diff --git a/cereal/dp.capnp b/cereal/dp.capnp index a8fdb8e37..a4176eebb 100644 --- a/cereal/dp.capnp +++ b/cereal/dp.capnp @@ -46,4 +46,5 @@ struct DragonConf { dpE2EConditionalAtSpeedLead @38 :UInt8; dpE2EConditionalAdaptFp @39 :Bool; dpE2EConditionalAdaptAp @40 :Bool; + dpE2EConditionalVoacc @41 :Bool; } diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so index 02087bb70..0452bc550 100755 Binary files a/cereal/libcereal_shared.so and b/cereal/libcereal_shared.so differ diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so index 172af5973..dc855397b 100755 Binary files a/cereal/visionipc/visionipc_pyx.so and b/cereal/visionipc/visionipc_pyx.so differ diff --git a/common/dp_conf.py b/common/dp_conf.py index 42964015f..21eebe936 100644 --- a/common/dp_conf.py +++ b/common/dp_conf.py @@ -142,6 +142,7 @@ confs = [ {'name': 'dp_e2e_conditional_at_speed_lead', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']}, {'name': 'dp_e2e_conditional_adapt_fp', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']}, {'name': 'dp_e2e_conditional_adapt_ap', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']}, + {'name': 'dp_e2e_conditional_voacc', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']}, # {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, # {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, diff --git a/common/params_pyx.so b/common/params_pyx.so index ef51c38f6..6e3429229 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/common/version.h b/common/version.h index 8cfcd1ef7..749f75a68 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "2022.11.30" +#define COMMA_VERSION "2022.12.23" diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so index c2ae0c1e3..52da65f2f 100755 Binary files a/opendbc/can/libdbc.so and b/opendbc/can/libdbc.so differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 04828f9b1..e1404d446 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 34dce9f98..0e6a808c9 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda.bin.sspoof.signed b/panda/board/obj/panda.bin.sspoof.signed index 992d3f34a..070ac2e61 100644 Binary files a/panda/board/obj/panda.bin.sspoof.signed and b/panda/board/obj/panda.bin.sspoof.signed differ diff --git a/panda/board/obj/panda.bin.testing.signed b/panda/board/obj/panda.bin.testing.signed index 7b0984151..f1ba65390 100644 Binary files a/panda/board/obj/panda.bin.testing.signed and b/panda/board/obj/panda.bin.testing.signed differ diff --git a/panda/board/obj/panda.bin.testing.sspoof.signed b/panda/board/obj/panda.bin.testing.sspoof.signed index a28afd201..03e5f1e1d 100644 Binary files a/panda/board/obj/panda.bin.testing.sspoof.signed and b/panda/board/obj/panda.bin.testing.sspoof.signed differ diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so index 400592193..7d9c6efec 100755 Binary files a/rednose/helpers/ekf_sym_pyx.so and b/rednose/helpers/ekf_sym_pyx.so differ diff --git a/selfdrive/boardd/boardd b/selfdrive/boardd/boardd index 4e5979863..299f76c6c 100755 Binary files a/selfdrive/boardd/boardd and b/selfdrive/boardd/boardd differ diff --git a/selfdrive/boardd/boardd_api_impl.so b/selfdrive/boardd/boardd_api_impl.so index eb5cae403..20672e558 100755 Binary files a/selfdrive/boardd/boardd_api_impl.so and b/selfdrive/boardd/boardd_api_impl.so differ diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 17944762e..092381152 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -399,7 +399,7 @@ class Controls: if not self.sm['liveLocationKalman'].deviceStable: self.events.add(EventName.deviceFalling) - if not REPLAY: + if self.sm['dragonConf'].dpAtl == 0 and not REPLAY: # Check for mismatch between openpilot and car's PCM cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0 @@ -560,6 +560,8 @@ class Controls: # DISABLED elif self.state == State.disabled: + if CS.cruiseState.available and not CS.cruiseActualEnabled and self.sm['dragonConf'].dpAtl > 0 and not self.events.any(ET.NO_ENTRY): + self.state = State.overriding if self.events.any(ET.ENABLE): if self.events.any(ET.NO_ENTRY): self.current_alert_types.append(ET.NO_ENTRY) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 63aaa465b..a2c8cbac7 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -51,12 +51,20 @@ _DP_CRUISE_MAX_V_ECO = [2.5, 1.3, 1.2, 0.7, 0.48, 0.35, 0.25, 0.15, 0.12, 0.06] _DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 2.5, 1.5, 2.0, 2.0, 2.0, 1.5, 1.0, 0.5] _DP_CRUISE_MAX_BP = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.] -# count n times before we decide a lead is there or not -_DP_E2E_LEAD_COUNT = 50 -# lead distance -_DP_E2E_LEAD_DIST = 50 +# d-e2e, from modeldata.h +TRAJECTORY_SIZE = 33 -_DP_E2E_SNG_COUNT = 250 +_DP_E2E_LEAD_COUNT = 5 + +_DP_E2E_STOP_BP = [0., 10., 20., 30., 40., 50., 55.] +_DP_E2E_STOP_DIST = [10, 30., 50., 70., 80., 90., 120.] +_DP_E2E_STOP_COUNT = 5 + +_DP_E2E_SNG_COUNT = 5 +_DP_E2E_SNG_ACC_COUNT = 5 +_DP_E2E_SWAP_COUNT = 10 + +_DP_E2E_TF_COUNT = 5 def dp_calc_cruise_accel_limits(v_ego, dp_profile): if dp_profile == DP_ACCEL_ECO: @@ -95,10 +103,14 @@ class LongitudinalPlanner: self.dp_e2e_has_lead = False self.dp_e2e_lead_last = False self.dp_e2e_lead_count = 0 - self.dp_e2e_mode_last = 'acc' self.dp_e2e_sng = False self.dp_e2e_sng_count = 0 self.dp_e2e_standstill_last = False + self.dp_e2e_swap_count = 0 + self.dp_e2e_stop_count = 0 + self.dp_e2e_tf = T_FOLLOW + self.dp_e2e_tf_count = 0 + self.CP = CP self.params = Params() @@ -129,69 +141,103 @@ class LongitudinalPlanner: self.events = Events() self.turn_speed_controller = TurnSpeedController() self.dp_e2e_adapt_ap = False + self.dp_e2e_adapt_fp = False def read_param(self): e2e = self.params.get_bool('ExperimentalMode') and self.CP.openpilotLongitudinalControl self.mpc.mode = 'blended' if e2e else 'acc' - # dp - conditional e2e - def conditional_e2e(self, standstill, within_speed_condition, e2e_lead, within_speed_condition_lead): + def _set_dp_e2e_mode(self, mode, force=False): reset_state = False - # lead counter - # to avoid lead comes and go too quickly causing mode switching too fast - # we count _DP_E2E_LEAD_COUNT before we update lead existence. - if e2e_lead != self.dp_e2e_lead_last: - self.dp_e2e_lead_count = 0 + if force: + self.dp_e2e_swap_count = 0 + if self.mpc.mode != mode: + reset_state = True + self.mpc.mode = mode + return reset_state + + # prevent switching in a short period of time. + if self.mpc.mode == mode: + self.dp_e2e_swap_count = 0 else: - self.dp_e2e_lead_count += 1 + self.dp_e2e_swap_count += 1 - # when lead status count > _DP_E2E_LEAD_COUNT, we update actual lead status - if self.dp_e2e_lead_count >= _DP_E2E_LEAD_COUNT: - self.dp_e2e_has_lead = e2e_lead - - if not standstill and self.dp_e2e_standstill_last: - self.dp_e2e_sng = True - - if self.dp_e2e_sng: - self.dp_e2e_sng_count += 1 - if self.dp_e2e_sng_count >= _DP_E2E_SNG_COUNT: - self.dp_e2e_sng = False - self.dp_e2e_sng = 0 - - dp_e2e_mode = 'acc' - # standstill uses e2e, to prevent lead suddenly move away. - if standstill: - self.dp_e2e_sng = 0 - self.dp_e2e_sng = False - dp_e2e_mode = 'blended' - else: - # lead is driving below x km/h - if self.dp_e2e_has_lead: - if within_speed_condition_lead: - dp_e2e_mode = 'blended' - else: - # within speed condition and does not have a lead, use e2e - if within_speed_condition: - dp_e2e_mode = 'blended' - - self.mpc.mode = dp_e2e_mode - if dp_e2e_mode != self.dp_e2e_mode_last: + if self.dp_e2e_swap_count >= _DP_E2E_SWAP_COUNT: + # if self.mpc.mode != mode: + # reset_state = True + self.mpc.mode = mode reset_state = True - self.dp_e2e_lead_last = e2e_lead - self.dp_e2e_mode_last = dp_e2e_mode - self.dp_e2e_standstill_last = standstill - return reset_state + def conditional_e2e(self, sm): + v_ego_kph = sm['carState'].vEgo * 3.6 + standstill = sm['carState'].standstill + + # lead detection with buffer + lead = sm['radarState'].leadOne + lead_dist = lead.dRel + + # make sure it see lead enough time + if lead.status != self.dp_e2e_lead_last: + self.dp_e2e_lead_count = 0 + else: + self.dp_e2e_lead_count += 1 + if self.dp_e2e_lead_count >= _DP_E2E_LEAD_COUNT: + self.dp_e2e_has_lead = lead.status + self.dp_e2e_lead_last = lead.status + + # when standstill, always e2e + if standstill: + self.dp_e2e_sng_count = 0 + self.dp_e2e_sng = False + return self._set_dp_e2e_mode('blended') + + if self.dp_e2e_standstill_last and not standstill: + self.dp_e2e_sng = True + + # when sng, we e2e for 0.5 secs + if self.dp_e2e_sng: + self.dp_e2e_sng_count += 1 + if self.dp_e2e_sng_count > _DP_E2E_SNG_COUNT: + if self.dp_e2e_sng_count > _DP_E2E_SNG_ACC_COUNT: + self.dp_e2e_sng = False + return self._set_dp_e2e_mode('acc') + return self._set_dp_e2e_mode('blended') + + # when we see a lead + if sm['dragonConf'].dpE2EConditionalVoacc and self.dp_e2e_has_lead: + # drive above conditional speed and lead is too close + if lead_dist <= v_ego_kph * self.dp_e2e_tf * interp(v_ego_kph, [50., 60., 80.], [1.30, 1.20, 1.10]) / 3.6: + self.dp_e2e_tf_count += 1 + else: + self.dp_e2e_tf_count = 0 + if self.dp_e2e_tf_count > _DP_E2E_TF_COUNT: + return self._set_dp_e2e_mode('blended') + + # stop sign detection + md = sm['modelV2'] + if abs(sm['carState'].steeringAngleDeg) <= 60 and len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE: + if md.position.x[TRAJECTORY_SIZE - 1] < interp(v_ego_kph, _DP_E2E_STOP_BP, _DP_E2E_STOP_DIST): + self.dp_e2e_stop_count += 1 + else: + self.dp_e2e_stop_count = 0 + else: + self.dp_e2e_stop_count = 0 + + if self.dp_e2e_stop_count >= _DP_E2E_STOP_COUNT: + return self._set_dp_e2e_mode('blended') + + return self._set_dp_e2e_mode('acc') + @staticmethod - def parse_model(model_msg, model_error): + def parse_model(model_msg): #, model_error): if (len(model_msg.position.x) == 33 and len(model_msg.velocity.x) == 33 and len(model_msg.acceleration.x) == 33): - x = np.interp(T_IDXS_MPC, T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC - v = np.interp(T_IDXS_MPC, T_IDXS, model_msg.velocity.x) - model_error + x = np.interp(T_IDXS_MPC, T_IDXS, model_msg.position.x) #- model_error * T_IDXS_MPC + v = np.interp(T_IDXS_MPC, T_IDXS, model_msg.velocity.x) #- model_error a = np.interp(T_IDXS_MPC, T_IDXS, model_msg.acceleration.x) j = np.zeros(len(T_IDXS_MPC)) else: @@ -203,7 +249,7 @@ class LongitudinalPlanner: def get_df(self, v_ego): desired_tf = T_FOLLOW - if not self.dp_e2e_adapt_ap and self.mpc.mode == 'blended': + if not self.dp_e2e_adapt_fp and self.mpc.mode == 'blended': return desired_tf if self.dp_following_profile_ctrl: if self.dp_following_profile == 0: @@ -237,11 +283,8 @@ class LongitudinalPlanner: if sm['dragonConf'].dpE2EConditional: self.dp_e2e_adapt_ap = sm['dragonConf'].dpE2EConditionalAdaptAp - e2e_lead = sm['radarState'].leadOne.status and sm['radarState'].leadOne.dRel <= _DP_E2E_LEAD_DIST - within_speed_condition = sm['controlsState'].vCruise <= sm['dragonConf'].dpE2EConditionalAtSpeed - within_speed_condition_lead = (sm['radarState'].leadOne.vRel + sm['carState'].vEgo)*3.6 <= sm['dragonConf'].dpE2EConditionalAtSpeedLead - if self.conditional_e2e(sm['carState'].standstill, within_speed_condition, e2e_lead, within_speed_condition_lead): - dp_reset_state = True + self.dp_e2e_adapt_fp = sm['dragonConf'].dpE2EConditionalAdaptFp + dp_reset_state = self.conditional_e2e(sm) else: if self.param_read_counter % 50 == 0 and read: self.read_param() @@ -283,8 +326,8 @@ class LongitudinalPlanner: # Prevent divergence, smooth in current v_ego self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) # Compute model v_ego error - if len(sm['modelV2'].temporalPose.trans): - self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego + # if len(sm['modelV2'].temporalPose.trans): + # self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego # Get acceleration and active solutions for custom long mpc. self.cruise_source, a_min_sol, v_cruise_sol = self.cruise_solutions(not reset_state, self.v_desired_filter.x, @@ -302,8 +345,9 @@ class LongitudinalPlanner: # self.mpc.set_weights(prev_accel_constraint) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) - x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) - self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, x, v, a, j, prev_accel_constraint, self.get_df(v_ego)) + x, v, a, j = self.parse_model(sm['modelV2']) #, self.v_model_error) + self.dp_e2e_tf = self.get_df(v_ego) + self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, x, v, a, j, prev_accel_constraint, self.dp_e2e_tf) self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution) self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution) diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index 4bb017926..862e4983e 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -5,6 +5,9 @@ from common.kalman.simple_kalman import KF1D # Default lead acceleration decay set to 50% at 1s _LEAD_ACCEL_TAU = 1.5 +# Hack to maintain vision lead state +_vision_lead_aTau = {0: _LEAD_ACCEL_TAU, 1: _LEAD_ACCEL_TAU} + # radar tracks SPEED, ACCEL = 0, 1 # Kalman filter states enum @@ -130,15 +133,21 @@ class Cluster(): "aLeadTau": float(self.aLeadTau) } - def get_RadarState_from_vision(self, lead_msg, v_ego): + def get_RadarState_from_vision(self, lead_msg, lead_index, v_ego): + # Learn if constant acceleration + if abs(float(lead_msg.a[0])) < 0.5: + _vision_lead_aTau[lead_index] = _LEAD_ACCEL_TAU + else: + _vision_lead_aTau[lead_index] *= 0.9 + return { "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA), "yRel": float(-lead_msg.y[0]), "vRel": float(lead_msg.v[0] - v_ego), "vLead": float(lead_msg.v[0]), "vLeadK": float(lead_msg.v[0]), - "aLeadK": float(0), - "aLeadTau": _LEAD_ACCEL_TAU, + "aLeadK": float(lead_msg.a[0]), + "aLeadTau": _vision_lead_aTau[lead_index], "fcw": False, "modelProb": float(lead_msg.prob), "radar": False, diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 66e47f552..d5c5a8be0 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -65,7 +65,7 @@ def match_vision_to_cluster(v_ego, lead, clusters): return None -def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True): +def get_lead(v_ego, ready, clusters, lead_msg, lead_index, low_speed_override=True): # Determine leads, this is where the essential logic happens if len(clusters) > 0 and ready and lead_msg.prob > .5: cluster = match_vision_to_cluster(v_ego, lead_msg, clusters) @@ -76,7 +76,7 @@ def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True): if cluster is not None: lead_dict = cluster.get_RadarState(lead_msg.prob) elif (cluster is None) and ready and (lead_msg.prob > .5): - lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego) + lead_dict = Cluster().get_RadarState_from_vision(lead_msg, lead_index, v_ego) if low_speed_override: low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)] @@ -172,8 +172,8 @@ class RadarD(): leads_v3 = sm['modelV2'].leadsV3 if len(leads_v3) > 1: - radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True) - radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False) + radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], 0, low_speed_override=True) + radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], 1, low_speed_override=False) return dat diff --git a/selfdrive/locationd/locationd b/selfdrive/locationd/locationd index 38a10c63f..2c3c2f9ae 100755 Binary files a/selfdrive/locationd/locationd and b/selfdrive/locationd/locationd differ diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 134225d93..7d82e9ecd 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_7743502251243671447) { - out_7743502251243671447[0] = delta_x[0] + nom_x[0]; - out_7743502251243671447[1] = delta_x[1] + nom_x[1]; - out_7743502251243671447[2] = delta_x[2] + nom_x[2]; - out_7743502251243671447[3] = delta_x[3] + nom_x[3]; - out_7743502251243671447[4] = delta_x[4] + nom_x[4]; - out_7743502251243671447[5] = delta_x[5] + nom_x[5]; - out_7743502251243671447[6] = delta_x[6] + nom_x[6]; - out_7743502251243671447[7] = delta_x[7] + nom_x[7]; - out_7743502251243671447[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8581923876106076715) { + out_8581923876106076715[0] = delta_x[0] + nom_x[0]; + out_8581923876106076715[1] = delta_x[1] + nom_x[1]; + out_8581923876106076715[2] = delta_x[2] + nom_x[2]; + out_8581923876106076715[3] = delta_x[3] + nom_x[3]; + out_8581923876106076715[4] = delta_x[4] + nom_x[4]; + out_8581923876106076715[5] = delta_x[5] + nom_x[5]; + out_8581923876106076715[6] = delta_x[6] + nom_x[6]; + out_8581923876106076715[7] = delta_x[7] + nom_x[7]; + out_8581923876106076715[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8632432640030731669) { - out_8632432640030731669[0] = -nom_x[0] + true_x[0]; - out_8632432640030731669[1] = -nom_x[1] + true_x[1]; - out_8632432640030731669[2] = -nom_x[2] + true_x[2]; - out_8632432640030731669[3] = -nom_x[3] + true_x[3]; - out_8632432640030731669[4] = -nom_x[4] + true_x[4]; - out_8632432640030731669[5] = -nom_x[5] + true_x[5]; - out_8632432640030731669[6] = -nom_x[6] + true_x[6]; - out_8632432640030731669[7] = -nom_x[7] + true_x[7]; - out_8632432640030731669[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4891521151268278961) { + out_4891521151268278961[0] = -nom_x[0] + true_x[0]; + out_4891521151268278961[1] = -nom_x[1] + true_x[1]; + out_4891521151268278961[2] = -nom_x[2] + true_x[2]; + out_4891521151268278961[3] = -nom_x[3] + true_x[3]; + out_4891521151268278961[4] = -nom_x[4] + true_x[4]; + out_4891521151268278961[5] = -nom_x[5] + true_x[5]; + out_4891521151268278961[6] = -nom_x[6] + true_x[6]; + out_4891521151268278961[7] = -nom_x[7] + true_x[7]; + out_4891521151268278961[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6955983744751080330) { - out_6955983744751080330[0] = 1.0; - out_6955983744751080330[1] = 0; - out_6955983744751080330[2] = 0; - out_6955983744751080330[3] = 0; - out_6955983744751080330[4] = 0; - out_6955983744751080330[5] = 0; - out_6955983744751080330[6] = 0; - out_6955983744751080330[7] = 0; - out_6955983744751080330[8] = 0; - out_6955983744751080330[9] = 0; - out_6955983744751080330[10] = 1.0; - out_6955983744751080330[11] = 0; - out_6955983744751080330[12] = 0; - out_6955983744751080330[13] = 0; - out_6955983744751080330[14] = 0; - out_6955983744751080330[15] = 0; - out_6955983744751080330[16] = 0; - out_6955983744751080330[17] = 0; - out_6955983744751080330[18] = 0; - out_6955983744751080330[19] = 0; - out_6955983744751080330[20] = 1.0; - out_6955983744751080330[21] = 0; - out_6955983744751080330[22] = 0; - out_6955983744751080330[23] = 0; - out_6955983744751080330[24] = 0; - out_6955983744751080330[25] = 0; - out_6955983744751080330[26] = 0; - out_6955983744751080330[27] = 0; - out_6955983744751080330[28] = 0; - out_6955983744751080330[29] = 0; - out_6955983744751080330[30] = 1.0; - out_6955983744751080330[31] = 0; - out_6955983744751080330[32] = 0; - out_6955983744751080330[33] = 0; - out_6955983744751080330[34] = 0; - out_6955983744751080330[35] = 0; - out_6955983744751080330[36] = 0; - out_6955983744751080330[37] = 0; - out_6955983744751080330[38] = 0; - out_6955983744751080330[39] = 0; - out_6955983744751080330[40] = 1.0; - out_6955983744751080330[41] = 0; - out_6955983744751080330[42] = 0; - out_6955983744751080330[43] = 0; - out_6955983744751080330[44] = 0; - out_6955983744751080330[45] = 0; - out_6955983744751080330[46] = 0; - out_6955983744751080330[47] = 0; - out_6955983744751080330[48] = 0; - out_6955983744751080330[49] = 0; - out_6955983744751080330[50] = 1.0; - out_6955983744751080330[51] = 0; - out_6955983744751080330[52] = 0; - out_6955983744751080330[53] = 0; - out_6955983744751080330[54] = 0; - out_6955983744751080330[55] = 0; - out_6955983744751080330[56] = 0; - out_6955983744751080330[57] = 0; - out_6955983744751080330[58] = 0; - out_6955983744751080330[59] = 0; - out_6955983744751080330[60] = 1.0; - out_6955983744751080330[61] = 0; - out_6955983744751080330[62] = 0; - out_6955983744751080330[63] = 0; - out_6955983744751080330[64] = 0; - out_6955983744751080330[65] = 0; - out_6955983744751080330[66] = 0; - out_6955983744751080330[67] = 0; - out_6955983744751080330[68] = 0; - out_6955983744751080330[69] = 0; - out_6955983744751080330[70] = 1.0; - out_6955983744751080330[71] = 0; - out_6955983744751080330[72] = 0; - out_6955983744751080330[73] = 0; - out_6955983744751080330[74] = 0; - out_6955983744751080330[75] = 0; - out_6955983744751080330[76] = 0; - out_6955983744751080330[77] = 0; - out_6955983744751080330[78] = 0; - out_6955983744751080330[79] = 0; - out_6955983744751080330[80] = 1.0; +void H_mod_fun(double *state, double *out_6523549794488946483) { + out_6523549794488946483[0] = 1.0; + out_6523549794488946483[1] = 0; + out_6523549794488946483[2] = 0; + out_6523549794488946483[3] = 0; + out_6523549794488946483[4] = 0; + out_6523549794488946483[5] = 0; + out_6523549794488946483[6] = 0; + out_6523549794488946483[7] = 0; + out_6523549794488946483[8] = 0; + out_6523549794488946483[9] = 0; + out_6523549794488946483[10] = 1.0; + out_6523549794488946483[11] = 0; + out_6523549794488946483[12] = 0; + out_6523549794488946483[13] = 0; + out_6523549794488946483[14] = 0; + out_6523549794488946483[15] = 0; + out_6523549794488946483[16] = 0; + out_6523549794488946483[17] = 0; + out_6523549794488946483[18] = 0; + out_6523549794488946483[19] = 0; + out_6523549794488946483[20] = 1.0; + out_6523549794488946483[21] = 0; + out_6523549794488946483[22] = 0; + out_6523549794488946483[23] = 0; + out_6523549794488946483[24] = 0; + out_6523549794488946483[25] = 0; + out_6523549794488946483[26] = 0; + out_6523549794488946483[27] = 0; + out_6523549794488946483[28] = 0; + out_6523549794488946483[29] = 0; + out_6523549794488946483[30] = 1.0; + out_6523549794488946483[31] = 0; + out_6523549794488946483[32] = 0; + out_6523549794488946483[33] = 0; + out_6523549794488946483[34] = 0; + out_6523549794488946483[35] = 0; + out_6523549794488946483[36] = 0; + out_6523549794488946483[37] = 0; + out_6523549794488946483[38] = 0; + out_6523549794488946483[39] = 0; + out_6523549794488946483[40] = 1.0; + out_6523549794488946483[41] = 0; + out_6523549794488946483[42] = 0; + out_6523549794488946483[43] = 0; + out_6523549794488946483[44] = 0; + out_6523549794488946483[45] = 0; + out_6523549794488946483[46] = 0; + out_6523549794488946483[47] = 0; + out_6523549794488946483[48] = 0; + out_6523549794488946483[49] = 0; + out_6523549794488946483[50] = 1.0; + out_6523549794488946483[51] = 0; + out_6523549794488946483[52] = 0; + out_6523549794488946483[53] = 0; + out_6523549794488946483[54] = 0; + out_6523549794488946483[55] = 0; + out_6523549794488946483[56] = 0; + out_6523549794488946483[57] = 0; + out_6523549794488946483[58] = 0; + out_6523549794488946483[59] = 0; + out_6523549794488946483[60] = 1.0; + out_6523549794488946483[61] = 0; + out_6523549794488946483[62] = 0; + out_6523549794488946483[63] = 0; + out_6523549794488946483[64] = 0; + out_6523549794488946483[65] = 0; + out_6523549794488946483[66] = 0; + out_6523549794488946483[67] = 0; + out_6523549794488946483[68] = 0; + out_6523549794488946483[69] = 0; + out_6523549794488946483[70] = 1.0; + out_6523549794488946483[71] = 0; + out_6523549794488946483[72] = 0; + out_6523549794488946483[73] = 0; + out_6523549794488946483[74] = 0; + out_6523549794488946483[75] = 0; + out_6523549794488946483[76] = 0; + out_6523549794488946483[77] = 0; + out_6523549794488946483[78] = 0; + out_6523549794488946483[79] = 0; + out_6523549794488946483[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1057256165937700131) { - out_1057256165937700131[0] = state[0]; - out_1057256165937700131[1] = state[1]; - out_1057256165937700131[2] = state[2]; - out_1057256165937700131[3] = state[3]; - out_1057256165937700131[4] = state[4]; - out_1057256165937700131[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_1057256165937700131[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_1057256165937700131[7] = state[7]; - out_1057256165937700131[8] = state[8]; +void f_fun(double *state, double dt, double *out_3111820312432597939) { + out_3111820312432597939[0] = state[0]; + out_3111820312432597939[1] = state[1]; + out_3111820312432597939[2] = state[2]; + out_3111820312432597939[3] = state[3]; + out_3111820312432597939[4] = state[4]; + out_3111820312432597939[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_3111820312432597939[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_3111820312432597939[7] = state[7]; + out_3111820312432597939[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2042254547319901591) { - out_2042254547319901591[0] = 1; - out_2042254547319901591[1] = 0; - out_2042254547319901591[2] = 0; - out_2042254547319901591[3] = 0; - out_2042254547319901591[4] = 0; - out_2042254547319901591[5] = 0; - out_2042254547319901591[6] = 0; - out_2042254547319901591[7] = 0; - out_2042254547319901591[8] = 0; - out_2042254547319901591[9] = 0; - out_2042254547319901591[10] = 1; - out_2042254547319901591[11] = 0; - out_2042254547319901591[12] = 0; - out_2042254547319901591[13] = 0; - out_2042254547319901591[14] = 0; - out_2042254547319901591[15] = 0; - out_2042254547319901591[16] = 0; - out_2042254547319901591[17] = 0; - out_2042254547319901591[18] = 0; - out_2042254547319901591[19] = 0; - out_2042254547319901591[20] = 1; - out_2042254547319901591[21] = 0; - out_2042254547319901591[22] = 0; - out_2042254547319901591[23] = 0; - out_2042254547319901591[24] = 0; - out_2042254547319901591[25] = 0; - out_2042254547319901591[26] = 0; - out_2042254547319901591[27] = 0; - out_2042254547319901591[28] = 0; - out_2042254547319901591[29] = 0; - out_2042254547319901591[30] = 1; - out_2042254547319901591[31] = 0; - out_2042254547319901591[32] = 0; - out_2042254547319901591[33] = 0; - out_2042254547319901591[34] = 0; - out_2042254547319901591[35] = 0; - out_2042254547319901591[36] = 0; - out_2042254547319901591[37] = 0; - out_2042254547319901591[38] = 0; - out_2042254547319901591[39] = 0; - out_2042254547319901591[40] = 1; - out_2042254547319901591[41] = 0; - out_2042254547319901591[42] = 0; - out_2042254547319901591[43] = 0; - out_2042254547319901591[44] = 0; - out_2042254547319901591[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_2042254547319901591[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2042254547319901591[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2042254547319901591[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2042254547319901591[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_2042254547319901591[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2042254547319901591[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2042254547319901591[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2042254547319901591[53] = -9.8000000000000007*dt; - out_2042254547319901591[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_2042254547319901591[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2042254547319901591[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2042254547319901591[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2042254547319901591[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_2042254547319901591[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2042254547319901591[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_2042254547319901591[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2042254547319901591[62] = 0; - out_2042254547319901591[63] = 0; - out_2042254547319901591[64] = 0; - out_2042254547319901591[65] = 0; - out_2042254547319901591[66] = 0; - out_2042254547319901591[67] = 0; - out_2042254547319901591[68] = 0; - out_2042254547319901591[69] = 0; - out_2042254547319901591[70] = 1; - out_2042254547319901591[71] = 0; - out_2042254547319901591[72] = 0; - out_2042254547319901591[73] = 0; - out_2042254547319901591[74] = 0; - out_2042254547319901591[75] = 