out_9012508306389018670[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]);
|
|
out_9012508306389018670[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]);
|
|
out_9012508306389018670[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2));
|
|
out_9012508306389018670[186] = 0;
|
|
out_9012508306389018670[187] = 0;
|
|
out_9012508306389018670[188] = 0;
|
|
out_9012508306389018670[189] = 0;
|
|
out_9012508306389018670[190] = 0;
|
|
out_9012508306389018670[191] = 0;
|
|
out_9012508306389018670[192] = 0;
|
|
out_9012508306389018670[193] = 0;
|
|
out_9012508306389018670[194] = 0;
|
|
out_9012508306389018670[195] = 0;
|
|
out_9012508306389018670[196] = 0;
|
|
out_9012508306389018670[197] = 0;
|
|
out_9012508306389018670[198] = 1;
|
|
out_9012508306389018670[199] = 0;
|
|
out_9012508306389018670[200] = 0;
|
|
out_9012508306389018670[201] = 0;
|
|
out_9012508306389018670[202] = 0;
|
|
out_9012508306389018670[203] = 0;
|
|
out_9012508306389018670[204] = 0;
|
|
out_9012508306389018670[205] = 0;
|
|
out_9012508306389018670[206] = 0;
|
|
out_9012508306389018670[207] = 0;
|
|
out_9012508306389018670[208] = 0;
|
|
out_9012508306389018670[209] = 0;
|
|
out_9012508306389018670[210] = 0;
|
|
out_9012508306389018670[211] = 0;
|
|
out_9012508306389018670[212] = 0;
|
|
out_9012508306389018670[213] = 0;
|
|
out_9012508306389018670[214] = 0;
|
|
out_9012508306389018670[215] = 0;
|
|
out_9012508306389018670[216] = 0;
|
|
out_9012508306389018670[217] = 0;
|
|
out_9012508306389018670[218] = 0;
|
|
out_9012508306389018670[219] = 0;
|
|
out_9012508306389018670[220] = 1;
|
|
out_9012508306389018670[221] = 0;
|
|
out_9012508306389018670[222] = 0;
|
|
out_9012508306389018670[223] = 0;
|
|
out_9012508306389018670[224] = 0;
|
|
out_9012508306389018670[225] = 0;
|
|
out_9012508306389018670[226] = 0;
|
|
out_9012508306389018670[227] = 0;
|
|
out_9012508306389018670[228] = 0;
|
|
out_9012508306389018670[229] = 0;
|
|
out_9012508306389018670[230] = 0;
|
|
out_9012508306389018670[231] = 0;
|
|
out_9012508306389018670[232] = 0;
|
|
out_9012508306389018670[233] = 0;
|
|
out_9012508306389018670[234] = 0;
|
|
out_9012508306389018670[235] = 0;
|
|
out_9012508306389018670[236] = 0;
|
|
out_9012508306389018670[237] = 0;
|
|
out_9012508306389018670[238] = 0;
|
|
out_9012508306389018670[239] = 0;
|
|
out_9012508306389018670[240] = 0;
|
|
out_9012508306389018670[241] = 0;
|
|
out_9012508306389018670[242] = 1;
|
|
out_9012508306389018670[243] = 0;
|
|
out_9012508306389018670[244] = 0;
|
|
out_9012508306389018670[245] = 0;
|
|
out_9012508306389018670[246] = 0;
|
|
out_9012508306389018670[247] = 0;
|
|
out_9012508306389018670[248] = 0;
|
|
out_9012508306389018670[249] = 0;
|
|
out_9012508306389018670[250] = 0;
|
|
out_9012508306389018670[251] = 0;
|
|
out_9012508306389018670[252] = 0;
|
|
out_9012508306389018670[253] = 0;
|
|
out_9012508306389018670[254] = 0;
|
|
out_9012508306389018670[255] = 0;
|
|
out_9012508306389018670[256] = 0;
|
|
out_9012508306389018670[257] = 0;
|
|
out_9012508306389018670[258] = 0;
|
|
out_9012508306389018670[259] = 0;
|
|
out_9012508306389018670[260] = 0;
|
|
out_9012508306389018670[261] = 0;
|
|
out_9012508306389018670[262] = 0;
|
|
out_9012508306389018670[263] = 0;
|
|
out_9012508306389018670[264] = 1;
|
|
out_9012508306389018670[265] = 0;
|
|
out_9012508306389018670[266] = 0;
|
|
out_9012508306389018670[267] = 0;
|
|
out_9012508306389018670[268] = 0;
|
|
out_9012508306389018670[269] = 0;
|
|
out_9012508306389018670[270] = 0;
|
|
out_9012508306389018670[271] = 0;
|
|
out_9012508306389018670[272] = 0;
|
|
out_9012508306389018670[273] = 0;
|
|
out_9012508306389018670[274] = 0;
|
|
out_9012508306389018670[275] = 0;
|
|
out_9012508306389018670[276] = 0;
|
|
out_9012508306389018670[277] = 0;
|
|
out_9012508306389018670[278] = 0;
|
|
out_9012508306389018670[279] = 0;
|
|
out_9012508306389018670[280] = 0;
|
|
out_9012508306389018670[281] = 0;
|
|
out_9012508306389018670[282] = 0;
|
|
out_9012508306389018670[283] = 0;
|
|
out_9012508306389018670[284] = 0;
|
|
out_9012508306389018670[285] = 0;
|
|
out_9012508306389018670[286] = 1;
|
|
out_9012508306389018670[287] = 0;
|
|
out_9012508306389018670[288] = 0;
|
|
out_9012508306389018670[289] = 0;
|
|
out_9012508306389018670[290] = 0;
|
|
out_9012508306389018670[291] = 0;
|
|
out_9012508306389018670[292] = 0;
|
|
out_9012508306389018670[293] = 0;
|
|
out_9012508306389018670[294] = 0;
|
|
out_9012508306389018670[295] = 0;
|
|
out_9012508306389018670[296] = 0;
|
|
out_9012508306389018670[297] = 0;
|
|
out_9012508306389018670[298] = 0;
|
|
out_9012508306389018670[299] = 0;
|
|
out_9012508306389018670[300] = 0;
|
|
out_9012508306389018670[301] = 0;
|
|
out_9012508306389018670[302] = 0;
|
|
out_9012508306389018670[303] = 0;
|
|
out_9012508306389018670[304] = 0;
|
|
out_9012508306389018670[305] = 0;
|
|
out_9012508306389018670[306] = 0;
|
|
out_9012508306389018670[307] = 0;
|
|
