diff --git a/CHANGELOGS.md b/CHANGELOGS.md index 696b10f1f..bf1d2ca2d 100644 --- a/CHANGELOGS.md +++ b/CHANGELOGS.md @@ -5,6 +5,7 @@ dragonpilot [latest] - EON/C2 Release * TWEAK: Used fused location service on mapd. * TWEAK: Used fused location service on gpxd. * NEW: Added back auto boot on C2. +* NEW: TOYOTA - Door auto lock/unlock. (Thanks to @AlexandreSato and @cydia2020) dragonpilot 2022.08.29 - EON/C2 Release ======================== diff --git a/cereal/dp.capnp b/cereal/dp.capnp index e777c1c68..89271615c 100644 --- a/cereal/dp.capnp +++ b/cereal/dp.capnp @@ -17,14 +17,19 @@ struct DragonConf { dpUiVolume @9 :Int8; dpUiBrightness @10 :UInt8; dpUiDisplayMode @11 :UInt8; - dpToyotaSng @12 :Bool; - dpAccelProfileCtrl @13 :Bool; - dpAccelProfile @14 :UInt8; - dpToyotaCruiseOverride @15 :Bool; - dpToyotaCruiseOverrideSpeed @16 :UInt8; - dpUseLanelines @17 :Bool; - dpMapd @18 :Bool; - dpDashcamd @19 :Bool; - dpMazdaSteerAlert @20 :Bool; - dpCameraOffset @21 :Int8; + dpUiSpeed @12 :Bool; + dpUiEvent @13 :Bool; + dpUiFace @14 :Bool; + dpToyotaSng @15 :Bool; + dpAccelProfileCtrl @16 :Bool; + dpAccelProfile @17 :UInt8; + dpToyotaCruiseOverride @18 :Bool; + dpToyotaCruiseOverrideSpeed @19 :UInt8; + dpToyotaAutoLock @20 :Bool; + dpToyotaAutoUnlock @21 :Bool; + dpUseLanelines @22 :Bool; + dpMapd @23 :Bool; + dpDashcamd @24 :Bool; + dpMazdaSteerAlert @25 :Bool; + dpCameraOffset @26 :Int8; } diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so index 032c67022..de02b7f8e 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 19190c9f2..ee9ab9e5e 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 25a105c70..e1cec5a50 100644 --- a/common/dp_conf.py +++ b/common/dp_conf.py @@ -61,6 +61,9 @@ confs = [ {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']}, {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']}, {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']}, + {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']}, #toyota {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, @@ -69,6 +72,8 @@ confs = [ {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']}, {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, {'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']}, + {'name': 'dp_toyota_auto_lock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, + {'name': 'dp_toyota_auto_unlock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, {'name': 'dp_use_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']}, diff --git a/common/params_pyx.so b/common/params_pyx.so index b5e6d28d4..75db41ea2 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 281df34d8..b3f4ee499 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "2022.08.30" +#define COMMA_VERSION "2022.09.01" diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so index 0880d11e7..ca1edfe1d 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 8c0beadab..349cbc105 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 5cb95806e..ebf6fc93f 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 b388504c4..063e6bd28 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 2df7d398d..ef6a5486a 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 3a6dfc9d3..b5adde36e 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 c3710c26d..7ca84ac7b 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 f66b5adbc..0fa9a7f91 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 56dfc75c9..360d4f197 100755 Binary files a/selfdrive/boardd/boardd_api_impl.so and b/selfdrive/boardd/boardd_api_impl.so differ diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 907db5d79..d5a7a6433 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -7,6 +7,7 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams from opendbc.can.packer import CANPacker +from common.conversions import Conversions as CV VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -14,6 +15,11 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert MAX_STEER_RATE = 100 # deg/s MAX_STEER_RATE_FRAMES = 19 +GearShifter = car.CarState.GearShifter +UNLOCK_CMD = b'\x40\x05\x30\x11\x00\x40\x00\x00' +LOCK_CMD = b'\x40\x05\x30\x11\x00\x80\x00\x00' +LOCK_AT_SPEED = 25 * CV.KPH_TO_MS + class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP @@ -34,10 +40,17 @@ class CarController: self.dp_toyota_sng = False self.dp_atl = 0 + self.dp_toyota_auto_lock = False + self.dp_toyota_auto_unlock = False + self.last_gear = GearShifter.park + self.lock_once = False + def update(self, CC, CS, dragonconf): if dragonconf is not None: self.dp_toyota_sng = dragonconf.dpToyotaSng self.dp_atl = dragonconf.dpAtl + self.dp_toyota_auto_lock = dragonconf.dpToyotaAutoLock + self.dp_toyota_auto_unlock = dragonconf.dpToyotaAutoUnlock actuators = CC.actuators hud_control = CC.hudControl pcm_cancel_cmd = CC.cruiseControl.cancel @@ -104,6 +117,21 @@ class CarController: can_sends = [] + # dp - door auto lock / unlock logic + # thanks to AlexandreSato & cydia2020 + # https://github.com/AlexandreSato/openpilot/blob/personal/doors.py + if self.dp_toyota_auto_lock or self.dp_toyota_auto_unlock: + gear = CS.out.gearShifter + if self.last_gear != gear and gear == GearShifter.park: + if self.dp_toyota_auto_unlock: + can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0)) + if self.dp_toyota_auto_lock: + self.lock_once = False + elif self.dp_toyota_auto_lock and gear == GearShifter.drive and not self.lock_once and CS.out.vEgo >= LOCK_AT_SPEED: + can_sends.append(make_can_msg(0x750, LOCK_CMD, 0)) + self.lock_once = True + self.last_gear = gear + # *** control msgs *** # print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor) diff --git a/selfdrive/dragonpilot/dashcamd.py b/selfdrive/dragonpilot/dashcamd.py index f97be1ee7..ccb389817 100644 --- a/selfdrive/dragonpilot/dashcamd.py +++ b/selfdrive/dragonpilot/dashcamd.py @@ -31,7 +31,6 @@ DASHCAM_BIT_RATES = 4000000 # max is 4000000 DASHCAM_MAX_SIZE_PER_FILE = DASHCAM_BIT_RATES/8*DASHCAM_DURATION # 4Mbps / 8 * 180 = 90MB per 180 seconds DASHCAM_FREESPACE_LIMIT = 15 # we start cleaning up footage when freespace is below 15% DASHCAM_KEPT_MIN_SIZE = DASHCAM_MAX_SIZE_PER_FILE * 240 # 12 hrs of video = 21GB -DASHCAM_KEPT_MIN_CNT = 10 # keep at least 10 files, ~30 mins / 1GB class Dashcamd(): def __init__(self): @@ -40,7 +39,6 @@ class Dashcamd(): self.dashcam_next_time = 0 self.started = False self.free_space = 1. - self.first_run = True def run(self, started, free_space): self.free_space = free_space @@ -50,9 +48,7 @@ class Dashcamd(): self.make_folder() if self.dashcam_folder_exists: self.start() - if not self.first_run: - self.clean_up() - self.first_run = False + self.clean_up() def stop(self): os.system("killall -SIGINT screenrecord") diff --git a/selfdrive/locationd/locationd b/selfdrive/locationd/locationd index 7700a2090..44a75a440 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 0c4851b09..afe1239b0 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_6258559787192254109) { - out_6258559787192254109[0] = delta_x[0] + nom_x[0]; - out_6258559787192254109[1] = delta_x[1] + nom_x[1]; - out_6258559787192254109[2] = delta_x[2] + nom_x[2]; - out_6258559787192254109[3] = delta_x[3] + nom_x[3]; - out_6258559787192254109[4] = delta_x[4] + nom_x[4]; - out_6258559787192254109[5] = delta_x[5] + nom_x[5]; - out_6258559787192254109[6] = delta_x[6] + nom_x[6]; - out_6258559787192254109[7] = delta_x[7] + nom_x[7]; - out_6258559787192254109[8] = delta_x[8] + nom_x[8]; -} -void inv_err_fun(double *nom_x, double *true_x, double *out_8483442434741396819) { - out_8483442434741396819[0] = -nom_x[0] + true_x[0]; - out_8483442434741396819[1] = -nom_x[1] + true_x[1]; - out_8483442434741396819[2] = -nom_x[2] + true_x[2]; - out_8483442434741396819[3] = -nom_x[3] + true_x[3]; - out_8483442434741396819[4] = -nom_x[4] + true_x[4]; - out_8483442434741396819[5] = -nom_x[5] + true_x[5]; - out_8483442434741396819[6] = -nom_x[6] + true_x[6]; - out_8483442434741396819[7] = -nom_x[7] + true_x[7]; - out_8483442434741396819[8] = -nom_x[8] + true_x[8]; -} -void H_mod_fun(double *state, double *out_317258154932342734) { - out_317258154932342734[0] = 1.0; - out_317258154932342734[1] = 0; - out_317258154932342734[2] = 0; - out_317258154932342734[3] = 0; - out_317258154932342734[4] = 0; - out_317258154932342734[5] = 0; - out_317258154932342734[6] = 0; - out_317258154932342734[7] = 0; - out_317258154932342734[8] = 0; - out_317258154932342734[9] = 0; - out_317258154932342734[10] = 1.0; - out_317258154932342734[11] = 0; - out_317258154932342734[12] = 0; - out_317258154932342734[13] = 0; - out_317258154932342734[14] = 0; - out_317258154932342734[15] = 0; - out_317258154932342734[16] = 0; - out_317258154932342734[17] = 0; - out_317258154932342734[18] = 0; - out_317258154932342734[19] = 0; - out_317258154932342734[20] = 1.0; - out_317258154932342734[21] = 0; - out_317258154932342734[22] = 0; - out_317258154932342734[23] = 0; - out_317258154932342734[24] = 0; - out_317258154932342734[25] = 0; - out_317258154932342734[26] = 0; - out_317258154932342734[27] = 0; - out_317258154932342734[28] = 0; - out_317258154932342734[29] = 0; - out_317258154932342734[30] = 1.0; - out_317258154932342734[31] = 0; - out_317258154932342734[32] = 0; - out_317258154932342734[33] = 0; - out_317258154932342734[34] = 0; - out_317258154932342734[35] = 0; - out_317258154932342734[36] = 0; - out_317258154932342734[37] = 0; - out_317258154932342734[38] = 0; - out_317258154932342734[39] = 0; - out_317258154932342734[40] = 1.0; - out_317258154932342734[41] = 0; - out_317258154932342734[42] = 0; - out_317258154932342734[43] = 0; - out_317258154932342734[44] = 0; - out_317258154932342734[45] = 0; - out_317258154932342734[46] = 0; - out_317258154932342734[47] = 0; - out_317258154932342734[48] = 0; - out_317258154932342734[49] = 0; - out_317258154932342734[50] = 1.0; - out_317258154932342734[51] = 0; - out_317258154932342734[52] = 0; - out_317258154932342734[53] = 0; - out_317258154932342734[54] = 0; - out_317258154932342734[55] = 0; - out_317258154932342734[56] = 0; - out_317258154932342734[57] = 0; - out_317258154932342734[58] = 0; - out_317258154932342734[59] = 0; - out_317258154932342734[60] = 1.0; - out_317258154932342734[61] = 0; - out_317258154932342734[62] = 0; - out_317258154932342734[63] = 0; - out_317258154932342734[64] = 0; - out_317258154932342734[65] = 0; - out_317258154932342734[66] = 0; - out_317258154932342734[67] = 0; - out_317258154932342734[68] = 0; - out_317258154932342734[69] = 0; - out_317258154932342734[70] = 1.0; - out_317258154932342734[71] = 0; - out_317258154932342734[72] = 0; - out_317258154932342734[73] = 0; - out_317258154932342734[74] = 0; - out_317258154932342734[75] = 0; - out_317258154932342734[76] = 0; - out_317258154932342734[77] = 0; - out_317258154932342734[78] = 0; - out_317258154932342734[79] = 0; - out_317258154932342734[80] = 1.0; -} -void f_fun(double *state, double dt, double *out_5753327761686972465) { - out_5753327761686972465[0] = state[0]; - out_5753327761686972465[1] = state[1]; - out_5753327761686972465[2] = state[2]; - out_5753327761686972465[3] = state[3]; - out_5753327761686972465[4] = state[4]; - out_5753327761686972465[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_5753327761686972465[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_5753327761686972465[7] = state[7]; - out_5753327761686972465[8] = state[8]; -} -void F_fun(double *state, double dt, double *out_8289678864136186323) { - out_8289678864136186323[0] = 1; - out_8289678864136186323[1] = 0; - out_8289678864136186323[2] = 0; - out_8289678864136186323[3] = 0; - out_8289678864136186323[4] = 0; - out_8289678864136186323[5] = 0; - out_8289678864136186323[6] = 0; - out_8289678864136186323[7] = 0; - out_8289678864136186323[8] = 0; - out_8289678864136186323[9] = 0; - out_8289678864136186323[10] = 1; - out_8289678864136186323[11] = 0; - out_8289678864136186323[12] = 0; - out_8289678864136186323[13] = 0; - out_8289678864136186323[14] = 0; - out_8289678864136186323[15] = 0; - out_8289678864136186323[16] = 0; - out_8289678864136186323[17] = 0; - out_8289678864136186323[18] = 0; - out_8289678864136186323[19] = 0; - out_8289678864136186323[20] = 1; - out_8289678864136186323[21] = 0; - out_8289678864136186323[22] = 0; - out_8289678864136186323[23] = 0; - out_8289678864136186323[24] = 0; - out_8289678864136186323[25] = 0; - out_8289678864136186323[26] = 0; - out_8289678864136186323[27] = 0; - out_8289678864136186323[28] = 0; - out_8289678864136186323[29] = 0; - out_8289678864136186323[30] = 1; - out_8289678864136186323[31] = 0; - out_8289678864136186323[32] = 0; - out_8289678864136186323[33] = 0; - out_8289678864136186323[34] = 0; - out_8289678864136186323[35] = 0; - out_8289678864136186323[36] = 0; - out_8289678864136186323[37] = 0; - out_8289678864136186323[38] = 0; - out_8289678864136186323[39] = 0; - out_8289678864136186323[40] = 1; - out_8289678864136186323[41] = 0; - out_8289678864136186323[42] = 0; - out_8289678864136186323[43] = 0; - out_8289678864136186323[44] = 0; - out_8289678864136186323[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_8289678864136186323[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8289678864136186323[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8289678864136186323[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8289678864136186323[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_8289678864136186323[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8289678864136186323[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8289678864136186323[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8289678864136186323[53] = -9.8000000000000007*dt; - out_8289678864136186323[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_8289678864136186323[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8289678864136186323[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8289678864136186323[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8289678864136186323[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_8289678864136186323[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8289678864136186323[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_8289678864136186323[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8289678864136186323[62] = 0; - out_8289678864136186323[63] = 0; - out_8289678864136186323[64] = 0; - out_8289678864136186323[65] = 0; - out_8289678864136186323[66] = 0; - out_8289678864136186323[67] = 0; - out_8289678864136186323[68] = 0; - out_8289678864136186323[69] = 0; - out_8289678864136186323[70] = 1; - out_8289678864136186323[71] = 0; - out_8289678864136186323[72] = 0; - out_8289678864136186323[73] = 0; - out_8289678864136186323[74] = 0; - out_8289678864136186323[75] = 0; - out_8289678864136186323[76] = 0; - out_8289678864136186323[77] = 0; - out_8289678864136186323[78] = 0; - out_8289678864136186323[79] = 0; - out_8289678864136186323[80] = 1; -} -void h_25(double *state, double *unused, double *out_5741342572066533641) { - out_5741342572066533641[0] = state[6]; -} -void H_25(double *state, double *unused, double *out_1067105512112888160) { - out_1067105512112888160[0] = 0; - out_1067105512112888160[1] = 0; - out_1067105512112888160[2] = 0; - out_1067105512112888160[3] = 0; - out_1067105512112888160[4] = 0; - out_1067105512112888160[5] = 0; - out_1067105512112888160[6] = 1; - out_1067105512112888160[7] = 0; - out_1067105512112888160[8] = 0; -} -void h_24(double *state, double *unused, double *out_3184705636802324409) { - out_3184705636802324409[0] = state[4]; - out_3184705636802324409[1] = state[5]; -} -void H_24(double *state, double *unused, double *out_3679403814853620874) { - out_3679403814853620874[0] = 0; - out_3679403814853620874[1] = 0; - out_3679403814853620874[2] = 0; - out_3679403814853620874[3] = 0; - out_3679403814853620874[4] = 1; - out_3679403814853620874[5] = 0; - out_3679403814853620874[6] = 0; - out_3679403814853620874[7] = 0; - out_3679403814853620874[8] = 0; - out_3679403814853620874[9] = 0; - out_3679403814853620874[10] = 0; - out_3679403814853620874[11] = 0; - out_3679403814853620874[12] = 0; - out_3679403814853620874[13] = 0; - out_3679403814853620874[14] = 1; - out_3679403814853620874[15] = 0; - out_3679403814853620874[16] = 0; - out_3679403814853620874[17] = 0; -} -void h_30(double *state, double *unused, double *out_5619733767201413514) { - out_5619733767201413514[0] = state[4]; -} -void H_30(double *state, double *unused, double *out_3585438470620136787) { - out_3585438470620136787[0] = 0; - out_3585438470620136787[1] = 0; - out_3585438470620136787[2] = 0; - out_3585438470620136787[3] = 0; - out_3585438470620136787[4] = 1; - out_3585438470620136787[5] = 0; - out_3585438470620136787[6] = 0; - out_3585438470620136787[7] = 0; - out_3585438470620136787[8] = 0; -} -void h_26(double *state, double *unused, double *out_138251146792324442) { - out_138251146792324442[0] = state[7]; -} -void H_26(double *state, double *unused, double *out_2674397806761168064) { - out_2674397806761168064[0] = 0; - out_2674397806761168064[1] = 0; - out_2674397806761168064[2] = 0; - out_2674397806761168064[3] = 0; - out_2674397806761168064[4] = 0; - out_2674397806761168064[5] = 0; - out_2674397806761168064[6] = 0; - out_2674397806761168064[7] = 1; - out_2674397806761168064[8] = 0; -} -void h_27(double *state, double *unused, double *out_7703728233982172330) { - out_7703728233982172330[0] = state[3]; -} -void H_27(double *state, double *unused, double *out_5809032541804080004) { - out_5809032541804080004[0] = 0; - out_5809032541804080004[1] = 0; - out_5809032541804080004[2] = 0; - out_5809032541804080004[3] = 1; - out_5809032541804080004[4] = 0; - out_5809032541804080004[5] = 0; - out_5809032541804080004[6] = 0; - out_5809032541804080004[7] = 0; - out_5809032541804080004[8] = 0; -} -void h_29(double *state, double *unused, double *out_3842044757553670678) { - out_3842044757553670678[0] = state[1]; -} -void H_29(double *state, double *unused, double *out_4095669814934528971) { - out_4095669814934528971[0] = 0; - out_4095669814934528971[1] = 1; - out_4095669814934528971[2] = 0; - out_4095669814934528971[3] = 0; - out_4095669814934528971[4] = 0; - out_4095669814934528971[5] = 0; - out_4095669814934528971[6] = 0; - out_4095669814934528971[7] = 0; - out_4095669814934528971[8] = 0; -} -void h_28(double *state, double *unused, double *out_3081542204526064016) { - out_3081542204526064016[0] = state[0]; -} -void H_28(double *state, double *unused, double *out_986729202135001603) { - out_986729202135001603[0] = 1; - out_986729202135001603[1] = 0; - out_986729202135001603[2] = 0; - out_986729202135001603[3] = 0; - out_986729202135001603[4] = 0; - out_986729202135001603[5] = 0; - out_986729202135001603[6] = 0; - out_986729202135001603[7] = 0; - out_986729202135001603[8] = 0; -} -void h_31(double *state, double *unused, double *out_2103893043812511291) { - out_2103893043812511291[0] = state[8]; -} -void H_31(double *state, double *unused, double *out_1097751473989848588) { - out_1097751473989848588[0] = 0; - out_1097751473989848588[1] = 0; - out_1097751473989848588[2] = 0; - out_1097751473989848588[3] = 0; - out_1097751473989848588[4] = 0; - out_1097751473989848588[5] = 0; - out_1097751473989848588[6] = 0; - out_1097751473989848588[7] = 0; - out_1097751473989848588[8] = 1; +void err_fun(double *nom_x, double *delta_x, double *out_1694732445564659799) { + out_1694732445564659799[0] = delta_x[0] + nom_x[0]; + out_1694732445564659799[1] = delta_x[1] + nom_x[1]; + out_1694732445564659799[2] = delta_x[2] + nom_x[2]; + out_1694732445564659799[3] = delta_x[3] + nom_x[3]; + out_1694732445564659799[4] = delta_x[4] + nom_x[4]; + out_1694732445564659799[5] = delta_x[5] + nom_x[5]; + out_1694732445564659799[6] = delta_x[6] + nom_x[6]; + out_1694732445564659799[7] = delta_x[7] + nom_x[7]; + out_1694732445564659799[8] = delta_x[8] + nom_x[8]; +} +void inv_err_fun(double *nom_x, double *true_x, double *out_425293828362209991) { + out_425293828362209991[0] = -nom_x[0] + true_x[0]; + out_425293828362209991[1] = -nom_x[1] + true_x[1]; + out_425293828362209991[2] = -nom_x[2] + true_x[2]; + out_425293828362209991[3] = -nom_x[3] + true_x[3]; + out_425293828362209991[4] = -nom_x[4] + true_x[4]; + out_425293828362209991[5] = -nom_x[5] + true_x[5]; + out_425293828362209991[6] = -nom_x[6] + true_x[6]; + out_425293828362209991[7] = -nom_x[7] + true_x[7]; + out_425293828362209991[8] = -nom_x[8] + true_x[8]; +} +void