0; - out_2042254547319901591[76] = 0; - out_2042254547319901591[77] = 0; - out_2042254547319901591[78] = 0; - out_2042254547319901591[79] = 0; - out_2042254547319901591[80] = 1; +void F_fun(double *state, double dt, double *out_5596968740727191559) { + out_5596968740727191559[0] = 1; + out_5596968740727191559[1] = 0; + out_5596968740727191559[2] = 0; + out_5596968740727191559[3] = 0; + out_5596968740727191559[4] = 0; + out_5596968740727191559[5] = 0; + out_5596968740727191559[6] = 0; + out_5596968740727191559[7] = 0; + out_5596968740727191559[8] = 0; + out_5596968740727191559[9] = 0; + out_5596968740727191559[10] = 1; + out_5596968740727191559[11] = 0; + out_5596968740727191559[12] = 0; + out_5596968740727191559[13] = 0; + out_5596968740727191559[14] = 0; + out_5596968740727191559[15] = 0; + out_5596968740727191559[16] = 0; + out_5596968740727191559[17] = 0; + out_5596968740727191559[18] = 0; + out_5596968740727191559[19] = 0; + out_5596968740727191559[20] = 1; + out_5596968740727191559[21] = 0; + out_5596968740727191559[22] = 0; + out_5596968740727191559[23] = 0; + out_5596968740727191559[24] = 0; + out_5596968740727191559[25] = 0; + out_5596968740727191559[26] = 0; + out_5596968740727191559[27] = 0; + out_5596968740727191559[28] = 0; + out_5596968740727191559[29] = 0; + out_5596968740727191559[30] = 1; + out_5596968740727191559[31] = 0; + out_5596968740727191559[32] = 0; + out_5596968740727191559[33] = 0; + out_5596968740727191559[34] = 0; + out_5596968740727191559[35] = 0; + out_5596968740727191559[36] = 0; + out_5596968740727191559[37] = 0; + out_5596968740727191559[38] = 0; + out_5596968740727191559[39] = 0; + out_5596968740727191559[40] = 1; + out_5596968740727191559[41] = 0; + out_5596968740727191559[42] = 0; + out_5596968740727191559[43] = 0; + out_5596968740727191559[44] = 0; + out_5596968740727191559[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_5596968740727191559[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5596968740727191559[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5596968740727191559[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5596968740727191559[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_5596968740727191559[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5596968740727191559[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5596968740727191559[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5596968740727191559[53] = -9.8000000000000007*dt; + out_5596968740727191559[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_5596968740727191559[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5596968740727191559[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5596968740727191559[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5596968740727191559[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_5596968740727191559[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5596968740727191559[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_5596968740727191559[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5596968740727191559[62] = 0; + out_5596968740727191559[63] = 0; + out_5596968740727191559[64] = 0; + out_5596968740727191559[65] = 0; + out_5596968740727191559[66] = 0; + out_5596968740727191559[67] = 0; + out_5596968740727191559[68] = 0; + out_5596968740727191559[69] = 0; + out_5596968740727191559[70] = 1; + out_5596968740727191559[71] = 0; + out_5596968740727191559[72] = 0; + out_5596968740727191559[73] = 0; + out_5596968740727191559[74] = 0; + out_5596968740727191559[75] = 0; + out_5596968740727191559[76] = 0; + out_5596968740727191559[77] = 0; + out_5596968740727191559[78] = 0; + out_5596968740727191559[79] = 0; + out_5596968740727191559[80] = 1; } -void h_25(double *state, double *unused, double *out_9038137973563738704) { - out_9038137973563738704[0] = state[6]; +void h_25(double *state, double *unused, double *out_8255502319032992897) { + out_8255502319032992897[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6219790086191979796) { - out_6219790086191979796[0] = 0; - out_6219790086191979796[1] = 0; - out_6219790086191979796[2] = 0; - out_6219790086191979796[3] = 0; - out_6219790086191979796[4] = 0; - out_6219790086191979796[5] = 0; - out_6219790086191979796[6] = 1; - out_6219790086191979796[7] = 0; - out_6219790086191979796[8] = 0; +void H_25(double *state, double *unused, double *out_8118118653173567889) { + out_8118118653173567889[0] = 0; + out_8118118653173567889[1] = 0; + out_8118118653173567889[2] = 0; + out_8118118653173567889[3] = 0; + out_8118118653173567889[4] = 0; + out_8118118653173567889[5] = 0; + out_8118118653173567889[6] = 1; + out_8118118653173567889[7] = 0; + out_8118118653173567889[8] = 0; } -void h_24(double *state, double *unused, double *out_8933773235415263694) { - out_8933773235415263694[0] = state[4]; - out_8933773235415263694[1] = state[5]; +void h_24(double *state, double *unused, double *out_5005612245441996689) { + out_5005612245441996689[0] = state[4]; + out_5005612245441996689[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2661864487389656660) { - out_2661864487389656660[0] = 0; - out_2661864487389656660[1] = 0; - out_2661864487389656660[2] = 0; - out_2661864487389656660[3] = 0; - out_2661864487389656660[4] = 1; - out_2661864487389656660[5] = 0; - out_2661864487389656660[6] = 0; - out_2661864487389656660[7] = 0; - out_2661864487389656660[8] = 0; - out_2661864487389656660[9] = 0; - out_2661864487389656660[10] = 0; - out_2661864487389656660[11] = 0; - out_2661864487389656660[12] = 0; - out_2661864487389656660[13] = 0; - out_2661864487389656660[14] = 1; - out_2661864487389656660[15] = 0; - out_2661864487389656660[16] = 0; - out_2661864487389656660[17] = 0; +void H_24(double *state, double *unused, double *out_5892410869194699327) { + out_5892410869194699327[0] = 0; + out_5892410869194699327[1] = 0; + out_5892410869194699327[2] = 0; + out_5892410869194699327[3] = 0; + out_5892410869194699327[4] = 1; + out_5892410869194699327[5] = 0; + out_5892410869194699327[6] = 0; + out_5892410869194699327[7] = 0; + out_5892410869194699327[8] = 0; + out_5892410869194699327[9] = 0; + out_5892410869194699327[10] = 0; + out_5892410869194699327[11] = 0; + out_5892410869194699327[12] = 0; + out_5892410869194699327[13] = 0; + out_5892410869194699327[14] = 1; + out_5892410869194699327[15] = 0; + out_5892410869194699327[16] = 0; + out_5892410869194699327[17] = 0; } -void h_30(double *state, double *unused, double *out_1353345261140371077) { - out_1353345261140371077[0] = state[4]; +void h_30(double *state, double *unused, double *out_3420406528326207783) { + out_3420406528326207783[0] = state[4]; } -void H_30(double *state, double *unused, double *out_3701457127684731169) { - out_3701457127684731169[0] = 0; - out_3701457127684731169[1] = 0; - out_3701457127684731169[2] = 0; - out_3701457127684731169[3] = 0; - out_3701457127684731169[4] = 1; - out_3701457127684731169[5] = 0; - out_3701457127684731169[6] = 0; - out_3701457127684731169[7] = 0; - out_3701457127684731169[8] = 0; +void H_30(double *state, double *unused, double *out_1201428311681951134) { + out_1201428311681951134[0] = 0; + out_1201428311681951134[1] = 0; + out_1201428311681951134[2] = 0; + out_1201428311681951134[3] = 0; + out_1201428311681951134[4] = 1; + out_1201428311681951134[5] = 0; + out_1201428311681951134[6] = 0; + out_1201428311681951134[7] = 0; + out_1201428311681951134[8] = 0; } -void h_26(double *state, double *unused, double *out_3791544801975276460) { - out_3791544801975276460[0] = state[7]; +void h_26(double *state, double *unused, double *out_1805500687509117164) { + out_1805500687509117164[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8485450668643515596) { - out_8485450668643515596[0] = 0; - out_8485450668643515596[1] = 0; - out_8485450668643515596[2] = 0; - out_8485450668643515596[3] = 0; - out_8485450668643515596[4] = 0; - out_8485450668643515596[5] = 0; - out_8485450668643515596[6] = 0; - out_8485450668643515596[7] = 1; - out_8485450668643515596[8] = 0; +void H_26(double *state, double *unused, double *out_6587122101661927503) { + out_6587122101661927503[0] = 0; + out_6587122101661927503[1] = 0; + out_6587122101661927503[2] = 0; + out_6587122101661927503[3] = 0; + out_6587122101661927503[4] = 0; + out_6587122101661927503[5] = 0; + out_6587122101661927503[6] = 0; + out_6587122101661927503[7] = 1; + out_6587122101661927503[8] = 0; } -void h_27(double *state, double *unused, double *out_4406932832484967267) { - out_4406932832484967267[0] = state[3]; +void h_27(double *state, double *unused, double *out_9023497953600416982) { + out_9023497953600416982[0] = state[3]; } -void H_27(double *state, double *unused, double *out_5876220439485156080) { - out_5876220439485156080[0] = 0; - out_5876220439485156080[1] = 0; - out_5876220439485156080[2] = 0; - out_5876220439485156080[3] = 1; - out_5876220439485156080[4] = 0; - out_5876220439485156080[5] = 0; - out_5876220439485156080[6] = 0; - out_5876220439485156080[7] = 0; - out_5876220439485156080[8] = 0; +void H_27(double *state, double *unused, double *out_3376191623482376045) { + out_3376191623482376045[0] = 0; + out_3376191623482376045[1] = 0; + out_3376191623482376045[2] = 0; + out_3376191623482376045[3] = 1; + out_3376191623482376045[4] = 0; + out_3376191623482376045[5] = 0; + out_3376191623482376045[6] = 0; + out_3376191623482376045[7] = 0; + out_3376191623482376045[8] = 0; } -void h_29(double *state, double *unused, double *out_6276545984403911908) { - out_6276545984403911908[0] = state[1]; +void h_29(double *state, double *unused, double *out_9148052057824628745) { + out_9148052057824628745[0] = state[1]; } -void H_29(double *state, double *unused, double *out_3191225783370338985) { - out_3191225783370338985[0] = 0; - out_3191225783370338985[1] = 1; - out_3191225783370338985[2] = 0; - out_3191225783370338985[3] = 0; - out_3191225783370338985[4] = 0; - out_3191225783370338985[5] = 0; - out_3191225783370338985[6] = 0; - out_3191225783370338985[7] = 0; - out_3191225783370338985[8] = 0; +void H_29(double *state, double *unused, double *out_691196967367558950) { + out_691196967367558950[0] = 0; + out_691196967367558950[1] = 1; + out_691196967367558950[2] = 0; + out_691196967367558950[3] = 0; + out_691196967367558950[4] = 0; + out_691196967367558950[5] = 0; + out_691196967367558950[6] = 0; + out_691196967367558950[7] = 0; + out_691196967367558950[8] = 0; } -void h_28(double *state, double *unused, double *out_7011338153293664918) { - out_7011338153293664918[0] = state[0]; +void h_28(double *state, double *unused, double *out_402702707668658192) { + out_402702707668658192[0] = state[0]; } -void H_28(double *state, double *unused, double *out_8273624800439869559) { - out_8273624800439869559[0] = 1; - out_8273624800439869559[1] = 0; - out_8273624800439869559[2] = 0; - out_8273624800439869559[3] = 0; - out_8273624800439869559[4] = 0; - out_8273624800439869559[5] = 0; - out_8273624800439869559[6] = 0; - out_8273624800439869559[7] = 0; - out_8273624800439869559[8] = 0; +void H_28(double *state, double *unused, double *out_5773595984437089524) { + out_5773595984437089524[0] = 1; + out_5773595984437089524[1] = 0; + out_5773595984437089524[2] = 0; + out_5773595984437089524[3] = 0; + out_5773595984437089524[4] = 0; + out_5773595984437089524[5] = 0; + out_5773595984437089524[6] = 0; + out_5773595984437089524[7] = 0; + out_5773595984437089524[8] = 0; } -void h_31(double *state, double *unused, double *out_8647698245415467134) { - out_8647698245415467134[0] = state[8]; +void h_31(double *state, double *unused, double *out_6661654130949307838) { + out_6661654130949307838[0] = state[8]; } -void H_31(double *state, double *unused, double *out_7859242566410164120) { - out_7859242566410164120[0] = 0; - out_7859242566410164120[1] = 0; - out_7859242566410164120[2] = 0; - out_7859242566410164120[3] = 0; - out_7859242566410164120[4] = 0; - out_7859242566410164120[5] = 0; - out_7859242566410164120[6] = 0; - out_7859242566410164120[7] = 0; - out_7859242566410164120[8] = 1; +void H_31(double *state, double *unused, double *out_8087472691296607461) { + out_8087472691296607461[0] = 0; + out_8087472691296607461[1] = 0; + out_8087472691296607461[2] = 0; + out_8087472691296607461[3] = 0; + out_8087472691296607461[4] = 0; + out_8087472691296607461[5] = 0; + out_8087472691296607461[6] = 0; + out_8087472691296607461[7] = 0; + out_8087472691296607461[8] = 1; } #include #include @@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); } -void car_err_fun(double *nom_x, double *delta_x, double *out_7743502251243671447) { - err_fun(nom_x, delta_x, out_7743502251243671447); +void car_err_fun(double *nom_x, double *delta_x, double *out_8581923876106076715) { + err_fun(nom_x, delta_x, out_8581923876106076715); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8632432640030731669) { - inv_err_fun(nom_x, true_x, out_8632432640030731669); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4891521151268278961) { + inv_err_fun(nom_x, true_x, out_4891521151268278961); } -void car_H_mod_fun(double *state, double *out_6955983744751080330) { - H_mod_fun(state, out_6955983744751080330); +void car_H_mod_fun(double *state, double *out_6523549794488946483) { + H_mod_fun(state, out_6523549794488946483); } -void car_f_fun(double *state, double dt, double *out_1057256165937700131) { - f_fun(state, dt, out_1057256165937700131); +void car_f_fun(double *state, double dt, double *out_3111820312432597939) { + f_fun(state, dt, out_3111820312432597939); } -void car_F_fun(double *state, double dt, double *out_2042254547319901591) { - F_fun(state, dt, out_2042254547319901591); +void car_F_fun(double *state, double dt, double *out_5596968740727191559) { + F_fun(state, dt, out_5596968740727191559); } -void car_h_25(double *state, double *unused, double *out_9038137973563738704) { - h_25(state, unused, out_9038137973563738704); +void car_h_25(double *state, double *unused, double *out_8255502319032992897) { + h_25(state, unused, out_8255502319032992897); } -void car_H_25(double *state, double *unused, double *out_6219790086191979796) { - H_25(state, unused, out_6219790086191979796); +void car_H_25(double *state, double *unused, double *out_8118118653173567889) { + H_25(state, unused, out_8118118653173567889); } -void car_h_24(double *state, double *unused, double *out_8933773235415263694) { - h_24(state, unused, out_8933773235415263694); +void car_h_24(double *state, double *unused, double *out_5005612245441996689) { + h_24(state, unused, out_5005612245441996689); } -void car_H_24(double *state, double *unused, double *out_2661864487389656660) { - H_24(state, unused, out_2661864487389656660); +void car_H_24(double *state, double *unused, double *out_5892410869194699327) { + H_24(state, unused, out_5892410869194699327); } -void car_h_30(double *state, double *unused, double *out_1353345261140371077) { - h_30(state, unused, out_1353345261140371077); +void car_h_30(double *state, double *unused, double *out_3420406528326207783) { + h_30(state, unused, out_3420406528326207783); } -void car_H_30(double *state, double *unused, double *out_3701457127684731169) { - H_30(state, unused, out_3701457127684731169); +void car_H_30(double *state, double *unused, double *out_1201428311681951134) { + H_30(state, unused, out_1201428311681951134); } -void car_h_26(double *state, double *unused, double *out_3791544801975276460) { - h_26(state, unused, out_3791544801975276460); +void car_h_26(double *state, double *unused, double *out_1805500687509117164) { + h_26(state, unused, out_1805500687509117164); } -void car_H_26(double *state, double *unused, double *out_8485450668643515596) { - H_26(state, unused, out_8485450668643515596); +void car_H_26(double *state, double *unused, double *out_6587122101661927503) { + H_26(state, unused, out_6587122101661927503); } -void car_h_27(double *state, double *unused, double *out_4406932832484967267) { - h_27(state, unused, out_4406932832484967267); +void car_h_27(double *state, double *unused, double *out_9023497953600416982) { + h_27(state, unused, out_9023497953600416982); } -void car_H_27(double *state, double *unused, double *out_5876220439485156080) { - H_27(state, unused, out_5876220439485156080); +void car_H_27(double *state, double *unused, double *out_3376191623482376045) { + H_27(state, unused, out_3376191623482376045); } -void car_h_29(double *state, double *unused, double *out_6276545984403911908) { - h_29(state, unused, out_6276545984403911908); +void car_h_29(double *state, double *unused, double *out_9148052057824628745) { + h_29(state, unused, out_9148052057824628745); } -void car_H_29(double *state, double *unused, double *out_3191225783370338985) { - H_29(state, unused, out_3191225783370338985); +void car_H_29(double *state, double *unused, double *out_691196967367558950) { + H_29(state, unused, out_691196967367558950); } -void car_h_28(double *state, double *unused, double *out_7011338153293664918) { - h_28(state, unused, out_7011338153293664918); +void car_h_28(double *state, double *unused, double *out_402702707668658192) { + h_28(state, unused, out_402702707668658192); } -void car_H_28(double *state, double *unused, double *out_8273624800439869559) { - H_28(state, unused, out_8273624800439869559); +void car_H_28(double *state, double *unused, double *out_5773595984437089524) { + H_28(state, unused, out_5773595984437089524); } -void car_h_31(double *state, double *unused, double *out_8647698245415467134) { - h_31(state, unused, out_8647698245415467134); +void car_h_31(double *state, double *unused, double *out_6661654130949307838) { + h_31(state, unused, out_6661654130949307838); } -void car_H_31(double *state, double *unused, double *out_7859242566410164120) { - H_31(state, unused, out_7859242566410164120); +void car_H_31(double *state, double *unused, double *out_8087472691296607461) { + H_31(state, unused, out_8087472691296607461); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index f17ba728f..1aa9a62a6 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_7743502251243671447); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8632432640030731669); -void car_H_mod_fun(double *state, double *out_6955983744751080330); -void car_f_fun(double *state, double dt, double *out_1057256165937700131); -void car_F_fun(double *state, double dt, double *out_2042254547319901591); -void car_h_25(double *state, double *unused, double *out_9038137973563738704); -void car_H_25(double *state, double *unused, double *out_6219790086191979796); -void car_h_24(double *state, double *unused, double *out_8933773235415263694); -void car_H_24(double *state, double *unused, double *out_2661864487389656660); -void car_h_30(double *state, double *unused, double *out_1353345261140371077); -void car_H_30(double *state, double *unused, double *out_3701457127684731169); -void car_h_26(double *state, double *unused, double *out_3791544801975276460); -void car_H_26(double *state, double *unused, double *out_8485450668643515596); -void car_h_27(double *state, double *unused, double *out_4406932832484967267); -void car_H_27(double *state, double *unused, double *out_5876220439485156080); -void car_h_29(double *state, double *unused, double *out_6276545984403911908); -void car_H_29(double *state, double *unused, double *out_3191225783370338985); -void car_h_28(double *state, double *unused, double *out_7011338153293664918); -void car_H_28(double *state, double *unused, double *out_8273624800439869559); -void car_h_31(double *state, double *unused, double *out_8647698245415467134); -void car_H_31(double *state, double *unused, double *out_7859242566410164120); +void car_err_fun(double *nom_x, double *delta_x, double *out_8581923876106076715); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4891521151268278961); +void car_H_mod_fun(double *state, double *out_6523549794488946483); +void car_f_fun(double *state, double dt, double *out_3111820312432597939); +void car_F_fun(double *state, double dt, double *out_5596968740727191559); +void car_h_25(double *state, double *unused, double *out_8255502319032992897); +void car_H_25(double *state, double *unused, double *out_8118118653173567889); +void car_h_24(double *state, double *unused, double *out_5005612245441996689); +void car_H_24(double *state, double *unused, double *out_5892410869194699327); +void car_h_30(double *state, double *unused, double *out_3420406528326207783); +void car_H_30(double *state, double *unused, double *out_1201428311681951134); +void car_h_26(double *state, double *unused, double *out_1805500687509117164); +void car_H_26(double *state, double *unused, double *out_6587122101661927503); +void car_h_27(double *state, double *unused, double *out_9023497953600416982); +void car_H_27(double *state, double *unused, double *out_3376191623482376045); +void car_h_29(double *state, double *unused, double *out_9148052057824628745); +void car_H_29(double *state, double *unused, double *out_691196967367558950); +void car_h_28(double *state, double *unused, double *out_402702707668658192); +void car_H_28(double *state, double *unused, double *out_5773595984437089524); +void car_h_31(double *state, double *unused, double *out_6661654130949307838); +void car_H_31(double *state, double *unused, double *out_8087472691296607461); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/gnss.cpp b/selfdrive/locationd/models/generated/gnss.cpp index 1fe3a8d1d..607b62872 100644 --- a/selfdrive/locationd/models/generated/gnss.cpp +++ b/selfdrive/locationd/models/generated/gnss.cpp @@ -17,354 +17,354 @@ const static double MAHA_THRESH_21 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_1734633203049768488) { - out_1734633203049768488[0] = delta_x[0] + nom_x[0]; - out_1734633203049768488[1] = delta_x[1] + nom_x[1]; - out_1734633203049768488[2] = delta_x[2] + nom_x[2]; - out_1734633203049768488[3] = delta_x[3] + nom_x[3]; - out_1734633203049768488[4] = delta_x[4] + nom_x[4]; - out_1734633203049768488[5] = delta_x[5] + nom_x[5]; - out_1734633203049768488[6] = delta_x[6] + nom_x[6]; - out_1734633203049768488[7] = delta_x[7] + nom_x[7]; - out_1734633203049768488[8] = delta_x[8] + nom_x[8]; - out_1734633203049768488[9] = delta_x[9] + nom_x[9]; - out_1734633203049768488[10] = delta_x[10] + nom_x[10]; +void err_fun(double *nom_x, double *delta_x, double *out_6740791193231733360) { + out_6740791193231733360[0] = delta_x[0] + nom_x[0]; + out_6740791193231733360[1] = delta_x[1] + nom_x[1]; + out_6740791193231733360[2] = delta_x[2] + nom_x[2]; + out_6740791193231733360[3] = delta_x[3] + nom_x[3]; + out_6740791193231733360[4] = delta_x[4] + nom_x[4]; + out_6740791193231733360[5] = delta_x[5] + nom_x[5]; + out_6740791193231733360[6] = delta_x[6] + nom_x[6]; + out_6740791193231733360[7] = delta_x[7] + nom_x[7]; + out_6740791193231733360[8] = delta_x[8] + nom_x[8]; + out_6740791193231733360[9] = delta_x[9] + nom_x[9]; + out_6740791193231733360[10] = delta_x[10] + nom_x[10]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7226800202829737504) { - out_7226800202829737504[0] = -nom_x[0] + true_x[0]; - out_7226800202829737504[1] = -nom_x[1] + true_x[1]; - out_7226800202829737504[2] = -nom_x[2] + true_x[2]; - out_7226800202829737504[3] = -nom_x[3] + true_x[3]; - out_7226800202829737504[4] = -nom_x[4] + true_x[4]; - out_7226800202829737504[5] = -nom_x[5] + true_x[5]; - out_7226800202829737504[6] = -nom_x[6] + true_x[6]; - out_7226800202829737504[7] = -nom_x[7] + true_x[7]; - out_7226800202829737504[8] = -nom_x[8] + true_x[8]; - out_7226800202829737504[9] = -nom_x[9] + true_x[9]; - out_7226800202829737504[10] = -nom_x[10] + true_x[10]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5435998030533772419) { + out_5435998030533772419[0] = -nom_x[0] + true_x[0]; + out_5435998030533772419[1] = -nom_x[1] + true_x[1]; + out_5435998030533772419[2] = -nom_x[2] + true_x[2]; + out_5435998030533772419[3] = -nom_x[3] + true_x[3]; + out_5435998030533772419[4] = -nom_x[4] + true_x[4]; + out_5435998030533772419[5] = -nom_x[5] + true_x[5]; + out_5435998030533772419[6] = -nom_x[6] + true_x[6]; + out_5435998030533772419[7] = -nom_x[7] + true_x[7]; + out_5435998030533772419[8] = -nom_x[8] + true_x[8]; + out_5435998030533772419[9] = -nom_x[9] + true_x[9]; + out_5435998030533772419[10] = -nom_x[10] + true_x[10]; } -void H_mod_fun(double *state, double *out_7212715412967761026) { - out_7212715412967761026[0] = 1.0; - out_7212715412967761026[1] = 0; - out_7212715412967761026[2] = 0; - out_7212715412967761026[3] = 0; - out_7212715412967761026[4] = 0; - out_7212715412967761026[5] = 0; - out_7212715412967761026[6] = 0; - out_7212715412967761026[7] = 0; - out_7212715412967761026[8] = 0; - out_7212715412967761026[9] = 0; - out_7212715412967761026[10] = 0; - out_7212715412967761026[11] = 0; - out_7212715412967761026[12] = 1.0; - out_7212715412967761026[13] = 0; - out_7212715412967761026[14] = 0; - out_7212715412967761026[15] = 0; - out_7212715412967761026[16] = 0; - out_7212715412967761026[17] = 0; - out_7212715412967761026[18] = 0; - out_7212715412967761026[19] = 0; - out_7212715412967761026[20] = 0; - out_7212715412967761026[21] = 0; - out_7212715412967761026[22] = 0; - out_7212715412967761026[23] = 0; - out_7212715412967761026[24] = 1.0; - out_7212715412967761026[25] = 0; - out_7212715412967761026[26] = 0; - out_7212715412967761026[27] = 0; - out_7212715412967761026[28] = 0; - out_7212715412967761026[29] = 0; - out_7212715412967761026[30] = 0; - out_7212715412967761026[31] = 0; - out_7212715412967761026[32] = 0; - out_7212715412967761026[33] = 0; - out_7212715412967761026[34] = 0; - out_7212715412967761026[35] = 0; - out_7212715412967761026[36] = 1.0; - out_7212715412967761026[37] = 0; - out_7212715412967761026[38] = 0; - out_7212715412967761026[39] = 0; - out_7212715412967761026[40] = 0; - out_7212715412967761026[41] = 0; - out_7212715412967761026[42] = 0; - out_7212715412967761026[43] = 0; - out_7212715412967761026[44] = 0; - out_7212715412967761026[45] = 0; - out_7212715412967761026[46] = 0; - out_7212715412967761026[47] = 0; - out_7212715412967761026[48] = 1.0; - out_7212715412967761026[49] = 0; - out_7212715412967761026[50] = 0; - out_7212715412967761026[51] = 0; - out_7212715412967761026[52] = 0; - out_7212715412967761026[53] = 0; - out_7212715412967761026[54] = 0; - out_7212715412967761026[55] = 0; - out_7212715412967761026[56] = 0; - out_7212715412967761026[57] = 0; - out_7212715412967761026[58] = 0; - out_7212715412967761026[59] = 0; - out_7212715412967761026[60] = 1.0; - out_7212715412967761026[61] = 0; - out_7212715412967761026[62] = 0; - out_7212715412967761026[63] = 0; - out_7212715412967761026[64] = 0; - out_7212715412967761026[65] = 0; - out_7212715412967761026[66] = 0; - out_7212715412967761026[67] = 0; - out_7212715412967761026[68] = 0; - out_7212715412967761026[69] = 0; - out_7212715412967761026[70] = 0; - out_7212715412967761026[71] = 0; - out_7212715412967761026[72] = 1.0; - out_7212715412967761026[73] = 0; - out_7212715412967761026[74] = 0; - out_7212715412967761026[75] = 0; - out_7212715412967761026[76] = 0; - out_7212715412967761026[77] = 0; - out_7212715412967761026[78] = 0; - out_7212715412967761026[79] = 0; - out_7212715412967761026[80] = 0; - out_7212715412967761026[81] = 0; - out_7212715412967761026[82] = 0; - out_7212715412967761026[83] = 0; - out_7212715412967761026[84] = 1.0; - out_7212715412967761026[85] = 0; - out_7212715412967761026[86] = 0; - out_7212715412967761026[87] = 0; - out_7212715412967761026[88] = 0; - out_7212715412967761026[89] = 0; - out_7212715412967761026[90] = 0; - out_7212715412967761026[91] = 0; - out_7212715412967761026[92] = 0; - out_7212715412967761026[93] = 0; - out_7212715412967761026[94] = 0; - out_7212715412967761026[95] = 0; - out_7212715412967761026[96] = 1.0; - out_7212715412967761026[97] = 