out_9012508306389018670[308] = 1;
|
|
out_9012508306389018670[309] = 0;
|
|
out_9012508306389018670[310] = 0;
|
|
out_9012508306389018670[311] = 0;
|
|
out_9012508306389018670[312] = 0;
|
|
out_9012508306389018670[313] = 0;
|
|
out_9012508306389018670[314] = 0;
|
|
out_9012508306389018670[315] = 0;
|
|
out_9012508306389018670[316] = 0;
|
|
out_9012508306389018670[317] = 0;
|
|
out_9012508306389018670[318] = 0;
|
|
out_9012508306389018670[319] = 0;
|
|
out_9012508306389018670[320] = 0;
|
|
out_9012508306389018670[321] = 0;
|
|
out_9012508306389018670[322] = 0;
|
|
out_9012508306389018670[323] = 0;
|
|
out_9012508306389018670[324] = 0;
|
|
out_9012508306389018670[325] = 0;
|
|
out_9012508306389018670[326] = 0;
|
|
out_9012508306389018670[327] = 0;
|
|
out_9012508306389018670[328] = 0;
|
|
out_9012508306389018670[329] = 0;
|
|
out_9012508306389018670[330] = 1;
|
|
out_9012508306389018670[331] = 0;
|
|
out_9012508306389018670[332] = 0;
|
|
out_9012508306389018670[333] = 0;
|
|
out_9012508306389018670[334] = 0;
|
|
out_9012508306389018670[335] = 0;
|
|
out_9012508306389018670[336] = 0;
|
|
out_9012508306389018670[337] = 0;
|
|
out_9012508306389018670[338] = 0;
|
|
out_9012508306389018670[339] = 0;
|
|
out_9012508306389018670[340] = 0;
|
|
out_9012508306389018670[341] = 0;
|
|
out_9012508306389018670[342] = 0;
|
|
out_9012508306389018670[343] = 0;
|
|
out_9012508306389018670[344] = 0;
|
|
out_9012508306389018670[345] = 0;
|
|
out_9012508306389018670[346] = 0;
|
|
out_9012508306389018670[347] = 0;
|
|
out_9012508306389018670[348] = 0;
|
|
out_9012508306389018670[349] = 0;
|
|
out_9012508306389018670[350] = 0;
|
|
out_9012508306389018670[351] = 0;
|
|
out_9012508306389018670[352] = 1;
|
|
out_9012508306389018670[353] = 0;
|
|
out_9012508306389018670[354] = 0;
|
|
out_9012508306389018670[355] = 0;
|
|
out_9012508306389018670[356] = 0;
|
|
out_9012508306389018670[357] = 0;
|
|
out_9012508306389018670[358] = 0;
|
|
out_9012508306389018670[359] = 0;
|
|
out_9012508306389018670[360] = 0;
|
|
out_9012508306389018670[361] = 0;
|
|
out_9012508306389018670[362] = 0;
|
|
out_9012508306389018670[363] = 0;
|
|
out_9012508306389018670[364] = 0;
|
|
out_9012508306389018670[365] = 0;
|
|
out_9012508306389018670[366] = 0;
|
|
out_9012508306389018670[367] = 0;
|
|
out_9012508306389018670[368] = 0;
|
|
out_9012508306389018670[369] = 0;
|
|
out_9012508306389018670[370] = 0;
|
|
out_9012508306389018670[371] = 0;
|
|
out_9012508306389018670[372] = 0;
|
|
out_9012508306389018670[373] = 0;
|
|
out_9012508306389018670[374] = 1;
|
|
out_9012508306389018670[375] = 0;
|
|
out_9012508306389018670[376] = 0;
|
|
out_9012508306389018670[377] = 0;
|
|
out_9012508306389018670[378] = 0;
|
|
out_9012508306389018670[379] = 0;
|
|
out_9012508306389018670[380] = 0;
|
|
out_9012508306389018670[381] = 0;
|
|
out_9012508306389018670[382] = 0;
|
|
out_9012508306389018670[383] = 0;
|
|
out_9012508306389018670[384] = 0;
|
|
out_9012508306389018670[385] = 0;
|
|
out_9012508306389018670[386] = 0;
|
|
out_9012508306389018670[387] = 0;
|
|
out_9012508306389018670[388] = 0;
|
|
out_9012508306389018670[389] = 0;
|
|
out_9012508306389018670[390] = 0;
|
|
out_9012508306389018670[391] = 0;
|
|
out_9012508306389018670[392] = 0;
|
|
out_9012508306389018670[393] = 0;
|
|
out_9012508306389018670[394] = 0;
|
|
out_9012508306389018670[395] = 0;
|
|
out_9012508306389018670[396] = 1;
|
|
out_9012508306389018670[397] = 0;
|
|
out_9012508306389018670[398] = 0;
|
|
out_9012508306389018670[399] = 0;
|
|
out_9012508306389018670[400] = 0;
|
|
out_9012508306389018670[401] = 0;
|
|
out_9012508306389018670[402] = 0;
|
|
out_9012508306389018670[403] = 0;
|
|
out_9012508306389018670[404] = 0;
|
|
out_9012508306389018670[405] = 0;
|
|
out_9012508306389018670[406] = 0;
|
|
out_9012508306389018670[407] = 0;
|
|
out_9012508306389018670[408] = 0;
|
|
out_9012508306389018670[409] = 0;
|
|
out_9012508306389018670[410] = 0;
|
|
out_9012508306389018670[411] = 0;
|
|
out_9012508306389018670[412] = 0;
|
|
out_9012508306389018670[413] = 0;
|
|
out_9012508306389018670[414] = 0;
|
|
out_9012508306389018670[415] = 0;
|
|
out_9012508306389018670[416] = 0;
|
|
out_9012508306389018670[417] = 0;
|
|
out_9012508306389018670[418] = 1;
|
|
out_9012508306389018670[419] = 0;
|
|
out_9012508306389018670[420] = 0;
|
|
out_9012508306389018670[421] = 0;
|
|
out_9012508306389018670[422] = 0;
|
|
out_9012508306389018670[423] = 0;
|
|
out_9012508306389018670[424] = 0;
|
|
out_9012508306389018670[425] = 0;
|
|
out_9012508306389018670[426] = 0;
|
|
out_9012508306389018670[427] = 0;
|
|
out_9012508306389018670[428] = 0;
|
|
out_9012508306389018670[429] = 0;
|
|
out_9012508306389018670[430] = 0;
|
|
out_9012508306389018670[431] = 0;
|
|
out_9012508306389018670[432] = 0;
|
|
out_9012508306389018670[433] = 0;
|
|
out_9012508306389018670[434] = 0;
|
|
out_9012508306389018670[435] = 0;
|
|
out_9012508306389018670[436] = 0;
|
|