H_mod_fun(double *state, double *out_7930286674743613659) { + out_7930286674743613659[0] = 1.0; + out_7930286674743613659[1] = 0; + out_7930286674743613659[2] = 0; + out_7930286674743613659[3] = 0; + out_7930286674743613659[4] = 0; + out_7930286674743613659[5] = 0; + out_7930286674743613659[6] = 0; + out_7930286674743613659[7] = 0; + out_7930286674743613659[8] = 0; + out_7930286674743613659[9] = 0; + out_7930286674743613659[10] = 1.0; + out_7930286674743613659[11] = 0; + out_7930286674743613659[12] = 0; + out_7930286674743613659[13] = 0; + out_7930286674743613659[14] = 0; + out_7930286674743613659[15] = 0; + out_7930286674743613659[16] = 0; + out_7930286674743613659[17] = 0; + out_7930286674743613659[18] = 0; + out_7930286674743613659[19] = 0; + out_7930286674743613659[20] = 1.0; + out_7930286674743613659[21] = 0; + out_7930286674743613659[22] = 0; + out_7930286674743613659[23] = 0; + out_7930286674743613659[24] = 0; + out_7930286674743613659[25] = 0; + out_7930286674743613659[26] = 0; + out_7930286674743613659[27] = 0; + out_7930286674743613659[28] = 0; + out_7930286674743613659[29] = 0; + out_7930286674743613659[30] = 1.0; + out_7930286674743613659[31] = 0; + out_7930286674743613659[32] = 0; + out_7930286674743613659[33] = 0; + out_7930286674743613659[34] = 0; + out_7930286674743613659[35] = 0; + out_7930286674743613659[36] = 0; + out_7930286674743613659[37] = 0; + out_7930286674743613659[38] = 0; + out_7930286674743613659[39] = 0; + out_7930286674743613659[40] = 1.0; + out_7930286674743613659[41] = 0; + out_7930286674743613659[42] = 0; + out_7930286674743613659[43] = 0; + out_7930286674743613659[44] = 0; + out_7930286674743613659[45] = 0; + out_7930286674743613659[46] = 0; + out_7930286674743613659[47] = 0; + out_7930286674743613659[48] = 0; + out_7930286674743613659[49] = 0; + out_7930286674743613659[50] = 1.0; + out_7930286674743613659[51] = 0; + out_7930286674743613659[52] = 0; + out_7930286674743613659[53] = 0; + out_7930286674743613659[54] = 0; + out_7930286674743613659[55] = 0; + out_7930286674743613659[56] = 0; + out_7930286674743613659[57] = 0; + out_7930286674743613659[58] = 0; + out_7930286674743613659[59] = 0; + out_7930286674743613659[60] = 1.0; + out_7930286674743613659[61] = 0; + out_7930286674743613659[62] = 0; + out_7930286674743613659[63] = 0; + out_7930286674743613659[64] = 0; + out_7930286674743613659[65] = 0; + out_7930286674743613659[66] = 0; + out_7930286674743613659[67] = 0; + out_7930286674743613659[68] = 0; + out_7930286674743613659[69] = 0; + out_7930286674743613659[70] = 1.0; + out_7930286674743613659[71] = 0; + out_7930286674743613659[72] = 0; + out_7930286674743613659[73] = 0; + out_7930286674743613659[74] = 0; + out_7930286674743613659[75] = 0; + out_7930286674743613659[76] = 0; + out_7930286674743613659[77] = 0; + out_7930286674743613659[78] = 0; + out_7930286674743613659[79] = 0; + out_7930286674743613659[80] = 1.0; +} +void f_fun(double *state, double dt, double *out_4344037338675685761) { + out_4344037338675685761[0] = state[0]; + out_4344037338675685761[1] = state[1]; + out_4344037338675685761[2] = state[2]; + out_4344037338675685761[3] = state[3]; + out_4344037338675685761[4] = state[4]; + out_4344037338675685761[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_4344037338675685761[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_4344037338675685761[7] = state[7]; + out_4344037338675685761[8] = state[8]; +} +void F_fun(double *state, double dt, double *out_5293371990253890476) { + out_5293371990253890476[0] = 1; + out_5293371990253890476[1] = 0; + out_5293371990253890476[2] = 0; + out_5293371990253890476[3] = 0; + out_5293371990253890476[4] = 0; + out_5293371990253890476[5] = 0; + out_5293371990253890476[6] = 0; + out_5293371990253890476[7] = 0; + out_5293371990253890476[8] = 0; + out_5293371990253890476[9] = 0; + out_5293371990253890476[10] = 1; + out_5293371990253890476[11] = 0; + out_5293371990253890476[12] = 0; + out_5293371990253890476[13] = 0; + out_5293371990253890476[14] = 0; + out_5293371990253890476[15] = 0; + out_5293371990253890476[16] = 0; + out_5293371990253890476[17] = 0; + out_5293371990253890476[18] = 0; + out_5293371990253890476[19] = 0; + out_5293371990253890476[20] = 1; + out_5293371990253890476[21] = 0; + out_5293371990253890476[22] = 0; + out_5293371990253890476[23] = 0; + out_5293371990253890476[24] = 0; + out_5293371990253890476[25] = 0; + out_5293371990253890476[26] = 0; + out_5293371990253890476[27] = 0; + out_5293371990253890476[28] = 0; + out_5293371990253890476[29] = 0; + out_5293371990253890476[30] = 1; + out_5293371990253890476[31] = 0; + out_5293371990253890476[32] = 0; + out_5293371990253890476[33] = 0; + out_5293371990253890476[34] = 0; + out_5293371990253890476[35] = 0; + out_5293371990253890476[36] = 0; + out_5293371990253890476[37] = 0; + out_5293371990253890476[38] = 0; + out_5293371990253890476[39] = 0; + out_5293371990253890476[40] = 1; + out_5293371990253890476[41] = 0; + out_5293371990253890476[42] = 0; + out_5293371990253890476[43] = 0; + out_5293371990253890476[44] = 0; + out_5293371990253890476[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_5293371990253890476[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5293371990253890476[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5293371990253890476[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5293371990253890476[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_5293371990253890476[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5293371990253890476[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5293371990253890476[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5293371990253890476[53] = -9.8000000000000007*dt; + out_5293371990253890476[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_5293371990253890476[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5293371990253890476[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5293371990253890476[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5293371990253890476[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_5293371990253890476[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5293371990253890476[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_5293371990253890476[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5293371990253890476[62] = 0; + out_5293371990253890476[63] = 0; + out_5293371990253890476[64] = 0; + out_5293371990253890476[65] = 0; + out_5293371990253890476[66] = 0; + out_5293371990253890476[67] = 0; + out_5293371990253890476[68] = 0; + out_5293371990253890476[69] = 0; + out_5293371990253890476[70] = 1; + out_5293371990253890476[71] = 0; + out_5293371990253890476[72] = 0; + out_5293371990253890476[73] = 0; + out_5293371990253890476[74] = 0; + out_5293371990253890476[75] = 0; + out_5293371990253890476[76] = 0; + out_5293371990253890476[77] = 0; + out_5293371990253890476[78] = 0; + out_5293371990253890476[79] = 0; + out_5293371990253890476[80] = 1; +} +void h_25(double *state, double *unused, double *out_6157449178476545177) { + out_6157449178476545177[0] = state[6]; +} +void H_25(double *state, double *unused, double *out_2441201791329547719) { + out_2441201791329547719[0] = 0; + out_2441201791329547719[1] = 0; + out_2441201791329547719[2] = 0; + out_2441201791329547719[3] = 0; + out_2441201791329547719[4] = 0; + out_2441201791329547719[5] = 0; + out_2441201791329547719[6] = 1; + out_2441201791329547719[7] = 0; + out_2441201791329547719[8] = 0; +} +void h_24(double *state, double *unused, double *out_7099854435825100532) { + out_7099854435825100532[0] = state[4]; + out_7099854435825100532[1] = state[5]; +} +void H_24(double *state, double *unused, double *out_8562867689391287577) { + out_8562867689391287577[0] = 0; + out_8562867689391287577[1] = 0; + out_8562867689391287577[2] = 0; + out_8562867689391287577[3] = 0; + out_8562867689391287577[4] = 1; + out_8562867689391287577[5] = 0; + out_8562867689391287577[6] = 0; + out_8562867689391287577[7] = 0; + out_8562867689391287577[8] = 0; + out_8562867689391287577[9] = 0; + out_8562867689391287577[10] = 0; + out_8562867689391287577[11] = 0; + out_8562867689391287577[12] = 0; + out_8562867689391287577[13] = 0; + out_8562867689391287577[14] = 1; + out_8562867689391287577[15] = 0; + out_8562867689391287577[16] = 0; + out_8562867689391287577[17] = 0; +} +void h_30(double *state, double *unused, double *out_8651845366978984089) { + out_8651845366978984089[0] = state[4]; +} +void H_30(double *state, double *unused, double *out_77131167177700908) { + out_77131167177700908[0] = 0; + out_77131167177700908[1] = 0; + out_77131167177700908[2] = 0; + out_77131167177700908[3] = 0; + out_77131167177700908[4] = 1; + out_77131167177700908[5] = 0; + out_77131167177700908[6] = 0; + out_77131167177700908[7] = 0; + out_77131167177700908[8] = 0; +} +void h_26(double *state, double *unused, double *out_7484101565902842352) { + out_7484101565902842352[0] = state[7]; +} +void H_26(double *state, double *unused, double *out_6182705110203603943) { + out_6182705110203603943[0] = 0; + out_6182705110203603943[1] = 0; + out_6182705110203603943[2] = 0; + out_6182705110203603943[3] = 0; + out_6182705110203603943[4] = 0; + out_6182705110203603943[5] = 0; + out_6182705110203603943[6] = 0; + out_6182705110203603943[7] = 1; + out_6182705110203603943[8] = 0; +} +void h_27(double *state, double *unused, double *out_3701132213428165031) { + out_3701132213428165031[0] = state[3]; +} +void H_27(double *state, double *unused, double *out_9143661433257580828) { + out_9143661433257580828[0] = 0; + out_9143661433257580828[1] = 0; + out_9143661433257580828[2] = 0; + out_9143661433257580828[3] = 1; + out_9143661433257580828[4] = 0; + out_9143661433257580828[5] = 0; + out_9143661433257580828[6] = 0; + out_9143661433257580828[7] = 0; + out_9143661433257580828[8] = 0; +} +void h_29(double *state, double *unused, double *out_3425938151143659142) { + out_3425938151143659142[0] = state[1]; +} +void H_29(double *state, double *unused, double *out_6458666777142763733) { + out_6458666777142763733[0] = 0; + out_6458666777142763733[1] = 1; + out_6458666777142763733[2] = 0; + out_6458666777142763733[3] = 0; + out_6458666777142763733[4] = 0; + out_6458666777142763733[5] = 0; + out_6458666777142763733[6] = 0; + out_6458666777142763733[7] = 0; + out_6458666777142763733[8] = 0; +} +void h_28(double *state, double *unused, double *out_6305537534236862682) { + out_6305537534236862682[0] = state[0]; +} +void H_28(double *state, double *unused, double *out_4495036505577437482) { + out_4495036505577437482[0] = 1; + out_4495036505577437482[1] = 0; + out_4495036505577437482[2] = 0; + out_4495036505577437482[3] = 0; + out_4495036505577437482[4] = 0; + out_4495036505577437482[5] = 0; + out_4495036505577437482[6] = 0; + out_4495036505577437482[7] = 0; + out_4495036505577437482[8] = 0; +} +void h_31(double *state, double *unused, double *out_206144799825270684) { + out_206144799825270684[0] = state[8]; +} +void H_31(double *state, double *unused, double *out_6808913212436955419) { + out_6808913212436955419[0] = 0; + out_6808913212436955419[1] = 0; + out_6808913212436955419[2] = 0; + out_6808913212436955419[3] = 0; + out_6808913212436955419[4] = 0; + out_6808913212436955419[5] = 0; + out_6808913212436955419[6] = 0; + out_6808913212436955419[7] = 0; + out_6808913212436955419[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_6258559787192254109) { - err_fun(nom_x, delta_x, out_6258559787192254109); +void car_err_fun(double *nom_x, double *delta_x, double *out_1694732445564659799) { + err_fun(nom_x, delta_x, out_1694732445564659799); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8483442434741396819) { - inv_err_fun(nom_x, true_x, out_8483442434741396819); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_425293828362209991) { + inv_err_fun(nom_x, true_x, out_425293828362209991); } -void car_H_mod_fun(double *state, double *out_317258154932342734) { - H_mod_fun(state, out_317258154932342734); +void car_H_mod_fun(double *state, double *out_7930286674743613659) { + H_mod_fun(state, out_7930286674743613659); } -void car_f_fun(double *state, double dt, double *out_5753327761686972465) { - f_fun(state, dt, out_5753327761686972465); +void car_f_fun(double *state, double dt, double *out_4344037338675685761) { + f_fun(state, dt, out_4344037338675685761); } -void car_F_fun(double *state, double dt, double *out_8289678864136186323) { - F_fun(state, dt, out_8289678864136186323); +void car_F_fun(double *state, double dt, double *out_5293371990253890476) { + F_fun(state, dt, out_5293371990253890476); } -void car_h_25(double *state, double *unused, double *out_5741342572066533641) { - h_25(state, unused, out_5741342572066533641); +void car_h_25(double *state, double *unused, double *out_6157449178476545177) { + h_25(state, unused, out_6157449178476545177); } -void car_H_25(double *state, double *unused, double *out_1067105512112888160) { - H_25(state, unused, out_1067105512112888160); +void car_H_25(double *state, double *unused, double *out_2441201791329547719) { + H_25(state, unused, out_2441201791329547719); } -void car_h_24(double *state, double *unused, double *out_3184705636802324409) { - h_24(state, unused, out_3184705636802324409); +void car_h_24(double *state, double *unused, double *out_7099854435825100532) { + h_24(state, unused, out_7099854435825100532); } -void car_H_24(double *state, double *unused, double *out_3679403814853620874) { - H_24(state, unused, out_3679403814853620874); +void car_H_24(double *state, double *unused, double *out_8562867689391287577) { + H_24(state, unused, out_8562867689391287577); } -void car_h_30(double *state, double *unused, double *out_5619733767201413514) { - h_30(state, unused, out_5619733767201413514); +void car_h_30(double *state, double *unused, double *out_8651845366978984089) { + h_30(state, unused, out_8651845366978984089); } -void car_H_30(double *state, double *unused, double *out_3585438470620136787) { - H_30(state, unused, out_3585438470620136787); +void car_H_30(double *state, double *unused, double *out_77131167177700908) { + H_30(state, unused, out_77131167177700908); } -void car_h_26(double *state, double *unused, double *out_138251146792324442) { - h_26(state, unused, out_138251146792324442); +void car_h_26(double *state, double *unused, double *out_7484101565902842352) { + h_26(state, unused, out_7484101565902842352); } -void car_H_26(double *state, double *unused, double *out_2674397806761168064) { - H_26(state, unused, out_2674397806761168064); +void car_H_26(double *state, double *unused, double *out_6182705110203603943) { + H_26(state, unused, out_6182705110203603943); } -void car_h_27(double *state, double *unused, double *out_7703728233982172330) { - h_27(state, unused, out_7703728233982172330); +void car_h_27(double *state, double *unused, double *out_3701132213428165031) { + h_27(state, unused, out_3701132213428165031); } -void car_H_27(double *state, double *unused, double *out_5809032541804080004) { - H_27(state, unused, out_5809032541804080004); +void car_H_27(double *state, double *unused, double *out_9143661433257580828) { + H_27(state, unused, out_9143661433257580828); } -void car_h_29(double *state, double *unused, double *out_3842044757553670678) { - h_29(state, unused, out_3842044757553670678); +void car_h_29(double *state, double *unused, double *out_3425938151143659142) { + h_29(state, unused, out_3425938151143659142); } -void car_H_29(double *state, double *unused, double *out_4095669814934528971) { - H_29(state, unused, out_4095669814934528971); +void car_H_29(double *state, double *unused, double *out_6458666777142763733) { + H_29(state, unused, out_6458666777142763733); } -void car_h_28(double *state, double *unused, double *out_3081542204526064016) { - h_28(state, unused, out_3081542204526064016); +void car_h_28(double *state, double *unused, double *out_6305537534236862682) { + h_28(state, unused, out_6305537534236862682); } -void car_H_28(double *state, double *unused, double *out_986729202135001603) { - H_28(state, unused, out_986729202135001603); +void car_H_28(double *state, double *unused, double *out_4495036505577437482) { + H_28(state, unused, out_4495036505577437482); } -void car_h_31(double *state, double *unused, double *out_2103893043812511291) { - h_31(state, unused, out_2103893043812511291); +void car_h_31(double *state, double *unused, double *out_206144799825270684) { + h_31(state, unused, out_206144799825270684); } -void car_H_31(double *state, double *unused, double *out_1097751473989848588) { - H_31(state, unused, out_1097751473989848588); +void car_H_31(double *state, double *unused, double *out_6808913212436955419) { + H_31(state, unused, out_6808913212436955419); } 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 d0374774e..1f77a1b3e 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_6258559787192254109); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8483442434741396819); -void car_H_mod_fun(double *state, double *out_317258154932342734); -void car_f_fun(double *state, double dt, double *out_5753327761686972465); -void car_F_fun(double *state, double dt, double *out_8289678864136186323); -void car_h_25(double *state, double *unused, double *out_5741342572066533641); -void car_H_25(double *state, double *unused, double *out_1067105512112888160); -void car_h_24(double *state, double *unused, double *out_3184705636802324409); -void car_H_24(double *state, double *unused, double *out_3679403814853620874); -void car_h_30(double *state, double *unused, double *out_5619733767201413514); -void car_H_30(double *state, double *unused, double *out_3585438470620136787); -void car_h_26(double *state, double *unused, double *out_138251146792324442); -void car_H_26(double *state, double *unused, double *out_2674397806761168064); -void car_h_27(double *state, double *unused, double *out_7703728233982172330); -void car_H_27(double *state, double *unused, double *out_5809032541804080004); -void car_h_29(double *state, double *unused, double *out_3842044757553670678); -void car_H_29(double *state, double *unused, double *out_4095669814934528971); -void car_h_28(double *state, double *unused, double *out_3081542204526064016); -void car_H_28(double *state, double *unused, double *out_986729202135001603); -void car_h_31(double *state, double *unused, double *out_2103893043812511291); -void car_H_31(double *state, double *unused, double *out_1097751473989848588); +void car_err_fun(double *nom_x, double *delta_x, double *out_1694732445564659799); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_425293828362209991); +void car_H_mod_fun(double *state, double *out_7930286674743613659); +void car_f_fun(double *state, double dt, double *out_4344037338675685761); +void car_F_fun(double *state, double dt, double *out_5293371990253890476); +void car_h_25(double *state, double *unused, double *out_6157449178476545177); +void car_H_25(double *state, double *unused, double *out_2441201791329547719); +void car_h_24(double *state, double *unused, double *out_7099854435825100532); +void car_H_24(double *state, double *unused, double *out_8562867689391287577); +void car_h_30(double *state, double *unused, double *out_8651845366978984089); +void car_H_30(double *state, double *unused, double *out_77131167177700908); +void car_h_26(double *state, double *unused, double *out_7484101565902842352); +void car_H_26(double *state, double *unused, double *out_6182705110203603943); +void car_h_27(double *state, double *unused, double *out_3701132213428165031); +void car_H_27(double *state, double *unused, double *out_9143661433257580828); +void car_h_29(double *state, double *unused, double *out_3425938151143659142); +void car_H_29(double *state, double *unused, double *out_6458666777142763733); +void car_h_28(double *state, double *unused, double *out_6305537534236862682); +void car_H_28(double *state, double *unused, double *out_4495036505577437482); +void car_h_31(double *state, double *unused, double *out_206144799825270684); +void car_H_31(double *state, double *unused, double *out_6808913212436955419); 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 6fc323d4e..7fae7f279 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_4640013062227700412) { - out_4640013062227700412[0] = delta_x[0] + nom_x[0]; - out_4640013062227700412[1] = delta_x[1] + nom_x[1]; - out_4640013062227700412[2] = delta_x[2] + nom_x[2]; - out_4640013062227700412[3] = delta_x[3] + nom_x[3]; - out_4640013062227700412[4] = delta_x[4] + nom_x[4]; - out_4640013062227700412[5] = delta_x[5] + nom_x[5]; - out_4640013062227700412[6] = delta_x[6] + nom_x[6]; - out_4640013062227700412[7] = delta_x[7] + nom_x[7]; - out_4640013062227700412[8] = delta_x[8] + nom_x[8]; - out_4640013062227700412[9] = delta_x[9] + nom_x[9]; - out_4640013062227700412[10] = delta_x[10] + nom_x[10]; -} -void inv_err_fun(double *nom_x, double *true_x, double *out_4915148707996812550) { - out_4915148707996812550[0] = -nom_x[0] + true_x[0]; - out_4915148707996812550[1] = -nom_x[1] + true_x[1]; - out_4915148707996812550[2] = -nom_x[2] + true_x[2]; - out_4915148707996812550[3] = -nom_x[3] + true_x[3]; - out_4915148707996812550[4] = -nom_x[4] + true_x[4]; - out_4915148707996812550[5] = -nom_x[5] + true_x[5]; - out_4915148707996812550[6] = -nom_x[6] + true_x[6]; - out_4915148707996812550[7] = -nom_x[7] + true_x[7]; - out_4915148707996812550[8] = -nom_x[8] + true_x[8]; - out_4915148707996812550[9] = -nom_x[9] + true_x[9]; - out_4915148707996812550[10] = -nom_x[10] + true_x[10]; -} -void H_mod_fun(double *state, double *out_8574237875034322764) { - out_8574237875034322764[0] = 1.0; - out_8574237875034322764[1] = 0; - out_8574237875034322764[2] = 0; - out_8574237875034322764[3] = 0; - out_8574237875034322764[4] = 0; - out_8574237875034322764[5] = 0; - out_8574237875034322764[6] = 0; - out_8574237875034322764[7] = 0; - out_8574237875034322764[8] = 0; - out_8574237875034322764[9] = 0; - out_8574237875034322764[10] = 0; - out_8574237875034322764[11] = 0; - out_8574237875034322764[12] = 1.0; - out_8574237875034322764[13] = 0; - out_8574237875034322764[14] = 0; - out_8574237875034322764[15] = 0; - out_8574237875034322764[16] = 0; - out_8574237875034322764[17] = 0; - out_8574237875034322764[18] = 0; - out_8574237875034322764[19] = 0; - out_8574237875034322764[20] = 0; - out_8574237875034322764[21] = 0; - out_8574237875034322764[22] = 0; - out_8574237875034322764[23] = 0; - out_8574237875034322764[24] = 1.0; - out_8574237875034322764[25] = 0; - out_8574237875034322764[26] = 0; - out_8574237875034322764[27] = 0; - out_8574237875034322764[28] = 0; - out_8574237875034322764[29] = 0; - out_8574237875034322764[30] = 0; - out_8574237875034322764[31] = 0; - out_8574237875034322764[32] = 0; - out_8574237875034322764[33] = 0; - out_8574237875034322764[34] = 0; - out_8574237875034322764[35] = 0; - out_8574237875034322764[36] = 1.0; - out_8574237875034322764[37] = 0; - out_8574237875034322764[38] = 0; - out_8574237875034322764[39] = 0; - out_8574237875034322764[40] = 0; - out_8574237875034322764[41] = 0; - out_8574237875034322764[42] = 0; - out_8574237875034322764[43] = 0; - out_8574237875034322764[44] = 0; - out_8574237875034322764[45] = 0; - out_8574237875034322764[46] = 0; - out_8574237875034322764[47] = 0; - out_8574237875034322764[48] = 1.0; - out_8574237875034322764[49] = 0; - out_8574237875034322764[50] = 0; - out_8574237875034322764[51] = 0; - out_8574237875034322764[52] = 0; - out_8574237875034322764[53] = 0; - out_8574237875034322764[54] = 0; - out_8574237875034322764[55] = 0; - out_8574237875034322764[56] = 0; - out_8574237875034322764[57] = 0; - out_8574237875034322764[58] = 0; - out_8574237875034322764[59] = 0; - out_8574237875034322764[60] = 1.0; - out_8574237875034322764[61] = 0; - out_8574237875034322764[62] = 0; - out_8574237875034322764[63] = 0; - out_8574237875034322764[64] = 0; - out_8574237875034322764[65] = 0; - out_8574237875034322764[66] = 0; - out_8574237875034322764[67] = 0; - out_8574237875034322764[68] = 0; - out_8574237875034322764[69] = 0; - out_8574237875034322764[70] = 0; - out_8574237875034322764[71] = 0; - out_8574237875034322764[72] = 1.0; - out_8574237875034322764[73] = 0; - out_8574237875034322764[74] = 0; - out_8574237875034322764[75] = 0; - out_8574237875034322764[76] = 0; - out_8574237875034322764[77] = 0; - out_8574237875034322764[78] = 0; - out_8574237875034322764[79] = 0; - out_8574237875034322764[80] = 0; - out_8574237875034322764[81] = 0; - out_8574237875034322764[82] = 0; - out_8574237875034322764[83] = 0; - out_8574237875034322764[84] = 1.0; - out_8574237875034322764[85] = 0; - out_8574237875034322764[86] = 0; - out_8574237875034322764[87] = 0; - out_8574237875034322764[88] = 0; - out_8574237875034322764[89] = 0; - out_8574237875034322764[90] = 0; - out_8574237875034322764[91] = 0; - out_8574237875034322764[92] = 0; - out_8574237875034322764[93] = 0; - out_8574237875034322764[94] = 0; - out_8574237875034322764[95] = 0; - out_8574237875034322764[96] = 1.0; - out_8574237875034322764[97] = 0; - out_8574237875034322764[98] = 0; - out_8574237875034322764[99] = 0; - out_8574237875034322764[100] = 0; - out_8574237875034322764[101] = 0; - out_8574237875034322764[102] = 0; - out_8574237875034322764[103] = 0; - out_8574237875034322764[104] = 0; - out_8574237875034322764[105] = 0; - out_8574237875034322764[106] = 0; - out_8574237875034322764[107] = 0; - out_8574237875034322764[108] = 1.0; - out_8574237875034322764[109] = 0; - out_8574237875034322764[110] = 0; - out_8574237875034322764[111] = 0; - out_8574237875034322764[112] = 0; - out_8574237875034322764[113] = 0; - out_8574237875034322764[114] = 0; - out_8574237875034322764[115] = 0; - out_8574237875034322764[116] = 0; - out_8574237875034322764[117] = 0; - out_8574237875034322764[118] = 0; - out_8574237875034322764[119] = 0; - out_8574237875034322764[120] = 1.0; -} -void f_fun(double *state, double dt, double *out_5636831905979297775) { - out_5636831905979297775[0] = dt*state[3] + state[0]; - out_5636831905979297775[1] = dt*state[4] + state[1]; - out_5636831905979297775[2] = dt*state[5] + state[2]; - out_5636831905979297775[3] = state[3]; - out_5636831905979297775[4] = state[4]; - out_5636831905979297775[5] = state[5]; - out_5636831905979297775[6] = dt*state[7] + state[6]; - out_5636831905979297775[7] = dt*state[8] + state[7]; - out_5636831905979297775[8] = state[8]; - out_5636831905979297775[9] = state[9]; - out_5636831905979297775[10] = state[10]; -} -void F_fun(double *state, double dt, double *out_2727942986966876467) { - out_2727942986966876467[0] = 1; - out_2727942986966876467[1] = 0; - out_2727942986966876467[2] = 0; - out_2727942986966876467[3] = dt; - out_2727942986966876467[4] = 0; - out_2727942986966876467[5] = 0; - out_2727942986966876467[6] = 0; - out_2727942986966876467[7] = 0; - out_2727942986966876467[8] = 0; - out_2727942986966876467[9] = 0; - out_2727942986966876467[10] = 0; - out_2727942986966876467[11] = 0; - out_2727942986966876467[12] = 1; - out_2727942986966876467[13] = 0; - out_2727942986966876467[14] = 0; - out_2727942986966876467[15] = dt; - out_2727942986966876467[16] = 0; - out_2727942986966876467[17] = 0; - out_2727942986966876467[18] = 0; - out_2727942986966876467[19] = 0; - out_2727942986966876467[20] = 0; - out_2727942986966876467[21] = 0; - out_2727942986966876467[22] = 0; - out_2727942986966876467[23] = 0; - out_2727942986966876467[24] = 1; - out_2727942986966876467[25] = 0; - out_2727942986966876467[26] = 0; - out_2727942986966876467[27] = dt; - out_2727942986966876467[28] = 0; - out_2727942986966876467[29] = 0; - out_2727942986966876467[30] = 0; - out_2727942986966876467[31] = 0; - out_2727942986966876467[32] = 0; - out_2727942986966876467[33] = 0; - out_2727942986966876467[34] = 0; - out_2727942986966876467[35] = 0; - out_2727942986966876467[36] = 1; - out_2727942986966876467[37] = 0; - out_2727942986966876467[38] = 0; - out_2727942986966876467[39] = 0; - out_2727942986966876467[40] = 0; - out_2727942986966876467[41] = 0; - out_2727942986966876467[42] = 0; - out_2727942986966876467[43] = 0; - out_2727942986966876467[44] = 0; - out_2727942986966876467[45] = 0; - out_2727942986966876467[46] = 0; - out_2727942986966876467[47] = 0; - out_2727942986966876467[48] = 1; - out_2727942986966876467[49] = 0; - out_2727942986966876467[50] = 0; - out_2727942986966876467[51] = 0; - out_2727942986966876467[52] = 0; - out_2727942986966876467[53] = 0; - out_2727942986966876467[54] = 0; - out_2727942986966876467[55] = 0; - out_2727942986966876467[56] = 0; - out_2727942986966876467[57] = 0; - out_2727942986966876467[58] = 0; - out_2727942986966876467[59] = 0; - out_2727942986966876467[60] = 1; - out_2727942986966876467[61] = 0; - out_2727942986966876467[62] = 0; - out_2727942986966876467[63] = 0; - out_2727942986966876467[64] = 0; - out_2727942986966876467[65] = 0; - out_2727942986966876467[66] = 0; - out_2727942986966876467[67] = 0; - out_2727942986966876467[68] = 0; - out_2727942986966876467[69] = 0; - out_2727942986966876467[70] = 0; - out_2727942986966876467[71] = 0; - out_2727942986966876467[72] = 1; - out_2727942986966876467[73] = dt; - out_2727942986966876467[74] = 0; - out_2727942986966876467[75] = 0; - out_2727942986966876467[76] = 0; - out_2727942986966876467[77] = 0; - out_2727942986966876467[78] = 0; - out_2727942986966876467[79] = 0; - out_2727942986966876467[80] = 0; - out_2727942986966876467[81] = 0; - out_2727942986966876467[82] = 0; - out_2727942986966876467[83] = 0; - out_2727942986966876467[84] = 1; - out_2727942986966876467[85] = dt; - out_2727942986966876467[86] = 0; - out_2727942986966876467[87] = 0; - out_2727942986966876467[88] = 0; - out_2727942986966876467[89] = 0; - out_2727942986966876467[90] = 0; - out_2727942986966876467[91] = 0; - out_2727942986966876467[92] = 0; - out_2727942986966876467[93] = 0; - out_2727942986966876467[94] = 0; - out_2727942986966876467[95] = 0; - out_2727942986966876467[96] = 1; - out_2727942986966876467[97] = 0; - out_2727942986966876467[98] = 0; - out_2727942986966876467[99] = 0; - out_2727942986966876467[100] = 0; - out_2727942986966876467[101] = 0; - out_2727942986966876467[102] = 0; - out_2727942986966876467[103] = 0; - out_2727942986966876467[104] = 0; - out_2727942986966876467[105] = 0; - out_2727942986966876467[106] = 0; - out_2727942986966876467[107] = 0; - out_2727942986966876467[108] = 1; - out_2727942986966876467[109] = 0; - out_2727942986966876467[110] = 0; - out_2727942986966876467[111] = 0; - out_2727942986966876467[112] = 0; - out_2727942986966876467[113] = 0; - out_2727942986966876467[114] = 0; - out_2727942986966876467[115] = 0; - out_2727942986966876467[116] = 0; - out_2727942986966876467[117] = 0; - out_2727942986966876467[118] = 0; - out_2727942986966876467[119] = 0; - out_2727942986966876467[120] = 1; -} -void h_6(double *state, double *sat_pos, double *out_4554215930920042575) { - out_4554215930920042575[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_895428558576169950) { - out_895428558576169950[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_895428558576169950[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_895428558576169950[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_895428558576169950[3] = 0; - out_895428558576169950[4] = 0; - out_895428558576169950[5] = 0; - out_895428558576169950[6] = 1; - out_895428558576169950[7] = 0; - out_895428558576169950[8] = 0; - out_895428558576169950[9] = 0; - out_895428558576169950[10] = 0; -} -void h_20(double *state, double *sat_pos, double *out_6704926246356191984) { - out_6704926246356191984[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_3575717658219428128) { - out_3575717658219428128[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_3575717658219428128[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_3575717658219428128[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_3575717658219428128[3] = 0; - out_3575717658219428128[4] = 0; - out_3575717658219428128[5] = 0; - out_3575717658219428128[6] = 1; - out_3575717658219428128[7] = 0; - out_3575717658219428128[8] = 0; - out_3575717658219428128[9] = 1; - out_3575717658219428128[10] = sat_pos[3]; -} -void h_7(double *state, double *sat_pos_vel, double *out_6430340606903371855) { - out_6430340606903371855[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_4789129994195662485) { - out_4789129994195662485[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_4789129994195662485[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_4789129994195662485[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_4789129994195662485[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_4789129994195662485[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_4789129994195662485[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_4789129994195662485[6] = 0; - out_4789129994195662485[7] = 1; - out_4789129994195662485[8] = 0; - out_4789129994195662485[9] = 0; - out_4789129994195662485[10] = 0; -} -void h_21(double *state, double *sat_pos_vel, double *out_6430340606903371855) { - out_6430340606903371855[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_4789129994195662485) { - out_4789129994195662485[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_4789129994195662485[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_4789129994195662485[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_4789129994195662485[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_4789129994195662485[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_4789129994195662485[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_4789129994195662485[6] = 0; - out_4789129994195662485[7] = 1; - out_4789129994195662485[8] = 0; - out_4789129994195662485[9] = 0; - out_4789129994195662485[10] = 0; +void err_fun(double *nom_x, double *delta_x, double *out_7861368562585023949) { + out_7861368562585023949[0] = delta_x[0] + nom_x[0]; + out_7861368562585023949[1] = delta_x[1] + nom_x[1]; + out_7861368562585023949[2] = delta_x[2] + nom_x[2]; + out_7861368562585023949[3] = delta_x[3] + nom_x[3]; + out_7861368562585023949[4] = delta_x[4] + nom_x[4]; + out_7861368562585023949[5] = delta_x[5] + nom_x[5]; + out_7861368562585023949[6] = delta_x[6] + nom_x[6]; + out_7861368562585023949[7] = delta_x[7] + nom_x[7]; + out_7861368562585023949[8] = delta_x[8] + nom_x[8]; + out_7861368562585023949[9] = delta_x[9] + nom_x[9]; + out_7861368562585023949[10] = delta_x[10] + nom_x[10]; +} +void inv_err_fun(double *nom_x, double *true_x, double *out_6509090499931839816) { + out_6509090499931839816[0] = -nom_x[0] + true_x[0]; + out_6509090499931839816[1] = -nom_x[1] + true_x[1]; + out_6509090499931839816[2] = -nom_x[2] + true_x[2]; + out_6509090499931839816[3] = -nom_x[3] + true_x[3]; + out_6509090499931839816[4] = -nom_x[4] + true_x[4]; + out_6509090499931839816[5] = -nom_x[5] + true_x[5]; + out_6509090499931839816[6] = -nom_x[6] + true_x[6]; + out_6509090499931839816[7] = -nom_x[7] + true_x[7]; + out_6509090499931839816[8] = -nom_x[8] + true_x[8]; + out_6509090499931839816[9] = -nom_x[9] + true_x[9]; + out_6509090499931839816[10] = -nom_x[10] + true_x[10]; +} +void H_mod_fun(double *state, double *out_475664012759985504) { + out_475664012759985504[0] = 1.0; + out_475664012759985504[1] = 0; + out_475664012759985504[2] = 0; + out_475664012759985504[3] = 0; + out_475664012759985504[4] = 0; + out_475664012759985504[5] = 0; + out_475664012759985504[6] = 0; + out_475664012759985504[7] = 0; + out_475664012759985504[8] = 0; + out_475664012759985504[9] = 0; + out_475664012759985504[10] = 0; + out_475664012759985504[11] = 0; + out_475664012759985504[12] = 1.0; + out_475664012759985504[13] = 0; + out_475664012759985504[14] = 0; + out_475664012759985504[15] = 0; + out_475664012759985504[16] = 0; + out_475664012759985504[17] = 0; + out_475664012759985504[18] = 0; + out_475664012759985504[19] = 0; + out_475664012759985504[20] = 0; + out_475664012759985504[21] = 0; + out_475664012759985504[22] = 0; + out_475664012759985504[23] = 0; + out_475664012759985504[24] = 1.0; + out_475664012759985504[25] = 0; + out_475664012759985504[26] = 0; + out_475664012759985504[27] = 0; + out_475664012759985504[28] = 0; + out_475664012759985504[29] = 0; + out_475664012759985504[30] = 0; + out_475664012759985504[31] = 0; + out_475664012759985504[32] = 0; + out_475664012759985504[33] = 0; + out_475664012759985504[34] = 0; + out_475664012759985504[35] = 0; + out_475664012759985504[36] = 1.0; + out_475664012759985504[37] = 0; + out_475664012759985504[38] = 0; + out_475664012759985504[39] = 0; + out_475664012759985504[40] = 0; + out_475664012759985504[41] = 0; + out_475664012759985504[42] = 0; + out_475664012759985504[43] = 0; + out_475664012759985504[44] = 0; + out_475664012759985504[45] = 0; + out_475664012759985504[46] = 0; + out_475664012759985504[47] = 0; + out_475664012759985504[48] = 1.0; + out_475664012759985504[49] = 0; + out_475664012759985504[50] = 0; + out_475664012759985504[51] = 0; + out_475664012759985504[52] = 0; + out_475664012759985504[53] = 0; + out_475664012759985504[54] = 0; + out_475664012759985504[55] = 0; + out_475664012759985504[56] = 0; + out_475664012759985504[57] = 0; + out_475664012759985504[58] = 0; + out_475664012759985504[59] = 0; + out_475664012759985504[60] = 1.0; + out_475664012759985504[61] = 0; + out_475664012759985504[62] = 0; + out_475664012759985504[63] = 0; + out_475664012759985504[64] = 0; + out_475664012759985504[65] = 0; + out_475664012759985504[66] = 0; + out_475664012759985504[67] = 0; + out_475664012759985504[68] = 0; + out_475664012759985504[69] = 0; + out_475664012759985504[70] = 0; + out_475664012759985504[71] = 0; + out_475664012759985504[72] = 1.0; + out_475664012759985504[73] = 0; + out_475664012759985504[74] = 0; + out_475664012759985504[75] = 0; + out_475664012759985504[76] = 0; + out_475664012759985504[77] = 0; + out_475664012759985504[78] = 0; + out_475664012759985504[79] = 0; + out_475664012759985504[80] = 0; + out_475664012759985504[81] = 0; + out_475664012759985504[82] = 0; + out_475664012759985504[83] = 0; + out_475664012759985504[84] = 1.0; + out_475664012759985504[85] = 0; + out_475664012759985504[86] = 0; + out_475664012759985504[87] = 0; + out_475664012759985504[88] = 0; + out_475664012759985504[89] = 0; + out_475664012759985504[90] = 0; + out_475664012759985504[91] = 0; + out_475664012759985504[92] = 0; + out_475664012759985504[93] = 0; + out_475664012759985504[94] = 0; + out_475664012759985504[95] = 0; + out_475664012759985504[96] = 1.0; + out_475664012759985504[97] = 0; + out_475664012759985504[98] = 0; + out_475664012759985504[99] = 0; + out_475664012759985504[100] = 0; + out_475664012759985504[101] = 0; + out_475664012759985504[102] = 0; + out_475664012759985504[103] = 0; + out_475664012759985504[104] = 0; + out_475664012759985504[105] = 0; + out_475664012759985504[106] = 0; + out_475664012759985504[107] = 0; + out_475664012759985504[108] = 1.0; + out_475664012759985504[109] = 0; + out_475664012759985504[110] = 0; + out_475664012759985504[111] = 0; + out_475664012759985504[112] = 0; + out_475664012759985504[113] = 0; + out_475664012759985504[114] = 0; + out_475664012759985504[115] = 0; + out_475664012759985504[116] = 0; + out_475664012759985504[117] = 0; + out_475664012759985504[118] = 0; + out_475664012759985504[119] = 0; + out_475664012759985504[120] = 1.0; +} +void f_fun(double *state, double dt, double *out_4292385048460003663) { + out_4292385048460003663[0] = dt*state[3] + state[0]; + out_4292385048460003663[1] = dt*state[4] + state[1]; + out_4292385048460003663[2] = dt*state[5] + state[2]; + out_4292385048460003663[3] = state[3]; + out_4292385048460003663[4] = state[4]; + out_4292385048460003663[5] = state[5]; + out_4292385048460003663[6] = dt*state[7] + state[6]; + out_4292385048460003663[7] = dt*state[8] + state[7]; + out_4292385048460003663[8] = state[8]; + out_4292385048460003663[9] = state[9]; + out_4292385048460003663[10] = state[10]; +} +void F_fun(double *state, double dt, double *out_7071174528671579157) { + out_7071174528671579157[0] = 1; + out_7071174528671579157[1] = 0; + out_7071174528671579157[2] = 0; + out_7071174528671579157[3] = dt; + out_7071174528671579157[4] = 0; + out_7071174528671579157[5] = 0; + out_7071174528671579157[6] = 0; + out_7071174528671579157[7] = 