0; - out_7212715412967761026[98] = 0; - out_7212715412967761026[99] = 0; - out_7212715412967761026[100] = 0; - out_7212715412967761026[101] = 0; - out_7212715412967761026[102] = 0; - out_7212715412967761026[103] = 0; - out_7212715412967761026[104] = 0; - out_7212715412967761026[105] = 0; - out_7212715412967761026[106] = 0; - out_7212715412967761026[107] = 0; - out_7212715412967761026[108] = 1.0; - out_7212715412967761026[109] = 0; - out_7212715412967761026[110] = 0; - out_7212715412967761026[111] = 0; - out_7212715412967761026[112] = 0; - out_7212715412967761026[113] = 0; - out_7212715412967761026[114] = 0; - out_7212715412967761026[115] = 0; - out_7212715412967761026[116] = 0; - out_7212715412967761026[117] = 0; - out_7212715412967761026[118] = 0; - out_7212715412967761026[119] = 0; - out_7212715412967761026[120] = 1.0; +void H_mod_fun(double *state, double *out_8750904480143678209) { + out_8750904480143678209[0] = 1.0; + out_8750904480143678209[1] = 0; + out_8750904480143678209[2] = 0; + out_8750904480143678209[3] = 0; + out_8750904480143678209[4] = 0; + out_8750904480143678209[5] = 0; + out_8750904480143678209[6] = 0; + out_8750904480143678209[7] = 0; + out_8750904480143678209[8] = 0; + out_8750904480143678209[9] = 0; + out_8750904480143678209[10] = 0; + out_8750904480143678209[11] = 0; + out_8750904480143678209[12] = 1.0; + out_8750904480143678209[13] = 0; + out_8750904480143678209[14] = 0; + out_8750904480143678209[15] = 0; + out_8750904480143678209[16] = 0; + out_8750904480143678209[17] = 0; + out_8750904480143678209[18] = 0; + out_8750904480143678209[19] = 0; + out_8750904480143678209[20] = 0; + out_8750904480143678209[21] = 0; + out_8750904480143678209[22] = 0; + out_8750904480143678209[23] = 0; + out_8750904480143678209[24] = 1.0; + out_8750904480143678209[25] = 0; + out_8750904480143678209[26] = 0; + out_8750904480143678209[27] = 0; + out_8750904480143678209[28] = 0; + out_8750904480143678209[29] = 0; + out_8750904480143678209[30] = 0; + out_8750904480143678209[31] = 0; + out_8750904480143678209[32] = 0; + out_8750904480143678209[33] = 0; + out_8750904480143678209[34] = 0; + out_8750904480143678209[35] = 0; + out_8750904480143678209[36] = 1.0; + out_8750904480143678209[37] = 0; + out_8750904480143678209[38] = 0; + out_8750904480143678209[39] = 0; + out_8750904480143678209[40] = 0; + out_8750904480143678209[41] = 0; + out_8750904480143678209[42] = 0; + out_8750904480143678209[43] = 0; + out_8750904480143678209[44] = 0; + out_8750904480143678209[45] = 0; + out_8750904480143678209[46] = 0; + out_8750904480143678209[47] = 0; + out_8750904480143678209[48] = 1.0; + out_8750904480143678209[49] = 0; + out_8750904480143678209[50] = 0; + out_8750904480143678209[51] = 0; + out_8750904480143678209[52] = 0; + out_8750904480143678209[53] = 0; + out_8750904480143678209[54] = 0; + out_8750904480143678209[55] = 0; + out_8750904480143678209[56] = 0; + out_8750904480143678209[57] = 0; + out_8750904480143678209[58] = 0; + out_8750904480143678209[59] = 0; + out_8750904480143678209[60] = 1.0; + out_8750904480143678209[61] = 0; + out_8750904480143678209[62] = 0; + out_8750904480143678209[63] = 0; + out_8750904480143678209[64] = 0; + out_8750904480143678209[65] = 0; + out_8750904480143678209[66] = 0; + out_8750904480143678209[67] = 0; + out_8750904480143678209[68] = 0; + out_8750904480143678209[69] = 0; + out_8750904480143678209[70] = 0; + out_8750904480143678209[71] = 0; + out_8750904480143678209[72] = 1.0; + out_8750904480143678209[73] = 0; + out_8750904480143678209[74] = 0; + out_8750904480143678209[75] = 0; + out_8750904480143678209[76] = 0; + out_8750904480143678209[77] = 0; + out_8750904480143678209[78] = 0; + out_8750904480143678209[79] = 0; + out_8750904480143678209[80] = 0; + out_8750904480143678209[81] = 0; + out_8750904480143678209[82] = 0; + out_8750904480143678209[83] = 0; + out_8750904480143678209[84] = 1.0; + out_8750904480143678209[85] = 0; + out_8750904480143678209[86] = 0; + out_8750904480143678209[87] = 0; + out_8750904480143678209[88] = 0; + out_8750904480143678209[89] = 0; + out_8750904480143678209[90] = 0; + out_8750904480143678209[91] = 0; + out_8750904480143678209[92] = 0; + out_8750904480143678209[93] = 0; + out_8750904480143678209[94] = 0; + out_8750904480143678209[95] = 0; + out_8750904480143678209[96] = 1.0; + out_8750904480143678209[97] = 0; + out_8750904480143678209[98] = 0; + out_8750904480143678209[99] = 0; + out_8750904480143678209[100] = 0; + out_8750904480143678209[101] = 0; + out_8750904480143678209[102] = 0; + out_8750904480143678209[103] = 0; + out_8750904480143678209[104] = 0; + out_8750904480143678209[105] = 0; + out_8750904480143678209[106] = 0; + out_8750904480143678209[107] = 0; + out_8750904480143678209[108] = 1.0; + out_8750904480143678209[109] = 0; + out_8750904480143678209[110] = 0; + out_8750904480143678209[111] = 0; + out_8750904480143678209[112] = 0; + out_8750904480143678209[113] = 0; + out_8750904480143678209[114] = 0; + out_8750904480143678209[115] = 0; + out_8750904480143678209[116] = 0; + out_8750904480143678209[117] = 0; + out_8750904480143678209[118] = 0; + out_8750904480143678209[119] = 0; + out_8750904480143678209[120] = 1.0; } -void f_fun(double *state, double dt, double *out_4622219999608348212) { - out_4622219999608348212[0] = dt*state[3] + state[0]; - out_4622219999608348212[1] = dt*state[4] + state[1]; - out_4622219999608348212[2] = dt*state[5] + state[2]; - out_4622219999608348212[3] = state[3]; - out_4622219999608348212[4] = state[4]; - out_4622219999608348212[5] = state[5]; - out_4622219999608348212[6] = dt*state[7] + state[6]; - out_4622219999608348212[7] = dt*state[8] + state[7]; - out_4622219999608348212[8] = state[8]; - out_4622219999608348212[9] = state[9]; - out_4622219999608348212[10] = state[10]; +void f_fun(double *state, double dt, double *out_571033032076185663) { + out_571033032076185663[0] = dt*state[3] + state[0]; + out_571033032076185663[1] = dt*state[4] + state[1]; + out_571033032076185663[2] = dt*state[5] + state[2]; + out_571033032076185663[3] = state[3]; + out_571033032076185663[4] = state[4]; + out_571033032076185663[5] = state[5]; + out_571033032076185663[6] = dt*state[7] + state[6]; + out_571033032076185663[7] = dt*state[8] + state[7]; + out_571033032076185663[8] = state[8]; + out_571033032076185663[9] = state[9]; + out_571033032076185663[10] = state[10]; } -void F_fun(double *state, double dt, double *out_1489675256084431222) { - out_1489675256084431222[0] = 1; - out_1489675256084431222[1] = 0; - out_1489675256084431222[2] = 0; - out_1489675256084431222[3] = dt; - out_1489675256084431222[4] = 0; - out_1489675256084431222[5] = 0; - out_1489675256084431222[6] = 0; - out_1489675256084431222[7] = 0; - out_1489675256084431222[8] = 0; - out_1489675256084431222[9] = 0; - out_1489675256084431222[10] = 0; - out_1489675256084431222[11] = 0; - out_1489675256084431222[12] = 1; - out_1489675256084431222[13] = 0; - out_1489675256084431222[14] = 0; - out_1489675256084431222[15] = dt; - out_1489675256084431222[16] = 0; - out_1489675256084431222[17] = 0; - out_1489675256084431222[18] = 0; - out_1489675256084431222[19] = 0; - out_1489675256084431222[20] = 0; - out_1489675256084431222[21] = 0; - out_1489675256084431222[22] = 0; - out_1489675256084431222[23] = 0; - out_1489675256084431222[24] = 1; - out_1489675256084431222[25] = 0; - out_1489675256084431222[26] = 0; - out_1489675256084431222[27] = dt; - out_1489675256084431222[28] = 0; - out_1489675256084431222[29] = 0; - out_1489675256084431222[30] = 0; - out_1489675256084431222[31] = 0; - out_1489675256084431222[32] = 0; - out_1489675256084431222[33] = 0; - out_1489675256084431222[34] = 0; - out_1489675256084431222[35] = 0; - out_1489675256084431222[36] = 1; - out_1489675256084431222[37] = 0; - out_1489675256084431222[38] = 0; - out_1489675256084431222[39] = 0; - out_1489675256084431222[40] = 0; - out_1489675256084431222[41] = 0; - out_1489675256084431222[42] = 0; - out_1489675256084431222[43] = 0; - out_1489675256084431222[44] = 0; - out_1489675256084431222[45] = 0; - out_1489675256084431222[46] = 0; - out_1489675256084431222[47] = 0; - out_1489675256084431222[48] = 1; - out_1489675256084431222[49] = 0; - out_1489675256084431222[50] = 0; - out_1489675256084431222[51] = 0; - out_1489675256084431222[52] = 0; - out_1489675256084431222[53] = 0; - out_1489675256084431222[54] = 0; - out_1489675256084431222[55] = 0; - out_1489675256084431222[56] = 0; - out_1489675256084431222[57] = 0; - out_1489675256084431222[58] = 0; - out_1489675256084431222[59] = 0; - out_1489675256084431222[60] = 1; - out_1489675256084431222[61] = 0; - out_1489675256084431222[62] = 0; - out_1489675256084431222[63] = 0; - out_1489675256084431222[64] = 0; - out_1489675256084431222[65] = 0; - out_1489675256084431222[66] = 0; - out_1489675256084431222[67] = 0; - out_1489675256084431222[68] = 0; - out_1489675256084431222[69] = 0; - out_1489675256084431222[70] = 0; - out_1489675256084431222[71] = 0; - out_1489675256084431222[72] = 1; - out_1489675256084431222[73] = dt; - out_1489675256084431222[74] = 0; - out_1489675256084431222[75] = 0; - out_1489675256084431222[76] = 0; - out_1489675256084431222[77] = 0; - out_1489675256084431222[78] = 0; - out_1489675256084431222[79] = 0; - out_1489675256084431222[80] = 0; - out_1489675256084431222[81] = 0; - out_1489675256084431222[82] = 0; - out_1489675256084431222[83] = 0; - out_1489675256084431222[84] = 1; - out_1489675256084431222[85] = dt; - out_1489675256084431222[86] = 0; - out_1489675256084431222[87] = 0; - out_1489675256084431222[88] = 0; - out_1489675256084431222[89] = 0; - out_1489675256084431222[90] = 0; - out_1489675256084431222[91] = 0; - out_1489675256084431222[92] = 0; - out_1489675256084431222[93] = 0; - out_1489675256084431222[94] = 0; - out_1489675256084431222[95] = 0; - out_1489675256084431222[96] = 1; - out_1489675256084431222[97] = 0; - out_1489675256084431222[98] = 0; - out_1489675256084431222[99] = 0; - out_1489675256084431222[100] = 0; - out_1489675256084431222[101] = 0; - out_1489675256084431222[102] = 0; - out_1489675256084431222[103] = 0; - out_1489675256084431222[104] = 0; - out_1489675256084431222[105] = 0; - out_1489675256084431222[106] = 0; - out_1489675256084431222[107] = 0; - out_1489675256084431222[108] = 1; - out_1489675256084431222[109] = 0; - out_1489675256084431222[110] = 0; - out_1489675256084431222[111] = 0; - out_1489675256084431222[112] = 0; - out_1489675256084431222[113] = 0; - out_1489675256084431222[114] = 0; - out_1489675256084431222[115] = 0; - out_1489675256084431222[116] = 0; - out_1489675256084431222[117] = 0; - out_1489675256084431222[118] = 0; - out_1489675256084431222[119] = 0; - out_1489675256084431222[120] = 1; +void F_fun(double *state, double dt, double *out_8071961880976414619) { + out_8071961880976414619[0] = 1; + out_8071961880976414619[1] = 0; + out_8071961880976414619[2] = 0; + out_8071961880976414619[3] = dt; + out_8071961880976414619[4] = 0; + out_8071961880976414619[5] = 0; + out_8071961880976414619[6] = 0; + out_8071961880976414619[7] = 0; + out_8071961880976414619[8] = 0; + out_8071961880976414619[9] = 0; + out_8071961880976414619[10] = 0; + out_8071961880976414619[11] = 0; + out_8071961880976414619[12] = 1; + out_8071961880976414619[13] = 0; + out_8071961880976414619[14] = 0; + out_8071961880976414619[15] = dt; + out_8071961880976414619[16] = 0; + out_8071961880976414619[17] = 0; + out_8071961880976414619[18] = 0; + out_8071961880976414619[19] = 0; + out_8071961880976414619[20] = 0; + out_8071961880976414619[21] = 0; + out_8071961880976414619[22] = 0; + out_8071961880976414619[23] = 0; + out_8071961880976414619[24] = 1; + out_8071961880976414619[25] = 0; + out_8071961880976414619[26] = 0; + out_8071961880976414619[27] = dt; + out_8071961880976414619[28] = 0; + out_8071961880976414619[29] = 0; + out_8071961880976414619[30] = 0; + out_8071961880976414619[31] = 0; + out_8071961880976414619[32] = 0; + out_8071961880976414619[33] = 0; + out_8071961880976414619[34] = 0; + out_8071961880976414619[35] = 0; + out_8071961880976414619[36] = 1; + out_8071961880976414619[37] = 0; + out_8071961880976414619[38] = 0; + out_8071961880976414619[39] = 0; + out_8071961880976414619[40] = 0; + out_8071961880976414619[41] = 0; + out_8071961880976414619[42] = 0; + out_8071961880976414619[43] = 0; + out_8071961880976414619[44] = 0; + out_8071961880976414619[45] = 0; + out_8071961880976414619[46] = 0; + out_8071961880976414619[47] = 0; + out_8071961880976414619[48] = 1; + out_8071961880976414619[49] = 0; + out_8071961880976414619[50] = 0; + out_8071961880976414619[51] = 0; + out_8071961880976414619[52] = 0; + out_8071961880976414619[53] = 0; + out_8071961880976414619[54] = 0; + out_8071961880976414619[55] = 0; + out_8071961880976414619[56] = 0; + out_8071961880976414619[57] = 0; + out_8071961880976414619[58] = 0; + out_8071961880976414619[59] = 0; + out_8071961880976414619[60] = 1; + out_8071961880976414619[61] = 0; + out_8071961880976414619[62] = 0; + out_8071961880976414619[63] = 0; + out_8071961880976414619[64] = 0; + out_8071961880976414619[65] = 0; + out_8071961880976414619[66] = 0; + out_8071961880976414619[67] = 0; + out_8071961880976414619[68] = 0; + out_8071961880976414619[69] = 0; + out_8071961880976414619[70] = 0; + out_8071961880976414619[71] = 0; + out_8071961880976414619[72] = 1; + out_8071961880976414619[73] = dt; + out_8071961880976414619[74] = 0; + out_8071961880976414619[75] = 0; + out_8071961880976414619[76] = 0; + out_8071961880976414619[77] = 0; + out_8071961880976414619[78] = 0; + out_8071961880976414619[79] = 0; + out_8071961880976414619[80] = 0; + out_8071961880976414619[81] = 0; + out_8071961880976414619[82] = 0; + out_8071961880976414619[83] = 0; + out_8071961880976414619[84] = 1; + out_8071961880976414619[85] = dt; + out_8071961880976414619[86] = 0; + out_8071961880976414619[87] = 0; + out_8071961880976414619[88] = 0; + out_8071961880976414619[89] = 0; + out_8071961880976414619[90] = 0; + out_8071961880976414619[91] = 0; + out_8071961880976414619[92] = 0; + out_8071961880976414619[93] = 0; + out_8071961880976414619[94] = 0; + out_8071961880976414619[95] = 0; + out_8071961880976414619[96] = 1; + out_8071961880976414619[97] = 0; + out_8071961880976414619[98] = 0; + out_8071961880976414619[99] = 0; + out_8071961880976414619[100] = 0; + out_8071961880976414619[101] = 0; + out_8071961880976414619[102] = 0; + out_8071961880976414619[103] = 0; + out_8071961880976414619[104] = 0; + out_8071961880976414619[105] = 0; + out_8071961880976414619[106] = 0; + out_8071961880976414619[107] = 0; + out_8071961880976414619[108] = 1; + out_8071961880976414619[109] = 0; + out_8071961880976414619[110] = 0; + out_8071961880976414619[111] = 0; + out_8071961880976414619[112] = 0; + out_8071961880976414619[113] = 0; + out_8071961880976414619[114] = 0; + out_8071961880976414619[115] = 0; + out_8071961880976414619[116] = 0; + out_8071961880976414619[117] = 0; + out_8071961880976414619[118] = 0; + out_8071961880976414619[119] = 0; + out_8071961880976414619[120] = 1; } -void h_6(double *state, double *sat_pos, double *out_7567908033892933921) { - out_7567908033892933921[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6]; +void h_6(double *state, double *sat_pos, double *out_3924727623087114070) { + out_3924727623087114070[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6]; } -void H_6(double *state, double *sat_pos, double *out_7455993273502557413) { - out_7455993273502557413[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_7455993273502557413[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_7455993273502557413[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_7455993273502557413[3] = 0; - out_7455993273502557413[4] = 0; - out_7455993273502557413[5] = 0; - out_7455993273502557413[6] = 1; - out_7455993273502557413[7] = 0; - out_7455993273502557413[8] = 0; - out_7455993273502557413[9] = 0; - out_7455993273502557413[10] = 0; +void H_6(double *state, double *sat_pos, double *out_3168437365824362595) { + out_3168437365824362595[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_3168437365824362595[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_3168437365824362595[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_3168437365824362595[3] = 0; + out_3168437365824362595[4] = 0; + out_3168437365824362595[5] = 0; + out_3168437365824362595[6] = 1; + out_3168437365824362595[7] = 0; + out_3168437365824362595[8] = 0; + out_3168437365824362595[9] = 0; + out_3168437365824362595[10] = 0; } -void h_20(double *state, double *sat_pos, double *out_3841468768416351937) { - out_3841468768416351937[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9]; +void h_20(double *state, double *sat_pos, double *out_7434817830173438872) { + out_7434817830173438872[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9]; } -void H_20(double *state, double *sat_pos, double *out_5623941665124898301) { - out_5623941665124898301[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_5623941665124898301[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_5623941665124898301[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); - out_5623941665124898301[3] = 0; - out_5623941665124898301[4] = 0; - out_5623941665124898301[5] = 0; - out_5623941665124898301[6] = 1; - out_5623941665124898301[7] = 0; - out_5623941665124898301[8] = 0; - out_5623941665124898301[9] = 1; - out_5623941665124898301[10] = sat_pos[3]; +void H_20(double *state, double *sat_pos, double *out_7560749815445785198) { + out_7560749815445785198[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_7560749815445785198[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_7560749815445785198[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)); + out_7560749815445785198[3] = 0; + out_7560749815445785198[4] = 0; + out_7560749815445785198[5] = 0; + out_7560749815445785198[6] = 1; + out_7560749815445785198[7] = 0; + out_7560749815445785198[8] = 0; + out_7560749815445785198[9] = 1; + out_7560749815445785198[10] = sat_pos[3]; } -void h_7(double *state, double *sat_pos_vel, double *out_1211039377275791210) { - out_1211039377275791210[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7]; +void h_7(double *state, double *sat_pos_vel, double *out_7603906676528442007) { + out_7603906676528442007[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7]; } -void H_7(double *state, double *sat_pos_vel, double *out_2159917500592958723) { - out_2159917500592958723[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[6] = 0; - out_2159917500592958723[7] = 1; - out_2159917500592958723[8] = 0; - out_2159917500592958723[9] = 0; - out_2159917500592958723[10] = 0; +void H_7(double *state, double *sat_pos_vel, double *out_8038884862828261433) { + out_8038884862828261433[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[6] = 0; + out_8038884862828261433[7] = 1; + out_8038884862828261433[8] = 0; + out_8038884862828261433[9] = 0; + out_8038884862828261433[10] = 0; } -void h_21(double *state, double *sat_pos_vel, double *out_1211039377275791210) { - out_1211039377275791210[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7]; +void h_21(double *state, double *sat_pos_vel, double *out_7603906676528442007) { + out_7603906676528442007[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7]; } -void H_21(double *state, double *sat_pos_vel, double *out_2159917500592958723) { - out_2159917500592958723[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); - out_2159917500592958723[6] = 0; - out_2159917500592958723[7] = 1; - out_2159917500592958723[8] = 0; - out_2159917500592958723[9] = 0; - out_2159917500592958723[10] = 0; +void H_21(double *state, double *sat_pos_vel, double *out_8038884862828261433) { + out_8038884862828261433[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)); + out_8038884862828261433[6] = 0; + out_8038884862828261433[7] = 1; + out_8038884862828261433[8] = 0; + out_8038884862828261433[9] = 0; + out_8038884862828261433[10] = 0; } #include #include @@ -506,44 +506,44 @@ void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, doubl void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_21, H_21, NULL, in_z, in_R, in_ea, MAHA_THRESH_21); } -void gnss_err_fun(double *nom_x, double *delta_x, double *out_1734633203049768488) { - err_fun(nom_x, delta_x, out_1734633203049768488); +void gnss_err_fun(double *nom_x, double *delta_x, double *out_6740791193231733360) { + err_fun(nom_x, delta_x, out_6740791193231733360); } -void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_7226800202829737504) { - inv_err_fun(nom_x, true_x, out_7226800202829737504); +void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_5435998030533772419) { + inv_err_fun(nom_x, true_x, out_5435998030533772419); } -void gnss_H_mod_fun(double *state, double *out_7212715412967761026) { - H_mod_fun(state, out_7212715412967761026); +void gnss_H_mod_fun(double *state, double *out_8750904480143678209) { + H_mod_fun(state, out_8750904480143678209); } -void gnss_f_fun(double *state, double dt, double *out_4622219999608348212) { - f_fun(state, dt, out_4622219999608348212); +void gnss_f_fun(double *state, double dt, double *out_571033032076185663) { + f_fun(state, dt, out_571033032076185663); } -void gnss_F_fun(double *state, double dt, double *out_1489675256084431222) { - F_fun(state, dt, out_1489675256084431222); +void gnss_F_fun(double *state, double dt, double *out_8071961880976414619) { + F_fun(state, dt, out_8071961880976414619); } -void gnss_h_6(double *state, double *sat_pos, double *out_7567908033892933921) { - h_6(state, sat_pos, out_7567908033892933921); +void gnss_h_6(double *state, double *sat_pos, double *out_3924727623087114070) { + h_6(state, sat_pos, out_3924727623087114070); } -void gnss_H_6(double *state, double *sat_pos, double *out_7455993273502557413) { - H_6(state, sat_pos, out_7455993273502557413); +void gnss_H_6(double *state, double *sat_pos, double *out_3168437365824362595) { + H_6(state, sat_pos, out_3168437365824362595); } -void gnss_h_20(double *state, double *sat_pos, double *out_3841468768416351937) { - h_20(state, sat_pos, out_3841468768416351937); +void gnss_h_20(double *state, double *sat_pos, double *out_7434817830173438872) { + h_20(state, sat_pos, out_7434817830173438872); } -void gnss_H_20(double *state, double *sat_pos, double *out_5623941665124898301) { - H_20(state, sat_pos, out_5623941665124898301); +void gnss_H_20(double *state, double *sat_pos, double *out_7560749815445785198) { + H_20(state, sat_pos, out_7560749815445785198); } -void gnss_h_7(double *state, double *sat_pos_vel, double *out_1211039377275791210) { - h_7(state, sat_pos_vel, out_1211039377275791210); +void gnss_h_7(double *state, double *sat_pos_vel, double *out_7603906676528442007) { + h_7(state, sat_pos_vel, out_7603906676528442007); } -void gnss_H_7(double *state, double *sat_pos_vel, double *out_2159917500592958723) { - H_7(state, sat_pos_vel, out_2159917500592958723); +void gnss_H_7(double *state, double *sat_pos_vel, double *out_8038884862828261433) { + H_7(state, sat_pos_vel, out_8038884862828261433); } -void gnss_h_21(double *state, double *sat_pos_vel, double *out_1211039377275791210) { - h_21(state, sat_pos_vel, out_1211039377275791210); +void gnss_h_21(double *state, double *sat_pos_vel, double *out_7603906676528442007) { + h_21(state, sat_pos_vel, out_7603906676528442007); } -void gnss_H_21(double *state, double *sat_pos_vel, double *out_2159917500592958723) { - H_21(state, sat_pos_vel, out_2159917500592958723); +void gnss_H_21(double *state, double *sat_pos_vel, double *out_8038884862828261433) { + H_21(state, sat_pos_vel, out_8038884862828261433); } void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/gnss.h b/selfdrive/locationd/models/generated/gnss.h index 596c0883d..907739b4d 100644 --- a/selfdrive/locationd/models/generated/gnss.h +++ b/selfdrive/locationd/models/generated/gnss.h @@ -5,18 +5,18 @@ void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, doubl void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void gnss_err_fun(double *nom_x, double *delta_x, double *out_1734633203049768488); -void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_7226800202829737504); -void gnss_H_mod_fun(double *state, double *out_7212715412967761026); -void gnss_f_fun(double *state, double dt, double *out_4622219999608348212); -void gnss_F_fun(double *state, double dt, double *out_1489675256084431222); -void gnss_h_6(double *state, double *sat_pos, double *out_7567908033892933921); -void gnss_H_6(double *state, double *sat_pos, double *out_7455993273502557413); -void gnss_h_20(double *state, double *sat_pos, double *out_3841468768416351937); -void gnss_H_20(double *state, double *sat_pos, double *out_5623941665124898301); -void gnss_h_7(double *state, double *sat_pos_vel, double *out_1211039377275791210); -void gnss_H_7(double *state, double *sat_pos_vel, double *out_2159917500592958723); -void gnss_h_21(double *state, double *sat_pos_vel, double *out_1211039377275791210); -void gnss_H_21(double *state, double *sat_pos_vel, double *out_2159917500592958723); +void gnss_err_fun(double *nom_x, double *delta_x, double *out_6740791193231733360); +void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_5435998030533772419); +void gnss_H_mod_fun(double *state, double *out_8750904480143678209); +void gnss_f_fun(double *state, double dt, double *out_571033032076185663); +void gnss_F_fun(double *state, double dt, double *out_8071961880976414619); +void gnss_h_6(double *state, double *sat_pos, double *out_3924727623087114070); +void gnss_H_6(double *state, double *sat_pos, double *out_3168437365824362595); +void gnss_h_20(double *state, double *sat_pos, double *out_7434817830173438872); +void gnss_H_20(double *state, double *sat_pos, double *out_7560749815445785198); +void gnss_h_7(double *state, double *sat_pos_vel, double *out_7603906676528442007); +void gnss_H_7(double *state, double *sat_pos_vel, double *out_8038884862828261433); +void gnss_h_21(double *state, double *sat_pos_vel, double *out_7603906676528442007); +void gnss_H_21(double *state, double *sat_pos_vel, double *out_8038884862828261433); void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/libkf.so b/selfdrive/locationd/models/generated/libkf.so index 478100099..73e673297 100755 Binary files a/selfdrive/locationd/models/generated/libkf.so and b/selfdrive/locationd/models/generated/libkf.so differ diff --git a/selfdrive/locationd/models/generated/live.cpp b/selfdrive/locationd/models/generated/live.cpp index 3aca31ee8..ced097a81 100644 --- a/selfdrive/locationd/models/generated/live.cpp +++ b/selfdrive/locationd/models/generated/live.cpp @@ -22,1683 +22,1683 @@ const static double MAHA_THRESH_33 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void H(double *in_vec, double *out_4500389823279432985) { - out_4500389823279432985[0] = 0; - out_4500389823279432985[1] = -sin(in_vec[1])*sin(in_vec[2])*in_vec[4] - sin(in_vec[1])*cos(in_vec[2])*in_vec[3] - cos(in_vec[1])*in_vec[5]; - out_4500389823279432985[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; - out_4500389823279432985[3] = cos(in_vec[1])*cos(in_vec[2]); - out_4500389823279432985[4] = sin(in_vec[2])*cos(in_vec[1]); - out_4500389823279432985[5] = -sin(in_vec[1]); - out_4500389823279432985[6] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (-sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*in_vec[5]; - out_4500389823279432985[7] = -sin(in_vec[0])*sin(in_vec[1])*in_vec[5] + sin(in_vec[0])*sin(in_vec[2])*cos(in_vec[1])*in_vec[4] + sin(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; - out_4500389823279432985[8] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]))*in_vec[4]; - out_4500389823279432985[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); - out_4500389823279432985[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); - out_4500389823279432985[11] = sin(in_vec[0])*cos(in_vec[1]); - out_4500389823279432985[12] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (-sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) + sin(in_vec[2])*cos(in_vec[0]))*in_vec[3] - sin(in_vec[0])*cos(in_vec[1])*in_vec[5]; - out_4500389823279432985[13] = -sin(in_vec[1])*cos(in_vec[0])*in_vec[5] + sin(in_vec[2])*cos(in_vec[0])*cos(in_vec[1])*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; - out_4500389823279432985[14] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (sin(in_vec[0])*cos(in_vec[2]) - sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[3]; - out_4500389823279432985[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); - out_4500389823279432985[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); - out_4500389823279432985[17] = cos(in_vec[0])*cos(in_vec[1]); +void