out_9012508306389018670[437] = 0;
|
|
out_9012508306389018670[438] = 0;
|
|
out_9012508306389018670[439] = 0;
|
|
out_9012508306389018670[440] = 1;
|
|
}
|
|
void h_4(double *state, double *unused, double *out_2657657745771735915) {
|
|
out_2657657745771735915[0] = state[10] + state[13];
|
|
out_2657657745771735915[1] = state[11] + state[14];
|
|
out_2657657745771735915[2] = state[12] + state[15];
|
|
}
|
|
void H_4(double *state, double *unused, double *out_1457735078816209632) {
|
|
out_1457735078816209632[0] = 0;
|
|
out_1457735078816209632[1] = 0;
|
|
out_1457735078816209632[2] = 0;
|
|
out_1457735078816209632[3] = 0;
|
|
out_1457735078816209632[4] = 0;
|
|
out_1457735078816209632[5] = 0;
|
|
out_1457735078816209632[6] = 0;
|
|
out_1457735078816209632[7] = 0;
|
|
out_1457735078816209632[8] = 0;
|
|
out_1457735078816209632[9] = 0;
|
|
out_1457735078816209632[10] = 1;
|
|
out_1457735078816209632[11] = 0;
|
|
out_1457735078816209632[12] = 0;
|
|
out_1457735078816209632[13] = 1;
|
|
out_1457735078816209632[14] = 0;
|
|
out_1457735078816209632[15] = 0;
|
|
out_1457735078816209632[16] = 0;
|
|
out_1457735078816209632[17] = 0;
|
|
out_1457735078816209632[18] = 0;
|
|
out_1457735078816209632[19] = 0;
|
|
out_1457735078816209632[20] = 0;
|
|
out_1457735078816209632[21] = 0;
|
|
out_1457735078816209632[22] = 0;
|
|
out_1457735078816209632[23] = 0;
|
|
out_1457735078816209632[24] = 0;
|
|
out_1457735078816209632[25] = 0;
|
|
out_1457735078816209632[26] = 0;
|
|
out_1457735078816209632[27] = 0;
|
|
out_1457735078816209632[28] = 0;
|
|
out_1457735078816209632[29] = 0;
|
|
out_1457735078816209632[30] = 0;
|
|
out_1457735078816209632[31] = 0;
|
|
out_1457735078816209632[32] = 0;
|
|
out_1457735078816209632[33] = 1;
|
|
out_1457735078816209632[34] = 0;
|
|
out_1457735078816209632[35] = 0;
|
|
out_1457735078816209632[36] = 1;
|
|
out_1457735078816209632[37] = 0;
|
|
out_1457735078816209632[38] = 0;
|
|
out_1457735078816209632[39] = 0;
|
|
out_1457735078816209632[40] = 0;
|
|
out_1457735078816209632[41] = 0;
|
|
out_1457735078816209632[42] = 0;
|
|
out_1457735078816209632[43] = 0;
|
|
out_1457735078816209632[44] = 0;
|
|
out_1457735078816209632[45] = 0;
|
|
out_1457735078816209632[46] = 0;
|
|
out_1457735078816209632[47] = 0;
|
|
out_1457735078816209632[48] = 0;
|
|
out_1457735078816209632[49] = 0;
|
|
out_1457735078816209632[50] = 0;
|
|
out_1457735078816209632[51] = 0;
|
|
out_1457735078816209632[52] = 0;
|
|
out_1457735078816209632[53] = 0;
|
|
out_1457735078816209632[54] = 0;
|
|
out_1457735078816209632[55] = 0;
|
|
out_1457735078816209632[56] = 1;
|
|
out_1457735078816209632[57] = 0;
|
|
out_1457735078816209632[58] = 0;
|
|
out_1457735078816209632[59] = 1;
|
|
out_1457735078816209632[60] = 0;
|
|
out_1457735078816209632[61] = 0;
|
|
out_1457735078816209632[62] = 0;
|
|
out_1457735078816209632[63] = 0;
|
|
out_1457735078816209632[64] = 0;
|
|
out_1457735078816209632[65] = 0;
|
|
}
|
|
void h_9(double *state, double *unused, double *out_181525824636861445) {
|
|
out_181525824636861445[0] = state[10];
|
|
out_181525824636861445[1] = state[11];
|
|
out_181525824636861445[2] = state[12];
|
|
}
|
|
void H_9(double *state, double *unused, double *out_8744954014080657102) {
|
|
out_8744954014080657102[0] = 0;
|
|
out_8744954014080657102[1] = 0;
|
|
out_8744954014080657102[2] = 0;
|
|
out_8744954014080657102[3] = 0;
|
|
out_8744954014080657102[4] = 0;
|
|
out_8744954014080657102[5] = 0;
|
|
out_8744954014080657102[6] = 0;
|
|
out_8744954014080657102[7] = 0;
|
|
out_8744954014080657102[8] = 0;
|
|
out_8744954014080657102[9] = 0;
|
|
out_8744954014080657102[10] = 1;
|
|
out_8744954014080657102[11] = 0;
|
|
out_8744954014080657102[12] = 0;
|
|
out_8744954014080657102[13] = 0;
|
|
out_8744954014080657102[14] = 0;
|
|
out_8744954014080657102[15] = 0;
|
|
out_8744954014080657102[16] = 0;
|
|
out_8744954014080657102[17] = 0;
|
|
out_8744954014080657102[18] = 0;
|
|
out_8744954014080657102[19] = 0;
|
|
out_8744954014080657102[20] = 0;
|
|
out_8744954014080657102[21] = 0;
|
|
out_8744954014080657102[22] = 0;
|
|
out_8744954014080657102[23] = 0;
|
|
out_8744954014080657102[24] = 0;
|
|
out_8744954014080657102[25] = 0;
|
|
out_8744954014080657102[26] = 0;
|
|
out_8744954014080657102[27] = 0;
|
|
out_8744954014080657102[28] = 0;
|
|
out_8744954014080657102[29] = 0;
|
|
out_8744954014080657102[30] = 0;
|
|
out_8744954014080657102[31] = 0;
|
|
out_8744954014080657102[32] = 0;
|
|
out_8744954014080657102[33] = 1;
|
|
out_8744954014080657102[34] = 0;
|
|
out_8744954014080657102[35] = 0;
|
|
out_8744954014080657102[36] = 0;
|
|
out_8744954014080657102[37] = 0;
|
|
out_8744954014080657102[38] = 0;
|
|
out_8744954014080657102[39] = 0;
|
|
out_8744954014080657102[40] = 0;
|
|
out_8744954014080657102[41] = 0;
|
|
out_8744954014080657102[42] = 0;
|
|
out_8744954014080657102[43] = 0;
|
|
out_8744954014080657102[44] = 0;
|
|
out_8744954014080657102[45] = 0;
|
|