0; + out_7071174528671579157[8] = 0; + out_7071174528671579157[9] = 0; + out_7071174528671579157[10] = 0; + out_7071174528671579157[11] = 0; + out_7071174528671579157[12] = 1; + out_7071174528671579157[13] = 0; + out_7071174528671579157[14] = 0; + out_7071174528671579157[15] = dt; + out_7071174528671579157[16] = 0; + out_7071174528671579157[17] = 0; + out_7071174528671579157[18] = 0; + out_7071174528671579157[19] = 0; + out_7071174528671579157[20] = 0; + out_7071174528671579157[21] = 0; + out_7071174528671579157[22] = 0; + out_7071174528671579157[23] = 0; + out_7071174528671579157[24] = 1; + out_7071174528671579157[25] = 0; + out_7071174528671579157[26] = 0; + out_7071174528671579157[27] = dt; + out_7071174528671579157[28] = 0; + out_7071174528671579157[29] = 0; + out_7071174528671579157[30] = 0; + out_7071174528671579157[31] = 0; + out_7071174528671579157[32] = 0; + out_7071174528671579157[33] = 0; + out_7071174528671579157[34] = 0; + out_7071174528671579157[35] = 0; + out_7071174528671579157[36] = 1; + out_7071174528671579157[37] = 0; + out_7071174528671579157[38] = 0; + out_7071174528671579157[39] = 0; + out_7071174528671579157[40] = 0; + out_7071174528671579157[41] = 0; + out_7071174528671579157[42] = 0; + out_7071174528671579157[43] = 0; + out_7071174528671579157[44] = 0; + out_7071174528671579157[45] = 0; + out_7071174528671579157[46] = 0; + out_7071174528671579157[47] = 0; + out_7071174528671579157[48] = 1; + out_7071174528671579157[49] = 0; + out_7071174528671579157[50] = 0; + out_7071174528671579157[51] = 0; + out_7071174528671579157[52] = 0; + out_7071174528671579157[53] = 0; + out_7071174528671579157[54] = 0; + out_7071174528671579157[55] = 0; + out_7071174528671579157[56] = 0; + out_7071174528671579157[57] = 0; + out_7071174528671579157[58] = 0; + out_7071174528671579157[59] = 0; + out_7071174528671579157[60] = 1; + out_7071174528671579157[61] = 0; + out_7071174528671579157[62] = 0; + out_7071174528671579157[63] = 0; + out_7071174528671579157[64] = 0; + out_7071174528671579157[65] = 0; + out_7071174528671579157[66] = 0; + out_7071174528671579157[67] = 0; + out_7071174528671579157[68] = 0; + out_7071174528671579157[69] = 0; + out_7071174528671579157[70] = 0; + out_7071174528671579157[71] = 0; + out_7071174528671579157[72] = 1; + out_7071174528671579157[73] = dt; + out_7071174528671579157[74] = 0; + out_7071174528671579157[75] = 0; + out_7071174528671579157[76] = 0; + out_7071174528671579157[77] = 0; + out_7071174528671579157[78] = 0; + out_7071174528671579157[79] = 0; + out_7071174528671579157[80] = 0; + out_7071174528671579157[81] = 0; + out_7071174528671579157[82] = 0; + out_7071174528671579157[83] = 0; + out_7071174528671579157[84] = 1; + out_7071174528671579157[85] = dt; + out_7071174528671579157[86] = 0; + out_7071174528671579157[87] = 0; + out_7071174528671579157[88] = 0; + out_7071174528671579157[89] = 0; + out_7071174528671579157[90] = 0; + out_7071174528671579157[91] = 0; + out_7071174528671579157[92] = 0; + out_7071174528671579157[93] = 0; + out_7071174528671579157[94] = 0; + out_7071174528671579157[95] = 0; + out_7071174528671579157[96] = 1; + out_7071174528671579157[97] = 0; + out_7071174528671579157[98] = 0; + out_7071174528671579157[99] = 0; + out_7071174528671579157[100] = 0; + out_7071174528671579157[101] = 0; + out_7071174528671579157[102] = 0; + out_7071174528671579157[103] = 0; + out_7071174528671579157[104] = 0; + out_7071174528671579157[105] = 0; + out_7071174528671579157[106] = 0; + out_7071174528671579157[107] = 0; + out_7071174528671579157[108] = 1; + out_7071174528671579157[109] = 0; + out_7071174528671579157[110] = 0; + out_7071174528671579157[111] = 0; + out_7071174528671579157[112] = 0; + out_7071174528671579157[113] = 0; + out_7071174528671579157[114] = 0; + out_7071174528671579157[115] = 0; + out_7071174528671579157[116] = 0; + out_7071174528671579157[117] = 0; + out_7071174528671579157[118] = 0; + out_7071174528671579157[119] = 0; + out_7071174528671579157[120] = 1; +} +void h_6(double *state, double *sat_pos, double *out_2481230479465319936) { + out_2481230479465319936[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_7645196925630164082) { + out_7645196925630164082[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_7645196925630164082[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_7645196925630164082[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_7645196925630164082[3] = 0; + out_7645196925630164082[4] = 0; + out_7645196925630164082[5] = 0; + out_7645196925630164082[6] = 1; + out_7645196925630164082[7] = 0; + out_7645196925630164082[8] = 0; + out_7645196925630164082[9] = 0; + out_7645196925630164082[10] = 0; +} +void h_20(double *state, double *sat_pos, double *out_7507301208942135576) { + out_7507301208942135576[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_1693366137112332184) { + out_1693366137112332184[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_1693366137112332184[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_1693366137112332184[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_1693366137112332184[3] = 0; + out_1693366137112332184[4] = 0; + out_1693366137112332184[5] = 0; + out_1693366137112332184[6] = 1; + out_1693366137112332184[7] = 0; + out_1693366137112332184[8] = 0; + out_1693366137112332184[9] = 1; + out_1693366137112332184[10] = sat_pos[3]; +} +void h_7(double *state, double *sat_pos_vel, double *out_2861812996390348550) { + out_2861812996390348550[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_1823365369839474784) { + out_1823365369839474784[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_1823365369839474784[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_1823365369839474784[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_1823365369839474784[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_1823365369839474784[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_1823365369839474784[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_1823365369839474784[6] = 0; + out_1823365369839474784[7] = 1; + out_1823365369839474784[8] = 0; + out_1823365369839474784[9] = 0; + out_1823365369839474784[10] = 0; +} +void h_21(double *state, double *sat_pos_vel, double *out_2861812996390348550) { + out_2861812996390348550[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_1823365369839474784) { + out_1823365369839474784[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_1823365369839474784[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_1823365369839474784[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_1823365369839474784[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_1823365369839474784[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_1823365369839474784[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_1823365369839474784[6] = 0; + out_1823365369839474784[7] = 1; + out_1823365369839474784[8] = 0; + out_1823365369839474784[9] = 0; + out_1823365369839474784[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_4640013062227700412) { - err_fun(nom_x, delta_x, out_4640013062227700412); +void gnss_err_fun(double *nom_x, double *delta_x, double *out_7861368562585023949) { + err_fun(nom_x, delta_x, out_7861368562585023949); } -void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_4915148707996812550) { - inv_err_fun(nom_x, true_x, out_4915148707996812550); +void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6509090499931839816) { + inv_err_fun(nom_x, true_x, out_6509090499931839816); } -void gnss_H_mod_fun(double *state, double *out_8574237875034322764) { - H_mod_fun(state, out_8574237875034322764); +void gnss_H_mod_fun(double *state, double *out_475664012759985504) { + H_mod_fun(state, out_475664012759985504); } -void gnss_f_fun(double *state, double dt, double *out_5636831905979297775) { - f_fun(state, dt, out_5636831905979297775); +void gnss_f_fun(double *state, double dt, double *out_4292385048460003663) { + f_fun(state, dt, out_4292385048460003663); } -void gnss_F_fun(double *state, double dt, double *out_2727942986966876467) { - F_fun(state, dt, out_2727942986966876467); +void gnss_F_fun(double *state, double dt, double *out_7071174528671579157) { + F_fun(state, dt, out_7071174528671579157); } -void gnss_h_6(double *state, double *sat_pos, double *out_4554215930920042575) { - h_6(state, sat_pos, out_4554215930920042575); +void gnss_h_6(double *state, double *sat_pos, double *out_2481230479465319936) { + h_6(state, sat_pos, out_2481230479465319936); } -void gnss_H_6(double *state, double *sat_pos, double *out_895428558576169950) { - H_6(state, sat_pos, out_895428558576169950); +void gnss_H_6(double *state, double *sat_pos, double *out_7645196925630164082) { + H_6(state, sat_pos, out_7645196925630164082); } -void gnss_h_20(double *state, double *sat_pos, double *out_6704926246356191984) { - h_20(state, sat_pos, out_6704926246356191984); +void gnss_h_20(double *state, double *sat_pos, double *out_7507301208942135576) { + h_20(state, sat_pos, out_7507301208942135576); } -void gnss_H_20(double *state, double *sat_pos, double *out_3575717658219428128) { - H_20(state, sat_pos, out_3575717658219428128); +void gnss_H_20(double *state, double *sat_pos, double *out_1693366137112332184) { + H_20(state, sat_pos, out_1693366137112332184); } -void gnss_h_7(double *state, double *sat_pos_vel, double *out_6430340606903371855) { - h_7(state, sat_pos_vel, out_6430340606903371855); +void gnss_h_7(double *state, double *sat_pos_vel, double *out_2861812996390348550) { + h_7(state, sat_pos_vel, out_2861812996390348550); } -void gnss_H_7(double *state, double *sat_pos_vel, double *out_4789129994195662485) { - H_7(state, sat_pos_vel, out_4789129994195662485); +void gnss_H_7(double *state, double *sat_pos_vel, double *out_1823365369839474784) { + H_7(state, sat_pos_vel, out_1823365369839474784); } -void gnss_h_21(double *state, double *sat_pos_vel, double *out_6430340606903371855) { - h_21(state, sat_pos_vel, out_6430340606903371855); +void gnss_h_21(double *state, double *sat_pos_vel, double *out_2861812996390348550) { + h_21(state, sat_pos_vel, out_2861812996390348550); } -void gnss_H_21(double *state, double *sat_pos_vel, double *out_4789129994195662485) { - H_21(state, sat_pos_vel, out_4789129994195662485); +void gnss_H_21(double *state, double *sat_pos_vel, double *out_1823365369839474784) { + H_21(state, sat_pos_vel, out_1823365369839474784); } 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 fde56c35a..b22a2b882 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_4640013062227700412); -void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_4915148707996812550); -void gnss_H_mod_fun(double *state, double *out_8574237875034322764); -void gnss_f_fun(double *state, double dt, double *out_5636831905979297775); -void gnss_F_fun(double *state, double dt, double *out_2727942986966876467); -void gnss_h_6(double *state, double *sat_pos, double *out_4554215930920042575); -void gnss_H_6(double *state, double *sat_pos, double *out_895428558576169950); -void gnss_h_20(double *state, double *sat_pos, double *out_6704926246356191984); -void gnss_H_20(double *state, double *sat_pos, double *out_3575717658219428128); -void gnss_h_7(double *state, double *sat_pos_vel, double *out_6430340606903371855); -void gnss_H_7(double *state, double *sat_pos_vel, double *out_4789129994195662485); -void gnss_h_21(double *state, double *sat_pos_vel, double *out_6430340606903371855); -void gnss_H_21(double *state, double *sat_pos_vel, double *out_4789129994195662485); +void gnss_err_fun(double *nom_x, double *delta_x, double *out_7861368562585023949); +void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6509090499931839816); +void gnss_H_mod_fun(double *state, double *out_475664012759985504); +void gnss_f_fun(double *state, double dt, double *out_4292385048460003663); +void gnss_F_fun(double *state, double dt, double *out_7071174528671579157); +void gnss_h_6(double *state, double *sat_pos, double *out_2481230479465319936); +void gnss_H_6(double *state, double *sat_pos, double *out_7645196925630164082); +void gnss_h_20(double *state, double *sat_pos, double *out_7507301208942135576); +void gnss_H_20(double *state, double *sat_pos, double *out_1693366137112332184); +void gnss_h_7(double *state, double *sat_pos_vel, double *out_2861812996390348550); +void gnss_H_7(double *state, double *sat_pos_vel, double *out_1823365369839474784); +void gnss_h_21(double *state, double *sat_pos_vel, double *out_2861812996390348550); +void gnss_H_21(double *state, double *sat_pos_vel, double *out_1823365369839474784); 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 da587f8b2..352283e37 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 84d0e0f26..ae0b6f978 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_6240008686817713408) { - out_6240008686817713408[0] = 0; - out_6240008686817713408[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_6240008686817713408[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; - out_6240008686817713408[3] = cos(in_vec[1])*cos(in_vec[2]); - out_6240008686817713408[4] = sin(in_vec[2])*cos(in_vec[1]); - out_6240008686817713408[5] = -sin(in_vec[1]); - out_6240008686817713408[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_6240008686817713408[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_6240008686817713408[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_6240008686817713408[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); - out_6240008686817713408[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); - out_6240008686817713408[11] = sin(in_vec[0])*cos(in_vec[1]); - out_6240008686817713408[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_6240008686817713408[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_6240008686817713408[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_6240008686817713408[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); - out_6240008686817713408[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); - out_6240008686817713408[17] = cos(in_vec[0])*cos(in_vec[1]); +void H(double *in_vec, double *out_734965431798586088) { + out_734965431798586088[0] = 0; + out_734965431798586088[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_734965431798586088[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; + out_734965431798586088[3] = cos(in_vec[1])*cos(in_vec[2]); + out_734965431798586088[4] = sin(in_vec[2])*cos(in_vec[1]); + out_734965431798586088[5] = -sin(in_vec[1]); + out_734965431798586088[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_734965431798586088[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_734965431798586088[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_734965431798586088[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); + out_734965431798586088[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); + out_734965431798586088[11] = sin(in_vec[0])*cos(in_vec[1]); + out_734965431798586088[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_734965431798586088[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_734965431798586088[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_734965431798586088[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); + out_734965431798586088[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); + out_734965431798586088[17] = cos(in_vec[0])*cos(in_vec[1]); } -void err_fun(double *nom_x, double *delta_x, double *out_3690665086918622964) { - out_3690665086918622964[0] = delta_x[0] + nom_x[0]; - out_3690665086918622964[1] = delta_x[1] + nom_x[1]; - out_3690665086918622964[2] = delta_x[2] + nom_x[2]; - out_3690665086918622964[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_3690665086918622964[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_3690665086918622964[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_3690665086918622964[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_3690665086918622964[7] = delta_x[6] + nom_x[7]; - out_3690665086918622964[8] = delta_x[7] + nom_x[8]; - out_3690665086918622964[9] = delta_x[8] + nom_x[9]; - out_3690665086918622964[10] = delta_x[9] + nom_x[10]; - out_3690665086918622964[11] = delta_x[10] + nom_x[11]; - out_3690665086918622964[12] = delta_x[11] + nom_x[12]; - out_3690665086918622964[13] = delta_x[12] + nom_x[13]; - out_3690665086918622964[14] = delta_x[13] + nom_x[14]; - out_3690665086918622964[15] = delta_x[14] + nom_x[15]; - out_3690665086918622964[16] = delta_x[15] + nom_x[16]; - out_3690665086918622964[17] = delta_x[16] + nom_x[17]; - out_3690665086918622964[18] = delta_x[17] + nom_x[18]; - out_3690665086918622964[19] = delta_x[18] + nom_x[19]; - out_3690665086918622964[20] = delta_x[19] + nom_x[20]; - out_3690665086918622964[21] = delta_x[20] + nom_x[21]; +void err_fun(double *nom_x, double *delta_x, double *out_7867135572176938343) { + out_7867135572176938343[0] = delta_x[0] + nom_x[0]; + out_7867135572176938343[1] = delta_x[1] + nom_x[1]; + out_7867135572176938343[2] = delta_x[2] + nom_x[2]; + out_7867135572176938343[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_7867135572176938343[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_7867135572176938343[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_7867135572176938343[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_7867135572176938343[7] = delta_x[6] + nom_x[7]; + out_7867135572176938343[8] = delta_x[7] + nom_x[8]; + out_7867135572176938343[9] = delta_x[8] + nom_x[9]; + out_7867135572176938343[10] = delta_x[9] + nom_x[10]; + out_7867135572176938343[11] = delta_x[10] + nom_x[11]; + out_7867135572176938343[12] = delta_x[11] + nom_x[12]; + out_7867135572176938343[13] = delta_x[12] + nom_x[13]; + out_7867135572176938343[14] = delta_x[13] + nom_x[14]; + out_7867135572176938343[15] = delta_x[14] + nom_x[15]; + out_7867135572176938343[16] = delta_x[15] + nom_x[16]; + out_7867135572176938343[17] = delta_x[16] + nom_x[17]; + out_7867135572176938343[18] = delta_x[17] + nom_x[18]; + out_7867135572176938343[19] = delta_x[18] + nom_x[19]; + out_7867135572176938343[20] = delta_x[19] + nom_x[20]; + out_7867135572176938343[21] = delta_x[20] + nom_x[21]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8615868703535681088) { - out_8615868703535681088[0] = -nom_x[0] + true_x[0]; - out_8615868703535681088[1] = -nom_x[1] + true_x[1]; - out_8615868703535681088[2] = -nom_x[2] + true_x[2]; - out_8615868703535681088[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_8615868703535681088[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_8615868703535681088[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_8615868703535681088[6] = -nom_x[7] + true_x[7]; - out_8615868703535681088[7] = -nom_x[8] + true_x[8]; - out_8615868703535681088[8] = -nom_x[9] + true_x[9]; - out_8615868703535681088[9] = -nom_x[10] + true_x[10]; - out_8615868703535681088[10] = -nom_x[11] + true_x[11]; - out_8615868703535681088[11] = -nom_x[12] + true_x[12]; - out_8615868703535681088[12] = -nom_x[13] + true_x[13]; - out_8615868703535681088[13] = -nom_x[14] + true_x[14]; - out_8615868703535681088[14] = -nom_x[15] + true_x[15]; - out_8615868703535681088[15] = -nom_x[16] + true_x[16]; - out_8615868703535681088[16] = -nom_x[17] + true_x[17]; - out_8615868703535681088[17] = -nom_x[18] + true_x[18]; - out_8615868703535681088[18] = -nom_x[19] + true_x[19]; - out_8615868703535681088[19] = -nom_x[20] + true_x[20]; - out_8615868703535681088[20] = -nom_x[21] + true_x[21]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4469849344899012791) { + out_4469849344899012791[0] = -nom_x[0] + true_x[0]; + out_4469849344899012791[1] = -nom_x[1] + true_x[1]; + out_4469849344899012791[2] = -nom_x[2] + true_x[2]; + out_4469849344899012791[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_4469849344899012791[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_4469849344899012791[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_4469849344899012791[6] = -nom_x[7] + true_x[7]; + out_4469849344899012791[7] = -nom_x[8] + true_x[8]; + out_4469849344899012791[8] = -nom_x[9] + true_x[9]; + out_4469849344899012791[9] = -nom_x[10] + true_x[10]; + out_4469849344899012791[10] = -nom_x[11] + true_x[11]; + out_4469849344899012791[11] = -nom_x[12] + true_x[12]; + out_4469849344899012791[12] = -nom_x[13] + true_x[13]; + out_4469849344899012791[13] = -nom_x[14] + true_x[14]; + out_4469849344899012791[14] = -nom_x[15] + true_x[15]; + out_4469849344899012791[15] = -nom_x[16] + true_x[16]; + out_4469849344899012791[16] = -nom_x[17] + true_x[17]; + out_4469849344899012791[17] = -nom_x[18] + true_x[18]; + out_4469849344899012791[18] = -nom_x[19] + true_x[19]; + out_4469849344899012791[19] = -nom_x[20] + true_x[20]; + out_4469849344899012791[20] = -nom_x[21] + true_x[21]; } -void