H(double *in_vec, double *out_3693999405139314794) { + out_3693999405139314794[0] = 0; + out_3693999405139314794[1] = -sin(in_vec[1])*sin(in_vec[2])*in_vec[4] - sin(in_vec[1])*cos(in_vec[2])*in_vec[3] - cos(in_vec[1])*in_vec[5]; + out_3693999405139314794[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; + out_3693999405139314794[3] = cos(in_vec[1])*cos(in_vec[2]); + out_3693999405139314794[4] = sin(in_vec[2])*cos(in_vec[1]); + out_3693999405139314794[5] = -sin(in_vec[1]); + out_3693999405139314794[6] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (-sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*in_vec[5]; + out_3693999405139314794[7] = -sin(in_vec[0])*sin(in_vec[1])*in_vec[5] + sin(in_vec[0])*sin(in_vec[2])*cos(in_vec[1])*in_vec[4] + sin(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; + out_3693999405139314794[8] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]))*in_vec[4]; + out_3693999405139314794[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); + out_3693999405139314794[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); + out_3693999405139314794[11] = sin(in_vec[0])*cos(in_vec[1]); + out_3693999405139314794[12] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (-sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) + sin(in_vec[2])*cos(in_vec[0]))*in_vec[3] - sin(in_vec[0])*cos(in_vec[1])*in_vec[5]; + out_3693999405139314794[13] = -sin(in_vec[1])*cos(in_vec[0])*in_vec[5] + sin(in_vec[2])*cos(in_vec[0])*cos(in_vec[1])*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; + out_3693999405139314794[14] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (sin(in_vec[0])*cos(in_vec[2]) - sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[3]; + out_3693999405139314794[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); + out_3693999405139314794[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); + out_3693999405139314794[17] = cos(in_vec[0])*cos(in_vec[1]); } -void err_fun(double *nom_x, double *delta_x, double *out_1913535744177293566) { - out_1913535744177293566[0] = delta_x[0] + nom_x[0]; - out_1913535744177293566[1] = delta_x[1] + nom_x[1]; - out_1913535744177293566[2] = delta_x[2] + nom_x[2]; - out_1913535744177293566[3] = -0.5*delta_x[3]*nom_x[4] - 0.5*delta_x[4]*nom_x[5] - 0.5*delta_x[5]*nom_x[6] + 1.0*nom_x[3]; - out_1913535744177293566[4] = 0.5*delta_x[3]*nom_x[3] + 0.5*delta_x[4]*nom_x[6] - 0.5*delta_x[5]*nom_x[5] + 1.0*nom_x[4]; - out_1913535744177293566[5] = -0.5*delta_x[3]*nom_x[6] + 0.5*delta_x[4]*nom_x[3] + 0.5*delta_x[5]*nom_x[4] + 1.0*nom_x[5]; - out_1913535744177293566[6] = 0.5*delta_x[3]*nom_x[5] - 0.5*delta_x[4]*nom_x[4] + 0.5*delta_x[5]*nom_x[3] + 1.0*nom_x[6]; - out_1913535744177293566[7] = delta_x[6] + nom_x[7]; - out_1913535744177293566[8] = delta_x[7] + nom_x[8]; - out_1913535744177293566[9] = delta_x[8] + nom_x[9]; - out_1913535744177293566[10] = delta_x[9] + nom_x[10]; - out_1913535744177293566[11] = delta_x[10] + nom_x[11]; - out_1913535744177293566[12] = delta_x[11] + nom_x[12]; - out_1913535744177293566[13] = delta_x[12] + nom_x[13]; - out_1913535744177293566[14] = delta_x[13] + nom_x[14]; - out_1913535744177293566[15] = delta_x[14] + nom_x[15]; - out_1913535744177293566[16] = delta_x[15] + nom_x[16]; - out_1913535744177293566[17] = delta_x[16] + nom_x[17]; - out_1913535744177293566[18] = delta_x[17] + nom_x[18]; - out_1913535744177293566[19] = delta_x[18] + nom_x[19]; - out_1913535744177293566[20] = delta_x[19] + nom_x[20]; - out_1913535744177293566[21] = delta_x[20] + nom_x[21]; +void err_fun(double *nom_x, double *delta_x, double *out_3414598820419176679) { + out_3414598820419176679[0] = delta_x[0] + nom_x[0]; + out_3414598820419176679[1] = delta_x[1] + nom_x[1]; + out_3414598820419176679[2] = delta_x[2] + nom_x[2]; + out_3414598820419176679[3] = -0.5*delta_x[3]*nom_x[4] - 0.5*delta_x[4]*nom_x[5] - 0.5*delta_x[5]*nom_x[6] + 1.0*nom_x[3]; + out_3414598820419176679[4] = 0.5*delta_x[3]*nom_x[3] + 0.5*delta_x[4]*nom_x[6] - 0.5*delta_x[5]*nom_x[5] + 1.0*nom_x[4]; + out_3414598820419176679[5] = -0.5*delta_x[3]*nom_x[6] + 0.5*delta_x[4]*nom_x[3] + 0.5*delta_x[5]*nom_x[4] + 1.0*nom_x[5]; + out_3414598820419176679[6] = 0.5*delta_x[3]*nom_x[5] - 0.5*delta_x[4]*nom_x[4] + 0.5*delta_x[5]*nom_x[3] + 1.0*nom_x[6]; + out_3414598820419176679[7] = delta_x[6] + nom_x[7]; + out_3414598820419176679[8] = delta_x[7] + nom_x[8]; + out_3414598820419176679[9] = delta_x[8] + nom_x[9]; + out_3414598820419176679[10] = delta_x[9] + nom_x[10]; + out_3414598820419176679[11] = delta_x[10] + nom_x[11]; + out_3414598820419176679[12] = delta_x[11] + nom_x[12]; + out_3414598820419176679[13] = delta_x[12] + nom_x[13]; + out_3414598820419176679[14] = delta_x[13] + nom_x[14]; + out_3414598820419176679[15] = delta_x[14] + nom_x[15]; + out_3414598820419176679[16] = delta_x[15] + nom_x[16]; + out_3414598820419176679[17] = delta_x[16] + nom_x[17]; + out_3414598820419176679[18] = delta_x[17] + nom_x[18]; + out_3414598820419176679[19] = delta_x[18] + nom_x[19]; + out_3414598820419176679[20] = delta_x[19] + nom_x[20]; + out_3414598820419176679[21] = delta_x[20] + nom_x[21]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2851117358798162907) { - out_2851117358798162907[0] = -nom_x[0] + true_x[0]; - out_2851117358798162907[1] = -nom_x[1] + true_x[1]; - out_2851117358798162907[2] = -nom_x[2] + true_x[2]; - out_2851117358798162907[3] = 2*nom_x[3]*true_x[4] - 2*nom_x[4]*true_x[3] + 2*nom_x[5]*true_x[6] - 2*nom_x[6]*true_x[5]; - out_2851117358798162907[4] = 2*nom_x[3]*true_x[5] - 2*nom_x[4]*true_x[6] - 2*nom_x[5]*true_x[3] + 2*nom_x[6]*true_x[4]; - out_2851117358798162907[5] = 2*nom_x[3]*true_x[6] + 2*nom_x[4]*true_x[5] - 2*nom_x[5]*true_x[4] - 2*nom_x[6]*true_x[3]; - out_2851117358798162907[6] = -nom_x[7] + true_x[7]; - out_2851117358798162907[7] = -nom_x[8] + true_x[8]; - out_2851117358798162907[8] = -nom_x[9] + true_x[9]; - out_2851117358798162907[9] = -nom_x[10] + true_x[10]; - out_2851117358798162907[10] = -nom_x[11] + true_x[11]; - out_2851117358798162907[11] = -nom_x[12] + true_x[12]; - out_2851117358798162907[12] = -nom_x[13] + true_x[13]; - out_2851117358798162907[13] = -nom_x[14] + true_x[14]; - out_2851117358798162907[14] = -nom_x[15] + true_x[15]; - out_2851117358798162907[15] = -nom_x[16] + true_x[16]; - out_2851117358798162907[16] = -nom_x[17] + true_x[17]; - out_2851117358798162907[17] = -nom_x[18] + true_x[18]; - out_2851117358798162907[18] = -nom_x[19] + true_x[19]; - out_2851117358798162907[19] = -nom_x[20] + true_x[20]; - out_2851117358798162907[20] = -nom_x[21] + true_x[21]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5364111469669926070) { + out_5364111469669926070[0] = -nom_x[0] + true_x[0]; + out_5364111469669926070[1] = -nom_x[1] + true_x[1]; + out_5364111469669926070[2] = -nom_x[2] + true_x[2]; + out_5364111469669926070[3] = 2*nom_x[3]*true_x[4] - 2*nom_x[4]*true_x[3] + 2*nom_x[5]*true_x[6] - 2*nom_x[6]*true_x[5]; + out_5364111469669926070[4] = 2*nom_x[3]*true_x[5] - 2*nom_x[4]*true_x[6] - 2*nom_x[5]*true_x[3] + 2*nom_x[6]*true_x[4]; + out_5364111469669926070[5] = 2*nom_x[3]*true_x[6] + 2*nom_x[4]*true_x[5] - 2*nom_x[5]*true_x[4] - 2*nom_x[6]*true_x[3]; + out_5364111469669926070[6] = -nom_x[7] + true_x[7]; + out_5364111469669926070[7] = -nom_x[8] + true_x[8]; + out_5364111469669926070[8] = -nom_x[9] + true_x[9]; + out_5364111469669926070[9] = -nom_x[10] + true_x[10]; + out_5364111469669926070[10] = -nom_x[11] + true_x[11]; + out_5364111469669926070[11] = -nom_x[12] + true_x[12]; + out_5364111469669926070[12] = -nom_x[13] + true_x[13]; + out_5364111469669926070[13] = -nom_x[14] + true_x[14]; + out_5364111469669926070[14] = -nom_x[15] + true_x[15]; + out_5364111469669926070[15] = -nom_x[16] + true_x[16]; + out_5364111469669926070[16] = -nom_x[17] + true_x[17]; + out_5364111469669926070[17] = -nom_x[18] + true_x[18]; + out_5364111469669926070[18] = -nom_x[19] + true_x[19]; + out_5364111469669926070[19] = -nom_x[20] + true_x[20]; + out_5364111469669926070[20] = -nom_x[21] + true_x[21]; } -void H_mod_fun(double *state, double *out_2697157995522224710) { - out_2697157995522224710[0] = 1.0; - out_2697157995522224710[1] = 0; - out_2697157995522224710[2] = 0; - out_2697157995522224710[3] = 0; - out_2697157995522224710[4] = 0; - out_2697157995522224710[5] = 0; - out_2697157995522224710[6] = 0; - out_2697157995522224710[7] = 0; - out_2697157995522224710[8] = 0; - out_2697157995522224710[9] = 0; - out_2697157995522224710[10] = 0; - out_2697157995522224710[11] = 0; - out_2697157995522224710[12] = 0; - out_2697157995522224710[13] = 0; - out_2697157995522224710[14] = 0; - out_2697157995522224710[15] = 0; - out_2697157995522224710[16] = 0; - out_2697157995522224710[17] = 0; - out_2697157995522224710[18] = 0; - out_2697157995522224710[19] = 0; - out_2697157995522224710[20] = 0; - out_2697157995522224710[21] = 0; - out_2697157995522224710[22] = 1.0; - out_2697157995522224710[23] = 0; - out_2697157995522224710[24] = 0; - out_2697157995522224710[25] = 0; - out_2697157995522224710[26] = 0; - out_2697157995522224710[27] = 0; - out_2697157995522224710[28] = 0; - out_2697157995522224710[29] = 0; - out_2697157995522224710[30] = 0; - out_2697157995522224710[31] = 0; - out_2697157995522224710[32] = 0; - out_2697157995522224710[33] = 0; - out_2697157995522224710[34] = 0; - out_2697157995522224710[35] = 0; - out_2697157995522224710[36] = 0; - out_2697157995522224710[37] = 0; - out_2697157995522224710[38] = 0; - out_2697157995522224710[39] = 0; - out_2697157995522224710[40] = 0; - out_2697157995522224710[41] = 0; - out_2697157995522224710[42] = 0; - out_2697157995522224710[43] = 0; - out_2697157995522224710[44] = 1.0; - out_2697157995522224710[45] = 0; - out_2697157995522224710[46] = 0; - out_2697157995522224710[47] = 0; - out_2697157995522224710[48] = 0; - out_2697157995522224710[49] = 0; - out_2697157995522224710[50] = 0; - out_2697157995522224710[51] = 0; - out_2697157995522224710[52] = 0; - out_2697157995522224710[53] = 0; - out_2697157995522224710[54] = 0; - out_2697157995522224710[55] = 0; - out_2697157995522224710[56] = 0; - out_2697157995522224710[57] = 0; - out_2697157995522224710[58] = 0; - out_2697157995522224710[59] = 0; - out_2697157995522224710[60] = 0; - out_2697157995522224710[61] = 0; - out_2697157995522224710[62] = 0; - out_2697157995522224710[63] = 0; - out_2697157995522224710[64] = 0; - out_2697157995522224710[65] = 0; - out_2697157995522224710[66] = -0.5*state[4]; - out_2697157995522224710[67] = -0.5*state[5]; - out_2697157995522224710[68] = -0.5*state[6]; - out_2697157995522224710[69] = 0; - out_2697157995522224710[70] = 0; - out_2697157995522224710[71] = 0; - out_2697157995522224710[72] = 0; - out_2697157995522224710[73] = 0; - out_2697157995522224710[74] = 0; - out_2697157995522224710[75] = 0; - out_2697157995522224710[76] = 0; - out_2697157995522224710[77] = 0; - out_2697157995522224710[78] = 0; - out_2697157995522224710[79] = 0; - out_2697157995522224710[80] = 0; - out_2697157995522224710[81] = 0; - out_2697157995522224710[82] = 0; - out_2697157995522224710[83] = 0; - out_2697157995522224710[84] = 0; - out_2697157995522224710[85] = 0; - out_2697157995522224710[86] = 0; - out_2697157995522224710[87] = 0.5*state[3]; - out_2697157995522224710[88] = 0.5*state[6]; - out_2697157995522224710[89] = -0.5*state[5]; - out_2697157995522224710[90] = 0; - out_2697157995522224710[91] = 0; - out_2697157995522224710[92] = 0; - out_2697157995522224710[93] = 0; - out_2697157995522224710[94] = 0; - out_2697157995522224710[95] = 0; - out_2697157995522224710[96] = 0; - out_2697157995522224710[97] = 0; - out_2697157995522224710[98] = 0; - out_2697157995522224710[99] = 0; - out_2697157995522224710[100] = 0; - out_2697157995522224710[101] = 0; - out_2697157995522224710[102] = 0; - out_2697157995522224710[103] = 0; - out_2697157995522224710[104] = 0; - out_2697157995522224710[105] = 0; - out_2697157995522224710[106] = 0; - out_2697157995522224710[107] = 0; - out_2697157995522224710[108] = -0.5*state[6]; - out_2697157995522224710[109] = 0.5*state[3]; - out_2697157995522224710[110] = 0.5*state[4]; - out_2697157995522224710[111] = 0; - out_2697157995522224710[112] = 0; - out_2697157995522224710[113] = 0; - out_2697157995522224710[114] = 0; - out_2697157995522224710[115] = 0; - out_2697157995522224710[116] = 0; - out_2697157995522224710[117] = 0; - out_2697157995522224710[118] = 0; - out_2697157995522224710[119] = 0; - out_2697157995522224710[120] = 0; - out_2697157995522224710[121] = 0; - out_2697157995522224710[122] = 0; - out_2697157995522224710[123] = 0; - out_2697157995522224710[124] = 0; - out_2697157995522224710[125] = 0; - out_2697157995522224710[126] = 0; - out_2697157995522224710[127] = 0; - out_2697157995522224710[128] = 0; - out_2697157995522224710[129] = 0.5*state[5]; - out_2697157995522224710[130] = -0.5*state[4]; - out_2697157995522224710[131] = 0.5*state[3]; - out_2697157995522224710[132] = 0; - out_2697157995522224710[133] = 0; - out_2697157995522224710[134] = 0; - out_2697157995522224710[135] = 0; - out_2697157995522224710[136] = 0; - out_2697157995522224710[137] = 0; - out_2697157995522224710[138] = 0; - out_2697157995522224710[139] = 0; - out_2697157995522224710[140] = 0; - out_2697157995522224710[141] = 0; - out_2697157995522224710[142] = 0; - out_2697157995522224710[143] = 0; - out_2697157995522224710[144] = 0; - out_2697157995522224710[145] = 0; - out_2697157995522224710[146] = 0; - out_2697157995522224710[147] = 0; - out_2697157995522224710[148] = 0; - out_2697157995522224710[149] = 0; - out_2697157995522224710[150] = 0; - out_2697157995522224710[151] = 0; - out_2697157995522224710[152] = 0; - out_2697157995522224710[153] = 1.0; - out_2697157995522224710[154] = 0; - out_2697157995522224710[155] = 0; - out_2697157995522224710[156] = 0; - out_2697157995522224710[157] = 0; - out_2697157995522224710[158] = 0; - out_2697157995522224710[159] = 0; - out_2697157995522224710[160] = 0; - out_2697157995522224710[161] = 0; - out_2697157995522224710[162] = 0; - out_2697157995522224710[163] = 0; - out_2697157995522224710[164] = 0; - out_2697157995522224710[165] = 0; - out_2697157995522224710[166] = 0; - out_2697157995522224710[167] = 0; - out_2697157995522224710[168] = 0; - out_2697157995522224710[169] = 0; - out_2697157995522224710[170] = 0; - out_2697157995522224710[171] = 0; - out_2697157995522224710[172] = 0; - out_2697157995522224710[173] = 0; - out_2697157995522224710[174] = 0; - out_2697157995522224710[175] = 1.0; - out_2697157995522224710[176] = 0; - out_2697157995522224710[177] = 0; - out_2697157995522224710[178] = 0; - out_2697157995522224710[179] = 0; - out_2697157995522224710[180] = 0; - out_2697157995522224710[181] = 0; - out_2697157995522224710[182] = 0; - out_2697157995522224710[183] = 0; - out_2697157995522224710[184] = 0; - out_2697157995522224710[185] = 0; - out_2697157995522224710[186] = 0; - out_2697157995522224710[187] = 0; - out_2697157995522224710[188] = 0; - out_2697157995522224710[189] = 0; - out_2697157995522224710[190] = 0; - out_2697157995522224710[191] = 0; - out_2697157995522224710[192] = 0; - out_2697157995522224710[193] = 0; - out_2697157995522224710[194] = 0; - out_2697157995522224710[195] = 0; - out_2697157995522224710[196] = 0; - out_2697157995522224710[197] = 1.0; - out_2697157995522224710[198] = 0; - out_2697157995522224710[199] = 0; - out_2697157995522224710[200] = 0; - out_2697157995522224710[201] = 0; - out_2697157995522224710[202] = 0; - out_2697157995522224710[203] = 0; - out_2697157995522224710[204] = 0; - out_2697157995522224710[205] = 0; - out_2697157995522224710[206] = 0; - out_2697157995522224710[207] = 0; - out_2697157995522224710[208] = 0; - out_2697157995522224710[209] = 0; - out_2697157995522224710[210] = 0; - out_2697157995522224710[211] = 0; - out_2697157995522224710[212] = 0; - out_2697157995522224710[213] = 0; - out_2697157995522224710[214] = 0; - out_2697157995522224710[215] = 0; - out_2697157995522224710[216] = 0; - out_2697157995522224710[217] = 0; - out_2697157995522224710[218] = 0; - out_2697157995522224710[219] = 1.0; - out_2697157995522224710[220] = 0; - out_2697157995522224710[221] = 0; - out_2697157995522224710[222] = 0; - out_2697157995522224710[223] = 0; - out_2697157995522224710[224] = 0; - out_2697157995522224710[225] = 0; - out_2697157995522224710[226] = 0; - out_2697157995522224710[227] = 0; - out_2697157995522224710[228] = 0; - out_2697157995522224710[229] = 0; - out_2697157995522224710[230] = 0; - out_2697157995522224710[231] = 0; - out_2697157995522224710[232] = 0; - out_2697157995522224710[233] = 0; - out_2697157995522224710[234] = 0; - out_2697157995522224710[235] = 0; - out_2697157995522224710[236] = 0; - out_2697157995522224710[237] = 0; - out_2697157995522224710[238] = 0; - out_2697157995522224710[239] = 0; - out_2697157995522224710[240] = 0; - out_2697157995522224710[241] = 1.0; - out_2697157995522224710[242] = 0; - out_2697157995522224710[243] = 0; - out_2697157995522224710[244] = 0; - out_2697157995522224710[245] = 0; - out_2697157995522224710[246] = 0; - out_2697157995522224710[247] = 0; - out_2697157995522224710[248] = 0; - out_2697157995522224710[249] = 0; - out_2697157995522224710[250] = 0; - out_2697157995522224710[251] = 0; - out_2697157995522224710[252] = 0; - out_2697157995522224710[253] = 0; - out_2697157995522224710[254] = 0; - out_2697157995522224710[255] = 0; - out_2697157995522224710[256] = 0; - out_2697157995522224710[257] = 0; - out_2697157995522224710[258] = 0; - out_2697157995522224710[259] = 0; - out_2697157995522224710[260] = 0; - out_2697157995522224710[261] = 0; - out_2697157995522224710[262] = 0; - out_2697157995522224710[263] = 1.0; - out_2697157995522224710[264] = 0; - out_2697157995522224710[265] = 0; - out_2697157995522224710[266] = 0; - out_2697157995522224710[267] = 0; - out_2697157995522224710[268] = 0; - out_2697157995522224710[269] = 0; - out_2697157995522224710[270] = 0; - out_2697157995522224710[271] = 0; - out_2697157995522224710[272] = 0; - out_2697157995522224710[273] = 0; - out_2697157995522224710[274] = 0; - out_2697157995522224710[275] = 0; - out_2697157995522224710[276] = 0; - out_2697157995522224710[277] = 0; - out_2697157995522224710[278] = 0; - out_2697157995522224710[279] = 0; - out_2697157995522224710[280] = 0; - out_2697157995522224710[281] = 0; - out_2697157995522224710[282] = 0; - out_2697157995522224710[283] = 0; - out_2697157995522224710[284] = 0; - out_2697157995522224710[285] = 1.0; - out_2697157995522224710[286] = 0; - out_2697157995522224710[287] = 0; - out_2697157995522224710[288] = 0; - out_2697157995522224710[289] = 0; - out_2697157995522224710[290] = 0; - out_2697157995522224710[291] = 0; - out_2697157995522224710[292] = 0; - out_2697157995522224710[293] = 0; - out_2697157995522224710[294] = 0; - out_2697157995522224710[295] = 0; - out_2697157995522224710[296] = 0; - out_2697157995522224710[297] = 0; - out_2697157995522224710[298] = 0; - out_2697157995522224710[299] = 0; - out_2697157995522224710[300] = 0; - out_2697157995522224710[301] = 0; - out_2697157995522224710[302] = 0; - out_2697157995522224710[303] = 0; - out_2697157995522224710[304] = 0; - out_2697157995522224710[305] = 0; - out_2697157995522224710[306] = 0; - out_2697157995522224710[307] = 1.0; - out_2697157995522224710[308] = 0; - out_2697157995522224710[309] = 0; - out_2697157995522224710[310] = 0; - out_2697157995522224710[311] = 0; - out_2697157995522224710[312] = 0; - out_2697157995522224710[313] = 0; - out_2697157995522224710[314] = 0; - out_2697157995522224710[315] = 0; - out_2697157995522224710[316] = 0; - out_2697157995522224710[317] = 0; - out_2697157995522224710[318] = 0; - out_2697157995522224710[319] = 0; - out_2697157995522224710[320] = 0; - out_2697157995522224710[321] = 0; - out_2697157995522224710[322] = 0; - out_2697157995522224710[323] = 0; - out_2697157995522224710[324] = 0; - out_2697157995522224710[325] = 0; - out_2697157995522224710[326] = 0; - out_2697157995522224710[327] = 0; - out_2697157995522224710[328] = 0; - out_2697157995522224710[329] = 1.0; - out_2697157995522224710[330] = 0; - out_2697157995522224710[331] = 0; - out_2697157995522224710[332] = 0; - out_2697157995522224710[333] = 0; - out_2697157995522224710[334] = 0; - out_2697157995522224710[335] = 0; - out_2697157995522224710[336] = 0; - out_2697157995522224710[337] = 0; - out_2697157995522224710[338] = 0; - out_2697157995522224710[339] = 0; - out_2697157995522224710[340] = 0; - out_2697157995522224710[341] = 0; - out_2697157995522224710[342] = 0; - out_2697157995522224710[343] = 0; - out_2697157995522224710[344] = 0; - out_2697157995522224710[345] = 0; - out_2697157995522224710[346] = 0; - out_2697157995522224710[347] = 0; - out_2697157995522224710[348] = 0; - out_2697157995522224710[349] = 0; - out_2697157995522224710[350] = 0; - out_2697157995522224710[351] = 1.0; - out_2697157995522224710[352] = 0; - out_2697157995522224710[353] = 0; - out_2697157995522224710[354] = 0; - out_2697157995522224710[355] = 0; - out_2697157995522224710[356] = 0; - out_2697157995522224710[357] = 0; - out_2697157995522224710[358] = 0; - out_2697157995522224710[359] = 0; - out_2697157995522224710[360] = 0; - out_2697157995522224710[361] = 0; - out_2697157995522224710[362] = 0; - out_2697157995522224710[363] = 0; - out_2697157995522224710[364] = 0; - out_2697157995522224710[365] = 0; - out_2697157995522224710[366] = 0; - out_2697157995522224710[367] = 0; - out_2697157995522224710[368] = 0; - out_2697157995522224710[369] = 0; - out_2697157995522224710[370] = 0; - out_2697157995522224710[371] = 0; - out_2697157995522224710[372] = 0; - out_2697157995522224710[373] = 1.0; - out_2697157995522224710[374] = 0; - out_2697157995522224710[375] = 0; - out_2697157995522224710[376] = 0; - out_2697157995522224710[377] = 0; - out_2697157995522224710[378] = 0; - out_2697157995522224710[379] = 0; - out_2697157995522224710[380] = 0; - out_2697157995522224710[381] = 0; - out_2697157995522224710[382] = 0; - out_2697157995522224710[383] = 0; - out_2697157995522224710[384] = 0; - out_2697157995522224710[385] = 0; - out_2697157995522224710[386] = 0; - out_2697157995522224710[387] = 0; - out_2697157995522224710[388] = 0; - out_2697157995522224710[389] = 0; - out_2697157995522224710[390] = 0; - out_2697157995522224710[391] = 0; - out_2697157995522224710[392] = 0; - out_2697157995522224710[393] = 0; - out_2697157995522224710[394] = 0; - out_2697157995522224710[395] = 1.0; - out_2697157995522224710[396] = 0; - out_2697157995522224710[397] = 0; - out_2697157995522224710[398] = 0; - out_2697157995522224710[399] = 0; - out_2697157995522224710[400] = 0; - out_2697157995522224710[401] = 0; - out_2697157995522224710[402] = 0; - out_2697157995522224710[403] = 0; - out_2697157995522224710[404] = 0; - out_2697157995522224710[405] = 0; - out_2697157995522224710[406] = 0; - out_2697157995522224710[407] = 0; - out_2697157995522224710[408] = 0; - out_2697157995522224710[409] = 0; - out_2697157995522224710[410] = 0; - out_2697157995522224710[411] = 0; - out_2697157995522224710[412] = 0; - out_2697157995522224710[413] = 0; - out_2697157995522224710[414] = 0; - out_2697157995522224710[415] = 0; - out_2697157995522224710[416] = 0; - out_2697157995522224710[417] = 1.0; - out_2697157995522224710[418] = 0; - out_2697157995522224710[419] = 0; - out_2697157995522224710[420] = 0; - out_2697157995522224710[421] = 0; - out_2697157995522224710[422] = 0; - out_2697157995522224710[423] = 0; - out_2697157995522224710[424] = 0; - out_2697157995522224710[425] = 0; - out_2697157995522224710[426] = 0; - out_2697157995522224710[427] = 0; - out_2697157995522224710[428] = 0; - out_2697157995522224710[429] = 0; - out_2697157995522224710[430] = 0; - out_2697157995522224710[431] = 0; - out_2697157995522224710[432] = 0; - out_2697157995522224710[433] = 0; - out_2697157995522224710[434] = 0; - out_2697157995522224710[435] = 0; - out_2697157995522224710[436] = 0; - out_2697157995522224710[437] = 0; - out_2697157995522224710[438] = 0; - out_2697157995522224710[439] = 1.0; - out_2697157995522224710[440] = 0; - out_2697157995522224710[441] = 0; - out_2697157995522224710[442] = 0; - out_2697157995522224710[443] = 0; - out_2697157995522224710[444] = 0; - out_2697157995522224710[445] = 0; - out_2697157995522224710[446] = 0; - out_2697157995522224710[447] = 0; - out_2697157995522224710[448] = 0; - out_2697157995522224710[449] = 0; - out_2697157995522224710[450] = 0; - out_2697157995522224710[451] = 0; - out_2697157995522224710[452] = 0; - out_2697157995522224710[453] = 0; - out_2697157995522224710[454] = 0; - out_2697157995522224710[455] = 0; - out_2697157995522224710[456] = 0; - out_2697157995522224710[457] = 0; - out_2697157995522224710[458] = 0; - out_2697157995522224710[459] = 0; - out_2697157995522224710[460] = 0; - out_2697157995522224710[461] = 1.0; +void H_mod_fun(double *state, double *out_8664355600254952032) { + out_8664355600254952032[0] = 1.0; + out_8664355600254952032[1] = 0; + out_8664355600254952032[2] = 0; + out_8664355600254952032[3] = 0; + out_8664355600254952032[4] = 0; + out_8664355600254952032[5] = 0; + out_8664355600254952032[6] = 0; + out_8664355600254952032[7] = 0; + out_8664355600254952032[8] = 0; + out_8664355600254952032[9] = 0; + out_8664355600254952032[10] = 0; + out_8664355600254952032[11] = 0; + out_8664355600254952032[12] = 0; + out_8664355600254952032[13] = 0; + out_8664355600254952032[14] = 0; + out_8664355600254952032[15] = 0; + out_8664355600254952032[16] = 0; + out_8664355600254952032[17] = 0; + out_8664355600254952032[18] = 0; + out_8664355600254952032[19] = 0; + out_8664355600254952032[20] = 0; + out_8664355600254952032[21] = 0; + out_8664355600254952032[22] = 1.0; + out_8664355600254952032[23] = 0; + out_8664355600254952032[24] = 0; + out_8664355600254952032[25] = 0; + out_8664355600254952032[26] = 0; + out_8664355600254952032[27] = 0; + out_8664355600254952032[28] = 0; + out_8664355600254952032[29] = 0; + out_8664355600254952032[30] = 0; + out_8664355600254952032[31] = 0; + out_8664355600254952032[32] = 0; + out_8664355600254952032[33] = 0; + out_8664355600254952032[34] = 0; + out_8664355600254952032[35] = 0; + out_8664355600254952032[36] = 0; + out_8664355600254952032[37] = 0; + out_8664355600254952032[38] = 0; + out_8664355600254952032[39] = 0; + out_8664355600254952032[40] = 0; + out_8664355600254952032[41] = 0; + out_8664355600254952032[42] = 0; + out_8664355600254952032[43] = 0; + out_8664355600254952032[44] = 1.0; + out_8664355600254952032[45] = 0; + out_8664355600254952032[46] = 0; + out_8664355600254952032[47] = 0; + out_8664355600254952032[48] = 0; + out_8664355600254952032[49] = 0; + out_8664355600254952032[50] = 0; + out_8664355600254952032[51] = 0; + out_8664355600254952032[52] = 0; + out_8664355600254952032[53] = 0; + out_8664355600254952032[54] = 0; + out_8664355600254952032[55] = 0; + out_8664355600254952032[56] = 