out_8744954014080657102[46] = 0;
|
|
out_8744954014080657102[47] = 0;
|
|
out_8744954014080657102[48] = 0;
|
|
out_8744954014080657102[49] = 0;
|
|
out_8744954014080657102[50] = 0;
|
|
out_8744954014080657102[51] = 0;
|
|
out_8744954014080657102[52] = 0;
|
|
out_8744954014080657102[53] = 0;
|
|
out_8744954014080657102[54] = 0;
|
|
out_8744954014080657102[55] = 0;
|
|
out_8744954014080657102[56] = 1;
|
|
out_8744954014080657102[57] = 0;
|
|
out_8744954014080657102[58] = 0;
|
|
out_8744954014080657102[59] = 0;
|
|
out_8744954014080657102[60] = 0;
|
|
out_8744954014080657102[61] = 0;
|
|
out_8744954014080657102[62] = 0;
|
|
out_8744954014080657102[63] = 0;
|
|
out_8744954014080657102[64] = 0;
|
|
out_8744954014080657102[65] = 0;
|
|
}
|
|
void h_10(double *state, double *unused, double *out_2940864223365932608) {
|
|
out_2940864223365932608[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_2940864223365932608[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_2940864223365932608[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_6591157835936482265) {
|
|
out_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[7] = 0;
|
|
out_6591157835936482265[8] = 0;
|
|
out_6591157835936482265[9] = 0;
|
|
out_6591157835936482265[10] = 0;
|
|
out_6591157835936482265[11] = 0;
|
|
out_6591157835936482265[12] = 0;
|
|
out_6591157835936482265[13] = 0;
|
|
out_6591157835936482265[14] = 0;
|
|
out_6591157835936482265[15] = 0;
|
|
out_6591157835936482265[16] = 1;
|
|
out_6591157835936482265[17] = 0;
|
|
out_6591157835936482265[18] = 0;
|
|
out_6591157835936482265[19] = 1;
|
|
out_6591157835936482265[20] = 0;
|
|
out_6591157835936482265[21] = 0;
|
|
out_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[29] = 0;
|
|
out_6591157835936482265[30] = 0;
|
|
out_6591157835936482265[31] = 0;
|
|
out_6591157835936482265[32] = 0;
|
|
out_6591157835936482265[33] = 0;
|
|
out_6591157835936482265[34] = 0;
|
|
out_6591157835936482265[35] = 0;
|
|
out_6591157835936482265[36] = 0;
|
|
out_6591157835936482265[37] = 0;
|
|
out_6591157835936482265[38] = 0;
|
|
out_6591157835936482265[39] = 1;
|
|
out_6591157835936482265[40] = 0;
|
|
out_6591157835936482265[41] = 0;
|
|
out_6591157835936482265[42] = 1;
|
|
out_6591157835936482265[43] = 0;
|
|
out_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[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_6591157835936482265[51] = 0;
|
|
out_6591157835936482265[52] = 0;
|
|
out_6591157835936482265[53] = 0;
|
|
out_6591157835936482265[54] = 0;
|
|
out_6591157835936482265[55] = 0;
|
|
out_6591157835936482265[56] = 0;
|
|
out_6591157835936482265[57] = 0;
|
|
out_6591157835936482265[58] = 0;
|
|
out_6591157835936482265[59] = 0;
|
|
out_6591157835936482265[60] = 0;
|
|
out_6591157835936482265[61] = 0;
|
|
out_6591157835936482265[62] = 1;
|
|
out_6591157835936482265[63] = 0;
|
|
out_6591157835936482265[64] = 0;
|
|
out_6591157835936482265[65] = 1;
|
|
}
|
|
void h_12(double *state, double *unused, double *out_830811219903448800) {
|
|
out_830811219903448800[0] = state[0];
|
|
out_830811219903448800[1] = state[1];
|
|
out_830811219903448800[2] = state[2];
|
|
}
|
|
void H_12(double *state, double *unused, double *out_4923523298226523364) {
|
|
out_4923523298226523364[0] = 1;
|
|
out_4923523298226523364[1] = 0;
|
|
out_4923523298226523364[2] = 0;
|
|
out_4923523298226523364[3] = 0;
|
|
out_4923523298226523364[4] = 0;
|
|
out_4923523298226523364[5] = 0;
|
|
out_4923523298226523364[6] = 0;
|
|
out_4923523298226523364[7] = 0;
|
|
out_4923523298226523364[8] = 0;
|
|
out_4923523298226523364[9] = 0;
|
|
out_4923523298226523364[10] = 0;
|
|
out_4923523298226523364[11] = 0;
|
|
out_4923523298226523364[12] = 0;
|
|
out_4923523298226523364[13] = 0;
|
|
out_4923523298226523364[14] = 0;
|
|
out_4923523298226523364[15] = 0;
|
|
out_4923523298226523364[16] = 0;
|
|
out_4923523298226523364[17] = 0;
|
|
out_4923523298226523364[18] = 0;
|
|
out_4923523298226523364[19] = 0;
|
|
out_4923523298226523364[20] = 0;
|
|
out_4923523298226523364[21] = 0;
|
|
out_4923523298226523364[22] = 0;
|
|
out_4923523298226523364[23] = 1;
|
|
out_4923523298226523364[24] = 0;
|
|
out_4923523298226523364[25] = 0;
|
|
out_4923523298226523364[26] = 0;
|
|
out_4923523298226523364[27] = 0;
|
|
out_4923523298226523364[28] = 0;
|
|
out_4923523298226523364[29] = 0;
|
|
out_4923523298226523364[30] = 0;
|
|
out_4923523298226523364[31] = 0;
|
|
out_4923523298226523364[32] = 0;
|
|
out_4923523298226523364[33] = 0;
|
|
out_4923523298226523364[34] = 0;
|
|
out_4923523298226523364[35] = 0;
|
|
out_4923523298226523364[36] = 0;
|
|
out_4923523298226523364[37] = 0;
|
|
out_4923523298226523364[38] = 0;
|
|
out_4923523298226523364[39] = 0;
|
|
out_4923523298226523364[40] = 0;
|
|
out_4923523298226523364[41] = 0;
|
|
out_4923523298226523364[42] = 0;
|
|
out_4923523298226523364[43] = 0;
|
|
out_4923523298226523364[44] = 0;
|
|
out_4923523298226523364[45] = 0;