H_mod_fun(double *state, double *out_1988291488770769521) { - out_1988291488770769521[0] = 1.0; - out_1988291488770769521[1] = 0; - out_1988291488770769521[2] = 0; - out_1988291488770769521[3] = 0; - out_1988291488770769521[4] = 0; - out_1988291488770769521[5] = 0; - out_1988291488770769521[6] = 0; - out_1988291488770769521[7] = 0; - out_1988291488770769521[8] = 0; - out_1988291488770769521[9] = 0; - out_1988291488770769521[10] = 0; - out_1988291488770769521[11] = 0; - out_1988291488770769521[12] = 0; - out_1988291488770769521[13] = 0; - out_1988291488770769521[14] = 0; - out_1988291488770769521[15] = 0; - out_1988291488770769521[16] = 0; - out_1988291488770769521[17] = 0; - out_1988291488770769521[18] = 0; - out_1988291488770769521[19] = 0; - out_1988291488770769521[20] = 0; - out_1988291488770769521[21] = 0; - out_1988291488770769521[22] = 1.0; - out_1988291488770769521[23] = 0; - out_1988291488770769521[24] = 0; - out_1988291488770769521[25] = 0; - out_1988291488770769521[26] = 0; - out_1988291488770769521[27] = 0; - out_1988291488770769521[28] = 0; - out_1988291488770769521[29] = 0; - out_1988291488770769521[30] = 0; - out_1988291488770769521[31] = 0; - out_1988291488770769521[32] = 0; - out_1988291488770769521[33] = 0; - out_1988291488770769521[34] = 0; - out_1988291488770769521[35] = 0; - out_1988291488770769521[36] = 0; - out_1988291488770769521[37] = 0; - out_1988291488770769521[38] = 0; - out_1988291488770769521[39] = 0; - out_1988291488770769521[40] = 0; - out_1988291488770769521[41] = 0; - out_1988291488770769521[42] = 0; - out_1988291488770769521[43] = 0; - out_1988291488770769521[44] = 1.0; - out_1988291488770769521[45] = 0; - out_1988291488770769521[46] = 0; - out_1988291488770769521[47] = 0; - out_1988291488770769521[48] = 0; - out_1988291488770769521[49] = 0; - out_1988291488770769521[50] = 0; - out_1988291488770769521[51] = 0; - out_1988291488770769521[52] = 0; - out_1988291488770769521[53] = 0; - out_1988291488770769521[54] = 0; - out_1988291488770769521[55] = 0; - out_1988291488770769521[56] = 0; - out_1988291488770769521[57] = 0; - out_1988291488770769521[58] = 0; - out_1988291488770769521[59] = 0; - out_1988291488770769521[60] = 0; - out_1988291488770769521[61] = 0; - out_1988291488770769521[62] = 0; - out_1988291488770769521[63] = 0; - out_1988291488770769521[64] = 0; - out_1988291488770769521[65] = 0; - out_1988291488770769521[66] = -0.5*state[4]; - out_1988291488770769521[67] = -0.5*state[5]; - out_1988291488770769521[68] = -0.5*state[6]; - out_1988291488770769521[69] = 0; - out_1988291488770769521[70] = 0; - out_1988291488770769521[71] = 0; - out_1988291488770769521[72] = 0; - out_1988291488770769521[73] = 0; - out_1988291488770769521[74] = 0; - out_1988291488770769521[75] = 0; - out_1988291488770769521[76] = 0; - out_1988291488770769521[77] = 0; - out_1988291488770769521[78] = 0; - out_1988291488770769521[79] = 0; - out_1988291488770769521[80] = 0; - out_1988291488770769521[81] = 0; - out_1988291488770769521[82] = 0; - out_1988291488770769521[83] = 0; - out_1988291488770769521[84] = 0; - out_1988291488770769521[85] = 0; - out_1988291488770769521[86] = 0; - out_1988291488770769521[87] = 0.5*state[3]; - out_1988291488770769521[88] = 0.5*state[6]; - out_1988291488770769521[89] = -0.5*state[5]; - out_1988291488770769521[90] = 0; - out_1988291488770769521[91] = 0; - out_1988291488770769521[92] = 0; - out_1988291488770769521[93] = 0; - out_1988291488770769521[94] = 0; - out_1988291488770769521[95] = 0; - out_1988291488770769521[96] = 0; - out_1988291488770769521[97] = 0; - out_1988291488770769521[98] = 0; - out_1988291488770769521[99] = 0; - out_1988291488770769521[100] = 0; - out_1988291488770769521[101] = 0; - out_1988291488770769521[102] = 0; - out_1988291488770769521[103] = 0; - out_1988291488770769521[104] = 0; - out_1988291488770769521[105] = 0; - out_1988291488770769521[106] = 0; - out_1988291488770769521[107] = 0; - out_1988291488770769521[108] = -0.5*state[6]; - out_1988291488770769521[109] = 0.5*state[3]; - out_1988291488770769521[110] = 0.5*state[4]; - out_1988291488770769521[111] = 0; - out_1988291488770769521[112] = 0; - out_1988291488770769521[113] = 0; - out_1988291488770769521[114] = 0; - out_1988291488770769521[115] = 0; - out_1988291488770769521[116] = 0; - out_1988291488770769521[117] = 0; - out_1988291488770769521[118] = 0; - out_1988291488770769521[119] = 0; - out_1988291488770769521[120] = 0; - out_1988291488770769521[121] = 0; - out_1988291488770769521[122] = 0; - out_1988291488770769521[123] = 0; - out_1988291488770769521[124] = 0; - out_1988291488770769521[125] = 0; - out_1988291488770769521[126] = 0; - out_1988291488770769521[127] = 0; - out_1988291488770769521[128] = 0; - out_1988291488770769521[129] = 0.5*state[5]; - out_1988291488770769521[130] = -0.5*state[4]; - out_1988291488770769521[131] = 0.5*state[3]; - out_1988291488770769521[132] = 0; - out_1988291488770769521[133] = 0; - out_1988291488770769521[134] = 0; - out_1988291488770769521[135] = 0; - out_1988291488770769521[136] = 0; - out_1988291488770769521[137] = 0; - out_1988291488770769521[138] = 0; - out_1988291488770769521[139] = 0; - out_1988291488770769521[140] = 0; - out_1988291488770769521[141] = 0; - out_1988291488770769521[142] = 0; - out_1988291488770769521[143] = 0; - out_1988291488770769521[144] = 0; - out_1988291488770769521[145] = 0; - out_1988291488770769521[146] = 0; - out_1988291488770769521[147] = 0; - out_1988291488770769521[148] = 0; - out_1988291488770769521[149] = 0; - out_1988291488770769521[150] = 0; - out_1988291488770769521[151] = 0; - out_1988291488770769521[152] = 0; - out_1988291488770769521[153] = 1.0; - out_1988291488770769521[154] = 0; - out_1988291488770769521[155] = 0; - out_1988291488770769521[156] = 0; - out_1988291488770769521[157] = 0; - out_1988291488770769521[158] = 0; - out_1988291488770769521[159] = 0; - out_1988291488770769521[160] = 0; - out_1988291488770769521[161] = 0; - out_1988291488770769521[162] = 0; - out_1988291488770769521[163] = 0; - out_1988291488770769521[164] = 0; - out_1988291488770769521[165] = 0; - out_1988291488770769521[166] = 0; - out_1988291488770769521[167] = 0; - out_1988291488770769521[168] = 0; - out_1988291488770769521[169] = 0; - out_1988291488770769521[170] = 0; - out_1988291488770769521[171] = 0; - out_1988291488770769521[172] = 0; - out_1988291488770769521[173] = 0; - out_1988291488770769521[174] = 0; - out_1988291488770769521[175] = 1.0; - out_1988291488770769521[176] = 0; - out_1988291488770769521[177] = 0; - out_1988291488770769521[178] = 0; - out_1988291488770769521[179] = 0; - out_1988291488770769521[180] = 0; - out_1988291488770769521[181] = 0; - out_1988291488770769521[182] = 0; - out_1988291488770769521[183] = 0; - out_1988291488770769521[184] = 0; - out_1988291488770769521[185] = 0; - out_1988291488770769521[186] = 0; - out_1988291488770769521[187] = 0; - out_1988291488770769521[188] = 0; - out_1988291488770769521[189] = 0; - out_1988291488770769521[190] = 0; - out_1988291488770769521[191] = 0; - out_1988291488770769521[192] = 0; - out_1988291488770769521[193] = 0; - out_1988291488770769521[194] = 0; - out_1988291488770769521[195] = 0; - out_1988291488770769521[196] = 0; - out_1988291488770769521[197] = 1.0; - out_1988291488770769521[198] = 0; - out_1988291488770769521[199] = 0; - out_1988291488770769521[200] = 0; - out_1988291488770769521[201] = 0; - out_1988291488770769521[202] = 0; - out_1988291488770769521[203] = 0; - out_1988291488770769521[204] = 0; - out_1988291488770769521[205] = 0; - out_1988291488770769521[206] = 0; - out_1988291488770769521[207] = 0; - out_1988291488770769521[208] = 0; - out_1988291488770769521[209] = 0; - out_1988291488770769521[210] = 0; - out_1988291488770769521[211] = 0; - out_1988291488770769521[212] = 0; - out_1988291488770769521[213] = 0; - out_1988291488770769521[214] = 0; - out_1988291488770769521[215] = 0; - out_1988291488770769521[216] = 0; - out_1988291488770769521[217] = 0; - out_1988291488770769521[218] = 0; - out_1988291488770769521[219] = 1.0; - out_1988291488770769521[220] = 0; - out_1988291488770769521[221] = 0; - out_1988291488770769521[222] = 0; - out_1988291488770769521[223] = 0; - out_1988291488770769521[224] = 0; - out_1988291488770769521[225] = 0; - out_1988291488770769521[226] = 0; - out_1988291488770769521[227] = 0; - out_1988291488770769521[228] = 0; - out_1988291488770769521[229] = 0; - out_1988291488770769521[230] = 0; - out_1988291488770769521[231] = 0; - out_1988291488770769521[232] = 0; - out_1988291488770769521[233] = 0; - out_1988291488770769521[234] = 0; - out_1988291488770769521[235] = 0; - out_1988291488770769521[236] = 0; - out_1988291488770769521[237] = 0; - out_1988291488770769521[238] = 0; - out_1988291488770769521[239] = 0; - out_1988291488770769521[240] = 0; - out_1988291488770769521[241] = 1.0; - out_1988291488770769521[242] = 0; - out_1988291488770769521[243] = 0; - out_1988291488770769521[244] = 0; - out_1988291488770769521[245] = 0; - out_1988291488770769521[246] = 0; - out_1988291488770769521[247] = 0; - out_1988291488770769521[248] = 0; - out_1988291488770769521[249] = 0; - out_1988291488770769521[250] = 0; - out_1988291488770769521[251] = 0; - out_1988291488770769521[252] = 0; - out_1988291488770769521[253] = 0; - out_1988291488770769521[254] = 0; - out_1988291488770769521[255] = 0; - out_1988291488770769521[256] = 0; - out_1988291488770769521[257] = 0; - out_1988291488770769521[258] = 0; - out_1988291488770769521[259] = 0; - out_1988291488770769521[260] = 0; - out_1988291488770769521[261] = 0; - out_1988291488770769521[262] = 0; - out_1988291488770769521[263] = 1.0; - out_1988291488770769521[264] = 0; - out_1988291488770769521[265] = 0; - out_1988291488770769521[266] = 0; - out_1988291488770769521[267] = 0; - out_1988291488770769521[268] = 0; - out_1988291488770769521[269] = 0; - out_1988291488770769521[270] = 0; - out_1988291488770769521[271] = 0; - out_1988291488770769521[272] = 0; - out_1988291488770769521[273] = 0; - out_1988291488770769521[274] = 0; - out_1988291488770769521[275] = 0; - out_1988291488770769521[276] = 0; - out_1988291488770769521[277] = 0; - out_1988291488770769521[278] = 0; - out_1988291488770769521[279] = 0; - out_1988291488770769521[280] = 0; - out_1988291488770769521[281] = 0; - out_1988291488770769521[282] = 0; - out_1988291488770769521[283] = 0; - out_1988291488770769521[284] = 0; - out_1988291488770769521[285] = 1.0; - out_1988291488770769521[286] = 0; - out_1988291488770769521[287] = 0; - out_1988291488770769521[288] = 0; - out_1988291488770769521[289] = 0; - out_1988291488770769521[290] = 0; - out_1988291488770769521[291] = 0; - out_1988291488770769521[292] = 0; - out_1988291488770769521[293] = 0; - out_1988291488770769521[294] = 0; - out_1988291488770769521[295] = 0; - out_1988291488770769521[296] = 0; - out_1988291488770769521[297] = 0; - out_1988291488770769521[298] = 0; - out_1988291488770769521[299] = 0; - out_1988291488770769521[300] = 0; - out_1988291488770769521[301] = 0; - out_1988291488770769521[302] = 0; - out_1988291488770769521[303] = 0; - out_1988291488770769521[304] = 0; - out_1988291488770769521[305] = 0; - out_1988291488770769521[306] = 0; - out_1988291488770769521[307] = 1.0; - out_1988291488770769521[308] = 0; - out_1988291488770769521[309] = 0; - out_1988291488770769521[310] = 0; - out_1988291488770769521[311] = 0; - out_1988291488770769521[312] = 0; - out_1988291488770769521[313] = 0; - out_1988291488770769521[314] = 0; - out_1988291488770769521[315] = 0; - out_1988291488770769521[316] = 0; - out_1988291488770769521[317] = 0; - out_1988291488770769521[318] = 0; - out_1988291488770769521[319] = 0; - out_1988291488770769521[320] = 0; - out_1988291488770769521[321] = 0; - out_1988291488770769521[322] = 0; - out_1988291488770769521[323] = 0; - out_1988291488770769521[324] = 0; - out_1988291488770769521[325] = 0; - out_1988291488770769521[326] = 0; - out_1988291488770769521[327] = 0; - out_1988291488770769521[328] = 0; - out_1988291488770769521[329] = 1.0; - out_1988291488770769521[330] = 0; - out_1988291488770769521[331] = 0; - out_1988291488770769521[332] = 0; - out_1988291488770769521[333] = 0; - out_1988291488770769521[334] = 0; - out_1988291488770769521[335] = 0; - out_1988291488770769521[336] = 0; - out_1988291488770769521[337] = 0; - out_1988291488770769521[338] = 0; - out_1988291488770769521[339] = 0; - out_1988291488770769521[340] = 0; - out_1988291488770769521[341] = 0; - out_1988291488770769521[342] = 0; - out_1988291488770769521[343] = 0; - out_1988291488770769521[344] = 0; - out_1988291488770769521[345] = 0; - out_1988291488770769521[346] = 0; - out_1988291488770769521[347] = 0; - out_1988291488770769521[348] = 0; - out_1988291488770769521[349] = 0; - out_1988291488770769521[350] = 0; - out_1988291488770769521[351] = 1.0; - out_1988291488770769521[352] = 0; - out_1988291488770769521[353] = 0; - out_1988291488770769521[354] = 0; - out_1988291488770769521[355] = 0; - out_1988291488770769521[356] = 0; - out_1988291488770769521[357] = 0; - out_1988291488770769521[358] = 0; - out_1988291488770769521[359] = 0; - out_1988291488770769521[360] = 0; - out_1988291488770769521[361] = 0; - out_1988291488770769521[362] = 0; - out_1988291488770769521[363] = 0; - out_1988291488770769521[364] = 0; - out_1988291488770769521[365] = 0; - out_1988291488770769521[366] = 0; - out_1988291488770769521[367] = 0; - out_1988291488770769521[368] = 0; - out_1988291488770769521[369] = 0; - out_1988291488770769521[370] = 0; - out_1988291488770769521[371] = 0; - out_1988291488770769521[372] = 0; - out_1988291488770769521[373] = 1.0; - out_1988291488770769521[374] = 0; - out_1988291488770769521[375] = 0; - out_1988291488770769521[376] = 0; - out_1988291488770769521[377] = 0; - out_1988291488770769521[378] = 0; - out_1988291488770769521[379] = 0; - out_1988291488770769521[380] = 0; - out_1988291488770769521[381] = 0; - out_1988291488770769521[382] = 0; - out_1988291488770769521[383] = 0; - out_1988291488770769521[384] = 0; - out_1988291488770769521[385] = 0; - out_1988291488770769521[386] = 0; - out_1988291488770769521[387] = 0; - out_1988291488770769521[388] = 0; - out_1988291488770769521[389] = 0; - out_1988291488770769521[390] = 0; - out_1988291488770769521[391] = 0; - out_1988291488770769521[392] = 0; - out_1988291488770769521[393] = 0; - out_1988291488770769521[394] = 0; - out_1988291488770769521[395] = 1.0; - out_1988291488770769521[396] = 0; - out_1988291488770769521[397] = 0; - out_1988291488770769521[398] = 0; - out_1988291488770769521[399] = 0; - out_1988291488770769521[400] = 0; - out_1988291488770769521[401] = 0; - out_1988291488770769521[402] = 0; - out_1988291488770769521[403] = 0; - out_1988291488770769521[404] = 0; - out_1988291488770769521[405] = 0; - out_1988291488770769521[406] = 0; - out_1988291488770769521[407] = 0; - out_1988291488770769521[408] = 0; - out_1988291488770769521[409] = 0; - out_1988291488770769521[410] = 0; - out_1988291488770769521[411] = 0; - out_1988291488770769521[412] = 0; - out_1988291488770769521[413] = 0; - out_1988291488770769521[414] = 0; - out_1988291488770769521[415] = 0; - out_1988291488770769521[416] = 0; - out_1988291488770769521[417] = 1.0; - out_1988291488770769521[418] = 0; - out_1988291488770769521[419] = 0; - out_1988291488770769521[420] = 0; - out_1988291488770769521[421] = 0; - out_1988291488770769521[422] = 0; - out_1988291488770769521[423] = 0; - out_1988291488770769521[424] = 0; - out_1988291488770769521[425] = 0; - out_1988291488770769521[426] = 0; - out_1988291488770769521[427] = 0; - out_1988291488770769521[428] = 0; - out_1988291488770769521[429] = 0; - out_1988291488770769521[430] = 0; - out_1988291488770769521[431] = 0; - out_1988291488770769521[432] = 0; - out_1988291488770769521[433] = 0; - out_1988291488770769521[434] = 0; - out_1988291488770769521[435] = 0; - out_1988291488770769521[436] = 0; - out_1988291488770769521[437] = 0; - out_1988291488770769521[438] = 0; - out_1988291488770769521[439] = 1.0; - out_1988291488770769521[440] = 0; - out_1988291488770769521[441] = 0; - out_1988291488770769521[442] = 0; - out_1988291488770769521[443] = 0; - out_1988291488770769521[444] = 0; - out_1988291488770769521[445] = 0; - out_1988291488770769521[446] = 0; - out_1988291488770769521[447] = 0; - out_1988291488770769521[448] = 0; - out_1988291488770769521[449] = 0; - out_1988291488770769521[450] = 0; - out_1988291488770769521[451] = 0; - out_1988291488770769521[452] = 0; - out_1988291488770769521[453] = 0; - out_1988291488770769521[454] = 0; - out_1988291488770769521[455] = 0; - out_1988291488770769521[456] = 0; - out_1988291488770769521[457] = 0; - out_1988291488770769521[458] = 0; - out_1988291488770769521[459] = 0; - out_1988291488770769521[460] = 0; - out_1988291488770769521[461] = 1.0; +void H_mod_fun(double *state, double *out_482044005104989923) { + out_482044005104989923[0] = 1.0; + out_482044005104989923[1] = 0; + out_482044005104989923[2] = 0; + out_482044005104989923[3] = 0; + out_482044005104989923[4] = 0; + out_482044005104989923[5] = 0; + out_482044005104989923[6] = 0; + out_482044005104989923[7] = 0; + out_482044005104989923[8] = 0; + out_482044005104989923[9] = 0; + out_482044005104989923[10] = 0; + out_482044005104989923[11] = 0; + out_482044005104989923[12] = 0; + out_482044005104989923[13] = 0; + out_482044005104989923[14] = 0; + out_482044005104989923[15] = 0; + out_482044005104989923[16] = 0; + out_482044005104989923[17] = 0; + out_482044005104989923[18] = 0; + out_482044005104989923[19] = 0; + out_482044005104989923[20] = 0; + out_482044005104989923[21] = 0; + out_482044005104989923[22] = 1.0; + out_482044005104989923[23] = 0; + out_482044005104989923[24] = 0; + out_482044005104989923[25] = 0; + out_482044005104989923[26] = 0; + out_482044005104989923[27] = 0; + out_482044005104989923[28] = 0; + out_482044005104989923[29] = 0; + out_482044005104989923[30] = 0; + out_482044005104989923[31] = 0; + out_482044005104989923[32] = 0; + out_482044005104989923[33] = 0; + out_482044005104989923[34] = 0; + out_482044005104989923[35] = 0; + out_482044005104989923[36] = 0; + out_482044005104989923[37] = 0; + out_482044005104989923[38] = 0; + out_482044005104989923[39] = 0; + out_482044005104989923[40] = 0; + out_482044005104989923[41] = 0; + out_482044005104989923[42] = 0; + out_482044005104989923[43] = 0; + out_482044005104989923[44] = 1.0; + out_482044005104989923[45] = 0; + out_482044005104989923[46] = 0; + out_482044005104989923[47] = 0; + out_482044005104989923[48] = 0; + out_482044005104989923[49] = 0; + out_482044005104989923[50] = 0; + out_482044005104989923[51] = 0; + out_482044005104989923[52] = 0; + out_482044005104989923[53] = 0; + out_482044005104989923[54] = 0; + out_482044005104989923[55] = 0; + out_482044005104989923[56] = 0; + out_482044005104989923[57] = 0; + out_482044005104989923[58] = 0; + out_482044005104989923[59] = 0; + out_482044005104989923[60] = 0; + out_482044005104989923[61] = 0; + out_482044005104989923[62] = 0; + out_482044005104989923[63] = 0; + out_482044005104989923[64] = 0; + out_482044005104989923[65] = 0; + out_482044005104989923[66] = -0.5*state[4]; + out_482044005104989923[67] = -0.5*state[5]; + out_482044005104989923[68] = -0.5*state[6]; + out_482044005104989923[69] = 0; + out_482044005104989923[70] = 0; + out_482044005104989923[71] = 0; + out_482044005104989923[72] = 0; + out_482044005104989923[73] = 0; + out_482044005104989923[74] = 0; + out_482044005104989923[75] = 0; + out_482044005104989923[76] = 0; + out_482044005104989923[77] = 0; + out_482044005104989923[78] = 0; + out_482044005104989923[79] = 0; + out_482044005104989923[80] = 0; + out_482044005104989923[81] = 0; + out_482044005104989923[82] = 0; + out_482044005104989923[83] = 0; + out_482044005104989923[84] = 