0; + out_8664355600254952032[57] = 0; + out_8664355600254952032[58] = 0; + out_8664355600254952032[59] = 0; + out_8664355600254952032[60] = 0; + out_8664355600254952032[61] = 0; + out_8664355600254952032[62] = 0; + out_8664355600254952032[63] = 0; + out_8664355600254952032[64] = 0; + out_8664355600254952032[65] = 0; + out_8664355600254952032[66] = -0.5*state[4]; + out_8664355600254952032[67] = -0.5*state[5]; + out_8664355600254952032[68] = -0.5*state[6]; + out_8664355600254952032[69] = 0; + out_8664355600254952032[70] = 0; + out_8664355600254952032[71] = 0; + out_8664355600254952032[72] = 0; + out_8664355600254952032[73] = 0; + out_8664355600254952032[74] = 0; + out_8664355600254952032[75] = 0; + out_8664355600254952032[76] = 0; + out_8664355600254952032[77] = 0; + out_8664355600254952032[78] = 0; + out_8664355600254952032[79] = 0; + out_8664355600254952032[80] = 0; + out_8664355600254952032[81] = 0; + out_8664355600254952032[82] = 0; + out_8664355600254952032[83] = 0; + out_8664355600254952032[84] = 0; + out_8664355600254952032[85] = 0; + out_8664355600254952032[86] = 0; + out_8664355600254952032[87] = 0.5*state[3]; + out_8664355600254952032[88] = 0.5*state[6]; + out_8664355600254952032[89] = -0.5*state[5]; + out_8664355600254952032[90] = 0; + out_8664355600254952032[91] = 0; + out_8664355600254952032[92] = 0; + out_8664355600254952032[93] = 0; + out_8664355600254952032[94] = 0; + out_8664355600254952032[95] = 0; + out_8664355600254952032[96] = 0; + out_8664355600254952032[97] = 0; + out_8664355600254952032[98] = 0; + out_8664355600254952032[99] = 0; + out_8664355600254952032[100] = 0; + out_8664355600254952032[101] = 0; + out_8664355600254952032[102] = 0; + out_8664355600254952032[103] = 0; + out_8664355600254952032[104] = 0; + out_8664355600254952032[105] = 0; + out_8664355600254952032[106] = 0; + out_8664355600254952032[107] = 0; + out_8664355600254952032[108] = -0.5*state[6]; + out_8664355600254952032[109] = 0.5*state[3]; + out_8664355600254952032[110] = 0.5*state[4]; + out_8664355600254952032[111] = 0; + out_8664355600254952032[112] = 0; + out_8664355600254952032[113] = 0; + out_8664355600254952032[114] = 0; + out_8664355600254952032[115] = 0; + out_8664355600254952032[116] = 0; + out_8664355600254952032[117] = 0; + out_8664355600254952032[118] = 0; + out_8664355600254952032[119] = 0; + out_8664355600254952032[120] = 0; + out_8664355600254952032[121] = 0; + out_8664355600254952032[122] = 0; + out_8664355600254952032[123] = 0; + out_8664355600254952032[124] = 0; + out_8664355600254952032[125] = 0; + out_8664355600254952032[126] = 0; + out_8664355600254952032[127] = 0; + out_8664355600254952032[128] = 0; + out_8664355600254952032[129] = 0.5*state[5]; + out_8664355600254952032[130] = -0.5*state[4]; + out_8664355600254952032[131] = 0.5*state[3]; + out_8664355600254952032[132] = 0; + out_8664355600254952032[133] = 0; + out_8664355600254952032[134] = 0; + out_8664355600254952032[135] = 0; + out_8664355600254952032[136] = 0; + out_8664355600254952032[137] = 0; + out_8664355600254952032[138] = 0; + out_8664355600254952032[139] = 0; + out_8664355600254952032[140] = 0; + out_8664355600254952032[141] = 0; + out_8664355600254952032[142] = 0; + out_8664355600254952032[143] = 0; + out_8664355600254952032[144] = 0; + out_8664355600254952032[145] = 0; + out_8664355600254952032[146] = 0; + out_8664355600254952032[147] = 0; + out_8664355600254952032[148] = 0; + out_8664355600254952032[149] = 0; + out_8664355600254952032[150] = 0; + out_8664355600254952032[151] = 0; + out_8664355600254952032[152] = 0; + out_8664355600254952032[153] = 1.0; + out_8664355600254952032[154] = 0; + out_8664355600254952032[155] = 0; + out_8664355600254952032[156] = 0; + out_8664355600254952032[157] = 0; + out_8664355600254952032[158] = 0; + out_8664355600254952032[159] = 0; + out_8664355600254952032[160] = 0; + out_8664355600254952032[161] = 0; + out_8664355600254952032[162] = 0; + out_8664355600254952032[163] = 0; + out_8664355600254952032[164] = 0; + out_8664355600254952032[165] = 0; + out_8664355600254952032[166] = 0; + out_8664355600254952032[167] = 0; + out_8664355600254952032[168] = 0; + out_8664355600254952032[169] = 0; + out_8664355600254952032[170] = 0; + out_8664355600254952032[171] = 0; + out_8664355600254952032[172] = 0; + out_8664355600254952032[173] = 0; + out_8664355600254952032[174] = 0; + out_8664355600254952032[175] = 1.0; + out_8664355600254952032[176] = 0; + out_8664355600254952032[177] = 0; + out_8664355600254952032[178] = 0; + out_8664355600254952032[179] = 0; + out_8664355600254952032[180] = 0; + out_8664355600254952032[181] = 0; + out_8664355600254952032[182] = 0; + out_8664355600254952032[183] = 0; + out_8664355600254952032[184] = 0; + out_8664355600254952032[185] = 0; + out_8664355600254952032[186] = 0; + out_8664355600254952032[187] = 0; + out_8664355600254952032[188] = 0; + out_8664355600254952032[189] = 0; + out_8664355600254952032[190] = 0; + out_8664355600254952032[191] = 0; + out_8664355600254952032[192] = 0; + out_8664355600254952032[193] = 0; + out_8664355600254952032[194] = 0; + out_8664355600254952032[195] = 0; + out_8664355600254952032[196] = 0; + out_8664355600254952032[197] = 1.0; + out_8664355600254952032[198] = 0; + out_8664355600254952032[199] = 0; + out_8664355600254952032[200] = 0; + out_8664355600254952032[201] = 0; + out_8664355600254952032[202] = 0; + out_8664355600254952032[203] = 0; + out_8664355600254952032[204] = 0; + out_8664355600254952032[205] = 0; + out_8664355600254952032[206] = 0; + out_8664355600254952032[207] = 0; + out_8664355600254952032[208] = 0; + out_8664355600254952032[209] = 0; + out_8664355600254952032[210] = 0; + out_8664355600254952032[211] = 0; + out_8664355600254952032[212] = 0; + out_8664355600254952032[213] = 0; + out_8664355600254952032[214] = 0; + out_8664355600254952032[215] = 0; + out_8664355600254952032[216] = 0; + out_8664355600254952032[217] = 0; + out_8664355600254952032[218] = 0; + out_8664355600254952032[219] = 1.0; + out_8664355600254952032[220] = 0; + out_8664355600254952032[221] = 0; + out_8664355600254952032[222] = 0; + out_8664355600254952032[223] = 0; + out_8664355600254952032[224] = 0; + out_8664355600254952032[225] = 0; + out_8664355600254952032[226] = 0; + out_8664355600254952032[227] = 0; + out_8664355600254952032[228] = 0; + out_8664355600254952032[229] = 0; + out_8664355600254952032[230] = 0; + out_8664355600254952032[231] = 0; + out_8664355600254952032[232] = 0; + out_8664355600254952032[233] = 0; + out_8664355600254952032[234] = 0; + out_8664355600254952032[235] = 0; + out_8664355600254952032[236] = 0; + out_8664355600254952032[237] = 0; + out_8664355600254952032[238] = 0; + out_8664355600254952032[239] = 0; + out_8664355600254952032[240] = 0; + out_8664355600254952032[241] = 1.0; + out_8664355600254952032[242] = 0; + out_8664355600254952032[243] = 0; + out_8664355600254952032[244] = 0; + out_8664355600254952032[245] = 0; + out_8664355600254952032[246] = 0; + out_8664355600254952032[247] = 0; + out_8664355600254952032[248] = 0; + out_8664355600254952032[249] = 0; + out_8664355600254952032[250] = 0; + out_8664355600254952032[251] = 0; + out_8664355600254952032[252] = 0; + out_8664355600254952032[253] = 0; + out_8664355600254952032[254] = 0; + out_8664355600254952032[255] = 0; + out_8664355600254952032[256] = 0; + out_8664355600254952032[257] = 0; + out_8664355600254952032[258] = 0; + out_8664355600254952032[259] = 0; + out_8664355600254952032[260] = 0; + out_8664355600254952032[261] = 0; + out_8664355600254952032[262] = 0; + out_8664355600254952032[263] = 1.0; + out_8664355600254952032[264] = 0; + out_8664355600254952032[265] = 0; + out_8664355600254952032[266] = 0; + out_8664355600254952032[267] = 0; + out_8664355600254952032[268] = 0; + out_8664355600254952032[269] = 0; + out_8664355600254952032[270] = 0; + out_8664355600254952032[271] = 0; + out_8664355600254952032[272] = 0; + out_8664355600254952032[273] = 0; + out_8664355600254952032[274] = 0; + out_8664355600254952032[275] = 0; + out_8664355600254952032[276] = 0; + out_8664355600254952032[277] = 0; + out_8664355600254952032[278] = 0; + out_8664355600254952032[279] = 0; + out_8664355600254952032[280] = 0; + out_8664355600254952032[281] = 0; + out_8664355600254952032[282] = 0; + out_8664355600254952032[283] = 0; + out_8664355600254952032[284] = 0; + out_8664355600254952032[285] = 1.0; + out_8664355600254952032[286] = 0; + out_8664355600254952032[287] = 0; + out_8664355600254952032[288] = 0; + out_8664355600254952032[289] = 0; + out_8664355600254952032[290] = 0; + out_8664355600254952032[291] = 0; + out_8664355600254952032[292] = 0; + out_8664355600254952032[293] = 0; + out_8664355600254952032[294] = 0; + out_8664355600254952032[295] = 0; + out_8664355600254952032[296] = 0; + out_8664355600254952032[297] = 0; + out_8664355600254952032[298] = 0; + out_8664355600254952032[299] = 0; + out_8664355600254952032[300] = 0; + out_8664355600254952032[301] = 0; + out_8664355600254952032[302] = 0; + out_8664355600254952032[303] = 0; + out_8664355600254952032[304] = 0; + out_8664355600254952032[305] = 0; + out_8664355600254952032[306] = 0; + out_8664355600254952032[307] = 1.0; + out_8664355600254952032[308] = 0; + out_8664355600254952032[309] = 0; + out_8664355600254952032[310] = 0; + out_8664355600254952032[311] = 0; + out_8664355600254952032[312] = 0; + out_8664355600254952032[313] = 0; + out_8664355600254952032[314] = 0; + out_8664355600254952032[315] = 0; + out_8664355600254952032[316] = 0; + out_8664355600254952032[317] = 0; + out_8664355600254952032[318] = 0; + out_8664355600254952032[319] = 0; + out_8664355600254952032[320] = 0; + out_8664355600254952032[321] = 0; + out_8664355600254952032[322] = 0; + out_8664355600254952032[323] = 0; + out_8664355600254952032[324] = 0; + out_8664355600254952032[325] = 0; + out_8664355600254952032[326] = 0; + out_8664355600254952032[327] = 0; + out_8664355600254952032[328] = 0; + out_8664355600254952032[329] = 1.0; + out_8664355600254952032[330] = 0; + out_8664355600254952032[331] = 0; + out_8664355600254952032[332] = 0; + out_8664355600254952032[333] = 0; + out_8664355600254952032[334] = 0; + out_8664355600254952032[335] = 0; + out_8664355600254952032[336] = 0; + out_8664355600254952032[337] = 0; + out_8664355600254952032[338] = 0; + out_8664355600254952032[339] = 0; + out_8664355600254952032[340] = 0; + out_8664355600254952032[341] = 0; + out_8664355600254952032[342] = 0; + out_8664355600254952032[343] = 0; + out_8664355600254952032[344] = 0; + out_8664355600254952032[345] = 0; + out_8664355600254952032[346] = 0; + out_8664355600254952032[347] = 0; + out_8664355600254952032[348] = 0; + out_8664355600254952032[349] = 0; + out_8664355600254952032[350] = 0; + out_8664355600254952032[351] = 1.0; + out_8664355600254952032[352] = 0; + out_8664355600254952032[353] = 0; + out_8664355600254952032[354] = 0; + out_8664355600254952032[355] = 0; + out_8664355600254952032[356] = 0; + out_8664355600254952032[357] = 0; + out_8664355600254952032[358] = 0; + out_8664355600254952032[359] = 0; + out_8664355600254952032[360] = 0; + out_8664355600254952032[361] = 0; + out_8664355600254952032[362] = 0; + out_8664355600254952032[363] = 0; + out_8664355600254952032[364] = 0; + out_8664355600254952032[365] = 0; + out_8664355600254952032[366] = 0; + out_8664355600254952032[367] = 0; + out_8664355600254952032[368] = 0; + out_8664355600254952032[369] = 0; + out_8664355600254952032[370] = 0; + out_8664355600254952032[371] = 0; + out_8664355600254952032[372] = 0; + out_8664355600254952032[373] = 1.0; + out_8664355600254952032[374] = 0; + out_8664355600254952032[375] = 0; + out_8664355600254952032[376] = 0; + out_8664355600254952032[377] = 0; + out_8664355600254952032[378] = 0; + out_8664355600254952032[379] = 0; + out_8664355600254952032[380] = 0; + out_8664355600254952032[381] = 0; + out_8664355600254952032[382] = 0; + out_8664355600254952032[383] = 0; + out_8664355600254952032[384] = 0; + out_8664355600254952032[385] = 0; + out_8664355600254952032[386] = 0; + out_8664355600254952032[387] = 0; + out_8664355600254952032[388] = 0; + out_8664355600254952032[389] = 0; + out_8664355600254952032[390] = 0; + out_8664355600254952032[391] = 0; + out_8664355600254952032[392] = 0; + out_8664355600254952032[393] = 0; + out_8664355600254952032[394] = 0; + out_8664355600254952032[395] = 1.0; + out_8664355600254952032[396] = 0; + out_8664355600254952032[397] = 0; + out_8664355600254952032[398] = 0; + out_8664355600254952032[399] = 0; + out_8664355600254952032[400] = 0; + out_8664355600254952032[401] = 0; + out_8664355600254952032[402] = 0; + out_8664355600254952032[403] = 0; + out_8664355600254952032[404] = 0; + out_8664355600254952032[405] = 0; + out_8664355600254952032[406] = 0; + out_8664355600254952032[407] = 0; + out_8664355600254952032[408] = 0; + out_8664355600254952032[409] = 0; + out_8664355600254952032[410] = 0; + out_8664355600254952032[411] = 0; + out_8664355600254952032[412] = 0; + out_8664355600254952032[413] = 0; + out_8664355600254952032[414] = 0; + out_8664355600254952032[415] = 0; + out_8664355600254952032[416] = 0; + out_8664355600254952032[417] = 1.0; + out_8664355600254952032[418] = 0; + out_8664355600254952032[419] = 0; + out_8664355600254952032[420] = 0; + out_8664355600254952032[421] = 0; + out_8664355600254952032[422] = 0; + out_8664355600254952032[423] = 0; + out_8664355600254952032[424] = 0; + out_8664355600254952032[425] = 0; + out_8664355600254952032[426] = 0; + out_8664355600254952032[427] = 0; + out_8664355600254952032[428] = 0; + out_8664355600254952032[429] = 0; + out_8664355600254952032[430] = 0; + out_8664355600254952032[431] = 0; + out_8664355600254952032[432] = 0; + out_8664355600254952032[433] = 0; + out_8664355600254952032[434] = 0; + out_8664355600254952032[435] = 0; + out_8664355600254952032[436] = 0; + out_8664355600254952032[437] = 0; + out_8664355600254952032[438] = 0; + out_8664355600254952032[439] = 1.0; + out_8664355600254952032[440] = 0; + out_8664355600254952032[441] = 0; + out_8664355600254952032[442] = 0; + out_8664355600254952032[443] = 0; + out_8664355600254952032[444] = 0; + out_8664355600254952032[445] = 0; + out_8664355600254952032[446] = 0; + out_8664355600254952032[447] = 0; + out_8664355600254952032[448] = 0; + out_8664355600254952032[449] = 0; + out_8664355600254952032[450] = 0; + out_8664355600254952032[451] = 0; + out_8664355600254952032[452] = 0; + out_8664355600254952032[453] = 0; + out_8664355600254952032[454] = 0; + out_8664355600254952032[455] = 0; + out_8664355600254952032[456] = 0; + out_8664355600254952032[457] = 0; + out_8664355600254952032[458] = 0; + out_8664355600254952032[459] = 0; + out_8664355600254952032[460] = 0; + out_8664355600254952032[461] = 1.0; } -void f_fun(double *state, double dt, double *out_258969813900144001) { - out_258969813900144001[0] = dt*state[7] + state[0]; - out_258969813900144001[1] = dt*state[8] + state[1]; - out_258969813900144001[2] = dt*state[9] + state[2]; - out_258969813900144001[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; - out_258969813900144001[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; - out_258969813900144001[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; - out_258969813900144001[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; - out_258969813900144001[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_258969813900144001[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_258969813900144001[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_258969813900144001[10] = state[10]; - out_258969813900144001[11] = state[11]; - out_258969813900144001[12] = state[12]; - out_258969813900144001[13] = state[13]; - out_258969813900144001[14] = state[14]; - out_258969813900144001[15] = state[15]; - out_258969813900144001[16] = state[16]; - out_258969813900144001[17] = state[17]; - out_258969813900144001[18] = state[18]; - out_258969813900144001[19] = state[19]; - out_258969813900144001[20] = state[20]; - out_258969813900144001[21] = state[21]; +void f_fun(double *state, double dt, double *out_5944879704050977948) { + out_5944879704050977948[0] = dt*state[7] + state[0]; + out_5944879704050977948[1] = dt*state[8] + state[1]; + out_5944879704050977948[2] = dt*state[9] + state[2]; + out_5944879704050977948[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; + out_5944879704050977948[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; + out_5944879704050977948[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; + out_5944879704050977948[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; + out_5944879704050977948[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_5944879704050977948[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_5944879704050977948[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_5944879704050977948[10] = state[10]; + out_5944879704050977948[11] = state[11]; + out_5944879704050977948[12] = state[12]; + out_5944879704050977948[13] = state[13]; + out_5944879704050977948[14] = state[14]; + out_5944879704050977948[15] = state[15]; + out_5944879704050977948[16] = state[16]; + out_5944879704050977948[17] = state[17]; + out_5944879704050977948[18] = state[18]; + out_5944879704050977948[19] = state[19]; + out_5944879704050977948[20] = state[20]; + out_5944879704050977948[21] = state[21]; } -void F_fun(double *state, double dt, double *out_3982048512447115253) { - out_3982048512447115253[0] = 1; - out_3982048512447115253[1] = 0; - out_3982048512447115253[2] = 0; - out_3982048512447115253[3] = 0; - out_3982048512447115253[4] = 0; - out_3982048512447115253[5] = 0; - out_3982048512447115253[6] = dt; - out_3982048512447115253[7] = 0; - out_3982048512447115253[8] = 0; - out_3982048512447115253[9] = 0; - out_3982048512447115253[10] = 0; - out_3982048512447115253[11] = 0; - out_3982048512447115253[12] = 0; - out_3982048512447115253[13] = 0; - out_3982048512447115253[14] = 0; - out_3982048512447115253[15] = 0; - out_3982048512447115253[16] = 0; - out_3982048512447115253[17] = 0; - out_3982048512447115253[18] = 0; - out_3982048512447115253[19] = 0; - out_3982048512447115253[20] = 0; - out_3982048512447115253[21] = 0; - out_3982048512447115253[22] = 1; - out_3982048512447115253[23] = 0; - out_3982048512447115253[24] = 0; - out_3982048512447115253[25] = 0; - out_3982048512447115253[26] = 0; - out_3982048512447115253[27] = 0; - out_3982048512447115253[28] = dt; - out_3982048512447115253[29] = 0; - out_3982048512447115253[30] = 0; - out_3982048512447115253[31] = 0; - out_3982048512447115253[32] = 0; - out_3982048512447115253[33] = 0; - out_3982048512447115253[34] = 0; - out_3982048512447115253[35] = 0; - out_3982048512447115253[36] = 0; - out_3982048512447115253[37] = 0; - out_3982048512447115253[38] = 0; - out_3982048512447115253[39] = 0; - out_3982048512447115253[40] = 0; - out_3982048512447115253[41] = 0; - out_3982048512447115253[42] = 0; - out_3982048512447115253[43] = 0; - out_3982048512447115253[44] = 1; - out_3982048512447115253[45] = 0; - out_3982048512447115253[46] = 0; - out_3982048512447115253[47] = 0; - out_3982048512447115253[48] = 0; - out_3982048512447115253[49] = 0; - out_3982048512447115253[50] = dt; - out_3982048512447115253[51] = 0; - out_3982048512447115253[52] = 0; - out_3982048512447115253[53] = 0; - out_3982048512447115253[54] = 0; - out_3982048512447115253[55] = 0; - out_3982048512447115253[56] = 0; - out_3982048512447115253[57] = 0; - out_3982048512447115253[58] = 0; - out_3982048512447115253[59] = 0; - out_3982048512447115253[60] = 0; - out_3982048512447115253[61] = 0; - out_3982048512447115253[62] = 0; - out_3982048512447115253[63] = 0; - out_3982048512447115253[64] = 0; - out_3982048512447115253[65] = 0; - out_3982048512447115253[66] = 1; - out_3982048512447115253[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_3982048512447115253[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_3982048512447115253[69] = 0; - out_3982048512447115253[70] = 0; - out_3982048512447115253[71] = 0; - out_3982048512447115253[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_3982048512447115253[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); - out_3982048512447115253[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); - out_3982048512447115253[75] = 0; - out_3982048512447115253[76] = 0; - out_3982048512447115253[77] = 0; - out_3982048512447115253[78] = 0; - out_3982048512447115253[79] = 0; - out_3982048512447115253[80] = 0; - out_3982048512447115253[81] = 0; - out_3982048512447115253[82] = 0; - out_3982048512447115253[83] = 0; - out_3982048512447115253[84] = 0; - out_3982048512447115253[85] = 0; - out_3982048512447115253[86] = 0; - out_3982048512447115253[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_3982048512447115253[88] = 1; - out_3982048512447115253[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_3982048512447115253[90] = 0; - out_3982048512447115253[91] = 0; - out_3982048512447115253[92] = 0; - out_3982048512447115253[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); - out_3982048512447115253[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_3982048512447115253[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); - out_3982048512447115253[96] = 0; - out_3982048512447115253[97] = 0; - out_3982048512447115253[98] = 0; - out_3982048512447115253[99] = 0; - out_3982048512447115253[100] = 0; - out_3982048512447115253[101] = 0; - out_3982048512447115253[102] = 0; - out_3982048512447115253[103] = 0; - out_3982048512447115253[104] = 0; - out_3982048512447115253[105] = 0; - out_3982048512447115253[106] = 0; - out_3982048512447115253[107] = 0; - out_3982048512447115253[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_3982048512447115253[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_3982048512447115253[110] = 1; - out_3982048512447115253[111] = 0; - out_3982048512447115253[112] = 0; - out_3982048512447115253[113] = 0; - out_3982048512447115253[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); - out_3982048512447115253[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); - out_3982048512447115253[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_3982048512447115253[117] = 0; - out_3982048512447115253[118] = 0; - out_3982048512447115253[119] = 0; - out_3982048512447115253[120] = 0; - out_3982048512447115253[121] = 0; - out_3982048512447115253[122] = 0; - out_3982048512447115253[123] = 0; - out_3982048512447115253[124] = 0; - out_3982048512447115253[125] = 0; - out_3982048512447115253[126] = 0; - out_3982048512447115253[127] = 0; - out_3982048512447115253[128] = 0; - out_3982048512447115253[129] = 0; - out_3982048512447115253[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_3982048512447115253[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_3982048512447115253[132] = 1; - out_3982048512447115253[133] = 0; - out_3982048512447115253[134] = 0; - out_3982048512447115253[135] = 0; - out_3982048512447115253[136] = 0; - out_3982048512447115253[137] = 0; - out_3982048512447115253[138] = 0; - out_3982048512447115253[139] = 0; - out_3982048512447115253[140] = 0; - out_3982048512447115253[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_3982048512447115253[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); - out_3982048512447115253[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); - out_3982048512447115253[144] = 0; - out_3982048512447115253[145] = 0; - out_3982048512447115253[146] = 0; - out_3982048512447115253[147] = 0; - out_3982048512447115253[148] = 0; - out_3982048512447115253[149] = 0; - out_3982048512447115253[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_3982048512447115253[151] = 0; - out_3982048512447115253[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_3982048512447115253[153] = 0; - out_3982048512447115253[154] = 1; - out_3982048512447115253[155] = 0; - out_3982048512447115253[156] = 0; - out_3982048512447115253[157] = 0; - out_3982048512447115253[158] = 0; - out_3982048512447115253[159] = 0; - out_3982048512447115253[160] = 0; - out_3982048512447115253[161] = 0; - out_3982048512447115253[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); - out_3982048512447115253[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_3982048512447115253[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); - out_3982048512447115253[165] = 0; - out_3982048512447115253[166] = 0; - out_3982048512447115253[167] = 0; - out_3982048512447115253[168] = 0; - out_3982048512447115253[169] = 0; - out_3982048512447115253[170] = 0; - out_3982048512447115253[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_3982048512447115253[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_3982048512447115253[173] = 0; - out_3982048512447115253[174] = 0; - out_3982048512447115253[175] = 0; - out_3982048512447115253[176] = 1; - out_3982048512447115253[177] = 0; - out_3982048512447115253[178] = 0; - out_3982048512447115253[179] = 0; - out_3982048512447115253[180] = 0; - out_3982048512447115253[181] = 0; - out_3982048512447115253[182] = 0; - out_3982048512447115253[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); - out_3982048512447115253[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); - out_3982048512447115253[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_3982048512447115253[186] = 0; - out_3982048512447115253[187] = 0; - out_3982048512447115253[188] = 0; - out_3982048512447115253[189] = 0; - out_3982048512447115253[190] = 0; - out_3982048512447115253[191] = 0; - out_3982048512447115253[192] = 0; - out_3982048512447115253[193] = 0; - out_3982048512447115253[194] = 0; - out_3982048512447115253[195] = 0; - out_3982048512447115253[196] = 0; - out_3982048512447115253[197] = 0; - out_3982048512447115253[198] = 1; - out_3982048512447115253[199] = 0; - out_3982048512447115253[200] = 0; - out_3982048512447115253[201] = 0; - out_3982048512447115253[202] = 0; - out_3982048512447115253[203] = 0; - out_3982048512447115253[204] = 0; - out_3982048512447115253[205] = 0; - out_3982048512447115253[206] = 0; - out_3982048512447115253[207] = 0; - out_3982048512447115253[208] = 0; - out_3982048512447115253[209] = 0; - out_3982048512447115253[210] = 0; - out_3982048512447115253[211] = 0; - out_3982048512447115253[212] = 0; - out_3982048512447115253[213] = 0; - out_3982048512447115253[214] = 0; - out_3982048512447115253[215] = 0; - out_3982048512447115253[216] = 0; - out_3982048512447115253[217] = 0; - out_3982048512447115253[218] = 0; - out_3982048512447115253[219] = 0; - out_3982048512447115253[220] = 1; - out_3982048512447115253[221] = 0; - out_3982048512447115253[222] = 0; - out_3982048512447115253[223] = 0; - out_3982048512447115253[224] = 0; - out_3982048512447115253[225] = 0; - out_3982048512447115253[226] = 0; - out_3982048512447115253[227] = 0; - out_3982048512447115253[228] = 0; - out_3982048512447115253[229] = 0; - out_3982048512447115253[230] = 0; - out_3982048512447115253[231] = 0; - out_3982048512447115253[232] = 0; - out_3982048512447115253[233] = 0; - out_3982048512447115253[234] = 0; - out_3982048512447115253[235] = 0; - out_3982048512447115253[236] = 0; - out_3982048512447115253[237] = 0; - out_3982048512447115253[238] = 0; - out_3982048512447115253[239] = 0; - out_3982048512447115253[240] = 0; - out_3982048512447115253[241] = 0; - out_3982048512447115253[242] = 1; - out_3982048512447115253[243] = 0; - out_3982048512447115253[244] = 0; - out_3982048512447115253[245] = 0; - out_3982048512447115253[246] = 0; - out_3982048512447115253[247] = 0; - out_3982048512447115253[248] = 0; - out_3982048512447115253[249] = 0; - out_3982048512447115253[250] = 0; - out_3982048512447115253[251] = 0; - out_3982048512447115253[252] = 0; - out_3982048512447115253[253] = 0; - out_3982048512447115253[254] = 0; - out_3982048512447115253[255] = 0; - out_3982048512447115253[256] = 0; - out_3982048512447115253[257] = 