|
|
out_4923523298226523364[46] = 1;
|
|
out_4923523298226523364[47] = 0;
|
|
out_4923523298226523364[48] = 0;
|
|
out_4923523298226523364[49] = 0;
|
|
out_4923523298226523364[50] = 0;
|
|
out_4923523298226523364[51] = 0;
|
|
out_4923523298226523364[52] = 0;
|
|
out_4923523298226523364[53] = 0;
|
|
out_4923523298226523364[54] = 0;
|
|
out_4923523298226523364[55] = 0;
|
|
out_4923523298226523364[56] = 0;
|
|
out_4923523298226523364[57] = 0;
|
|
out_4923523298226523364[58] = 0;
|
|
out_4923523298226523364[59] = 0;
|
|
out_4923523298226523364[60] = 0;
|
|
out_4923523298226523364[61] = 0;
|
|
out_4923523298226523364[62] = 0;
|
|
out_4923523298226523364[63] = 0;
|
|
out_4923523298226523364[64] = 0;
|
|
out_4923523298226523364[65] = 0;
|
|
}
|
|
void h_35(double *state, double *unused, double *out_1177115113523305926) {
|
|
out_1177115113523305926[0] = state[7];
|
|
out_1177115113523305926[1] = state[8];
|
|
out_1177115113523305926[2] = state[9];
|
|
}
|
|
void H_35(double *state, double *unused, double *out_2177960265901509655) {
|
|
out_2177960265901509655[0] = 0;
|
|
out_2177960265901509655[1] = 0;
|
|
out_2177960265901509655[2] = 0;
|
|
out_2177960265901509655[3] = 0;
|
|
out_2177960265901509655[4] = 0;
|
|
out_2177960265901509655[5] = 0;
|
|
out_2177960265901509655[6] = 0;
|
|
out_2177960265901509655[7] = 1;
|
|
out_2177960265901509655[8] = 0;
|
|
out_2177960265901509655[9] = 0;
|
|
out_2177960265901509655[10] = 0;
|
|
out_2177960265901509655[11] = 0;
|
|
out_2177960265901509655[12] = 0;
|
|
out_2177960265901509655[13] = 0;
|
|
out_2177960265901509655[14] = 0;
|
|
out_2177960265901509655[15] = 0;
|
|
out_2177960265901509655[16] = 0;
|
|
out_2177960265901509655[17] = 0;
|
|
out_2177960265901509655[18] = 0;
|
|
out_2177960265901509655[19] = 0;
|
|
out_2177960265901509655[20] = 0;
|
|
out_2177960265901509655[21] = 0;
|
|
out_2177960265901509655[22] = 0;
|
|
out_2177960265901509655[23] = 0;
|
|
out_2177960265901509655[24] = 0;
|
|
out_2177960265901509655[25] = 0;
|
|
out_2177960265901509655[26] = 0;
|
|
out_2177960265901509655[27] = 0;
|
|
out_2177960265901509655[28] = 0;
|
|
out_2177960265901509655[29] = 0;
|
|
out_2177960265901509655[30] = 1;
|
|
out_2177960265901509655[31] = 0;
|
|
out_2177960265901509655[32] = 0;
|
|
out_2177960265901509655[33] = 0;
|
|
out_2177960265901509655[34] = 0;
|
|
out_2177960265901509655[35] = 0;
|
|
out_2177960265901509655[36] = 0;
|
|
out_2177960265901509655[37] = 0;
|
|
out_2177960265901509655[38] = 0;
|
|
out_2177960265901509655[39] = 0;
|
|
out_2177960265901509655[40] = 0;
|
|
out_2177960265901509655[41] = 0;
|
|
out_2177960265901509655[42] = 0;
|
|
out_2177960265901509655[43] = 0;
|
|
out_2177960265901509655[44] = 0;
|
|
out_2177960265901509655[45] = 0;
|
|
out_2177960265901509655[46] = 0;
|
|
out_2177960265901509655[47] = 0;
|
|
out_2177960265901509655[48] = 0;
|
|
out_2177960265901509655[49] = 0;
|
|
out_2177960265901509655[50] = 0;
|
|
out_2177960265901509655[51] = 0;
|
|
out_2177960265901509655[52] = 0;
|
|
out_2177960265901509655[53] = 1;
|
|
out_2177960265901509655[54] = 0;
|
|
out_2177960265901509655[55] = 0;
|
|
out_2177960265901509655[56] = 0;
|
|
out_2177960265901509655[57] = 0;
|
|
out_2177960265901509655[58] = 0;
|
|
out_2177960265901509655[59] = 0;
|
|
out_2177960265901509655[60] = 0;
|
|
out_2177960265901509655[61] = 0;
|
|
out_2177960265901509655[62] = 0;
|
|
out_2177960265901509655[63] = 0;
|
|
out_2177960265901509655[64] = 0;
|
|
out_2177960265901509655[65] = 0;
|
|
}
|
|
void h_32(double *state, double *unused, double *out_8970203849717307468) {
|
|
out_8970203849717307468[0] = state[3];
|
|
out_8970203849717307468[1] = state[4];
|
|
out_8970203849717307468[2] = state[5];
|
|
out_8970203849717307468[3] = state[6];
|
|
}
|
|
void H_32(double *state, double *unused, double *out_5493453269239321848) {
|
|
out_5493453269239321848[0] = 0;
|
|
out_5493453269239321848[1] = 0;
|
|
out_5493453269239321848[2] = 0;
|
|
out_5493453269239321848[3] = 1;
|
|
out_5493453269239321848[4] = 0;
|
|
out_5493453269239321848[5] = 0;
|
|
out_5493453269239321848[6] = 0;
|
|
out_5493453269239321848[7] = 0;
|
|
out_5493453269239321848[8] = 0;
|
|
out_5493453269239321848[9] = 0;
|
|
out_5493453269239321848[10] = 0;
|
|
out_5493453269239321848[11] = 0;
|
|
out_5493453269239321848[12] = 0;
|
|
out_5493453269239321848[13] = 0;
|
|
out_5493453269239321848[14] = 0;
|
|
out_5493453269239321848[15] = 0;
|
|
out_5493453269239321848[16] = 0;
|
|
out_5493453269239321848[17] = 0;
|
|
out_5493453269239321848[18] = 0;
|
|
out_5493453269239321848[19] = 0;
|
|
out_5493453269239321848[20] = 0;
|
|
out_5493453269239321848[21] = 0;
|
|
out_5493453269239321848[22] = 0;
|
|
out_5493453269239321848[23] = 0;
|
|
out_5493453269239321848[24] = 0;
|
|
out_5493453269239321848[25] = 0;
|
|
out_5493453269239321848[26] = 1;
|
|
out_5493453269239321848[27] = 0;
|
|
out_5493453269239321848[28] = 0;
|
|
out_5493453269239321848[29] = 0;