0; + out_482044005104989923[85] = 0; + out_482044005104989923[86] = 0; + out_482044005104989923[87] = 0.5*state[3]; + out_482044005104989923[88] = 0.5*state[6]; + out_482044005104989923[89] = -0.5*state[5]; + out_482044005104989923[90] = 0; + out_482044005104989923[91] = 0; + out_482044005104989923[92] = 0; + out_482044005104989923[93] = 0; + out_482044005104989923[94] = 0; + out_482044005104989923[95] = 0; + out_482044005104989923[96] = 0; + out_482044005104989923[97] = 0; + out_482044005104989923[98] = 0; + out_482044005104989923[99] = 0; + out_482044005104989923[100] = 0; + out_482044005104989923[101] = 0; + out_482044005104989923[102] = 0; + out_482044005104989923[103] = 0; + out_482044005104989923[104] = 0; + out_482044005104989923[105] = 0; + out_482044005104989923[106] = 0; + out_482044005104989923[107] = 0; + out_482044005104989923[108] = -0.5*state[6]; + out_482044005104989923[109] = 0.5*state[3]; + out_482044005104989923[110] = 0.5*state[4]; + out_482044005104989923[111] = 0; + out_482044005104989923[112] = 0; + out_482044005104989923[113] = 0; + out_482044005104989923[114] = 0; + out_482044005104989923[115] = 0; + out_482044005104989923[116] = 0; + out_482044005104989923[117] = 0; + out_482044005104989923[118] = 0; + out_482044005104989923[119] = 0; + out_482044005104989923[120] = 0; + out_482044005104989923[121] = 0; + out_482044005104989923[122] = 0; + out_482044005104989923[123] = 0; + out_482044005104989923[124] = 0; + out_482044005104989923[125] = 0; + out_482044005104989923[126] = 0; + out_482044005104989923[127] = 0; + out_482044005104989923[128] = 0; + out_482044005104989923[129] = 0.5*state[5]; + out_482044005104989923[130] = -0.5*state[4]; + out_482044005104989923[131] = 0.5*state[3]; + out_482044005104989923[132] = 0; + out_482044005104989923[133] = 0; + out_482044005104989923[134] = 0; + out_482044005104989923[135] = 0; + out_482044005104989923[136] = 0; + out_482044005104989923[137] = 0; + out_482044005104989923[138] = 0; + out_482044005104989923[139] = 0; + out_482044005104989923[140] = 0; + out_482044005104989923[141] = 0; + out_482044005104989923[142] = 0; + out_482044005104989923[143] = 0; + out_482044005104989923[144] = 0; + out_482044005104989923[145] = 0; + out_482044005104989923[146] = 0; + out_482044005104989923[147] = 0; + out_482044005104989923[148] = 0; + out_482044005104989923[149] = 0; + out_482044005104989923[150] = 0; + out_482044005104989923[151] = 0; + out_482044005104989923[152] = 0; + out_482044005104989923[153] = 1.0; + out_482044005104989923[154] = 0; + out_482044005104989923[155] = 0; + out_482044005104989923[156] = 0; + out_482044005104989923[157] = 0; + out_482044005104989923[158] = 0; + out_482044005104989923[159] = 0; + out_482044005104989923[160] = 0; + out_482044005104989923[161] = 0; + out_482044005104989923[162] = 0; + out_482044005104989923[163] = 0; + out_482044005104989923[164] = 0; + out_482044005104989923[165] = 0; + out_482044005104989923[166] = 0; + out_482044005104989923[167] = 0; + out_482044005104989923[168] = 0; + out_482044005104989923[169] = 0; + out_482044005104989923[170] = 0; + out_482044005104989923[171] = 0; + out_482044005104989923[172] = 0; + out_482044005104989923[173] = 0; + out_482044005104989923[174] = 0; + out_482044005104989923[175] = 1.0; + out_482044005104989923[176] = 0; + out_482044005104989923[177] = 0; + out_482044005104989923[178] = 0; + out_482044005104989923[179] = 0; + out_482044005104989923[180] = 0; + out_482044005104989923[181] = 0; + out_482044005104989923[182] = 0; + out_482044005104989923[183] = 0; + out_482044005104989923[184] = 0; + out_482044005104989923[185] = 0; + out_482044005104989923[186] = 0; + out_482044005104989923[187] = 0; + out_482044005104989923[188] = 0; + out_482044005104989923[189] = 0; + out_482044005104989923[190] = 0; + out_482044005104989923[191] = 0; + out_482044005104989923[192] = 0; + out_482044005104989923[193] = 0; + out_482044005104989923[194] = 0; + out_482044005104989923[195] = 0; + out_482044005104989923[196] = 0; + out_482044005104989923[197] = 1.0; + out_482044005104989923[198] = 0; + out_482044005104989923[199] = 0; + out_482044005104989923[200] = 0; + out_482044005104989923[201] = 0; + out_482044005104989923[202] = 0; + out_482044005104989923[203] = 0; + out_482044005104989923[204] = 0; + out_482044005104989923[205] = 0; + out_482044005104989923[206] = 0; + out_482044005104989923[207] = 0; + out_482044005104989923[208] = 0; + out_482044005104989923[209] = 0; + out_482044005104989923[210] = 0; + out_482044005104989923[211] = 0; + out_482044005104989923[212] = 0; + out_482044005104989923[213] = 0; + out_482044005104989923[214] = 0; + out_482044005104989923[215] = 0; + out_482044005104989923[216] = 0; + out_482044005104989923[217] = 0; + out_482044005104989923[218] = 0; + out_482044005104989923[219] = 1.0; + out_482044005104989923[220] = 0; + out_482044005104989923[221] = 0; + out_482044005104989923[222] = 0; + out_482044005104989923[223] = 0; + out_482044005104989923[224] = 0; + out_482044005104989923[225] = 0; + out_482044005104989923[226] = 0; + out_482044005104989923[227] = 0; + out_482044005104989923[228] = 0; + out_482044005104989923[229] = 0; + out_482044005104989923[230] = 0; + out_482044005104989923[231] = 0; + out_482044005104989923[232] = 0; + out_482044005104989923[233] = 0; + out_482044005104989923[234] = 0; + out_482044005104989923[235] = 0; + out_482044005104989923[236] = 0; + out_482044005104989923[237] = 0; + out_482044005104989923[238] = 0; + out_482044005104989923[239] = 0; + out_482044005104989923[240] = 0; + out_482044005104989923[241] = 1.0; + out_482044005104989923[242] = 0; + out_482044005104989923[243] = 0; + out_482044005104989923[244] = 0; + out_482044005104989923[245] = 0; + out_482044005104989923[246] = 0; + out_482044005104989923[247] = 0; + out_482044005104989923[248] = 0; + out_482044005104989923[249] = 0; + out_482044005104989923[250] = 0; + out_482044005104989923[251] = 0; + out_482044005104989923[252] = 0; + out_482044005104989923[253] = 0; + out_482044005104989923[254] = 0; + out_482044005104989923[255] = 0; + out_482044005104989923[256] = 0; + out_482044005104989923[257] = 0; + out_482044005104989923[258] = 0; + out_482044005104989923[259] = 0; + out_482044005104989923[260] = 0; + out_482044005104989923[261] = 0; + out_482044005104989923[262] = 0; + out_482044005104989923[263] = 1.0; + out_482044005104989923[264] = 0; + out_482044005104989923[265] = 0; + out_482044005104989923[266] = 0; + out_482044005104989923[267] = 0; + out_482044005104989923[268] = 0; + out_482044005104989923[269] = 0; + out_482044005104989923[270] = 0; + out_482044005104989923[271] = 0; + out_482044005104989923[272] = 0; + out_482044005104989923[273] = 0; + out_482044005104989923[274] = 0; + out_482044005104989923[275] = 0; + out_482044005104989923[276] = 0; + out_482044005104989923[277] = 0; + out_482044005104989923[278] = 0; + out_482044005104989923[279] = 0; + out_482044005104989923[280] = 0; + out_482044005104989923[281] = 0; + out_482044005104989923[282] = 0; + out_482044005104989923[283] = 0; + out_482044005104989923[284] = 0; + out_482044005104989923[285] = 1.0; + out_482044005104989923[286] = 0; + out_482044005104989923[287] = 0; + out_482044005104989923[288] = 0; + out_482044005104989923[289] = 0; + out_482044005104989923[290] = 0; + out_482044005104989923[291] = 0; + out_482044005104989923[292] = 0; + out_482044005104989923[293] = 0; + out_482044005104989923[294] = 0; + out_482044005104989923[295] = 0; + out_482044005104989923[296] = 0; + out_482044005104989923[297] = 0; + out_482044005104989923[298] = 0; + out_482044005104989923[299] = 0; + out_482044005104989923[300] = 0; + out_482044005104989923[301] = 0; + out_482044005104989923[302] = 0; + out_482044005104989923[303] = 0; + out_482044005104989923[304] = 0; + out_482044005104989923[305] = 0; + out_482044005104989923[306] = 0; + out_482044005104989923[307] = 1.0; + out_482044005104989923[308] = 0; + out_482044005104989923[309] = 0; + out_482044005104989923[310] = 0; + out_482044005104989923[311] = 0; + out_482044005104989923[312] = 0; + out_482044005104989923[313] = 0; + out_482044005104989923[314] = 0; + out_482044005104989923[315] = 0; + out_482044005104989923[316] = 0; + out_482044005104989923[317] = 0; + out_482044005104989923[318] = 0; + out_482044005104989923[319] = 0; + out_482044005104989923[320] = 0; + out_482044005104989923[321] = 0; + out_482044005104989923[322] = 0; + out_482044005104989923[323] = 0; + out_482044005104989923[324] = 0; + out_482044005104989923[325] = 0; + out_482044005104989923[326] = 0; + out_482044005104989923[327] = 0; + out_482044005104989923[328] = 0; + out_482044005104989923[329] = 1.0; + out_482044005104989923[330] = 0; + out_482044005104989923[331] = 0; + out_482044005104989923[332] = 0; + out_482044005104989923[333] = 0; + out_482044005104989923[334] = 0; + out_482044005104989923[335] = 0; + out_482044005104989923[336] = 0; + out_482044005104989923[337] = 0; + out_482044005104989923[338] = 0; + out_482044005104989923[339] = 0; + out_482044005104989923[340] = 0; + out_482044005104989923[341] = 0; + out_482044005104989923[342] = 0; + out_482044005104989923[343] = 0; + out_482044005104989923[344] = 0; + out_482044005104989923[345] = 0; + out_482044005104989923[346] = 0; + out_482044005104989923[347] = 0; + out_482044005104989923[348] = 0; + out_482044005104989923[349] = 0; + out_482044005104989923[350] = 0; + out_482044005104989923[351] = 1.0; + out_482044005104989923[352] = 0; + out_482044005104989923[353] = 0; + out_482044005104989923[354] = 0; + out_482044005104989923[355] = 0; + out_482044005104989923[356] = 0; + out_482044005104989923[357] = 0; + out_482044005104989923[358] = 0; + out_482044005104989923[359] = 0; + out_482044005104989923[360] = 0; + out_482044005104989923[361] = 0; + out_482044005104989923[362] = 0; + out_482044005104989923[363] = 0; + out_482044005104989923[364] = 0; + out_482044005104989923[365] = 0; + out_482044005104989923[366] = 0; + out_482044005104989923[367] = 0; + out_482044005104989923[368] = 0; + out_482044005104989923[369] = 0; + out_482044005104989923[370] = 0; + out_482044005104989923[371] = 0; + out_482044005104989923[372] = 0; + out_482044005104989923[373] = 1.0; + out_482044005104989923[374] = 0; + out_482044005104989923[375] = 0; + out_482044005104989923[376] = 0; + out_482044005104989923[377] = 0; + out_482044005104989923[378] = 0; + out_482044005104989923[379] = 0; + out_482044005104989923[380] = 0; + out_482044005104989923[381] = 0; + out_482044005104989923[382] = 0; + out_482044005104989923[383] = 0; + out_482044005104989923[384] = 0; + out_482044005104989923[385] = 0; + out_482044005104989923[386] = 0; + out_482044005104989923[387] = 0; + out_482044005104989923[388] = 0; + out_482044005104989923[389] = 0; + out_482044005104989923[390] = 0; + out_482044005104989923[391] = 0; + out_482044005104989923[392] = 0; + out_482044005104989923[393] = 0; + out_482044005104989923[394] = 0; + out_482044005104989923[395] = 1.0; + out_482044005104989923[396] = 0; + out_482044005104989923[397] = 0; + out_482044005104989923[398] = 0; + out_482044005104989923[399] = 0; + out_482044005104989923[400] = 0; + out_482044005104989923[401] = 0; + out_482044005104989923[402] = 0; + out_482044005104989923[403] = 0; + out_482044005104989923[404] = 0; + out_482044005104989923[405] = 0; + out_482044005104989923[406] = 0; + out_482044005104989923[407] = 0; + out_482044005104989923[408] = 0; + out_482044005104989923[409] = 0; + out_482044005104989923[410] = 0; + out_482044005104989923[411] = 0; + out_482044005104989923[412] = 0; + out_482044005104989923[413] = 0; + out_482044005104989923[414] = 0; + out_482044005104989923[415] = 0; + out_482044005104989923[416] = 0; + out_482044005104989923[417] = 1.0; + out_482044005104989923[418] = 0; + out_482044005104989923[419] = 0; + out_482044005104989923[420] = 0; + out_482044005104989923[421] = 0; + out_482044005104989923[422] = 0; + out_482044005104989923[423] = 0; + out_482044005104989923[424] = 0; + out_482044005104989923[425] = 0; + out_482044005104989923[426] = 0; + out_482044005104989923[427] = 0; + out_482044005104989923[428] = 0; + out_482044005104989923[429] = 0; + out_482044005104989923[430] = 0; + out_482044005104989923[431] = 0; + out_482044005104989923[432] = 0; + out_482044005104989923[433] = 0; + out_482044005104989923[434] = 0; + out_482044005104989923[435] = 0; + out_482044005104989923[436] = 0; + out_482044005104989923[437] = 0; + out_482044005104989923[438] = 0; + out_482044005104989923[439] = 1.0; + out_482044005104989923[440] = 0; + out_482044005104989923[441] = 0; + out_482044005104989923[442] = 0; + out_482044005104989923[443] = 0; + out_482044005104989923[444] = 0; + out_482044005104989923[445] = 0; + out_482044005104989923[446] = 0; + out_482044005104989923[447] = 0; + out_482044005104989923[448] = 0; + out_482044005104989923[449] = 0; + out_482044005104989923[450] = 0; + out_482044005104989923[451] = 0; + out_482044005104989923[452] = 0; + out_482044005104989923[453] = 0; + out_482044005104989923[454] = 0; + out_482044005104989923[455] = 0; + out_482044005104989923[456] = 0; + out_482044005104989923[457] = 0; + out_482044005104989923[458] = 0; + out_482044005104989923[459] = 0; + out_482044005104989923[460] = 0; + out_482044005104989923[461] = 1.0; } -void f_fun(double *state, double dt, double *out_3263988285527381505) { - out_3263988285527381505[0] = dt*state[7] + state[0]; - out_3263988285527381505[1] = dt*state[8] + state[1]; - out_3263988285527381505[2] = dt*state[9] + state[2]; - out_3263988285527381505[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; - out_3263988285527381505[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; - out_3263988285527381505[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; - out_3263988285527381505[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; - out_3263988285527381505[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_3263988285527381505[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_3263988285527381505[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_3263988285527381505[10] = state[10]; - out_3263988285527381505[11] = state[11]; - out_3263988285527381505[12] = state[12]; - out_3263988285527381505[13] = state[13]; - out_3263988285527381505[14] = state[14]; - out_3263988285527381505[15] = state[15]; - out_3263988285527381505[16] = state[16]; - out_3263988285527381505[17] = state[17]; - out_3263988285527381505[18] = state[18]; - out_3263988285527381505[19] = state[19]; - out_3263988285527381505[20] = state[20]; - out_3263988285527381505[21] = state[21]; +void f_fun(double *state, double dt, double *out_5277401503139322236) { + out_5277401503139322236[0] = dt*state[7] + state[0]; + out_5277401503139322236[1] = dt*state[8] + state[1]; + out_5277401503139322236[2] = dt*state[9] + state[2]; + out_5277401503139322236[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; + out_5277401503139322236[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; + out_5277401503139322236[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; + out_5277401503139322236[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; + out_5277401503139322236[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_5277401503139322236[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_5277401503139322236[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_5277401503139322236[10] = state[10]; + out_5277401503139322236[11] = state[11]; + out_5277401503139322236[12] = state[12]; + out_5277401503139322236[13] = state[13]; + out_5277401503139322236[14] = state[14]; + out_5277401503139322236[15] = state[15]; + out_5277401503139322236[16] = state[16]; + out_5277401503139322236[17] = state[17]; + out_5277401503139322236[18] = state[18]; + out_5277401503139322236[19] = state[19]; + out_5277401503139322236[20] = state[20]; + out_5277401503139322236[21] = state[21]; } -void F_fun(double *state, double dt, double *out_4332092747232242913) { - out_4332092747232242913[0] = 1; - out_4332092747232242913[1] = 0; - out_4332092747232242913[2] = 0; - out_4332092747232242913[3] = 0; - out_4332092747232242913[4] = 0; - out_4332092747232242913[5] = 0; - out_4332092747232242913[6] = dt; - out_4332092747232242913[7] = 0; - out_4332092747232242913[8] = 0; - out_4332092747232242913[9] = 0; - out_4332092747232242913[10] = 0; - out_4332092747232242913[11] = 0; - out_4332092747232242913[12] = 0; - out_4332092747232242913[13] = 0; - out_4332092747232242913[14] = 0; - out_4332092747232242913[15] = 0; - out_4332092747232242913[16] = 0; - out_4332092747232242913[17] = 0; - out_4332092747232242913[18] = 0; - out_4332092747232242913[19] = 0; - out_4332092747232242913[20] = 0; - out_4332092747232242913[21] = 0; - out_4332092747232242913[22] = 1; - out_4332092747232242913[23] = 0; - out_4332092747232242913[24] = 0; - out_4332092747232242913[25] = 0; - out_4332092747232242913[26] = 0; - out_4332092747232242913[27] = 0; - out_4332092747232242913[28] = dt; - out_4332092747232242913[29] = 0; - out_4332092747232242913[30] = 0; - out_4332092747232242913[31] = 0; - out_4332092747232242913[32] = 0; - out_4332092747232242913[33] = 0; - out_4332092747232242913[34] = 0; - out_4332092747232242913[35] = 0; - out_4332092747232242913[36] = 0; - out_4332092747232242913[37] = 0; - out_4332092747232242913[38] = 0; - out_4332092747232242913[39] = 0; - out_4332092747232242913[40] = 0; - out_4332092747232242913[41] = 0; - out_4332092747232242913[42] = 0; - out_4332092747232242913[43] = 0; - out_4332092747232242913[44] = 1; - out_4332092747232242913[45] = 0; - out_4332092747232242913[46] = 0; - out_4332092747232242913[47] = 0; - out_4332092747232242913[48] = 0; - out_4332092747232242913[49] = 0; - out_4332092747232242913[50] = dt; - out_4332092747232242913[51] = 0; - out_4332092747232242913[52] = 0; - out_4332092747232242913[53] = 0; - out_4332092747232242913[54] = 0; - out_4332092747232242913[55] = 0; - out_4332092747232242913[56] = 0; - out_4332092747232242913[57] = 0; - out_4332092747232242913[58] = 0; - out_4332092747232242913[59] = 0; - out_4332092747232242913[60] = 0; - out_4332092747232242913[61] = 0; - out_4332092747232242913[62] = 0; - out_4332092747232242913[63] = 0; - out_4332092747232242913[64] = 0; - out_4332092747232242913[65] = 0; - out_4332092747232242913[66] = 1; - out_4332092747232242913[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_4332092747232242913[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_4332092747232242913[69] = 0; - out_4332092747232242913[70] = 0; - out_4332092747232242913[71] = 0; - out_4332092747232242913[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_4332092747232242913[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); - out_4332092747232242913[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); - out_4332092747232242913[75] = 0; - out_4332092747232242913[76] = 0; - out_4332092747232242913[77] = 0; - out_4332092747232242913[78] = 0; - out_4332092747232242913[79] = 0; - out_4332092747232242913[80] = 0; - out_4332092747232242913[81] = 0; - out_4332092747232242913[82] = 0; - out_4332092747232242913[83] = 0; - out_4332092747232242913[84] = 0; - out_4332092747232242913[85] = 0; - out_4332092747232242913[86] = 0; - out_4332092747232242913[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_4332092747232242913[88] = 1; - out_4332092747232242913[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_4332092747232242913[90] = 0; - out_4332092747232242913[91] = 0; - out_4332092747232242913[92] = 0; - out_4332092747232242913[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); - out_4332092747232242913[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_4332092747232242913[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); - out_4332092747232242913[96] = 0; - out_4332092747232242913[97] = 0; - out_4332092747232242913[98] = 0; - out_4332092747232242913[99] = 0; - out_4332092747232242913[100] = 0; - out_4332092747232242913[101] = 0; - out_4332092747232242913[102] = 0; - out_4332092747232242913[103] = 0; - out_4332092747232242913[104] = 0; - out_4332092747232242913[105] = 0; - out_4332092747232242913[106] = 0; - out_4332092747232242913[107] = 