0; - out_3982048512447115253[258] = 0; - out_3982048512447115253[259] = 0; - out_3982048512447115253[260] = 0; - out_3982048512447115253[261] = 0; - out_3982048512447115253[262] = 0; - out_3982048512447115253[263] = 0; - out_3982048512447115253[264] = 1; - out_3982048512447115253[265] = 0; - out_3982048512447115253[266] = 0; - out_3982048512447115253[267] = 0; - out_3982048512447115253[268] = 0; - out_3982048512447115253[269] = 0; - out_3982048512447115253[270] = 0; - out_3982048512447115253[271] = 0; - out_3982048512447115253[272] = 0; - out_3982048512447115253[273] = 0; - out_3982048512447115253[274] = 0; - out_3982048512447115253[275] = 0; - out_3982048512447115253[276] = 0; - out_3982048512447115253[277] = 0; - out_3982048512447115253[278] = 0; - out_3982048512447115253[279] = 0; - out_3982048512447115253[280] = 0; - out_3982048512447115253[281] = 0; - out_3982048512447115253[282] = 0; - out_3982048512447115253[283] = 0; - out_3982048512447115253[284] = 0; - out_3982048512447115253[285] = 0; - out_3982048512447115253[286] = 1; - out_3982048512447115253[287] = 0; - out_3982048512447115253[288] = 0; - out_3982048512447115253[289] = 0; - out_3982048512447115253[290] = 0; - out_3982048512447115253[291] = 0; - out_3982048512447115253[292] = 0; - out_3982048512447115253[293] = 0; - out_3982048512447115253[294] = 0; - out_3982048512447115253[295] = 0; - out_3982048512447115253[296] = 0; - out_3982048512447115253[297] = 0; - out_3982048512447115253[298] = 0; - out_3982048512447115253[299] = 0; - out_3982048512447115253[300] = 0; - out_3982048512447115253[301] = 0; - out_3982048512447115253[302] = 0; - out_3982048512447115253[303] = 0; - out_3982048512447115253[304] = 0; - out_3982048512447115253[305] = 0; - out_3982048512447115253[306] = 0; - out_3982048512447115253[307] = 0; - out_3982048512447115253[308] = 1; - out_3982048512447115253[309] = 0; - out_3982048512447115253[310] = 0; - out_3982048512447115253[311] = 0; - out_3982048512447115253[312] = 0; - out_3982048512447115253[313] = 0; - out_3982048512447115253[314] = 0; - out_3982048512447115253[315] = 0; - out_3982048512447115253[316] = 0; - out_3982048512447115253[317] = 0; - out_3982048512447115253[318] = 0; - out_3982048512447115253[319] = 0; - out_3982048512447115253[320] = 0; - out_3982048512447115253[321] = 0; - out_3982048512447115253[322] = 0; - out_3982048512447115253[323] = 0; - out_3982048512447115253[324] = 0; - out_3982048512447115253[325] = 0; - out_3982048512447115253[326] = 0; - out_3982048512447115253[327] = 0; - out_3982048512447115253[328] = 0; - out_3982048512447115253[329] = 0; - out_3982048512447115253[330] = 1; - out_3982048512447115253[331] = 0; - out_3982048512447115253[332] = 0; - out_3982048512447115253[333] = 0; - out_3982048512447115253[334] = 0; - out_3982048512447115253[335] = 0; - out_3982048512447115253[336] = 0; - out_3982048512447115253[337] = 0; - out_3982048512447115253[338] = 0; - out_3982048512447115253[339] = 0; - out_3982048512447115253[340] = 0; - out_3982048512447115253[341] = 0; - out_3982048512447115253[342] = 0; - out_3982048512447115253[343] = 0; - out_3982048512447115253[344] = 0; - out_3982048512447115253[345] = 0; - out_3982048512447115253[346] = 0; - out_3982048512447115253[347] = 0; - out_3982048512447115253[348] = 0; - out_3982048512447115253[349] = 0; - out_3982048512447115253[350] = 0; - out_3982048512447115253[351] = 0; - out_3982048512447115253[352] = 1; - out_3982048512447115253[353] = 0; - out_3982048512447115253[354] = 0; - out_3982048512447115253[355] = 0; - out_3982048512447115253[356] = 0; - out_3982048512447115253[357] = 0; - out_3982048512447115253[358] = 0; - out_3982048512447115253[359] = 0; - out_3982048512447115253[360] = 0; - out_3982048512447115253[361] = 0; - out_3982048512447115253[362] = 0; - out_3982048512447115253[363] = 0; - out_3982048512447115253[364] = 0; - out_3982048512447115253[365] = 0; - out_3982048512447115253[366] = 0; - out_3982048512447115253[367] = 0; - out_3982048512447115253[368] = 0; - out_3982048512447115253[369] = 0; - out_3982048512447115253[370] = 0; - out_3982048512447115253[371] = 0; - out_3982048512447115253[372] = 0; - out_3982048512447115253[373] = 0; - out_3982048512447115253[374] = 1; - out_3982048512447115253[375] = 0; - out_3982048512447115253[376] = 0; - out_3982048512447115253[377] = 0; - out_3982048512447115253[378] = 0; - out_3982048512447115253[379] = 0; - out_3982048512447115253[380] = 0; - out_3982048512447115253[381] = 0; - out_3982048512447115253[382] = 0; - out_3982048512447115253[383] = 0; - out_3982048512447115253[384] = 0; - out_3982048512447115253[385] = 0; - out_3982048512447115253[386] = 0; - out_3982048512447115253[387] = 0; - out_3982048512447115253[388] = 0; - out_3982048512447115253[389] = 0; - out_3982048512447115253[390] = 0; - out_3982048512447115253[391] = 0; - out_3982048512447115253[392] = 0; - out_3982048512447115253[393] = 0; - out_3982048512447115253[394] = 0; - out_3982048512447115253[395] = 0; - out_3982048512447115253[396] = 1; - out_3982048512447115253[397] = 0; - out_3982048512447115253[398] = 0; - out_3982048512447115253[399] = 0; - out_3982048512447115253[400] = 0; - out_3982048512447115253[401] = 0; - out_3982048512447115253[402] = 0; - out_3982048512447115253[403] = 0; - out_3982048512447115253[404] = 0; - out_3982048512447115253[405] = 0; - out_3982048512447115253[406] = 0; - out_3982048512447115253[407] = 0; - out_3982048512447115253[408] = 0; - out_3982048512447115253[409] = 0; - out_3982048512447115253[410] = 0; - out_3982048512447115253[411] = 0; - out_3982048512447115253[412] = 0; - out_3982048512447115253[413] = 0; - out_3982048512447115253[414] = 0; - out_3982048512447115253[415] = 0; - out_3982048512447115253[416] = 0; - out_3982048512447115253[417] = 0; - out_3982048512447115253[418] = 1; - out_3982048512447115253[419] = 0; - out_3982048512447115253[420] = 0; - out_3982048512447115253[421] = 0; - out_3982048512447115253[422] = 0; - out_3982048512447115253[423] = 0; - out_3982048512447115253[424] = 0; - out_3982048512447115253[425] = 0; - out_3982048512447115253[426] = 0; - out_3982048512447115253[427] = 0; - out_3982048512447115253[428] = 0; - out_3982048512447115253[429] = 0; - out_3982048512447115253[430] = 0; - out_3982048512447115253[431] = 0; - out_3982048512447115253[432] = 0; - out_3982048512447115253[433] = 0; - out_3982048512447115253[434] = 0; - out_3982048512447115253[435] = 0; - out_3982048512447115253[436] = 0; - out_3982048512447115253[437] = 0; - out_3982048512447115253[438] = 0; - out_3982048512447115253[439] = 0; - out_3982048512447115253[440] = 1; +void F_fun(double *state, double dt, double *out_1511312995606333672) { + out_1511312995606333672[0] = 1; + out_1511312995606333672[1] = 0; + out_1511312995606333672[2] = 0; + out_1511312995606333672[3] = 0; + out_1511312995606333672[4] = 0; + out_1511312995606333672[5] = 0; + out_1511312995606333672[6] = dt; + out_1511312995606333672[7] = 0; + out_1511312995606333672[8] = 0; + out_1511312995606333672[9] = 0; + out_1511312995606333672[10] = 0; + out_1511312995606333672[11] = 0; + out_1511312995606333672[12] = 0; + out_1511312995606333672[13] = 0; + out_1511312995606333672[14] = 0; + out_1511312995606333672[15] = 0; + out_1511312995606333672[16] = 0; + out_1511312995606333672[17] = 0; + out_1511312995606333672[18] = 0; + out_1511312995606333672[19] = 0; + out_1511312995606333672[20] = 0; + out_1511312995606333672[21] = 0; + out_1511312995606333672[22] = 1; + out_1511312995606333672[23] = 0; + out_1511312995606333672[24] = 0; + out_1511312995606333672[25] = 0; + out_1511312995606333672[26] = 0; + out_1511312995606333672[27] = 0; + out_1511312995606333672[28] = dt; + out_1511312995606333672[29] = 0; + out_1511312995606333672[30] = 0; + out_1511312995606333672[31] = 0; + out_1511312995606333672[32] = 0; + out_1511312995606333672[33] = 0; + out_1511312995606333672[34] = 0; + out_1511312995606333672[35] = 0; + out_1511312995606333672[36] = 0; + out_1511312995606333672[37] = 0; + out_1511312995606333672[38] = 0; + out_1511312995606333672[39] = 0; + out_1511312995606333672[40] = 0; + out_1511312995606333672[41] = 0; + out_1511312995606333672[42] = 0; + out_1511312995606333672[43] = 0; + out_1511312995606333672[44] = 1; + out_1511312995606333672[45] = 0; + out_1511312995606333672[46] = 0; + out_1511312995606333672[47] = 0; + out_1511312995606333672[48] = 0; + out_1511312995606333672[49] = 0; + out_1511312995606333672[50] = dt; + out_1511312995606333672[51] = 0; + out_1511312995606333672[52] = 0; + out_1511312995606333672[53] = 0; + out_1511312995606333672[54] = 0; + out_1511312995606333672[55] = 0; + out_1511312995606333672[56] = 0; + out_1511312995606333672[57] = 0; + out_1511312995606333672[58] = 0; + out_1511312995606333672[59] = 0; + out_1511312995606333672[60] = 0; + out_1511312995606333672[61] = 0; + out_1511312995606333672[62] = 0; + out_1511312995606333672[63] = 0; + out_1511312995606333672[64] = 0; + out_1511312995606333672[65] = 0; + out_1511312995606333672[66] = 1; + out_1511312995606333672[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_1511312995606333672[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_1511312995606333672[69] = 0; + out_1511312995606333672[70] = 0; + out_1511312995606333672[71] = 0; + out_1511312995606333672[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_1511312995606333672[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_1511312995606333672[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_1511312995606333672[75] = 0; + out_1511312995606333672[76] = 0; + out_1511312995606333672[77] = 0; + out_1511312995606333672[78] = 0; + out_1511312995606333672[79] = 0; + out_1511312995606333672[80] = 0; + out_1511312995606333672[81] = 0; + out_1511312995606333672[82] = 0; + out_1511312995606333672[83] = 0; + out_1511312995606333672[84] = 0; + out_1511312995606333672[85] = 0; + out_1511312995606333672[86] = 0; + out_1511312995606333672[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_1511312995606333672[88] = 1; + out_1511312995606333672[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_1511312995606333672[90] = 0; + out_1511312995606333672[91] = 0; + out_1511312995606333672[92] = 0; + out_1511312995606333672[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_1511312995606333672[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_1511312995606333672[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_1511312995606333672[96] = 0; + out_1511312995606333672[97] = 0; + out_1511312995606333672[98] = 0; + out_1511312995606333672[99] = 0; + out_1511312995606333672[100] = 0; + out_1511312995606333672[101] = 0; + out_1511312995606333672[102] = 0; + out_1511312995606333672[103] = 0; + out_1511312995606333672[104] = 0; + out_1511312995606333672[105] = 0; + out_1511312995606333672[106] = 0; + out_1511312995606333672[107] = 0; + out_1511312995606333672[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_1511312995606333672[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_1511312995606333672[110] = 1; + out_1511312995606333672[111] = 0; + out_1511312995606333672[112] = 0; + out_1511312995606333672[113] = 0; + out_1511312995606333672[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_1511312995606333672[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_1511312995606333672[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_1511312995606333672[117] = 0; + out_1511312995606333672[118] = 0; + out_1511312995606333672[119] = 0; + out_1511312995606333672[120] = 0; + out_1511312995606333672[121] = 0; + out_1511312995606333672[122] = 0; + out_1511312995606333672[123] = 0; + out_1511312995606333672[124] = 0; + out_1511312995606333672[125] = 0; + out_1511312995606333672[126] = 0; + out_1511312995606333672[127] = 0; + out_1511312995606333672[128] = 0; + out_1511312995606333672[129] = 0; + out_1511312995606333672[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_1511312995606333672[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_1511312995606333672[132] = 1; + out_1511312995606333672[133] = 0; + out_1511312995606333672[134] = 0; + out_1511312995606333672[135] = 0; + out_1511312995606333672[136] = 0; + out_1511312995606333672[137] = 0; + out_1511312995606333672[138] = 0; + out_1511312995606333672[139] = 0; + out_1511312995606333672[140] = 0; + out_1511312995606333672[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_1511312995606333672[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_1511312995606333672[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_1511312995606333672[144] = 0; + out_1511312995606333672[145] = 0; + out_1511312995606333672[146] = 0; + out_1511312995606333672[147] = 0; + out_1511312995606333672[148] = 0; + out_1511312995606333672[149] = 0; + out_1511312995606333672[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_1511312995606333672[151] = 0; + out_1511312995606333672[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_1511312995606333672[153] = 0; + out_1511312995606333672[154] = 1; + out_1511312995606333672[155] = 0; + out_1511312995606333672[156] = 0; + out_1511312995606333672[157] = 0; + out_1511312995606333672[158] = 0; + out_1511312995606333672[159] = 0; + out_1511312995606333672[160] = 0; + out_1511312995606333672[161] = 0; + out_1511312995606333672[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_1511312995606333672[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_1511312995606333672[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_1511312995606333672[165] = 0; + out_1511312995606333672[166] = 0; + out_1511312995606333672[167] = 0; + out_1511312995606333672[168] = 0; + out_1511312995606333672[169] = 0; + out_1511312995606333672[170] = 0; + out_1511312995606333672[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_1511312995606333672[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_1511312995606333672[173] = 0; + out_1511312995606333672[174] = 0; + out_1511312995606333672[175] = 0; + out_1511312995606333672[176] = 1; + out_1511312995606333672[177] = 0; + out_1511312995606333672[178] = 0; + out_1511312995606333672[179] = 0; + out_1511312995606333672[180] = 0; + out_1511312995606333672[181] = 0; + out_1511312995606333672[182] = 0; + out_1511312995606333672[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_1511312995606333672[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_1511312995606333672[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_1511312995606333672[186] = 0; + out_1511312995606333672[187] = 0; + out_1511312995606333672[188] = 0; + out_1511312995606333672[189] = 0; + out_1511312995606333672[190] = 0; + out_1511312995606333672[191] = 0; + out_1511312995606333672[192] = 0; + out_1511312995606333672[193] = 0; + out_1511312995606333672[194] = 0; + out_1511312995606333672[195] = 0; + out_1511312995606333672[196] = 0; + out_1511312995606333672[197] = 0; + out_1511312995606333672[198] = 1; + out_1511312995606333672[199] = 0; + out_1511312995606333672[200] = 0; + out_1511312995606333672[201] = 0; + out_1511312995606333672[202] = 0; + out_1511312995606333672[203] = 0; + out_1511312995606333672[204] = 0; + out_1511312995606333672[205] = 0; + out_1511312995606333672[206] = 0; + out_1511312995606333672[207] = 0; + out_1511312995606333672[208] = 0; + out_1511312995606333672[209] = 0; + out_1511312995606333672[210] = 0; + out_1511312995606333672[211] = 0; + out_1511312995606333672[212] = 0; + out_1511312995606333672[213] = 0; + out_1511312995606333672[214] = 0; + out_1511312995606333672[215] = 0; + out_1511312995606333672[216] = 0; + out_1511312995606333672[217] = 0; + out_1511312995606333672[218] = 0; + out_1511312995606333672[219] = 0; + out_1511312995606333672[220] = 1; + out_1511312995606333672[221] = 0; + out_1511312995606333672[222] = 0; + out_1511312995606333672[223] = 0; + out_1511312995606333672[224] = 0; + out_1511312995606333672[225] = 0; + out_1511312995606333672[226] = 0; + out_1511312995606333672[227] = 0; + out_1511312995606333672[228] = 0; + out_1511312995606333672[229] = 0; + out_1511312995606333672[230] = 0; + out_1511312995606333672[231] = 0; + out_1511312995606333672[232] = 0; + out_1511312995606333672[233] = 0; + out_1511312995606333672[234] = 0; + out_1511312995606333672[235] = 0; + out_1511312995606333672[236] = 0; + out_1511312995606333672[237] = 0; + out_1511312995606333672[238] = 0; + out_1511312995606333672[239] = 0; + out_1511312995606333672[240] = 0; + out_1511312995606333672[241] = 0; + out_1511312995606333672[242] = 1; + out_1511312995606333672[243] = 0; + out_1511312995606333672[244] = 0; + out_1511312995606333672[245] = 0; + out_1511312995606333672[246] = 0; + out_1511312995606333672[247] = 0; + out_1511312995606333672[248] = 0; + out_1511312995606333672[249] = 0; + out_1511312995606333672[250] = 0; + out_1511312995606333672[251] = 0; + out_1511312995606333672[252] = 0; + out_1511312995606333672[253] = 0; + out_1511312995606333672[254] = 0; + out_1511312995606333672[255] = 0; + out_1511312995606333672[256] = 0; + out_1511312995606333672[257] = 0; + out_1511312995606333672[258] = 0; + out_1511312995606333672[259] = 0; + out_1511312995606333672[260] = 0; + out_1511312995606333672[261] = 0; + out_1511312995606333672[262] = 0; + out_1511312995606333672[263] = 0; + out_1511312995606333672[264] = 1; + out_1511312995606333672[265] = 0; + out_1511312995606333672[266] = 0; + out_1511312995606333672[267] = 0; + out_1511312995606333672[268] = 0; + out_1511312995606333672[269] = 0; + out_1511312995606333672[270] = 0; + out_1511312995606333672[271] = 0; + out_1511312995606333672[272] = 0; + out_1511312995606333672[273] = 0; + out_1511312995606333672[274] = 0; + out_1511312995606333672[275] = 0; + out_1511312995606333672[276] = 0; + out_1511312995606333672[277] = 0; + out_1511312995606333672[278] = 0; + out_1511312995606333672[279] = 0; + out_1511312995606333672[280] = 0; + out_1511312995606333672[281] = 0; + out_1511312995606333672[282] = 0; + out_1511312995606333672[283] = 0; + out_1511312995606333672[284] = 0; + out_1511312995606333672[285] = 0; + out_1511312995606333672[286] = 1; + out_1511312995606333672[287] = 0; + out_1511312995606333672[288] = 0; + out_1511312995606333672[289] = 0; + out_1511312995606333672[290] = 0; + out_1511312995606333672[291] = 0; + out_1511312995606333672[292] = 0; + out_1511312995606333672[293] = 0; + out_1511312995606333672[294] = 0; + out_1511312995606333672[295] = 0; + out_1511312995606333672[296] = 0; + out_1511312995606333672[297] = 0; + out_1511312995606333672[298] = 0; + out_1511312995606333672[299] = 0; + out_1511312995606333672[300] = 0; + out_1511312995606333672[301] = 0; + out_1511312995606333672[302] = 0; + out_1511312995606333672[303] = 0; + out_1511312995606333672[304] = 0; + out_1511312995606333672[305] = 0; + out_1511312995606333672[306] = 0; + out_1511312995606333672[307] = 0; + out_1511312995606333672[308] = 1; + out_1511312995606333672[309] = 0; + out_1511312995606333672[310] = 0; + out_1511312995606333672[311] = 0; + out_1511312995606333672[312] = 0; + out_1511312995606333672[313] = 0; + out_1511312995606333672[314] = 0; + out_1511312995606333672[315] = 0; + out_1511312995606333672[316] = 0; + out_1511312995606333672[317] = 0; + out_1511312995606333672[318] = 0; + out_1511312995606333672[319] = 0; + out_1511312995606333672[320] = 0; + out_1511312995606333672[321] = 0; + out_1511312995606333672[322] = 0; + out_1511312995606333672[323] = 0; + out_1511312995606333672[324] = 0; + out_1511312995606333672[325] = 0; + out_1511312995606333672[326] = 0; + out_1511312995606333672[327] = 0; + out_1511312995606333672[328] = 0; + out_1511312995606333672[329] = 0; + out_1511312995606333672[330] = 1; + out_1511312995606333672[331] = 0; + out_1511312995606333672[332] = 0; + out_1511312995606333672[333] = 0; + out_1511312995606333672[334] = 0; + out_1511312995606333672[335] = 0; + out_1511312995606333672[336] = 0; + out_1511312995606333672[337] = 0; + out_1511312995606333672[338] = 0; + out_1511312995606333672[339] = 0; + out_1511312995606333672[340] = 0; + out_1511312995606333672[341] = 0; + out_1511312995606333672[342] = 0; + out_1511312995606333672[343] = 0; + out_1511312995606333672[344] = 0; + out_1511312995606333672[345] = 0; + out_1511312995606333672[346] = 0; + out_1511312995606333672[347] = 0; + out_1511312995606333672[348] = 0; + out_1511312995606333672[349] = 0; + out_1511312995606333672[350] = 0; + out_1511312995606333672[351] = 0; + out_1511312995606333672[352] = 1; + out_1511312995606333672[353] = 0; + out_1511312995606333672[354] = 0; + out_1511312995606333672[355] = 0; + out_1511312995606333672[356] = 0; + out_1511312995606333672[357] = 0; + out_1511312995606333672[358] = 0; + out_1511312995606333672[359] = 0; + out_1511312995606333672[360] = 0; + out_1511312995606333672[361] = 0; + out_1511312995606333672[362] = 0; + out_1511312995606333672[363] = 0; + out_1511312995606333672[364] = 0; + out_1511312995606333672[365] = 0; + out_1511312995606333672[366] = 0; + out_1511312995606333672[367] = 0; + out_1511312995606333672[368] = 0; + out_1511312995606333672[369] = 0; + out_1511312995606333672[370] = 0; + out_1511312995606333672[371] = 0; + out_1511312995606333672[372] = 0; + out_1511312995606333672[373] = 0; + out_1511312995606333672[374] = 1; + out_1511312995606333672[375] = 0; + out_1511312995606333672[376] = 0; + out_1511312995606333672[377] = 0; + out_1511312995606333672[378] = 0; + out_1511312995606333672[379] = 0; + out_1511312995606333672[380] = 0; + out_1511312995606333672[381] = 0; + out_1511312995606333672[382] = 0; + out_1511312995606333672[383] = 0; + out_1511312995606333672[384] = 0; + out_1511312995606333672[385] = 0; + out_1511312995606333672[386] = 0; + out_1511312995606333672[387] = 0; + out_1511312995606333672[388] = 0; + out_1511312995606333672[389] = 0; + out_1511312995606333672[390] = 0; + out_1511312995606333672[391] = 0; + out_1511312995606333672[392] = 0; + out_1511312995606333672[393] = 0; + out_1511312995606333672[394] = 0; + out_1511312995606333672[395] = 0; + out_1511312995606333672[396] = 1; + out_1511312995606333672[397] = 0; + out_1511312995606333672[398] = 0; + out_1511312995606333672[399] = 0; + out_1511312995606333672[400] = 0; + out_1511312995606333672[401] = 0; + out_1511312995606333672[402] = 0; + out_1511312995606333672[403] = 0; + out_1511312995606333672[404] = 0; + out_1511312995606333672[405] = 0; + out_1511312995606333672[406] = 0; + out_1511312995606333672[407] = 0; + out_1511312995606333672[408] = 0; + out_1511312995606333672[409] = 0; + out_1511312995606333672[410] = 0; + out_1511312995606333672[411] = 0; + out_1511312995606333672[412] = 0; + out_1511312995606333672[413] = 0; + out_1511312995606333672[414] = 0; + out_1511312995606333672[415] = 0; + out_1511312995606333672[416] = 0; + out_1511312995606333672[417] = 0; + out_1511312995606333672[418] = 1; + out_1511312995606333672[419] = 0; + out_1511312995606333672[420] = 0; + out_1511312995606333672[421] = 0; + out_1511312995606333672[422] = 0; + out_1511312995606333672[423] = 0; + out_1511312995606333672[424] = 0; + out_1511312995606333672[425] = 0; + out_1511312995606333672[426] = 0; + out_1511312995606333672[427] = 0; + out_1511312995606333672[428] = 0; + out_1511312995606333672[429] = 0; + out_1511312995606333672[430] = 0; + out_1511312995606333672[431] = 0; + out_1511312995606333672[432] = 0; + out_1511312995606333672[433] = 0; + out_1511312995606333672[434] = 0; + out_1511312995606333672[435] = 0; + out_1511312995606333672[436] = 0; + out_1511312995606333672[437] = 0; + out_1511312995606333672[438] = 0; + out_1511312995606333672[439] = 0; + out_1511312995606333672[440] = 1; } -void h_4(double *state, double *unused, double *out_3062002944620705961) { - out_3062002944620705961[0] = state[10] + state[13]; - out_3062002944620705961[1] = state[11] + state[14]; - out_3062002944620705961[2] = state[12] + state[15]; +void h_4(double *state, double *unused, double *out_6748587584352144008) { + out_6748587584352144008[0] = state[10] + state[13]; + out_6748587584352144008[1] = state[11] + state[14]; + out_6748587584352144008[2] = state[12] + state[15]; } -void H_4(double *state, double *unused, double *out_3011098296458653357) { - out_3011098296458653357[0] = 0; - out_3011098296458653357[1] = 0; - out_3011098296458653357[2] = 0; - out_3011098296458653357[3] = 0; - out_3011098296458653357[4] = 0; - out_3011098296458653357[5] = 0; - out_3011098296458653357[6] = 0; - out_3011098296458653357[7] = 0; - out_3011098296458653357[8] = 0; - out_3011098296458653357[9] = 0; - out_3011098296458653357[10] = 1; - out_3011098296458653357[11] = 0; - out_3011098296458653357[12] = 0; - out_3011098296458653357[13] = 1; - out_3011098296458653357[14] = 0; - out_3011098296458653357[15] = 0; - out_3011098296458653357[16] = 0; - out_3011098296458653357[17] = 0; - out_3011098296458653357[18] = 0; - out_3011098296458653357[19] = 0; - out_3011098296458653357[20] = 0; - out_3011098296458653357[21] = 0; - out_3011098296458653357[22] = 0; - out_3011098296458653357[23] = 0; - out_3011098296458653357[24] = 0; - out_3011098296458653357[25] = 0; - out_3011098296458653357[26] = 0; - out_3011098296458653357[27] = 0; - out_3011098296458653357[28] = 0; - out_3011098296458653357[29] = 0; - out_3011098296458653357[30] = 0; - out_3011098296458653357[31] = 0; - out_3011098296458653357[32] = 0; - out_3011098296458653357[33] = 1; - out_3011098296458653357[34] = 0; - out_3011098296458653357[35] = 0; - out_3011098296458653357[36] = 1; - out_3011098296458653357[37] = 0; - out_3011098296458653357[38] = 0; - out_3011098296458653357[39] = 0; - out_3011098296458653357[40] = 0; - out_3011098296458653357[41] = 0; - out_3011098296458653357[42] = 0; - out_3011098296458653357[43] = 0; - out_3011098296458653357[44] = 0; - out_3011098296458653357[45] = 0; - out_3011098296458653357[46] = 0; - out_3011098296458653357[47] = 0; - out_3011098296458653357[48] = 0; - out_3011098296458653357[49] = 0; - out_3011098296458653357[50] = 0; - out_3011098296458653357[51] = 0; - out_3011098296458653357[52] = 0; - out_3011098296458653357[53] = 0; - out_3011098296458653357[54] = 0; - out_3011098296458653357[55] = 0; - out_3011098296458653357[56] = 1; - out_3011098296458653357[57] = 0; - out_3011098296458653357[58] = 0; - out_3011098296458653357[59] = 1; - out_3011098296458653357[60] = 0; - out_3011098296458653357[61] = 0; - out_3011098296458653357[62] = 0; - out_3011098296458653357[63] = 0; - out_3011098296458653357[64] = 0; - out_3011098296458653357[65] = 0; +void H_4(double *state, double *unused, double *out_6619224273712010162) { + out_6619224273712010162[0] = 0; + out_6619224273712010162[1] = 0; + out_6619224273712010162[2] = 0; + out_6619224273712010162[3] = 0; + out_6619224273712010162[4] = 0; + out_6619224273712010162[5] = 0; + out_6619224273712010162[6] = 0; + out_6619224273712010162[7] = 0; + out_6619224273712010162[8] = 0; + out_6619224273712010162[9] = 0; + out_6619224273712010162[10] = 1; + out_6619224273712010162[11] = 0; + out_6619224273712010162[12] = 0; + out_6619224273712010162[13] = 1; + out_6619224273712010162[14] = 0; + out_6619224273712010162[15] = 0; + out_6619224273712010162[16] = 0; + out_6619224273712010162[17] = 0; + out_6619224273712010162[18] = 0; + out_6619224273712010162[19] = 0; + out_6619224273712010162[20] = 0; + out_6619224273712010162[21] = 0; + out_6619224273712010162[22] = 0; + out_6619224273712010162[23] = 0; + out_6619224273712010162[24] = 0; + out_6619224273712010162[25] = 0; + out_6619224273712010162[26] = 0; + out_6619224273712010162[27] = 0; + out_6619224273712010162[28] = 0; + out_6619224273712010162[29] = 0; + out_6619224273712010162[30] = 0; + out_6619224273712010162[31] = 0; + out_6619224273712010162[32] = 0; + out_6619224273712010162[33] = 1; + out_6619224273712010162[34] = 