|
|
out_5493453269239321848[30] = 0;
|
|
out_5493453269239321848[31] = 0;
|
|
out_5493453269239321848[32] = 0;
|
|
out_5493453269239321848[33] = 0;
|
|
out_5493453269239321848[34] = 0;
|
|
out_5493453269239321848[35] = 0;
|
|
out_5493453269239321848[36] = 0;
|
|
out_5493453269239321848[37] = 0;
|
|
out_5493453269239321848[38] = 0;
|
|
out_5493453269239321848[39] = 0;
|
|
out_5493453269239321848[40] = 0;
|
|
out_5493453269239321848[41] = 0;
|
|
out_5493453269239321848[42] = 0;
|
|
out_5493453269239321848[43] = 0;
|
|
out_5493453269239321848[44] = 0;
|
|
out_5493453269239321848[45] = 0;
|
|
out_5493453269239321848[46] = 0;
|
|
out_5493453269239321848[47] = 0;
|
|
out_5493453269239321848[48] = 0;
|
|
out_5493453269239321848[49] = 1;
|
|
out_5493453269239321848[50] = 0;
|
|
out_5493453269239321848[51] = 0;
|
|
out_5493453269239321848[52] = 0;
|
|
out_5493453269239321848[53] = 0;
|
|
out_5493453269239321848[54] = 0;
|
|
out_5493453269239321848[55] = 0;
|
|
out_5493453269239321848[56] = 0;
|
|
out_5493453269239321848[57] = 0;
|
|
out_5493453269239321848[58] = 0;
|
|
out_5493453269239321848[59] = 0;
|
|
out_5493453269239321848[60] = 0;
|
|
out_5493453269239321848[61] = 0;
|
|
out_5493453269239321848[62] = 0;
|
|
out_5493453269239321848[63] = 0;
|
|
out_5493453269239321848[64] = 0;
|
|
out_5493453269239321848[65] = 0;
|
|
out_5493453269239321848[66] = 0;
|
|
out_5493453269239321848[67] = 0;
|
|
out_5493453269239321848[68] = 0;
|
|
out_5493453269239321848[69] = 0;
|
|
out_5493453269239321848[70] = 0;
|
|
out_5493453269239321848[71] = 0;
|
|
out_5493453269239321848[72] = 1;
|
|
out_5493453269239321848[73] = 0;
|
|
out_5493453269239321848[74] = 0;
|
|
out_5493453269239321848[75] = 0;
|
|
out_5493453269239321848[76] = 0;
|
|
out_5493453269239321848[77] = 0;
|
|
out_5493453269239321848[78] = 0;
|
|
out_5493453269239321848[79] = 0;
|
|
out_5493453269239321848[80] = 0;
|
|
out_5493453269239321848[81] = 0;
|
|
out_5493453269239321848[82] = 0;
|
|
out_5493453269239321848[83] = 0;
|
|
out_5493453269239321848[84] = 0;
|
|
out_5493453269239321848[85] = 0;
|
|
out_5493453269239321848[86] = 0;
|
|
out_5493453269239321848[87] = 0;
|
|
}
|
|
void h_13(double *state, double *unused, double *out_1337448462981849436) {
|
|
out_1337448462981849436[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_1337448462981849436[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_1337448462981849436[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_2400089242629978824) {
|
|
out_2400089242629978824[0] = 0;
|
|
out_2400089242629978824[1] = 0;
|
|
out_2400089242629978824[2] = 0;
|
|
out_2400089242629978824[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8];
|
|
out_2400089242629978824[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
|
|
out_2400089242629978824[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7];
|
|
out_2400089242629978824[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7];
|
|
out_2400089242629978824[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2);
|
|
out_2400089242629978824[8] = 2*state[3]*state[6] + 2*state[4]*state[5];
|
|
out_2400089242629978824[9] = -2*state[3]*state[5] + 2*state[4]*state[6];
|
|
out_2400089242629978824[10] = 0;
|
|
out_2400089242629978824[11] = 0;
|
|
out_2400089242629978824[12] = 0;
|
|
out_2400089242629978824[13] = 0;
|
|
out_2400089242629978824[14] = 0;
|
|
out_2400089242629978824[15] = 0;
|
|
out_2400089242629978824[16] = 0;
|
|
out_2400089242629978824[17] = 0;
|
|
out_2400089242629978824[18] = 0;
|
|
out_2400089242629978824[19] = 0;
|
|
out_2400089242629978824[20] = 0;
|
|
out_2400089242629978824[21] = 0;
|
|
out_2400089242629978824[22] = 0;
|
|
out_2400089242629978824[23] = 0;
|
|
out_2400089242629978824[24] = 0;
|
|
out_2400089242629978824[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7];
|
|
out_2400089242629978824[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7];
|
|
out_2400089242629978824[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
|
|
out_2400089242629978824[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8];
|
|
out_2400089242629978824[29] = -2*state[3]*state[6] + 2*state[4]*state[5];
|
|
out_2400089242629978824[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2);
|
|
out_2400089242629978824[31] = 2*state[3]*state[4] + 2*state[5]*state[6];
|
|
out_2400089242629978824[32] = 0;
|
|
out_2400089242629978824[33] = 0;
|
|
out_2400089242629978824[34] = 0;
|
|
out_2400089242629978824[35] = 0;
|
|
out_2400089242629978824[36] = 0;
|
|
out_2400089242629978824[37] = 0;
|
|
out_2400089242629978824[38] = 0;
|
|
out_2400089242629978824[39] = 0;
|
|
out_2400089242629978824[40] = 0;
|
|
out_2400089242629978824[41] = 0;
|
|
out_2400089242629978824[42] = 0;
|
|
out_2400089242629978824[43] = 0;
|
|
out_2400089242629978824[44] = 0;
|
|
out_2400089242629978824[45] = 0;
|
|
out_2400089242629978824[46] = 0;
|
|