0; - out_4332092747232242913[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_4332092747232242913[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_4332092747232242913[110] = 1; - out_4332092747232242913[111] = 0; - out_4332092747232242913[112] = 0; - out_4332092747232242913[113] = 0; - out_4332092747232242913[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); - out_4332092747232242913[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); - out_4332092747232242913[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_4332092747232242913[117] = 0; - out_4332092747232242913[118] = 0; - out_4332092747232242913[119] = 0; - out_4332092747232242913[120] = 0; - out_4332092747232242913[121] = 0; - out_4332092747232242913[122] = 0; - out_4332092747232242913[123] = 0; - out_4332092747232242913[124] = 0; - out_4332092747232242913[125] = 0; - out_4332092747232242913[126] = 0; - out_4332092747232242913[127] = 0; - out_4332092747232242913[128] = 0; - out_4332092747232242913[129] = 0; - out_4332092747232242913[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_4332092747232242913[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_4332092747232242913[132] = 1; - out_4332092747232242913[133] = 0; - out_4332092747232242913[134] = 0; - out_4332092747232242913[135] = 0; - out_4332092747232242913[136] = 0; - out_4332092747232242913[137] = 0; - out_4332092747232242913[138] = 0; - out_4332092747232242913[139] = 0; - out_4332092747232242913[140] = 0; - out_4332092747232242913[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_4332092747232242913[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); - out_4332092747232242913[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); - out_4332092747232242913[144] = 0; - out_4332092747232242913[145] = 0; - out_4332092747232242913[146] = 0; - out_4332092747232242913[147] = 0; - out_4332092747232242913[148] = 0; - out_4332092747232242913[149] = 0; - out_4332092747232242913[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_4332092747232242913[151] = 0; - out_4332092747232242913[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_4332092747232242913[153] = 0; - out_4332092747232242913[154] = 1; - out_4332092747232242913[155] = 0; - out_4332092747232242913[156] = 0; - out_4332092747232242913[157] = 0; - out_4332092747232242913[158] = 0; - out_4332092747232242913[159] = 0; - out_4332092747232242913[160] = 0; - out_4332092747232242913[161] = 0; - out_4332092747232242913[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); - out_4332092747232242913[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_4332092747232242913[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); - out_4332092747232242913[165] = 0; - out_4332092747232242913[166] = 0; - out_4332092747232242913[167] = 0; - out_4332092747232242913[168] = 0; - out_4332092747232242913[169] = 0; - out_4332092747232242913[170] = 0; - out_4332092747232242913[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_4332092747232242913[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_4332092747232242913[173] = 0; - out_4332092747232242913[174] = 0; - out_4332092747232242913[175] = 0; - out_4332092747232242913[176] = 1; - out_4332092747232242913[177] = 0; - out_4332092747232242913[178] = 0; - out_4332092747232242913[179] = 0; - out_4332092747232242913[180] = 0; - out_4332092747232242913[181] = 0; - out_4332092747232242913[182] = 0; - out_4332092747232242913[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); - out_4332092747232242913[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); - out_4332092747232242913[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_4332092747232242913[186] = 0; - out_4332092747232242913[187] = 0; - out_4332092747232242913[188] = 0; - out_4332092747232242913[189] = 0; - out_4332092747232242913[190] = 0; - out_4332092747232242913[191] = 0; - out_4332092747232242913[192] = 0; - out_4332092747232242913[193] = 0; - out_4332092747232242913[194] = 0; - out_4332092747232242913[195] = 0; - out_4332092747232242913[196] = 0; - out_4332092747232242913[197] = 0; - out_4332092747232242913[198] = 1; - out_4332092747232242913[199] = 0; - out_4332092747232242913[200] = 0; - out_4332092747232242913[201] = 0; - out_4332092747232242913[202] = 0; - out_4332092747232242913[203] = 0; - out_4332092747232242913[204] = 0; - out_4332092747232242913[205] = 0; - out_4332092747232242913[206] = 0; - out_4332092747232242913[207] = 0; - out_4332092747232242913[208] = 0; - out_4332092747232242913[209] = 0; - out_4332092747232242913[210] = 0; - out_4332092747232242913[211] = 0; - out_4332092747232242913[212] = 0; - out_4332092747232242913[213] = 0; - out_4332092747232242913[214] = 0; - out_4332092747232242913[215] = 0; - out_4332092747232242913[216] = 0; - out_4332092747232242913[217] = 0; - out_4332092747232242913[218] = 0; - out_4332092747232242913[219] = 0; - out_4332092747232242913[220] = 1; - out_4332092747232242913[221] = 0; - out_4332092747232242913[222] = 0; - out_4332092747232242913[223] = 0; - out_4332092747232242913[224] = 0; - out_4332092747232242913[225] = 0; - out_4332092747232242913[226] = 0; - out_4332092747232242913[227] = 0; - out_4332092747232242913[228] = 0; - out_4332092747232242913[229] = 0; - out_4332092747232242913[230] = 0; - out_4332092747232242913[231] = 0; - out_4332092747232242913[232] = 0; - out_4332092747232242913[233] = 0; - out_4332092747232242913[234] = 0; - out_4332092747232242913[235] = 0; - out_4332092747232242913[236] = 0; - out_4332092747232242913[237] = 0; - out_4332092747232242913[238] = 0; - out_4332092747232242913[239] = 0; - out_4332092747232242913[240] = 0; - out_4332092747232242913[241] = 0; - out_4332092747232242913[242] = 1; - out_4332092747232242913[243] = 0; - out_4332092747232242913[244] = 0; - out_4332092747232242913[245] = 0; - out_4332092747232242913[246] = 0; - out_4332092747232242913[247] = 0; - out_4332092747232242913[248] = 0; - out_4332092747232242913[249] = 0; - out_4332092747232242913[250] = 0; - out_4332092747232242913[251] = 0; - out_4332092747232242913[252] = 0; - out_4332092747232242913[253] = 0; - out_4332092747232242913[254] = 0; - out_4332092747232242913[255] = 0; - out_4332092747232242913[256] = 0; - out_4332092747232242913[257] = 0; - out_4332092747232242913[258] = 0; - out_4332092747232242913[259] = 0; - out_4332092747232242913[260] = 0; - out_4332092747232242913[261] = 0; - out_4332092747232242913[262] = 0; - out_4332092747232242913[263] = 0; - out_4332092747232242913[264] = 1; - out_4332092747232242913[265] = 0; - out_4332092747232242913[266] = 0; - out_4332092747232242913[267] = 0; - out_4332092747232242913[268] = 0; - out_4332092747232242913[269] = 0; - out_4332092747232242913[270] = 0; - out_4332092747232242913[271] = 0; - out_4332092747232242913[272] = 0; - out_4332092747232242913[273] = 0; - out_4332092747232242913[274] = 0; - out_4332092747232242913[275] = 0; - out_4332092747232242913[276] = 0; - out_4332092747232242913[277] = 0; - out_4332092747232242913[278] = 0; - out_4332092747232242913[279] = 0; - out_4332092747232242913[280] = 0; - out_4332092747232242913[281] = 0; - out_4332092747232242913[282] = 0; - out_4332092747232242913[283] = 0; - out_4332092747232242913[284] = 0; - out_4332092747232242913[285] = 0; - out_4332092747232242913[286] = 1; - out_4332092747232242913[287] = 0; - out_4332092747232242913[288] = 0; - out_4332092747232242913[289] = 0; - out_4332092747232242913[290] = 0; - out_4332092747232242913[291] = 0; - out_4332092747232242913[292] = 0; - out_4332092747232242913[293] = 0; - out_4332092747232242913[294] = 0; - out_4332092747232242913[295] = 0; - out_4332092747232242913[296] = 0; - out_4332092747232242913[297] = 0; - out_4332092747232242913[298] = 0; - out_4332092747232242913[299] = 0; - out_4332092747232242913[300] = 0; - out_4332092747232242913[301] = 0; - out_4332092747232242913[302] = 0; - out_4332092747232242913[303] = 0; - out_4332092747232242913[304] = 0; - out_4332092747232242913[305] = 0; - out_4332092747232242913[306] = 0; - out_4332092747232242913[307] = 0; - out_4332092747232242913[308] = 1; - out_4332092747232242913[309] = 0; - out_4332092747232242913[310] = 0; - out_4332092747232242913[311] = 0; - out_4332092747232242913[312] = 0; - out_4332092747232242913[313] = 0; - out_4332092747232242913[314] = 0; - out_4332092747232242913[315] = 0; - out_4332092747232242913[316] = 0; - out_4332092747232242913[317] = 0; - out_4332092747232242913[318] = 0; - out_4332092747232242913[319] = 0; - out_4332092747232242913[320] = 0; - out_4332092747232242913[321] = 0; - out_4332092747232242913[322] = 0; - out_4332092747232242913[323] = 0; - out_4332092747232242913[324] = 0; - out_4332092747232242913[325] = 0; - out_4332092747232242913[326] = 0; - out_4332092747232242913[327] = 0; - out_4332092747232242913[328] = 0; - out_4332092747232242913[329] = 0; - out_4332092747232242913[330] = 1; - out_4332092747232242913[331] = 0; - out_4332092747232242913[332] = 0; - out_4332092747232242913[333] = 0; - out_4332092747232242913[334] = 0; - out_4332092747232242913[335] = 0; - out_4332092747232242913[336] = 0; - out_4332092747232242913[337] = 0; - out_4332092747232242913[338] = 0; - out_4332092747232242913[339] = 0; - out_4332092747232242913[340] = 0; - out_4332092747232242913[341] = 0; - out_4332092747232242913[342] = 0; - out_4332092747232242913[343] = 0; - out_4332092747232242913[344] = 0; - out_4332092747232242913[345] = 0; - out_4332092747232242913[346] = 0; - out_4332092747232242913[347] = 0; - out_4332092747232242913[348] = 0; - out_4332092747232242913[349] = 0; - out_4332092747232242913[350] = 0; - out_4332092747232242913[351] = 0; - out_4332092747232242913[352] = 1; - out_4332092747232242913[353] = 0; - out_4332092747232242913[354] = 0; - out_4332092747232242913[355] = 0; - out_4332092747232242913[356] = 0; - out_4332092747232242913[357] = 0; - out_4332092747232242913[358] = 0; - out_4332092747232242913[359] = 0; - out_4332092747232242913[360] = 0; - out_4332092747232242913[361] = 0; - out_4332092747232242913[362] = 0; - out_4332092747232242913[363] = 0; - out_4332092747232242913[364] = 0; - out_4332092747232242913[365] = 0; - out_4332092747232242913[366] = 0; - out_4332092747232242913[367] = 0; - out_4332092747232242913[368] = 0; - out_4332092747232242913[369] = 0; - out_4332092747232242913[370] = 0; - out_4332092747232242913[371] = 0; - out_4332092747232242913[372] = 0; - out_4332092747232242913[373] = 0; - out_4332092747232242913[374] = 1; - out_4332092747232242913[375] = 0; - out_4332092747232242913[376] = 0; - out_4332092747232242913[377] = 0; - out_4332092747232242913[378] = 0; - out_4332092747232242913[379] = 0; - out_4332092747232242913[380] = 0; - out_4332092747232242913[381] = 0; - out_4332092747232242913[382] = 0; - out_4332092747232242913[383] = 0; - out_4332092747232242913[384] = 0; - out_4332092747232242913[385] = 0; - out_4332092747232242913[386] = 0; - out_4332092747232242913[387] = 0; - out_4332092747232242913[388] = 0; - out_4332092747232242913[389] = 0; - out_4332092747232242913[390] = 0; - out_4332092747232242913[391] = 0; - out_4332092747232242913[392] = 0; - out_4332092747232242913[393] = 0; - out_4332092747232242913[394] = 0; - out_4332092747232242913[395] = 0; - out_4332092747232242913[396] = 1; - out_4332092747232242913[397] = 0; - out_4332092747232242913[398] = 0; - out_4332092747232242913[399] = 0; - out_4332092747232242913[400] = 0; - out_4332092747232242913[401] = 0; - out_4332092747232242913[402] = 0; - out_4332092747232242913[403] = 0; - out_4332092747232242913[404] = 0; - out_4332092747232242913[405] = 0; - out_4332092747232242913[406] = 0; - out_4332092747232242913[407] = 0; - out_4332092747232242913[408] = 0; - out_4332092747232242913[409] = 0; - out_4332092747232242913[410] = 0; - out_4332092747232242913[411] = 0; - out_4332092747232242913[412] = 0; - out_4332092747232242913[413] = 0; - out_4332092747232242913[414] = 0; - out_4332092747232242913[415] = 0; - out_4332092747232242913[416] = 0; - out_4332092747232242913[417] = 0; - out_4332092747232242913[418] = 1; - out_4332092747232242913[419] = 0; - out_4332092747232242913[420] = 0; - out_4332092747232242913[421] = 0; - out_4332092747232242913[422] = 0; - out_4332092747232242913[423] = 0; - out_4332092747232242913[424] = 0; - out_4332092747232242913[425] = 0; - out_4332092747232242913[426] = 0; - out_4332092747232242913[427] = 0; - out_4332092747232242913[428] = 0; - out_4332092747232242913[429] = 0; - out_4332092747232242913[430] = 0; - out_4332092747232242913[431] = 0; - out_4332092747232242913[432] = 0; - out_4332092747232242913[433] = 0; - out_4332092747232242913[434] = 0; - out_4332092747232242913[435] = 0; - out_4332092747232242913[436] = 0; - out_4332092747232242913[437] = 0; - out_4332092747232242913[438] = 0; - out_4332092747232242913[439] = 0; - out_4332092747232242913[440] = 1; +void F_fun(double *state, double dt, double *out_6716422747633413136) { + out_6716422747633413136[0] = 1; + out_6716422747633413136[1] = 0; + out_6716422747633413136[2] = 0; + out_6716422747633413136[3] = 0; + out_6716422747633413136[4] = 0; + out_6716422747633413136[5] = 0; + out_6716422747633413136[6] = dt; + out_6716422747633413136[7] = 0; + out_6716422747633413136[8] = 0; + out_6716422747633413136[9] = 0; + out_6716422747633413136[10] = 0; + out_6716422747633413136[11] = 0; + out_6716422747633413136[12] = 0; + out_6716422747633413136[13] = 0; + out_6716422747633413136[14] = 0; + out_6716422747633413136[15] = 0; + out_6716422747633413136[16] = 0; + out_6716422747633413136[17] = 0; + out_6716422747633413136[18] = 0; + out_6716422747633413136[19] = 0; + out_6716422747633413136[20] = 0; + out_6716422747633413136[21] = 0; + out_6716422747633413136[22] = 1; + out_6716422747633413136[23] = 0; + out_6716422747633413136[24] = 0; + out_6716422747633413136[25] = 0; + out_6716422747633413136[26] = 0; + out_6716422747633413136[27] = 0; + out_6716422747633413136[28] = dt; + out_6716422747633413136[29] = 0; + out_6716422747633413136[30] = 0; + out_6716422747633413136[31] = 0; + out_6716422747633413136[32] = 0; + out_6716422747633413136[33] = 0; + out_6716422747633413136[34] = 0; + out_6716422747633413136[35] = 0; + out_6716422747633413136[36] = 0; + out_6716422747633413136[37] = 0; + out_6716422747633413136[38] = 0; + out_6716422747633413136[39] = 0; + out_6716422747633413136[40] = 0; + out_6716422747633413136[41] = 0; + out_6716422747633413136[42] = 0; + out_6716422747633413136[43] = 0; + out_6716422747633413136[44] = 1; + out_6716422747633413136[45] = 0; + out_6716422747633413136[46] = 0; + out_6716422747633413136[47] = 0; + out_6716422747633413136[48] = 0; + out_6716422747633413136[49] = 0; + out_6716422747633413136[50] = dt; + out_6716422747633413136[51] = 0; + out_6716422747633413136[52] = 0; + out_6716422747633413136[53] = 0; + out_6716422747633413136[54] = 0; + out_6716422747633413136[55] = 0; + out_6716422747633413136[56] = 0; + out_6716422747633413136[57] = 0; + out_6716422747633413136[58] = 0; + out_6716422747633413136[59] = 0; + out_6716422747633413136[60] = 0; + out_6716422747633413136[61] = 0; + out_6716422747633413136[62] = 0; + out_6716422747633413136[63] = 0; + out_6716422747633413136[64] = 0; + out_6716422747633413136[65] = 0; + out_6716422747633413136[66] = 1; + out_6716422747633413136[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_6716422747633413136[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_6716422747633413136[69] = 0; + out_6716422747633413136[70] = 0; + out_6716422747633413136[71] = 0; + out_6716422747633413136[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_6716422747633413136[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_6716422747633413136[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_6716422747633413136[75] = 0; + out_6716422747633413136[76] = 0; + out_6716422747633413136[77] = 0; + out_6716422747633413136[78] = 0; + out_6716422747633413136[79] = 0; + out_6716422747633413136[80] = 0; + out_6716422747633413136[81] = 0; + out_6716422747633413136[82] = 0; + out_6716422747633413136[83] = 0; + out_6716422747633413136[84] = 0; + out_6716422747633413136[85] = 0; + out_6716422747633413136[86] = 0; + out_6716422747633413136[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_6716422747633413136[88] = 1; + out_6716422747633413136[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_6716422747633413136[90] = 0; + out_6716422747633413136[91] = 0; + out_6716422747633413136[92] = 0; + out_6716422747633413136[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_6716422747633413136[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_6716422747633413136[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_6716422747633413136[96] = 0; + out_6716422747633413136[97] = 0; + out_6716422747633413136[98] = 0; + out_6716422747633413136[99] = 0; + out_6716422747633413136[100] = 0; + out_6716422747633413136[101] = 0; + out_6716422747633413136[102] = 0; + out_6716422747633413136[103] = 0; + out_6716422747633413136[104] = 0; + out_6716422747633413136[105] = 0; + out_6716422747633413136[106] = 0; + out_6716422747633413136[107] = 0; + out_6716422747633413136[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_6716422747633413136[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_6716422747633413136[110] = 1; + out_6716422747633413136[111] = 0; + out_6716422747633413136[112] = 0; + out_6716422747633413136[113] = 0; + out_6716422747633413136[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_6716422747633413136[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_6716422747633413136[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_6716422747633413136[117] = 0; + out_6716422747633413136[118] = 0; + out_6716422747633413136[119] = 0; + out_6716422747633413136[120] = 0; + out_6716422747633413136[121] = 0; + out_6716422747633413136[122] = 0; + out_6716422747633413136[123] = 0; + out_6716422747633413136[124] = 0; + out_6716422747633413136[125] = 0; + out_6716422747633413136[126] = 0; + out_6716422747633413136[127] = 0; + out_6716422747633413136[128] = 0; + out_6716422747633413136[129] = 0; + out_6716422747633413136[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_6716422747633413136[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_6716422747633413136[132] = 1; + out_6716422747633413136[133] = 0; + out_6716422747633413136[134] = 0; + out_6716422747633413136[135] = 0; + out_6716422747633413136[136] = 0; + out_6716422747633413136[137] = 0; + out_6716422747633413136[138] = 0; + out_6716422747633413136[139] = 0; + out_6716422747633413136[140] = 0; + out_6716422747633413136[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_6716422747633413136[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_6716422747633413136[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_6716422747633413136[144] = 0; + out_6716422747633413136[145] = 0; + out_6716422747633413136[146] = 0; + out_6716422747633413136[147] = 0; + out_6716422747633413136[148] = 0; + out_6716422747633413136[149] = 0; + out_6716422747633413136[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_6716422747633413136[151] = 0; + out_6716422747633413136[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_6716422747633413136[153] = 0; + out_6716422747633413136[154] = 1; + out_6716422747633413136[155] = 0; + out_6716422747633413136[156] = 0; + out_6716422747633413136[157] = 0; + out_6716422747633413136[158] = 0; + out_6716422747633413136[159] = 0; + out_6716422747633413136[160] = 0; + out_6716422747633413136[161] = 0; + out_6716422747633413136[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_6716422747633413136[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_6716422747633413136[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_6716422747633413136[165] = 0; + out_6716422747633413136[166] = 0; + out_6716422747633413136[167] = 0; + out_6716422747633413136[168] = 0; + out_6716422747633413136[169] = 0; + out_6716422747633413136[170] = 0; + out_6716422747633413136[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_6716422747633413136[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_6716422747633413136[173] = 0; + out_6716422747633413136[174] = 0; + out_6716422747633413136[175] = 0; + out_6716422747633413136[176] = 1; + out_6716422747633413136[177] = 0; + out_6716422747633413136[178] = 0; + out_6716422747633413136[179] = 