0; + out_6619224273712010162[35] = 0; + out_6619224273712010162[36] = 1; + out_6619224273712010162[37] = 0; + out_6619224273712010162[38] = 0; + out_6619224273712010162[39] = 0; + out_6619224273712010162[40] = 0; + out_6619224273712010162[41] = 0; + out_6619224273712010162[42] = 0; + out_6619224273712010162[43] = 0; + out_6619224273712010162[44] = 0; + out_6619224273712010162[45] = 0; + out_6619224273712010162[46] = 0; + out_6619224273712010162[47] = 0; + out_6619224273712010162[48] = 0; + out_6619224273712010162[49] = 0; + out_6619224273712010162[50] = 0; + out_6619224273712010162[51] = 0; + out_6619224273712010162[52] = 0; + out_6619224273712010162[53] = 0; + out_6619224273712010162[54] = 0; + out_6619224273712010162[55] = 0; + out_6619224273712010162[56] = 1; + out_6619224273712010162[57] = 0; + out_6619224273712010162[58] = 0; + out_6619224273712010162[59] = 1; + out_6619224273712010162[60] = 0; + out_6619224273712010162[61] = 0; + out_6619224273712010162[62] = 0; + out_6619224273712010162[63] = 0; + out_6619224273712010162[64] = 0; + out_6619224273712010162[65] = 0; } -void h_9(double *state, double *unused, double *out_5633073678966500073) { - out_5633073678966500073[0] = state[10]; - out_5633073678966500073[1] = state[11]; - out_5633073678966500073[2] = state[12]; +void h_9(double *state, double *unused, double *out_8367559596262948470) { + out_8367559596262948470[0] = state[10]; + out_8367559596262948470[1] = state[11]; + out_8367559596262948470[2] = state[12]; } -void H_9(double *state, double *unused, double *out_3252287943088244002) { - out_3252287943088244002[0] = 0; - out_3252287943088244002[1] = 0; - out_3252287943088244002[2] = 0; - out_3252287943088244002[3] = 0; - out_3252287943088244002[4] = 0; - out_3252287943088244002[5] = 0; - out_3252287943088244002[6] = 0; - out_3252287943088244002[7] = 0; - out_3252287943088244002[8] = 0; - out_3252287943088244002[9] = 0; - out_3252287943088244002[10] = 1; - out_3252287943088244002[11] = 0; - out_3252287943088244002[12] = 0; - out_3252287943088244002[13] = 0; - out_3252287943088244002[14] = 0; - out_3252287943088244002[15] = 0; - out_3252287943088244002[16] = 0; - out_3252287943088244002[17] = 0; - out_3252287943088244002[18] = 0; - out_3252287943088244002[19] = 0; - out_3252287943088244002[20] = 0; - out_3252287943088244002[21] = 0; - out_3252287943088244002[22] = 0; - out_3252287943088244002[23] = 0; - out_3252287943088244002[24] = 0; - out_3252287943088244002[25] = 0; - out_3252287943088244002[26] = 0; - out_3252287943088244002[27] = 0; - out_3252287943088244002[28] = 0; - out_3252287943088244002[29] = 0; - out_3252287943088244002[30] = 0; - out_3252287943088244002[31] = 0; - out_3252287943088244002[32] = 0; - out_3252287943088244002[33] = 1; - out_3252287943088244002[34] = 0; - out_3252287943088244002[35] = 0; - out_3252287943088244002[36] = 0; - out_3252287943088244002[37] = 0; - out_3252287943088244002[38] = 0; - out_3252287943088244002[39] = 0; - out_3252287943088244002[40] = 0; - out_3252287943088244002[41] = 0; - out_3252287943088244002[42] = 0; - out_3252287943088244002[43] = 0; - out_3252287943088244002[44] = 0; - out_3252287943088244002[45] = 0; - out_3252287943088244002[46] = 0; - out_3252287943088244002[47] = 0; - out_3252287943088244002[48] = 0; - out_3252287943088244002[49] = 0; - out_3252287943088244002[50] = 0; - out_3252287943088244002[51] = 0; - out_3252287943088244002[52] = 0; - out_3252287943088244002[53] = 0; - out_3252287943088244002[54] = 0; - out_3252287943088244002[55] = 0; - out_3252287943088244002[56] = 1; - out_3252287943088244002[57] = 0; - out_3252287943088244002[58] = 0; - out_3252287943088244002[59] = 0; - out_3252287943088244002[60] = 0; - out_3252287943088244002[61] = 0; - out_3252287943088244002[62] = 0; - out_3252287943088244002[63] = 0; - out_3252287943088244002[64] = 0; - out_3252287943088244002[65] = 0; +void H_9(double *state, double *unused, double *out_6860413920341600807) { + out_6860413920341600807[0] = 0; + out_6860413920341600807[1] = 0; + out_6860413920341600807[2] = 0; + out_6860413920341600807[3] = 0; + out_6860413920341600807[4] = 0; + out_6860413920341600807[5] = 0; + out_6860413920341600807[6] = 0; + out_6860413920341600807[7] = 0; + out_6860413920341600807[8] = 0; + out_6860413920341600807[9] = 0; + out_6860413920341600807[10] = 1; + out_6860413920341600807[11] = 0; + out_6860413920341600807[12] = 0; + out_6860413920341600807[13] = 0; + out_6860413920341600807[14] = 0; + out_6860413920341600807[15] = 0; + out_6860413920341600807[16] = 0; + out_6860413920341600807[17] = 0; + out_6860413920341600807[18] = 0; + out_6860413920341600807[19] = 0; + out_6860413920341600807[20] = 0; + out_6860413920341600807[21] = 0; + out_6860413920341600807[22] = 0; + out_6860413920341600807[23] = 0; + out_6860413920341600807[24] = 0; + out_6860413920341600807[25] = 0; + out_6860413920341600807[26] = 0; + out_6860413920341600807[27] = 0; + out_6860413920341600807[28] = 0; + out_6860413920341600807[29] = 0; + out_6860413920341600807[30] = 0; + out_6860413920341600807[31] = 0; + out_6860413920341600807[32] = 0; + out_6860413920341600807[33] = 1; + out_6860413920341600807[34] = 0; + out_6860413920341600807[35] = 0; + out_6860413920341600807[36] = 0; + out_6860413920341600807[37] = 0; + out_6860413920341600807[38] = 0; + out_6860413920341600807[39] = 0; + out_6860413920341600807[40] = 0; + out_6860413920341600807[41] = 0; + out_6860413920341600807[42] = 0; + out_6860413920341600807[43] = 0; + out_6860413920341600807[44] = 0; + out_6860413920341600807[45] = 0; + out_6860413920341600807[46] = 0; + out_6860413920341600807[47] = 0; + out_6860413920341600807[48] = 0; + out_6860413920341600807[49] = 0; + out_6860413920341600807[50] = 0; + out_6860413920341600807[51] = 0; + out_6860413920341600807[52] = 0; + out_6860413920341600807[53] = 0; + out_6860413920341600807[54] = 0; + out_6860413920341600807[55] = 0; + out_6860413920341600807[56] = 1; + out_6860413920341600807[57] = 0; + out_6860413920341600807[58] = 0; + out_6860413920341600807[59] = 0; + out_6860413920341600807[60] = 0; + out_6860413920341600807[61] = 0; + out_6860413920341600807[62] = 0; + out_6860413920341600807[63] = 0; + out_6860413920341600807[64] = 0; + out_6860413920341600807[65] = 0; } -void h_10(double *state, double *unused, double *out_4956664653644560279) { - out_4956664653644560279[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_4956664653644560279[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_4956664653644560279[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_9168195956800795275) { + out_9168195956800795275[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_9168195956800795275[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_9168195956800795275[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_4513091182693755627) { - out_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[7] = 0; - out_4513091182693755627[8] = 0; - out_4513091182693755627[9] = 0; - out_4513091182693755627[10] = 0; - out_4513091182693755627[11] = 0; - out_4513091182693755627[12] = 0; - out_4513091182693755627[13] = 0; - out_4513091182693755627[14] = 0; - out_4513091182693755627[15] = 0; - out_4513091182693755627[16] = 1; - out_4513091182693755627[17] = 0; - out_4513091182693755627[18] = 0; - out_4513091182693755627[19] = 1; - out_4513091182693755627[20] = 0; - out_4513091182693755627[21] = 0; - out_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[29] = 0; - out_4513091182693755627[30] = 0; - out_4513091182693755627[31] = 0; - out_4513091182693755627[32] = 0; - out_4513091182693755627[33] = 0; - out_4513091182693755627[34] = 0; - out_4513091182693755627[35] = 0; - out_4513091182693755627[36] = 0; - out_4513091182693755627[37] = 0; - out_4513091182693755627[38] = 0; - out_4513091182693755627[39] = 1; - out_4513091182693755627[40] = 0; - out_4513091182693755627[41] = 0; - out_4513091182693755627[42] = 1; - out_4513091182693755627[43] = 0; - out_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[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_4513091182693755627[51] = 0; - out_4513091182693755627[52] = 0; - out_4513091182693755627[53] = 0; - out_4513091182693755627[54] = 0; - out_4513091182693755627[55] = 0; - out_4513091182693755627[56] = 0; - out_4513091182693755627[57] = 0; - out_4513091182693755627[58] = 0; - out_4513091182693755627[59] = 0; - out_4513091182693755627[60] = 0; - out_4513091182693755627[61] = 0; - out_4513091182693755627[62] = 1; - out_4513091182693755627[63] = 0; - out_4513091182693755627[64] = 0; - out_4513091182693755627[65] = 1; +void H_10(double *state, double *unused, double *out_1822418700523668742) { + out_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[7] = 0; + out_1822418700523668742[8] = 0; + out_1822418700523668742[9] = 0; + out_1822418700523668742[10] = 0; + out_1822418700523668742[11] = 0; + out_1822418700523668742[12] = 0; + out_1822418700523668742[13] = 0; + out_1822418700523668742[14] = 0; + out_1822418700523668742[15] = 0; + out_1822418700523668742[16] = 1; + out_1822418700523668742[17] = 0; + out_1822418700523668742[18] = 0; + out_1822418700523668742[19] = 1; + out_1822418700523668742[20] = 0; + out_1822418700523668742[21] = 0; + out_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[29] = 0; + out_1822418700523668742[30] = 0; + out_1822418700523668742[31] = 0; + out_1822418700523668742[32] = 0; + out_1822418700523668742[33] = 0; + out_1822418700523668742[34] = 0; + out_1822418700523668742[35] = 0; + out_1822418700523668742[36] = 0; + out_1822418700523668742[37] = 0; + out_1822418700523668742[38] = 0; + out_1822418700523668742[39] = 1; + out_1822418700523668742[40] = 0; + out_1822418700523668742[41] = 0; + out_1822418700523668742[42] = 1; + out_1822418700523668742[43] = 0; + out_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[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_1822418700523668742[51] = 0; + out_1822418700523668742[52] = 0; + out_1822418700523668742[53] = 0; + out_1822418700523668742[54] = 0; + out_1822418700523668742[55] = 0; + out_1822418700523668742[56] = 0; + out_1822418700523668742[57] = 0; + out_1822418700523668742[58] = 0; + out_1822418700523668742[59] = 0; + out_1822418700523668742[60] = 0; + out_1822418700523668742[61] = 0; + out_1822418700523668742[62] = 1; + out_1822418700523668742[63] = 0; + out_1822418700523668742[64] = 0; + out_1822418700523668742[65] = 1; } -void h_12(double *state, double *unused, double *out_5780595779529914179) { - out_5780595779529914179[0] = state[0]; - out_5780595779529914179[1] = state[1]; - out_5780595779529914179[2] = state[2]; +void h_12(double *state, double *unused, double *out_2333080179053030376) { + out_2333080179053030376[0] = state[0]; + out_2333080179053030376[1] = state[1]; + out_2333080179053030376[2] = state[2]; } -void H_12(double *state, double *unused, double *out_3632197321506247024) { - out_3632197321506247024[0] = 1; - out_3632197321506247024[1] = 0; - out_3632197321506247024[2] = 0; - out_3632197321506247024[3] = 0; - out_3632197321506247024[4] = 0; - out_3632197321506247024[5] = 0; - out_3632197321506247024[6] = 0; - out_3632197321506247024[7] = 0; - out_3632197321506247024[8] = 0; - out_3632197321506247024[9] = 0; - out_3632197321506247024[10] = 0; - out_3632197321506247024[11] = 0; - out_3632197321506247024[12] = 0; - out_3632197321506247024[13] = 0; - out_3632197321506247024[14] = 0; - out_3632197321506247024[15] = 0; - out_3632197321506247024[16] = 0; - out_3632197321506247024[17] = 0; - out_3632197321506247024[18] = 0; - out_3632197321506247024[19] = 0; - out_3632197321506247024[20] = 0; - out_3632197321506247024[21] = 0; - out_3632197321506247024[22] = 0; - out_3632197321506247024[23] = 1; - out_3632197321506247024[24] = 0; - out_3632197321506247024[25] = 0; - out_3632197321506247024[26] = 0; - out_3632197321506247024[27] = 0; - out_3632197321506247024[28] = 0; - out_3632197321506247024[29] = 0; - out_3632197321506247024[30] = 0; - out_3632197321506247024[31] = 0; - out_3632197321506247024[32] = 0; - out_3632197321506247024[33] = 0; - out_3632197321506247024[34] = 0; - out_3632197321506247024[35] = 0; - out_3632197321506247024[36] = 0; - out_3632197321506247024[37] = 0; - out_3632197321506247024[38] = 0; - out_3632197321506247024[39] = 0; - out_3632197321506247024[40] = 0; - out_3632197321506247024[41] = 0; - out_3632197321506247024[42] = 0; - out_3632197321506247024[43] = 0; - out_3632197321506247024[44] = 0; - out_3632197321506247024[45] = 0; - out_3632197321506247024[46] = 1; - out_3632197321506247024[47] = 0; - out_3632197321506247024[48] = 0; - out_3632197321506247024[49] = 0; - out_3632197321506247024[50] = 0; - out_3632197321506247024[51] = 0; - out_3632197321506247024[52] = 0; - out_3632197321506247024[53] = 0; - out_3632197321506247024[54] = 0; - out_3632197321506247024[55] = 0; - out_3632197321506247024[56] = 0; - out_3632197321506247024[57] = 0; - out_3632197321506247024[58] = 0; - out_3632197321506247024[59] = 0; - out_3632197321506247024[60] = 0; - out_3632197321506247024[61] = 0; - out_3632197321506247024[62] = 0; - out_3632197321506247024[63] = 0; - out_3632197321506247024[64] = 0; - out_3632197321506247024[65] = 0; +void H_12(double *state, double *unused, double *out_6808063391965579659) { + out_6808063391965579659[0] = 1; + out_6808063391965579659[1] = 0; + out_6808063391965579659[2] = 0; + out_6808063391965579659[3] = 0; + out_6808063391965579659[4] = 0; + out_6808063391965579659[5] = 0; + out_6808063391965579659[6] = 0; + out_6808063391965579659[7] = 0; + out_6808063391965579659[8] = 0; + out_6808063391965579659[9] = 0; + out_6808063391965579659[10] = 0; + out_6808063391965579659[11] = 0; + out_6808063391965579659[12] = 0; + out_6808063391965579659[13] = 0; + out_6808063391965579659[14] = 0; + out_6808063391965579659[15] = 0; + out_6808063391965579659[16] = 0; + out_6808063391965579659[17] = 0; + out_6808063391965579659[18] = 0; + out_6808063391965579659[19] = 0; + out_6808063391965579659[20] = 0; + out_6808063391965579659[21] = 0; + out_6808063391965579659[22] = 0; + out_6808063391965579659[23] = 1; + out_6808063391965579659[24] = 0; + out_6808063391965579659[25] = 0; + out_6808063391965579659[26] = 0; + out_6808063391965579659[27] = 0; + out_6808063391965579659[28] = 0; + out_6808063391965579659[29] = 0; + out_6808063391965579659[30] = 0; + out_6808063391965579659[31] = 0; + out_6808063391965579659[32] = 0; + out_6808063391965579659[33] = 0; + out_6808063391965579659[34] = 0; + out_6808063391965579659[35] = 0; + out_6808063391965579659[36] = 0; + out_6808063391965579659[37] = 0; + out_6808063391965579659[38] = 0; + out_6808063391965579659[39] = 0; + out_6808063391965579659[40] = 0; + out_6808063391965579659[41] = 0; + out_6808063391965579659[42] = 0; + out_6808063391965579659[43] = 0; + out_6808063391965579659[44] = 0; + out_6808063391965579659[45] = 0; + out_6808063391965579659[46] = 1; + out_6808063391965579659[47] = 0; + out_6808063391965579659[48] = 0; + out_6808063391965579659[49] = 0; + out_6808063391965579659[50] = 0; + out_6808063391965579659[51] = 0; + out_6808063391965579659[52] = 0; + out_6808063391965579659[53] = 0; + out_6808063391965579659[54] = 0; + out_6808063391965579659[55] = 0; + out_6808063391965579659[56] = 0; + out_6808063391965579659[57] = 0; + out_6808063391965579659[58] = 0; + out_6808063391965579659[59] = 0; + out_6808063391965579659[60] = 0; + out_6808063391965579659[61] = 0; + out_6808063391965579659[62] = 0; + out_6808063391965579659[63] = 0; + out_6808063391965579659[64] = 0; + out_6808063391965579659[65] = 0; } -void h_35(double *state, double *unused, double *out_190113666816480701) { - out_190113666816480701[0] = state[7]; - out_190113666816480701[1] = state[8]; - out_190113666816480701[2] = state[9]; +void h_35(double *state, double *unused, double *out_4784374292918501119) { + out_4784374292918501119[0] = state[7]; + out_4784374292918501119[1] = state[8]; + out_4784374292918501119[2] = state[9]; } -void H_35(double *state, double *unused, double *out_6377760353831260733) { - out_6377760353831260733[0] = 0; - out_6377760353831260733[1] = 0; - out_6377760353831260733[2] = 0; - out_6377760353831260733[3] = 0; - out_6377760353831260733[4] = 0; - out_6377760353831260733[5] = 0; - out_6377760353831260733[6] = 0; - out_6377760353831260733[7] = 1; - out_6377760353831260733[8] = 0; - out_6377760353831260733[9] = 0; - out_6377760353831260733[10] = 0; - out_6377760353831260733[11] = 0; - out_6377760353831260733[12] = 0; - out_6377760353831260733[13] = 0; - out_6377760353831260733[14] = 0; - out_6377760353831260733[15] = 0; - out_6377760353831260733[16] = 0; - out_6377760353831260733[17] = 0; - out_6377760353831260733[18] = 0; - out_6377760353831260733[19] = 0; - out_6377760353831260733[20] = 0; - out_6377760353831260733[21] = 0; - out_6377760353831260733[22] = 0; - out_6377760353831260733[23] = 0; - out_6377760353831260733[24] = 0; - out_6377760353831260733[25] = 0; - out_6377760353831260733[26] = 0; - out_6377760353831260733[27] = 0; - out_6377760353831260733[28] = 0; - out_6377760353831260733[29] = 0; - out_6377760353831260733[30] = 1; - out_6377760353831260733[31] = 0; - out_6377760353831260733[32] = 0; - out_6377760353831260733[33] = 0; - out_6377760353831260733[34] = 0; - out_6377760353831260733[35] = 0; - out_6377760353831260733[36] = 0; - out_6377760353831260733[37] = 0; - out_6377760353831260733[38] = 0; - out_6377760353831260733[39] = 0; - out_6377760353831260733[40] = 0; - out_6377760353831260733[41] = 0; - out_6377760353831260733[42] = 0; - out_6377760353831260733[43] = 0; - out_6377760353831260733[44] = 0; - out_6377760353831260733[45] = 0; - out_6377760353831260733[46] = 0; - out_6377760353831260733[47] = 0; - out_6377760353831260733[48] = 0; - out_6377760353831260733[49] = 0; - out_6377760353831260733[50] = 0; - out_6377760353831260733[51] = 0; - out_6377760353831260733[52] = 0; - out_6377760353831260733[53] = 1; - out_6377760353831260733[54] = 0; - out_6377760353831260733[55] = 0; - out_6377760353831260733[56] = 0; - out_6377760353831260733[57] = 0; - out_6377760353831260733[58] = 0; - out_6377760353831260733[59] = 0; - out_6377760353831260733[60] = 0; - out_6377760353831260733[61] = 0; - out_6377760353831260733[62] = 0; - out_6377760353831260733[63] = 0; - out_6377760353831260733[64] = 0; - out_6377760353831260733[65] = 0; +void H_35(double *state, double *unused, double *out_8460857742624934078) { + out_8460857742624934078[0] = 0; + out_8460857742624934078[1] = 0; + out_8460857742624934078[2] = 0; + out_8460857742624934078[3] = 0; + out_8460857742624934078[4] = 0; + out_8460857742624934078[5] = 0; + out_8460857742624934078[6] = 0; + out_8460857742624934078[7] = 1; + out_8460857742624934078[8] = 0; + out_8460857742624934078[9] = 0; + out_8460857742624934078[10] = 0; + out_8460857742624934078[11] = 0; + out_8460857742624934078[12] = 0; + out_8460857742624934078[13] = 0; + out_8460857742624934078[14] = 0; + out_8460857742624934078[15] = 0; + out_8460857742624934078[16] = 0; + out_8460857742624934078[17] = 0; + out_8460857742624934078[18] = 0; + out_8460857742624934078[19] = 0; + out_8460857742624934078[20] = 0; + out_8460857742624934078[21] = 0; + out_8460857742624934078[22] = 0; + out_8460857742624934078[23] = 0; + out_8460857742624934078[24] = 0; + out_8460857742624934078[25] = 0; + out_8460857742624934078[26] = 0; + out_8460857742624934078[27] = 0; + out_8460857742624934078[28] = 0; + out_8460857742624934078[29] = 0; + out_8460857742624934078[30] = 1; + out_8460857742624934078[31] = 0; + out_8460857742624934078[32] = 0; + out_8460857742624934078[33] = 0; + out_8460857742624934078[34] = 0; + out_8460857742624934078[35] = 0; + out_8460857742624934078[36] = 0; + out_8460857742624934078[37] = 0; + out_8460857742624934078[38] = 0; + out_8460857742624934078[39] = 0; + out_8460857742624934078[40] = 0; + out_8460857742624934078[41] = 0; + out_8460857742624934078[42] = 0; + out_8460857742624934078[43] = 0; + out_8460857742624934078[44] = 0; + out_8460857742624934078[45] = 0; + out_8460857742624934078[46] = 0; + out_8460857742624934078[47] = 0; + out_8460857742624934078[48] = 0; + out_8460857742624934078[49] = 0; + out_8460857742624934078[50] = 0; + out_8460857742624934078[51] = 0; + out_8460857742624934078[52] = 0; + out_8460857742624934078[53] = 1; + out_8460857742624934078[54] = 0; + out_8460857742624934078[55] = 0; + out_8460857742624934078[56] = 0; + out_8460857742624934078[57] = 0; + out_8460857742624934078[58] = 0; + out_8460857742624934078[59] = 0; + out_8460857742624934078[60] = 0; + out_8460857742624934078[61] = 0; + out_8460857742624934078[62] = 0; + out_8460857742624934078[63] = 0; + out_8460857742624934078[64] = 0; + out_8460857742624934078[65] = 0; } -void h_32(double *state, double *unused, double *out_1962437249848893520) { - out_1962437249848893520[0] = state[3]; - out_1962437249848893520[1] = state[4]; - out_1962437249848893520[2] = state[5]; - out_1962437249848893520[3] = state[6]; +void h_32(double *state, double *unused, double *out_2752828006802561656) { + out_2752828006802561656[0] = state[3]; + out_2752828006802561656[1] = state[4]; + out_2752828006802561656[2] = state[5]; + out_2752828006802561656[3] = state[6]; } -void H_32(double *state, double *unused, double *out_6267679347670678325) { - out_6267679347670678325[0] = 0; - out_6267679347670678325[1] = 0; - out_6267679347670678325[2] = 0; - out_6267679347670678325[3] = 1; - out_6267679347670678325[4] = 0; - out_6267679347670678325[5] = 0; - out_6267679347670678325[6] = 0; - out_6267679347670678325[7] = 0; - out_6267679347670678325[8] = 0; - out_6267679347670678325[9] = 0; - out_6267679347670678325[10] = 0; - out_6267679347670678325[11] = 0; - out_6267679347670678325[12] = 0; - out_6267679347670678325[13] = 0; - out_6267679347670678325[14] = 0; - out_6267679347670678325[15] = 0; - out_6267679347670678325[16] = 0; - out_6267679347670678325[17] = 0; - out_6267679347670678325[18] = 0; - out_6267679347670678325[19] = 0; - out_6267679347670678325[20] = 0; - out_6267679347670678325[21] = 0; - out_6267679347670678325[22] = 0; - out_6267679347670678325[23] = 0; - out_6267679347670678325[24] = 0; - out_6267679347670678325[25] = 0; - out_6267679347670678325[26] = 1; - out_6267679347670678325[27] = 0; - out_6267679347670678325[28] = 0; - out_6267679347670678325[29] = 0; - out_6267679347670678325[30] = 0; - out_6267679347670678325[31] = 0; - out_6267679347670678325[32] = 0; - out_6267679347670678325[33] = 0; - out_6267679347670678325[34] = 0; - out_6267679347670678325[35] = 0; - out_6267679347670678325[36] = 0; - out_6267679347670678325[37] = 0; - out_6267679347670678325[38] = 0; - out_6267679347670678325[39] = 0; - out_6267679347670678325[40] = 0; - out_6267679347670678325[41] = 0; - out_6267679347670678325[42] = 0; - out_6267679347670678325[43] = 0; - out_6267679347670678325[44] = 0; - out_6267679347670678325[45] = 0; - out_6267679347670678325[46] = 0; - out_6267679347670678325[47] = 0; - out_6267679347670678325[48] = 0; - out_6267679347670678325[49] = 1; - out_6267679347670678325[50] = 0; - out_6267679347670678325[51] = 0; - out_6267679347670678325[52] = 0; - out_6267679347670678325[53] = 0; - out_6267679347670678325[54] = 0; - out_6267679347670678325[55] = 0; - out_6267679347670678325[56] = 0; - out_6267679347670678325[57] = 0; - out_6267679347670678325[58] = 0; - out_6267679347670678325[59] = 0; - out_6267679347670678325[60] = 0; - out_6267679347670678325[61] = 0; - out_6267679347670678325[62] = 0; - out_6267679347670678325[63] = 0; - out_6267679347670678325[64] = 0; - out_6267679347670678325[65] = 0; - out_6267679347670678325[66] = 0; - out_6267679347670678325[67] = 0; - out_6267679347670678325[68] = 0; - out_6267679347670678325[69] = 0; - out_6267679347670678325[70] = 0; - out_6267679347670678325[71] = 0; - out_6267679347670678325[72] = 1; - out_6267679347670678325[73] = 0; - out_6267679347670678325[74] = 0; - out_6267679347670678325[75] = 0; - out_6267679347670678325[76] = 0; - out_6267679347670678325[77] = 0; - out_6267679347670678325[78] = 0; - out_6267679347670678325[79] = 0; - out_6267679347670678325[80] = 0; - out_6267679347670678325[81] = 0; - out_6267679347670678325[82] = 0; - out_6267679347670678325[83] = 0; - out_6267679347670678325[84] = 0; - out_6267679347670678325[85] = 0; - out_6267679347670678325[86] = 0; - out_6267679347670678325[87] = 0; +void H_32(double *state, double *unused, double *out_8329692957684193609) { + out_8329692957684193609[0] = 0; + out_8329692957684193609[1] = 0; + out_8329692957684193609[2] = 0; + out_8329692957684193609[3] = 1; + out_8329692957684193609[4] = 0; + out_8329692957684193609[5] = 0; + out_8329692957684193609[6] = 0; + out_8329692957684193609[7] = 0; + out_8329692957684193609[8] = 0; + out_8329692957684193609[9] = 0; + out_8329692957684193609[10] = 0; + out_8329692957684193609[11] = 0; + out_8329692957684193609[12] = 0; + out_8329692957684193609[13] = 0; + out_8329692957684193609[14] = 0; + out_8329692957684193609[15] = 0; + out_8329692957684193609[16] = 0; + out_8329692957684193609[17] = 0; + out_8329692957684193609[18] = 0; + out_8329692957684193609[19] = 0; + out_8329692957684193609[20] = 0; + out_8329692957684193609[21] = 0; + out_8329692957684193609[22] = 0; + out_8329692957684193609[23] = 0; + out_8329692957684193609[24] = 0; + out_8329692957684193609[25] = 0; + out_8329692957684193609[26] = 1; + out_8329692957684193609[27] = 0; + out_8329692957684193609[28] = 0; + out_8329692957684193609[29] = 0; + out_8329692957684193609[30] = 0; + out_8329692957684193609[31] = 0; + out_8329692957684193609[32] = 0; + out_8329692957684193609[33] = 0; + out_8329692957684193609[34] = 0; + out_8329692957684193609[35] = 0; + out_8329692957684193609[36] = 0; + out_8329692957684193609[37] = 0; + out_8329692957684193609[38] = 0; + out_8329692957684193609[39] = 0; + out_8329692957684193609[40] = 0; + out_8329692957684193609[41] = 0; + out_8329692957684193609[42] = 0; + out_8329692957684193609[43] = 0; + out_8329692957684193609[44] = 0; + out_8329692957684193609[45] = 0; + out_8329692957684193609[46] = 0; + out_8329692957684193609[47] = 0; + out_8329692957684193609[48] = 0; + out_8329692957684193609[49] = 1; + out_8329692957684193609[50] = 0; + out_8329692957684193609[51] = 0; + out_8329692957684193609[52] = 0; + out_8329692957684193609[53] = 0; + out_8329692957684193609[54] = 0; + out_8329692957684193609[55] = 0; + out_8329692957684193609[56] = 0; + out_8329692957684193609[57] = 0; + out_8329692957684193609[58] = 0; + out_8329692957684193609[59] = 0; + out_8329692957684193609[60] = 0; + out_8329692957684193609[61] = 0; + out_8329692957684193609[62] = 0; + out_8329692957684193609[63] = 0; + out_8329692957684193609[64] = 0; + out_8329692957684193609[65] = 0; + out_8329692957684193609[66] = 0; + out_8329692957684193609[67] = 0; + out_8329692957684193609[68] = 0; + out_8329692957684193609[69] = 0; + out_8329692957684193609[70] = 0; + out_8329692957684193609[71] = 0; + out_8329692957684193609[72] = 1; + out_8329692957684193609[73] = 0; + out_8329692957684193609[74] = 0; + out_8329692957684193609[75] = 0; + out_8329692957684193609[76] = 0; + out_8329692957684193609[77] = 0; + out_8329692957684193609[78] = 0; + out_8329692957684193609[79] = 0; + out_8329692957684193609[80] = 0; + out_8329692957684193609[81] = 0; + out_8329692957684193609[82] = 0; + out_8329692957684193609[83] = 0; + out_8329692957684193609[84] = 0; + out_8329692957684193609[85] = 0; + out_8329692957684193609[86] = 0; + out_8329692957684193609[87] = 0; } -void h_13(double *state, double *unused, double *out_1422098576590259012) { - out_1422098576590259012[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_1422098576590259012[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_1422098576590259012[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_392591640858112584) { + out_392591640858112584[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_392591640858112584[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_392591640858112584[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_979728642438066826) { - out_979728642438066826[0] = 0; - out_979728642438066826[1] = 0; - out_979728642438066826[2] = 0; - out_979728642438066826[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; - out_979728642438066826[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_979728642438066826[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; - out_979728642438066826[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; - out_979728642438066826[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); - out_979728642438066826[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; - out_979728642438066826[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; - out_979728642438066826[10] = 0; - out_979728642438066826[11] = 0; - out_979728642438066826[12] = 0; - out_979728642438066826[13] = 0; - out_979728642438066826[14] = 0; - out_979728642438066826[15] = 0; - out_979728642438066826[16] = 0; - out_979728642438066826[17] = 0; - out_979728642438066826[18] = 0; - out_979728642438066826[19] = 0; - out_979728642438066826[20] = 0; - out_979728642438066826[21] = 0; - out_979728642438066826[22] = 0; - out_979728642438066826[23] = 0; - out_979728642438066826[24] = 0; - out_979728642438066826[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; - out_979728642438066826[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; - out_979728642438066826[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_979728642438066826[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; - out_979728642438066826[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; - out_979728642438066826[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); - out_979728642438066826[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; - out_979728642438066826[32] = 0; - out_979728642438066826[33] = 0; - out_979728642438066826[34] = 0; - out_979728642438066826[35] = 0; - out_979728642438066826[36] = 0; - out_979728642438066826[37] = 0; - out_979728642438066826[38] = 0; - out_979728642438066826[39] = 0; - out_979728642438066826[40] = 0; - out_979728642438066826[41] = 0; - out_979728642438066826[42] = 0; - out_979728642438066826[43] = 0; - out_979728642438066826[44] = 0; - out_979728642438066826[45] = 0; - out_979728642438066826[46] = 0; - out_979728642438066826[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; - out_979728642438066826[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; - out_979728642438066826[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; - out_979728642438066826[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_979728642438066826[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; - out_979728642438066826[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; - out_979728642438066826[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); - out_979728642438066826[54] = 0; - out_979728642438066826[55] = 0; - out_979728642438066826[56] = 0; - out_979728642438066826[57] = 0; - out_979728642438066826[58] = 0; - out_979728642438066826[59] = 0; - out_979728642438066826[60] = 0; - out_979728642438066826[61] = 0; - out_979728642438066826[62] = 0; - out_979728642438066826[63] = 0; - out_979728642438066826[64] = 0; - out_979728642438066826[65] = 0; +void H_13(double *state, double *unused, double *out_4626093262240260019) { + out_4626093262240260019[0] = 0; + out_4626093262240260019[1] = 0; + out_4626093262240260019[2] = 0; + out_4626093262240260019[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_4626093262240260019[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_4626093262240260019[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; + out_4626093262240260019[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_4626093262240260019[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); + out_4626093262240260019[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; + out_4626093262240260019[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; + out_4626093262240260019[10] = 0; + out_4626093262240260019[11] = 0; + out_4626093262240260019[12] = 0; + out_4626093262240260019[13] = 0; + out_4626093262240260019[14] = 0; + out_4626093262240260019[15] = 0; + out_4626093262240260019[16] = 0; + out_4626093262240260019[17] = 0; + out_4626093262240260019[18] = 0; + out_4626093262240260019[19] = 0; + out_4626093262240260019[20] = 0; + out_4626093262240260019[21] = 0; + out_4626093262240260019[22] = 0; + out_4626093262240260019[23] = 0; + out_4626093262240260019[24] = 0; + out_4626093262240260019[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_4626093262240260019[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_4626093262240260019[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_4626093262240260019[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; + out_4626093262240260019[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; + out_4626093262240260019[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); + out_4626093262240260019[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; + out_4626093262240260019[32] = 0; + out_4626093262240260019[33] = 0; + out_4626093262240260019[34] = 0; + out_4626093262240260019[35] = 0; + out_4626093262240260019[36] = 0; + out_4626093262240260019[37] = 0; + out_4626093262240260019[38] = 0; + out_4626093262240260019[39] = 0; + out_4626093262240260019[40] = 0; + out_4626093262240260019[41] = 0; + out_4626093262240260019[42] = 0; + out_4626093262240260019[43] = 0; + out_4626093262240260019[44] = 0; + out_4626093262240260019[45] = 0; + out_4626093262240260019[46] = 0; + out_4626093262240260019[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_4626093262240260019[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; + out_4626093262240260019[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_4626093262240260019[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_4626093262240260019[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; + out_4626093262240260019[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; + out_4626093262240260019[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); + out_4626093262240260019[54] = 0; + out_4626093262240260019[55] = 0; + out_4626093262240260019[56] = 0; + out_4626093262240260019[57] = 0; + out_4626093262240260019[58] = 0; + out_4626093262240260019[59] = 0; + out_4626093262240260019[60] = 0; + out_4626093262240260019[61] = 0; + out_4626093262240260019[62] = 0; + out_4626093262240260019[63] = 0; + out_4626093262240260019[64] = 0; + out_4626093262240260019[65] = 0; } -void h_14(double *state, double *unused, double *out_5633073678966500073) { - out_5633073678966500073[0] = state[10]; - out_5633073678966500073[1] = state[11]; - out_5633073678966500073[2] = state[12]; +void h_14(double *state, double *unused, double *out_8367559596262948470) { + out_8367559596262948470[0] = state[10]; + out_8367559596262948470[1] = state[11]; + out_8367559596262948470[2] = state[12]; } -void H_14(double *state, double *unused, double *out_3252287943088244002) { - out_3252287943088244002[0] = 0; - out_3252287943088244002[1] = 0; - out_3252287943088244002[2] = 0; - out_3252287943088244002[3] = 0; - out_3252287943088244002[4] = 0; - out_3252287943088244002[5] = 0; - out_3252287943088244002[6] = 0; - out_3252287943088244002[7] = 0; - out_3252287943088244002[8] = 0; - out_3252287943088244002[9] = 0; - out_3252287943088244002[10] = 1; - out_3252287943088244002[11] = 0; - out_3252287943088244002[12] = 0; - out_3252287943088244002[13] = 0; - out_3252287943088244002[14] = 0; - out_3252287943088244002[15] = 0; - out_3252287943088244002[16] = 0; - out_3252287943088244002[17] = 0; - out_3252287943088244002[18] = 0; - out_3252287943088244002[19] = 0; - out_3252287943088244002[20] = 0; - out_3252287943088244002[21] = 0; - out_3252287943088244002[22] = 0; - out_3252287943088244002[23] = 0; - out_3252287943088244002[24] = 0; - out_3252287943088244002[25] = 0; - out_3252287943088244002[26] = 0; - out_3252287943088244002[27] = 0; - out_3252287943088244002[28] = 0; - out_3252287943088244002[29] = 0; - out_3252287943088244002[30] = 0; - out_3252287943088244002[31] = 0; - out_3252287943088244002[32] = 0; - out_3252287943088244002[33] = 1; - out_3252287943088244002[34] = 0; - out_3252287943088244002[35] = 0; - out_3252287943088244002[36] = 0; - out_3252287943088244002[37] = 0; - out_3252287943088244002[38] = 0; - out_3252287943088244002[39] = 0; - out_3252287943088244002[40] = 0; - out_3252287943088244002[41] = 0; - out_3252287943088244002[42] = 0; - out_3252287943088244002[43] = 0; - out_3252287943088244002[44] = 0; - out_3252287943088244002[45] = 0; - out_3252287943088244002[46] = 0; - out_3252287943088244002[47] = 0; - out_3252287943088244002[48] = 0; - out_3252287943088244002[49] = 0; - out_3252287943088244002[50] = 0; - out_3252287943088244002[51] = 0; - out_3252287943088244002[52] = 0; - out_3252287943088244002[53] = 0; - out_3252287943088244002[54] = 0; - out_3252287943088244002[55] = 0; - out_3252287943088244002[56] = 1; - out_3252287943088244002[57] = 0; - out_3252287943088244002[58] = 0; - out_3252287943088244002[59] = 0; - out_3252287943088244002[60] = 0; - out_3252287943088244002[61] = 0; - out_3252287943088244002[62] = 0; - out_3252287943088244002[63] = 0; - out_3252287943088244002[64] = 0; - out_3252287943088244002[65] = 0; +void H_14(double *state, double *unused, double *out_6860413920341600807) { + out_6860413920341600807[0] = 0; + out_6860413920341600807[1] = 0; + out_6860413920341600807[2] = 0; + out_6860413920341600807[3] = 0; + out_6860413920341600807[4] = 0; + out_6860413920341600807[5] = 0; + out_6860413920341600807[6] = 0; + out_6860413920341600807[7] = 0; + out_6860413920341600807[8] = 0; + out_6860413920341600807[9] = 0; + out_6860413920341600807[10] = 1; + out_6860413920341600807[11] = 0; + out_6860413920341600807[12] = 0; + out_6860413920341600807[13] = 0; + out_6860413920341600807[14] = 0; + out_6860413920341600807[15] = 0; + out_6860413920341600807[16] = 0; + out_6860413920341600807[17] = 0; + out_6860413920341600807[18] = 0; + out_6860413920341600807[19] = 0; + out_6860413920341600807[20] = 0; + out_6860413920341600807[21] = 0; + out_6860413920341600807[22] = 0; + out_6860413920341600807[23] = 0; + out_6860413920341600807[24] = 0; + out_6860413920341600807[25] = 0; + out_6860413920341600807[26] = 0; + out_6860413920341600807[27] = 0; + out_6860413920341600807[28] = 0; + out_6860413920341600807[29] = 0; + out_6860413920341600807[30] = 0; + out_6860413920341600807[31] = 0; + out_6860413920341600807[32] = 0; + out_6860413920341600807[33] = 1; + out_6860413920341600807[34] = 0; + out_6860413920341600807[35] = 0; + out_6860413920341600807[36] = 0; + out_6860413920341600807[37] = 0; + out_6860413920341600807[38] = 0; + out_6860413920341600807[39] = 0; + out_6860413920341600807[40] = 0; + out_6860413920341600807[41] = 0; + out_6860413920341600807[42] = 0; + out_6860413920341600807[43] = 0; + out_6860413920341600807[44] = 0; + out_6860413920341600807[45] = 0; + out_6860413920341600807[46] = 0; + out_6860413920341600807[47] = 0; + out_6860413920341600807[48] = 0; + out_6860413920341600807[49] = 0; + out_6860413920341600807[50] = 0; + out_6860413920341600807[51] = 0; + out_6860413920341600807[52] = 0; + out_6860413920341600807[53] = 0; + out_6860413920341600807[54] = 0; + out_6860413920341600807[55] = 0; + out_6860413920341600807[56] = 1; + out_6860413920341600807[57] = 0; + out_6860413920341600807[58] = 0; + out_6860413920341600807[59] = 0; + out_6860413920341600807[60] = 0; + out_6860413920341600807[61] = 0; + out_6860413920341600807[62] = 0; + out_6860413920341600807[63] = 0; + out_6860413920341600807[64] = 0; + out_6860413920341600807[65] = 0; } -void h_33(double *state, double *unused, double *out_4297372334290366217) { - out_4297372334290366217[0] = state[16]; - out_4297372334290366217[1] = state[17]; - out_4297372334290366217[2] = state[18]; +void h_33(double *state, double *unused, double *out_9004392775721978689) { + out_9004392775721978689[0] = state[16]; + out_9004392775721978689[1] = state[17]; + out_9004392775721978689[2] = state[18]; } -void H_33(double *state, double *unused, double *out_8918426715239433279) { - out_8918426715239433279[0] = 0; - out_8918426715239433279[1] = 0; - out_8918426715239433279[2] = 0; - out_8918426715239433279[3] = 0; - out_8918426715239433279[4] = 0; - out_8918426715239433279[5] = 0; - out_8918426715239433279[6] = 0; - out_8918426715239433279[7] = 0; - out_8918426715239433279[8] = 0; - out_8918426715239433279[9] = 0; - out_8918426715239433279[10] = 0; - out_8918426715239433279[11] = 0; - out_8918426715239433279[12] = 0; - out_8918426715239433279[13] = 0; - out_8918426715239433279[14] = 0; - out_8918426715239433279[15] = 0; - out_8918426715239433279[16] = 1; - out_8918426715239433279[17] = 0; - out_8918426715239433279[18] = 0; - out_8918426715239433279[19] = 0; - out_8918426715239433279[20] = 0; - out_8918426715239433279[21] = 0; - out_8918426715239433279[22] = 0; - out_8918426715239433279[23] = 0; - out_8918426715239433279[24] = 0; - out_8918426715239433279[25] = 0; - out_8918426715239433279[26] = 0; - out_8918426715239433279[27] = 0; - out_8918426715239433279[28] = 0; - out_8918426715239433279[29] = 0; - out_8918426715239433279[30] = 0; - out_8918426715239433279[31] = 0; - out_8918426715239433279[32] = 0; - out_8918426715239433279[33] = 0; - out_8918426715239433279[34] = 0; - out_8918426715239433279[35] = 0; - out_8918426715239433279[36] = 0; - out_8918426715239433279[37] = 0; - out_8918426715239433279[38] = 0; - out_8918426715239433279[39] = 1; - out_8918426715239433279[40] = 0; - out_8918426715239433279[41] = 0; - out_8918426715239433279[42] = 0; - out_8918426715239433279[43] = 0; - out_8918426715239433279[44] = 0; - out_8918426715239433279[45] = 0; - out_8918426715239433279[46] = 0; - out_8918426715239433279[47] = 0; - out_8918426715239433279[48] = 0; - out_8918426715239433279[49] = 0; - out_8918426715239433279[50] = 0; - out_8918426715239433279[51] = 0; - out_8918426715239433279[52] = 0; - out_8918426715239433279[53] = 0; - out_8918426715239433279[54] = 0; - out_8918426715239433279[55] = 0; - out_8918426715239433279[56] = 0; - out_8918426715239433279[57] = 0; - out_8918426715239433279[58] = 0; - out_8918426715239433279[59] = 0; - out_8918426715239433279[60] = 0; - out_8918426715239433279[61] = 0; - out_8918426715239433279[62] = 1; - out_8918426715239433279[63] = 0; - out_8918426715239433279[64] = 0; - out_8918426715239433279[65] = 0; +void H_33(double *state, double *unused, double *out_5310300737986076474) { + out_5310300737986076474[0] = 0; + out_5310300737986076474[1] = 0; + out_5310300737986076474[2] = 0; + out_5310300737986076474[3] = 0; + out_5310300737986076474[4] = 0; + out_5310300737986076474[5] = 0; + out_5310300737986076474[6] = 0; + out_5310300737986076474[7] = 0; + out_5310300737986076474[8] = 0; + out_5310300737986076474[9] = 0; + out_5310300737986076474[10] = 0; + out_5310300737986076474[11] = 0; + out_5310300737986076474[12] = 0; + out_5310300737986076474[13] = 0; + out_5310300737986076474[14] = 0; + out_5310300737986076474[15] = 0; + out_5310300737986076474[16] = 1; + out_5310300737986076474[17] = 0; + out_5310300737986076474[18] = 0; + out_5310300737986076474[19] = 0; + out_5310300737986076474[20] = 0; + out_5310300737986076474[21] = 0; + out_5310300737986076474[22] = 0; + out_5310300737986076474[23] = 0; + out_5310300737986076474[24] = 0; + out_5310300737986076474[25] = 0; + out_5310300737986076474[26] = 0; + out_5310300737986076474[27] = 0; + out_5310300737986076474[28] = 0; + out_5310300737986076474[29] = 0; + out_5310300737986076474[30] = 0; + out_5310300737986076474[31] = 0; + out_5310300737986076474[32] = 0; + out_5310300737986076474[33] = 0; + out_5310300737986076474[34] = 0; + out_5310300737986076474[35] = 0; + out_5310300737986076474[36] = 0; + out_5310300737986076474[37] = 0; + out_5310300737986076474[38] = 0; + out_5310300737986076474[39] = 1; + out_5310300737986076474[40] = 0; + out_5310300737986076474[41] = 0; + out_5310300737986076474[42] = 0; + out_5310300737986076474[43] = 0; + out_5310300737986076474[44] = 0; + out_5310300737986076474[45] = 0; + out_5310300737986076474[46] = 0; + out_5310300737986076474[47] = 0; + out_5310300737986076474[48] = 0; + out_5310300737986076474[49] = 0; + out_5310300737986076474[50] = 0; + out_5310300737986076474[51] = 0; + out_5310300737986076474[52] = 0; + out_5310300737986076474[53] = 0; + out_5310300737986076474[54] = 0; + out_5310300737986076474[55] = 0; + out_5310300737986076474[56] = 0; + out_5310300737986076474[57] = 0; + out_5310300737986076474[58] = 0; + out_5310300737986076474[59] = 0; + out_5310300737986076474[60] = 0; + out_5310300737986076474[61] = 0; + out_5310300737986076474[62] = 1; + out_5310300737986076474[63] = 0; + out_5310300737986076474[64] = 0; + out_5310300737986076474[65] = 0; } #include #include @@ -1855,77 +1855,77 @@ void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, doub 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_4500389823279432985) { - H(in_vec, out_4500389823279432985); +void live_H(double *in_vec, double *out_3693999405139314794) { + H(in_vec, out_3693999405139314794); } -void live_err_fun(double *nom_x, double *delta_x, double *out_1913535744177293566) { - err_fun(nom_x, delta_x, out_1913535744177293566); +void live_err_fun(double *nom_x, double *delta_x, double *out_3414598820419176679) { + err_fun(nom_x, delta_x, out_3414598820419176679); } -void live_inv_err_fun(double *nom_x, double *true_x, double *out_2851117358798162907) { - inv_err_fun(nom_x, true_x, out_2851117358798162907); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_5364111469669926070) { + inv_err_fun(nom_x, true_x, out_5364111469669926070); } -void live_H_mod_fun(double *state, double *out_2697157995522224710) { - H_mod_fun(state, out_2697157995522224710); +void live_H_mod_fun(double *state, double *out_8664355600254952032) { + H_mod_fun(state, out_8664355600254952032); } -void live_f_fun(double *state, double dt, double *out_258969813900144001) { - f_fun(state, dt, out_258969813900144001); +void live_f_fun(double *state, double dt, double *out_5944879704050977948) { + f_fun(state, dt, out_5944879704050977948); } -void live_F_fun(double *state, double dt, double *out_3982048512447115253) { - F_fun(state, dt, out_3982048512447115253); +void live_F_fun(double *state, double dt, double *out_1511312995606333672) { + F_fun(state, dt, out_1511312995606333672); } -void live_h_4(double *state, double *unused, double *out_3062002944620705961) { - h_4(state, unused, out_3062002944620705961); +void live_h_4(double *state, double *unused, double *out_6748587584352144008) { + h_4(state, unused, out_6748587584352144008); } -void live_H_4(double *state, double *unused, double *out_3011098296458653357) { - H_4(state, unused, out_3011098296458653357); +void live_H_4(double *state, double *unused, double *out_6619224273712010162) { + H_4(state, unused, out_6619224273712010162); } -void live_h_9(double *state, double *unused, double *out_5633073678966500073) { - h_9(state, unused, out_5633073678966500073); +void live_h_9(double *state, double *unused, double *out_8367559596262948470) { + h_9(state, unused, out_8367559596262948470); } -void live_H_9(double *state, double *unused, double *out_3252287943088244002) { - H_9(state, unused, out_3252287943088244002); +void live_H_9(double *state, double *unused, double *out_6860413920341600807) { + H_9(state, unused, out_6860413920341600807); } -void live_h_10(double *state, double *unused, double *out_4956664653644560279) { - h_10(state, unused, out_4956664653644560279); +void live_h_10(double *state, double *unused, double *out_9168195956800795275) { + h_10(state, unused, out_9168195956800795275); } -void live_H_10(double *state, double *unused, double *out_4513091182693755627) { - H_10(state, unused, out_4513091182693755627); +void live_H_10(double *state, double *unused, double *out_1822418700523668742) { + H_10(state, unused, out_1822418700523668742); } -void live_h_12(double *state, double *unused, double *out_5780595779529914179) { - h_12(state, unused, out_5780595779529914179); +void live_h_12(double *state, double *unused, double *out_2333080179053030376) { + h_12(state, unused, out_2333080179053030376); } -void live_H_12(double *state, double *unused, double *out_3632197321506247024) { - H_12(state, unused, out_3632197321506247024); +void live_H_12(double *state, double *unused, double *out_6808063391965579659) { + H_12(state, unused, out_6808063391965579659); } -void live_h_35(double *state, double *unused, double *out_190113666816480701) { - h_35(state, unused, out_190113666816480701); +void live_h_35(double *state, double *unused, double *out_4784374292918501119) { + h_35(state, unused, out_4784374292918501119); } -void live_H_35(double *state, double *unused, double *out_6377760353831260733) { - H_35(state, unused, out_6377760353831260733); +void live_H_35(double *state, double *unused, double *out_8460857742624934078) { + H_35(state, unused, out_8460857742624934078); } -void live_h_32(double *state, double *unused, double *out_1962437249848893520) { - h_32(state, unused, out_1962437249848893520); +void live_h_32(double *state, double *unused, double *out_2752828006802561656) { + h_32(state, unused, out_2752828006802561656); } -void live_H_32(double *state, double *unused, double *out_6267679347670678325) { - H_32(state, unused, out_6267679347670678325); +void live_H_32(double *state, double *unused, double *out_8329692957684193609) { + H_32(state, unused, out_8329692957684193609); } -void live_h_13(double *state, double *unused, double *out_1422098576590259012) { - h_13(state, unused, out_1422098576590259012); +void live_h_13(double *state, double *unused, double *out_392591640858112584) { + h_13(state, unused, out_392591640858112584); } -void live_H_13(double *state, double *unused, double *out_979728642438066826) { - H_13(state, unused, out_979728642438066826); +void live_H_13(double *state, double *unused, double *out_4626093262240260019) { + H_13(state, unused, out_4626093262240260019); } -void live_h_14(double *state, double *unused, double *out_5633073678966500073) { - h_14(state, unused, out_5633073678966500073); +void live_h_14(double *state, double *unused, double *out_8367559596262948470) { + h_14(state, unused, out_8367559596262948470); } -void live_H_14(double *state, double *unused, double *out_3252287943088244002) { - H_14(state, unused, out_3252287943088244002); +void live_H_14(double *state, double *unused, double *out_6860413920341600807) { + H_14(state, unused, out_6860413920341600807); } -void live_h_33(double *state, double *unused, double *out_4297372334290366217) { - h_33(state, unused, out_4297372334290366217); +void live_h_33(double *state, double *unused, double *out_9004392775721978689) { + h_33(state, unused, out_9004392775721978689); } -void live_H_33(double *state, double *unused, double *out_8918426715239433279) { - H_33(state, unused, out_8918426715239433279); +void live_H_33(double *state, double *unused, double *out_5310300737986076474) { + H_33(state, unused, out_5310300737986076474); } void live_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/live.h b/selfdrive/locationd/models/generated/live.h index 205d2bc09..58aa13cf8 100644 --- a/selfdrive/locationd/models/generated/live.h +++ b/selfdrive/locationd/models/generated/live.h @@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void live_H(double *in_vec, double *out_4500389823279432985); -void live_err_fun(double *nom_x, double *delta_x, double *out_1913535744177293566); -void live_inv_err_fun(double *nom_x, double *true_x, double *out_2851117358798162907); -void live_H_mod_fun(double *state, double *out_2697157995522224710); -void live_f_fun(double *state, double dt, double *out_258969813900144001); -void live_F_fun(double *state, double dt, double *out_3982048512447115253); -void live_h_4(double *state, double *unused, double *out_3062002944620705961); -void live_H_4(double *state, double *unused, double *out_3011098296458653357); -void live_h_9(double *state, double *unused, double *out_5633073678966500073); -void live_H_9(double *state, double *unused, double *out_3252287943088244002); -void live_h_10(double *state, double *unused, double *out_4956664653644560279); -void live_H_10(double *state, double *unused, double *out_4513091182693755627); -void live_h_12(double *state, double *unused, double *out_5780595779529914179); -void live_H_12(double *state, double *unused, double *out_3632197321506247024); -void live_h_35(double *state, double *unused, double *out_190113666816480701); -void live_H_35(double *state, double *unused, double *out_6377760353831260733); -void live_h_32(double *state, double *unused, double *out_1962437249848893520); -void live_H_32(double *state, double *unused, double *out_6267679347670678325); -void live_h_13(double *state, double *unused, double *out_1422098576590259012); -void live_H_13(double *state, double *unused, double *out_979728642438066826); -void live_h_14(double *state, double *unused, double *out_5633073678966500073); -void live_H_14(double *state, double *unused, double *out_3252287943088244002); -void live_h_33(double *state, double *unused, double *out_4297372334290366217); -void live_H_33(double *state, double *unused, double *out_8918426715239433279); +void live_H(double *in_vec, double *out_3693999405139314794); +void live_err_fun(double *nom_x, double *delta_x, double *out_3414598820419176679); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_5364111469669926070); +void live_H_mod_fun(double *state, double *out_8664355600254952032); +void live_f_fun(double *state, double dt, double *out_5944879704050977948); +void live_F_fun(double *state, double dt, double *out_1511312995606333672); +void live_h_4(double *state, double *unused, double *out_6748587584352144008); +void live_H_4(double *state, double *unused, double *out_6619224273712010162); +void live_h_9(double *state, double *unused, double *out_8367559596262948470); +void live_H_9(double *state, double *unused, double *out_6860413920341600807); +void live_h_10(double *state, double *unused, double *out_9168195956800795275); +void live_H_10(double *state, double *unused, double *out_1822418700523668742); +void live_h_12(double *state, double *unused, double *out_2333080179053030376); +void live_H_12(double *state, double *unused, double *out_6808063391965579659); +void live_h_35(double *state, double *unused, double *out_4784374292918501119); +void live_H_35(double *state, double *unused, double *out_8460857742624934078); +void live_h_32(double *state, double *unused, double *out_2752828006802561656); +void live_H_32(double *state, double *unused, double *out_8329692957684193609); +void live_h_13(double *state, double *unused, double *out_392591640858112584); +void live_H_13(double *state, double *unused, double *out_4626093262240260019); +void live_h_14(double *state, double *unused, double *out_8367559596262948470); +void live_H_14(double *state, double *unused, double *out_6860413920341600807); +void live_h_33(double *state, double *unused, double *out_9004392775721978689); +void live_H_33(double *state, double *unused, double *out_5310300737986076474); void live_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/locationd/ubloxd b/selfdrive/locationd/ubloxd index 89b1a2219..2a92fafb0 100755 Binary files a/selfdrive/locationd/ubloxd and 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