out_2400089242629978824[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7];
|
|
out_2400089242629978824[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7];
|
|
out_2400089242629978824[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8];
|
|
out_2400089242629978824[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9];
|
|
out_2400089242629978824[51] = 2*state[3]*state[5] + 2*state[4]*state[6];
|
|
out_2400089242629978824[52] = -2*state[3]*state[4] + 2*state[5]*state[6];
|
|
out_2400089242629978824[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2);
|
|
out_2400089242629978824[54] = 0;
|
|
out_2400089242629978824[55] = 0;
|
|
out_2400089242629978824[56] = 0;
|
|
out_2400089242629978824[57] = 0;
|
|
out_2400089242629978824[58] = 0;
|
|
out_2400089242629978824[59] = 0;
|
|
out_2400089242629978824[60] = 0;
|
|
out_2400089242629978824[61] = 0;
|
|
out_2400089242629978824[62] = 0;
|
|
out_2400089242629978824[63] = 0;
|
|
out_2400089242629978824[64] = 0;
|
|
out_2400089242629978824[65] = 0;
|
|
}
|
|
void h_14(double *state, double *unused, double *out_181525824636861445) {
|
|
out_181525824636861445[0] = state[10];
|
|
out_181525824636861445[1] = state[11];
|
|
out_181525824636861445[2] = state[12];
|
|
}
|
|
void H_14(double *state, double *unused, double *out_8744954014080657102) {
|
|
out_8744954014080657102[0] = 0;
|
|
out_8744954014080657102[1] = 0;
|
|
out_8744954014080657102[2] = 0;
|
|
out_8744954014080657102[3] = 0;
|
|
out_8744954014080657102[4] = 0;
|
|
out_8744954014080657102[5] = 0;
|
|
out_8744954014080657102[6] = 0;
|
|
out_8744954014080657102[7] = 0;
|
|
out_8744954014080657102[8] = 0;
|
|
out_8744954014080657102[9] = 0;
|
|
out_8744954014080657102[10] = 1;
|
|
out_8744954014080657102[11] = 0;
|
|
out_8744954014080657102[12] = 0;
|
|
out_8744954014080657102[13] = 0;
|
|
out_8744954014080657102[14] = 0;
|
|
out_8744954014080657102[15] = 0;
|
|
out_8744954014080657102[16] = 0;
|
|
out_8744954014080657102[17] = 0;
|
|
out_8744954014080657102[18] = 0;
|
|
out_8744954014080657102[19] = 0;
|
|
out_8744954014080657102[20] = 0;
|
|
out_8744954014080657102[21] = 0;
|
|
out_8744954014080657102[22] = 0;
|
|
out_8744954014080657102[23] = 0;
|
|
out_8744954014080657102[24] = 0;
|
|
out_8744954014080657102[25] = 0;
|
|
out_8744954014080657102[26] = 0;
|
|
out_8744954014080657102[27] = 0;
|
|
out_8744954014080657102[28] = 0;
|
|
out_8744954014080657102[29] = 0;
|
|
out_8744954014080657102[30] = 0;
|
|
out_8744954014080657102[31] = 0;
|
|
out_8744954014080657102[32] = 0;
|
|
out_8744954014080657102[33] = 1;
|
|
out_8744954014080657102[34] = 0;
|
|
out_8744954014080657102[35] = 0;
|
|
out_8744954014080657102[36] = 0;
|
|
out_8744954014080657102[37] = 0;
|
|
out_8744954014080657102[38] = 0;
|
|
out_8744954014080657102[39] = 0;
|
|
out_8744954014080657102[40] = 0;
|
|
out_8744954014080657102[41] = 0;
|
|
out_8744954014080657102[42] = 0;
|
|
out_8744954014080657102[43] = 0;
|
|
out_8744954014080657102[44] = 0;
|
|
out_8744954014080657102[45] = 0;
|
|
out_8744954014080657102[46] = 0;
|
|
out_8744954014080657102[47] = 0;
|
|
out_8744954014080657102[48] = 0;
|
|
out_8744954014080657102[49] = 0;
|
|
out_8744954014080657102[50] = 0;
|
|
out_8744954014080657102[51] = 0;
|
|
out_8744954014080657102[52] = 0;
|
|
out_8744954014080657102[53] = 0;
|
|
out_8744954014080657102[54] = 0;
|
|
out_8744954014080657102[55] = 0;
|
|
out_8744954014080657102[56] = 1;
|
|
out_8744954014080657102[57] = 0;
|
|
out_8744954014080657102[58] = 0;
|
|
out_8744954014080657102[59] = 0;
|
|
out_8744954014080657102[60] = 0;
|
|
out_8744954014080657102[61] = 0;
|
|
out_8744954014080657102[62] = 0;
|
|
out_8744954014080657102[63] = 0;
|
|
out_8744954014080657102[64] = 0;
|
|
out_8744954014080657102[65] = 0;
|
|
}
|
|
void h_33(double *state, double *unused, double *out_3078698583527751553) {
|
|
out_3078698583527751553[0] = state[16];
|
|
out_3078698583527751553[1] = state[17];
|
|
out_3078698583527751553[2] = state[18];
|
|
}
|
|
void H_33(double *state, double *unused, double *out_972596738737347949) {
|
|
out_972596738737347949[0] = 0;
|
|
out_972596738737347949[1] = 0;
|
|
out_972596738737347949[2] = 0;
|
|
out_972596738737347949[3] = 0;
|
|
out_972596738737347949[4] = 0;
|
|
out_972596738737347949[5] = 0;
|
|
out_972596738737347949[6] = 0;
|
|
out_972596738737347949[7] = 0;
|
|
out_972596738737347949[8] = 0;
|
|
out_972596738737347949[9] = 0;
|
|
out_972596738737347949[10] = 0;
|
|
out_972596738737347949[11] = 0;
|
|
out_972596738737347949[12] = 0;
|
|
out_972596738737347949[13] = 0;
|
|
out_972596738737347949[14] = 0;
|
|
out_972596738737347949[15] = 0;
|
|
out_972596738737347949[16] = 1;
|
|
out_972596738737347949[17] = 0;
|
|
out_972596738737347949[18] = 0;
|
|
out_972596738737347949[19] = 0;
|
|
out_972596738737347949[20] = 0;
|
|
out_972596738737347949[21] = 0;
|
|
out_972596738737347949[22] = 0;
|
|
out_972596738737347949[23] = 0;
|
|
out_972596738737347949[24] = 0;
|
|
out_972596738737347949[25] = 0;
|
|
out_972596738737347949[26] = 0;
|
|
out_972596738737347949[27] = 0;
|
|
out_972596738737347949[28] = 0;
|
|
out_972596738737347949[29] = 0;
|
|
out_972596738737347949[30] = 0;
|
|
out_972596738737347949[31] = 0;
|
|
out_972596738737347949[32] = 0;
|
|
out_972596738737347949[33] = 0;
|
|
out_972596738737347949[34] = 0;
|
|
out_972596738737347949[35] = 0;
|
|
out_972596738737347949[36] = 0;
|
|
out_972596738737347949[37] = 0;
|
|
out_972596738737347949[38] = 0;
|
|
out_972596738737347949[39] = 1;
|
|
out_972596738737347949[40] = 0;
|
|
out_972596738737347949[41] = 0;
|
|
out_972596738737347949[42] = 0;
|
|
out_972596738737347949[43] = 0;
|
|
out_972596738737347949[44] = 0;
|
|
out_972596738737347949[45] = 0;
|
|
out_972596738737347949[46] = 0;
|
|
out_972596738737347949[47] = 0;
|
|
out_972596738737347949[48] = 0;
|
|
out_972596738737347949[49] = 0;
|
|
out_972596738737347949[50] = 0;
|
|
out_972596738737347949[51] = 0;
|
|
out_972596738737347949[52] = 0;
|
|
out_972596738737347949[53] = 0;
|
|
out_972596738737347949[54] = 0;
|
|
out_972596738737347949[55] = 0;
|
|
out_972596738737347949[56] = 0;
|
|
out_972596738737347949[57] = 0;
|
|
out_972596738737347949[58] = 0;
|
|
out_972596738737347949[59] = 0;
|
|
out_972596738737347949[60] = 0;
|
|
out_972596738737347949[61] = 0;
|
|
out_972596738737347949[62] = 1;
|
|
out_972596738737347949[63] = 0;
|
|
out_972596738737347949[64] = 0;
|
|
out_972596738737347949[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_8536236811475430067) {
|
|
H(in_vec, out_8536236811475430067);
|
|
}
|
|
void live_err_fun(double *nom_x, double *delta_x, double *out_4614868058485758139) {
|
|
err_fun(nom_x, delta_x, out_4614868058485758139);
|
|
}
|
|
void live_inv_err_fun(double *nom_x, double *true_x, double *out_8573554928028298681) {
|
|
inv_err_fun(nom_x, true_x, out_8573554928028298681);
|
|
}
|
|
void live_H_mod_fun(double *state, double *out_6128852447133223565) {
|
|
H_mod_fun(state, out_6128852447133223565);
|
|
}
|
|
void live_f_fun(double *state, double dt, double *out_7195534889995166041) {
|
|
f_fun(state, dt, out_7195534889995166041);
|
|
}
|
|
void live_F_fun(double *state, double dt, double *out_9012508306389018670) {
|
|
F_fun(state, dt, out_9012508306389018670);
|
|
}
|
|
void live_h_4(double *state, double *unused, double *out_2657657745771735915) {
|
|
h_4(state, unused, out_2657657745771735915);
|
|
}
|
|
void live_H_4(double *state, double *unused, double *out_1457735078816209632) {
|
|
H_4(state, unused, out_1457735078816209632);
|
|
}
|
|
void live_h_9(double *state, double *unused, double *out_181525824636861445) {
|
|
h_9(state, unused, out_181525824636861445);
|
|
}
|
|
void live_H_9(double *state, double *unused, double *out_8744954014080657102) {
|
|
H_9(state, unused, out_8744954014080657102);
|
|
}
|
|
void live_h_10(double *state, double *unused, double *out_2940864223365932608) {
|
|
h_10(state, unused, out_2940864223365932608);
|
|
}
|
|
void live_H_10(double *state, double *unused, double *out_6591157835936482265) {
|
|
H_10(state, unused, out_6591157835936482265);
|
|
}
|
|
void live_h_12(double *state, double *unused, double *out_830811219903448800) {
|
|
h_12(state, unused, out_830811219903448800);
|
|
}
|
|
void live_H_12(double *state, double *unused, double *out_4923523298226523364) {
|
|
H_12(state, unused, out_4923523298226523364);
|
|
}
|
|
void live_h_35(double *state, double *unused, double *out_1177115113523305926) {
|
|
h_35(state, unused, out_1177115113523305926);
|
|
}
|
|
void live_H_35(double *state, double *unused, double *out_2177960265901509655) {
|
|
H_35(state, unused, out_2177960265901509655);
|
|
}
|
|
void live_h_32(double *state, double *unused, double *out_8970203849717307468) {
|
|
h_32(state, unused, out_8970203849717307468);
|
|
}
|
|
void live_H_32(double *state, double *unused, double *out_5493453269239321848) {
|
|
H_32(state, unused, out_5493453269239321848);
|
|
}
|
|
void live_h_13(double *state, double *unused, double *out_1337448462981849436) {
|
|
h_13(state, unused, out_1337448462981849436);
|
|
}
|
|
void live_H_13(double *state, double *unused, double *out_2400089242629978824) {
|
|
H_13(state, unused, out_2400089242629978824);
|
|
}
|
|
void live_h_14(double *state, double *unused, double *out_181525824636861445) {
|
|
h_14(state, unused, out_181525824636861445);
|
|
}
|
|
void live_H_14(double *state, double *unused, double *out_8744954014080657102) {
|
|
H_14(state, unused, out_8744954014080657102);
|
|
}
|
|
void live_h_33(double *state, double *unused, double *out_3078698583527751553) {
|
|
h_33(state, unused, out_3078698583527751553);
|
|
}
|
|
void live_H_33(double *state, double *unused, double *out_972596738737347949) {
|
|
H_33(state, unused, out_972596738737347949);
|
|
}
|
|
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_lib_init(live)
|