0; + out_6716422747633413136[180] = 0; + out_6716422747633413136[181] = 0; + out_6716422747633413136[182] = 0; + out_6716422747633413136[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_6716422747633413136[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_6716422747633413136[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_6716422747633413136[186] = 0; + out_6716422747633413136[187] = 0; + out_6716422747633413136[188] = 0; + out_6716422747633413136[189] = 0; + out_6716422747633413136[190] = 0; + out_6716422747633413136[191] = 0; + out_6716422747633413136[192] = 0; + out_6716422747633413136[193] = 0; + out_6716422747633413136[194] = 0; + out_6716422747633413136[195] = 0; + out_6716422747633413136[196] = 0; + out_6716422747633413136[197] = 0; + out_6716422747633413136[198] = 1; + out_6716422747633413136[199] = 0; + out_6716422747633413136[200] = 0; + out_6716422747633413136[201] = 0; + out_6716422747633413136[202] = 0; + out_6716422747633413136[203] = 0; + out_6716422747633413136[204] = 0; + out_6716422747633413136[205] = 0; + out_6716422747633413136[206] = 0; + out_6716422747633413136[207] = 0; + out_6716422747633413136[208] = 0; + out_6716422747633413136[209] = 0; + out_6716422747633413136[210] = 0; + out_6716422747633413136[211] = 0; + out_6716422747633413136[212] = 0; + out_6716422747633413136[213] = 0; + out_6716422747633413136[214] = 0; + out_6716422747633413136[215] = 0; + out_6716422747633413136[216] = 0; + out_6716422747633413136[217] = 0; + out_6716422747633413136[218] = 0; + out_6716422747633413136[219] = 0; + out_6716422747633413136[220] = 1; + out_6716422747633413136[221] = 0; + out_6716422747633413136[222] = 0; + out_6716422747633413136[223] = 0; + out_6716422747633413136[224] = 0; + out_6716422747633413136[225] = 0; + out_6716422747633413136[226] = 0; + out_6716422747633413136[227] = 0; + out_6716422747633413136[228] = 0; + out_6716422747633413136[229] = 0; + out_6716422747633413136[230] = 0; + out_6716422747633413136[231] = 0; + out_6716422747633413136[232] = 0; + out_6716422747633413136[233] = 0; + out_6716422747633413136[234] = 0; + out_6716422747633413136[235] = 0; + out_6716422747633413136[236] = 0; + out_6716422747633413136[237] = 0; + out_6716422747633413136[238] = 0; + out_6716422747633413136[239] = 0; + out_6716422747633413136[240] = 0; + out_6716422747633413136[241] = 0; + out_6716422747633413136[242] = 1; + out_6716422747633413136[243] = 0; + out_6716422747633413136[244] = 0; + out_6716422747633413136[245] = 0; + out_6716422747633413136[246] = 0; + out_6716422747633413136[247] = 0; + out_6716422747633413136[248] = 0; + out_6716422747633413136[249] = 0; + out_6716422747633413136[250] = 0; + out_6716422747633413136[251] = 0; + out_6716422747633413136[252] = 0; + out_6716422747633413136[253] = 0; + out_6716422747633413136[254] = 0; + out_6716422747633413136[255] = 0; + out_6716422747633413136[256] = 0; + out_6716422747633413136[257] = 0; + out_6716422747633413136[258] = 0; + out_6716422747633413136[259] = 0; + out_6716422747633413136[260] = 0; + out_6716422747633413136[261] = 0; + out_6716422747633413136[262] = 0; + out_6716422747633413136[263] = 0; + out_6716422747633413136[264] = 1; + out_6716422747633413136[265] = 0; + out_6716422747633413136[266] = 0; + out_6716422747633413136[267] = 0; + out_6716422747633413136[268] = 0; + out_6716422747633413136[269] = 0; + out_6716422747633413136[270] = 0; + out_6716422747633413136[271] = 0; + out_6716422747633413136[272] = 0; + out_6716422747633413136[273] = 0; + out_6716422747633413136[274] = 0; + out_6716422747633413136[275] = 0; + out_6716422747633413136[276] = 0; + out_6716422747633413136[277] = 0; + out_6716422747633413136[278] = 0; + out_6716422747633413136[279] = 0; + out_6716422747633413136[280] = 0; + out_6716422747633413136[281] = 0; + out_6716422747633413136[282] = 0; + out_6716422747633413136[283] = 0; + out_6716422747633413136[284] = 0; + out_6716422747633413136[285] = 0; + out_6716422747633413136[286] = 1; + out_6716422747633413136[287] = 0; + out_6716422747633413136[288] = 0; + out_6716422747633413136[289] = 0; + out_6716422747633413136[290] = 0; + out_6716422747633413136[291] = 0; + out_6716422747633413136[292] = 0; + out_6716422747633413136[293] = 0; + out_6716422747633413136[294] = 0; + out_6716422747633413136[295] = 0; + out_6716422747633413136[296] = 0; + out_6716422747633413136[297] = 0; + out_6716422747633413136[298] = 0; + out_6716422747633413136[299] = 0; + out_6716422747633413136[300] = 0; + out_6716422747633413136[301] = 0; + out_6716422747633413136[302] = 0; + out_6716422747633413136[303] = 0; + out_6716422747633413136[304] = 0; + out_6716422747633413136[305] = 0; + out_6716422747633413136[306] = 0; + out_6716422747633413136[307] = 0; + out_6716422747633413136[308] = 1; + out_6716422747633413136[309] = 0; + out_6716422747633413136[310] = 0; + out_6716422747633413136[311] = 0; + out_6716422747633413136[312] = 0; + out_6716422747633413136[313] = 0; + out_6716422747633413136[314] = 0; + out_6716422747633413136[315] = 0; + out_6716422747633413136[316] = 0; + out_6716422747633413136[317] = 0; + out_6716422747633413136[318] = 0; + out_6716422747633413136[319] = 0; + out_6716422747633413136[320] = 0; + out_6716422747633413136[321] = 0; + out_6716422747633413136[322] = 0; + out_6716422747633413136[323] = 0; + out_6716422747633413136[324] = 0; + out_6716422747633413136[325] = 0; + out_6716422747633413136[326] = 0; + out_6716422747633413136[327] = 0; + out_6716422747633413136[328] = 0; + out_6716422747633413136[329] = 0; + out_6716422747633413136[330] = 1; + out_6716422747633413136[331] = 0; + out_6716422747633413136[332] = 0; + out_6716422747633413136[333] = 0; + out_6716422747633413136[334] = 0; + out_6716422747633413136[335] = 0; + out_6716422747633413136[336] = 0; + out_6716422747633413136[337] = 0; + out_6716422747633413136[338] = 0; + out_6716422747633413136[339] = 0; + out_6716422747633413136[340] = 0; + out_6716422747633413136[341] = 0; + out_6716422747633413136[342] = 0; + out_6716422747633413136[343] = 0; + out_6716422747633413136[344] = 0; + out_6716422747633413136[345] = 0; + out_6716422747633413136[346] = 0; + out_6716422747633413136[347] = 0; + out_6716422747633413136[348] = 0; + out_6716422747633413136[349] = 0; + out_6716422747633413136[350] = 0; + out_6716422747633413136[351] = 0; + out_6716422747633413136[352] = 1; + out_6716422747633413136[353] = 0; + out_6716422747633413136[354] = 0; + out_6716422747633413136[355] = 0; + out_6716422747633413136[356] = 0; + out_6716422747633413136[357] = 0; + out_6716422747633413136[358] = 0; + out_6716422747633413136[359] = 0; + out_6716422747633413136[360] = 0; + out_6716422747633413136[361] = 0; + out_6716422747633413136[362] = 0; + out_6716422747633413136[363] = 0; + out_6716422747633413136[364] = 0; + out_6716422747633413136[365] = 0; + out_6716422747633413136[366] = 0; + out_6716422747633413136[367] = 0; + out_6716422747633413136[368] = 0; + out_6716422747633413136[369] = 0; + out_6716422747633413136[370] = 0; + out_6716422747633413136[371] = 0; + out_6716422747633413136[372] = 0; + out_6716422747633413136[373] = 0; + out_6716422747633413136[374] = 1; + out_6716422747633413136[375] = 0; + out_6716422747633413136[376] = 0; + out_6716422747633413136[377] = 0; + out_6716422747633413136[378] = 0; + out_6716422747633413136[379] = 0; + out_6716422747633413136[380] = 0; + out_6716422747633413136[381] = 0; + out_6716422747633413136[382] = 0; + out_6716422747633413136[383] = 0; + out_6716422747633413136[384] = 0; + out_6716422747633413136[385] = 0; + out_6716422747633413136[386] = 0; + out_6716422747633413136[387] = 0; + out_6716422747633413136[388] = 0; + out_6716422747633413136[389] = 0; + out_6716422747633413136[390] = 0; + out_6716422747633413136[391] = 0; + out_6716422747633413136[392] = 0; + out_6716422747633413136[393] = 0; + out_6716422747633413136[394] = 0; + out_6716422747633413136[395] = 0; + out_6716422747633413136[396] = 1; + out_6716422747633413136[397] = 0; + out_6716422747633413136[398] = 0; + out_6716422747633413136[399] = 0; + out_6716422747633413136[400] = 0; + out_6716422747633413136[401] = 0; + out_6716422747633413136[402] = 0; + out_6716422747633413136[403] = 0; + out_6716422747633413136[404] = 0; + out_6716422747633413136[405] = 0; + out_6716422747633413136[406] = 0; + out_6716422747633413136[407] = 0; + out_6716422747633413136[408] = 0; + out_6716422747633413136[409] = 0; + out_6716422747633413136[410] = 0; + out_6716422747633413136[411] = 0; + out_6716422747633413136[412] = 0; + out_6716422747633413136[413] = 0; + out_6716422747633413136[414] = 0; + out_6716422747633413136[415] = 0; + out_6716422747633413136[416] = 0; + out_6716422747633413136[417] = 0; + out_6716422747633413136[418] = 1; + out_6716422747633413136[419] = 0; + out_6716422747633413136[420] = 0; + out_6716422747633413136[421] = 0; + out_6716422747633413136[422] = 0; + out_6716422747633413136[423] = 0; + out_6716422747633413136[424] = 0; + out_6716422747633413136[425] = 0; + out_6716422747633413136[426] = 0; + out_6716422747633413136[427] = 0; + out_6716422747633413136[428] = 0; + out_6716422747633413136[429] = 0; + out_6716422747633413136[430] = 0; + out_6716422747633413136[431] = 0; + out_6716422747633413136[432] = 0; + out_6716422747633413136[433] = 0; + out_6716422747633413136[434] = 0; + out_6716422747633413136[435] = 0; + out_6716422747633413136[436] = 0; + out_6716422747633413136[437] = 0; + out_6716422747633413136[438] = 0; + out_6716422747633413136[439] = 0; + out_6716422747633413136[440] = 1; } -void h_4(double *state, double *unused, double *out_6582152946104087701) { - out_6582152946104087701[0] = state[10] + state[13]; - out_6582152946104087701[1] = state[11] + state[14]; - out_6582152946104087701[2] = state[12] + state[15]; +void h_4(double *state, double *unused, double *out_7766204740505938751) { + out_7766204740505938751[0] = state[10] + state[13]; + out_7766204740505938751[1] = state[11] + state[14]; + out_7766204740505938751[2] = state[12] + state[15]; } -void H_4(double *state, double *unused, double *out_8426954437225368770) { - out_8426954437225368770[0] = 0; - out_8426954437225368770[1] = 0; - out_8426954437225368770[2] = 0; - out_8426954437225368770[3] = 0; - out_8426954437225368770[4] = 0; - out_8426954437225368770[5] = 0; - out_8426954437225368770[6] = 0; - out_8426954437225368770[7] = 0; - out_8426954437225368770[8] = 0; - out_8426954437225368770[9] = 0; - out_8426954437225368770[10] = 1; - out_8426954437225368770[11] = 0; - out_8426954437225368770[12] = 0; - out_8426954437225368770[13] = 1; - out_8426954437225368770[14] = 0; - out_8426954437225368770[15] = 0; - out_8426954437225368770[16] = 0; - out_8426954437225368770[17] = 0; - out_8426954437225368770[18] = 0; - out_8426954437225368770[19] = 0; - out_8426954437225368770[20] = 0; - out_8426954437225368770[21] = 0; - out_8426954437225368770[22] = 0; - out_8426954437225368770[23] = 0; - out_8426954437225368770[24] = 0; - out_8426954437225368770[25] = 0; - out_8426954437225368770[26] = 0; - out_8426954437225368770[27] = 0; - out_8426954437225368770[28] = 0; - out_8426954437225368770[29] = 0; - out_8426954437225368770[30] = 0; - out_8426954437225368770[31] = 0; - out_8426954437225368770[32] = 0; - out_8426954437225368770[33] = 1; - out_8426954437225368770[34] = 0; - out_8426954437225368770[35] = 0; - out_8426954437225368770[36] = 1; - out_8426954437225368770[37] = 0; - out_8426954437225368770[38] = 0; - out_8426954437225368770[39] = 0; - out_8426954437225368770[40] = 0; - out_8426954437225368770[41] = 0; - out_8426954437225368770[42] = 0; - out_8426954437225368770[43] = 0; - out_8426954437225368770[44] = 0; - out_8426954437225368770[45] = 0; - out_8426954437225368770[46] = 0; - out_8426954437225368770[47] = 0; - out_8426954437225368770[48] = 0; - out_8426954437225368770[49] = 0; - out_8426954437225368770[50] = 0; - out_8426954437225368770[51] = 0; - out_8426954437225368770[52] = 0; - out_8426954437225368770[53] = 0; - out_8426954437225368770[54] = 0; - out_8426954437225368770[55] = 0; - out_8426954437225368770[56] = 1; - out_8426954437225368770[57] = 0; - out_8426954437225368770[58] = 0; - out_8426954437225368770[59] = 1; - out_8426954437225368770[60] = 0; - out_8426954437225368770[61] = 0; - out_8426954437225368770[62] = 0; - out_8426954437225368770[63] = 0; - out_8426954437225368770[64] = 0; - out_8426954437225368770[65] = 0; +void H_4(double *state, double *unused, double *out_5987995952750113477) { + out_5987995952750113477[0] = 0; + out_5987995952750113477[1] = 0; + out_5987995952750113477[2] = 0; + out_5987995952750113477[3] = 0; + out_5987995952750113477[4] = 0; + out_5987995952750113477[5] = 0; + out_5987995952750113477[6] = 0; + out_5987995952750113477[7] = 0; + out_5987995952750113477[8] = 0; + out_5987995952750113477[9] = 0; + out_5987995952750113477[10] = 1; + out_5987995952750113477[11] = 0; + out_5987995952750113477[12] = 0; + out_5987995952750113477[13] = 1; + out_5987995952750113477[14] = 0; + out_5987995952750113477[15] = 0; + out_5987995952750113477[16] = 0; + out_5987995952750113477[17] = 0; + out_5987995952750113477[18] = 0; + out_5987995952750113477[19] = 0; + out_5987995952750113477[20] = 0; + out_5987995952750113477[21] = 0; + out_5987995952750113477[22] = 0; + out_5987995952750113477[23] = 0; + out_5987995952750113477[24] = 0; + out_5987995952750113477[25] = 0; + out_5987995952750113477[26] = 0; + out_5987995952750113477[27] = 0; + out_5987995952750113477[28] = 0; + out_5987995952750113477[29] = 0; + out_5987995952750113477[30] = 0; + out_5987995952750113477[31] = 0; + out_5987995952750113477[32] = 0; + out_5987995952750113477[33] = 1; + out_5987995952750113477[34] = 0; + out_5987995952750113477[35] = 0; + out_5987995952750113477[36] = 1; + out_5987995952750113477[37] = 0; + out_5987995952750113477[38] = 0; + out_5987995952750113477[39] = 0; + out_5987995952750113477[40] = 0; + out_5987995952750113477[41] = 0; + out_5987995952750113477[42] = 0; + out_5987995952750113477[43] = 0; + out_5987995952750113477[44] = 0; + out_5987995952750113477[45] = 0; + out_5987995952750113477[46] = 0; + out_5987995952750113477[47] = 0; + out_5987995952750113477[48] = 0; + out_5987995952750113477[49] = 0; + out_5987995952750113477[50] = 0; + out_5987995952750113477[51] = 0; + out_5987995952750113477[52] = 0; + out_5987995952750113477[53] = 0; + out_5987995952750113477[54] = 0; + out_5987995952750113477[55] = 0; + out_5987995952750113477[56] = 1; + out_5987995952750113477[57] = 0; + out_5987995952750113477[58] = 0; + out_5987995952750113477[59] = 1; + out_5987995952750113477[60] = 0; + out_5987995952750113477[61] = 0; + out_5987995952750113477[62] = 0; + out_5987995952750113477[63] = 0; + out_5987995952750113477[64] = 0; + out_5987995952750113477[65] = 0; } -void h_9(double *state, double *unused, double *out_7444569565063482614) { - out_7444569565063482614[0] = state[10]; - out_7444569565063482614[1] = state[11]; - out_7444569565063482614[2] = state[12]; +void h_9(double *state, double *unused, double *out_2388230207696517986) { + out_2388230207696517986[0] = state[10]; + out_2388230207696517986[1] = state[11]; + out_2388230207696517986[2] = state[12]; } -void H_9(double *state, double *unused, double *out_7130928084204103504) { - out_7130928084204103504[0] = 0; - out_7130928084204103504[1] = 0; - out_7130928084204103504[2] = 0; - out_7130928084204103504[3] = 0; - out_7130928084204103504[4] = 0; - out_7130928084204103504[5] = 0; - out_7130928084204103504[6] = 0; - out_7130928084204103504[7] = 0; - out_7130928084204103504[8] = 0; - out_7130928084204103504[9] = 0; - out_7130928084204103504[10] = 1; - out_7130928084204103504[11] = 0; - out_7130928084204103504[12] = 0; - out_7130928084204103504[13] = 0; - out_7130928084204103504[14] = 0; - out_7130928084204103504[15] = 0; - out_7130928084204103504[16] = 0; - out_7130928084204103504[17] = 0; - out_7130928084204103504[18] = 0; - out_7130928084204103504[19] = 0; - out_7130928084204103504[20] = 0; - out_7130928084204103504[21] = 0; - out_7130928084204103504[22] = 0; - out_7130928084204103504[23] = 0; - out_7130928084204103504[24] = 0; - out_7130928084204103504[25] = 0; - out_7130928084204103504[26] = 0; - out_7130928084204103504[27] = 0; - out_7130928084204103504[28] = 0; - out_7130928084204103504[29] = 0; - out_7130928084204103504[30] = 0; - out_7130928084204103504[31] = 0; - out_7130928084204103504[32] = 0; - out_7130928084204103504[33] = 1; - out_7130928084204103504[34] = 0; - out_7130928084204103504[35] = 0; - out_7130928084204103504[36] = 0; - out_7130928084204103504[37] = 0; - out_7130928084204103504[38] = 0; - out_7130928084204103504[39] = 0; - out_7130928084204103504[40] = 0; - out_7130928084204103504[41] = 0; - out_7130928084204103504[42] = 0; - out_7130928084204103504[43] = 0; - out_7130928084204103504[44] = 0; - out_7130928084204103504[45] = 0; - out_7130928084204103504[46] = 0; - out_7130928084204103504[47] = 0; - out_7130928084204103504[48] = 0; - out_7130928084204103504[49] = 0; - out_7130928084204103504[50] = 0; - out_7130928084204103504[51] = 0; - out_7130928084204103504[52] = 0; - out_7130928084204103504[53] = 0; - out_7130928084204103504[54] = 0; - out_7130928084204103504[55] = 0; - out_7130928084204103504[56] = 1; - out_7130928084204103504[57] = 0; - out_7130928084204103504[58] = 0; - out_7130928084204103504[59] = 0; - out_7130928084204103504[60] = 0; - out_7130928084204103504[61] = 0; - out_7130928084204103504[62] = 0; - out_7130928084204103504[63] = 0; - out_7130928084204103504[64] = 0; - out_7130928084204103504[65] = 0; +void H_9(double *state, double *unused, double *out_6229185599379704122) { + out_6229185599379704122[0] = 0; + out_6229185599379704122[1] = 0; + out_6229185599379704122[2] = 0; + out_6229185599379704122[3] = 0; + out_6229185599379704122[4] = 0; + out_6229185599379704122[5] = 0; + out_6229185599379704122[6] = 0; + out_6229185599379704122[7] = 0; + out_6229185599379704122[8] = 0; + out_6229185599379704122[9] = 0; + out_6229185599379704122[10] = 1; + out_6229185599379704122[11] = 0; + out_6229185599379704122[12] = 0; + out_6229185599379704122[13] = 0; + out_6229185599379704122[14] = 0; + out_6229185599379704122[15] = 0; + out_6229185599379704122[16] = 0; + out_6229185599379704122[17] = 0; + out_6229185599379704122[18] = 0; + out_6229185599379704122[19] = 0; + out_6229185599379704122[20] = 0; + out_6229185599379704122[21] = 0; + out_6229185599379704122[22] = 0; + out_6229185599379704122[23] = 0; + out_6229185599379704122[24] = 0; + out_6229185599379704122[25] = 0; + out_6229185599379704122[26] = 0; + out_6229185599379704122[27] = 0; + out_6229185599379704122[28] = 0; + out_6229185599379704122[29] = 0; + out_6229185599379704122[30] = 0; + out_6229185599379704122[31] = 0; + out_6229185599379704122[32] = 0; + out_6229185599379704122[33] = 1; + out_6229185599379704122[34] = 0; + out_6229185599379704122[35] = 0; + out_6229185599379704122[36] = 0; + out_6229185599379704122[37] = 0; + out_6229185599379704122[38] = 0; + out_6229185599379704122[39] = 0; + out_6229185599379704122[40] = 0; + out_6229185599379704122[41] = 0; + out_6229185599379704122[42] = 0; + out_6229185599379704122[43] = 0; + out_6229185599379704122[44] = 0; + out_6229185599379704122[45] = 0; + out_6229185599379704122[46] = 0; + out_6229185599379704122[47] = 0; + out_6229185599379704122[48] = 0; + out_6229185599379704122[49] = 0; + out_6229185599379704122[50] = 0; + out_6229185599379704122[51] = 0; + out_6229185599379704122[52] = 0; + out_6229185599379704122[53] = 0; + out_6229185599379704122[54] = 0; + out_6229185599379704122[55] = 0; + out_6229185599379704122[56] = 1; + out_6229185599379704122[57] = 0; + out_6229185599379704122[58] = 0; + out_6229185599379704122[59] = 0; + out_6229185599379704122[60] = 0; + out_6229185599379704122[61] = 0; + out_6229185599379704122[62] = 0; + out_6229185599379704122[63] = 0; + out_6229185599379704122[64] = 0; + out_6229185599379704122[65] = 0; } -void h_10(double *state, double *unused, double *out_1939752611965379146) { - out_1939752611965379146[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_1939752611965379146[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_1939752611965379146[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_9053893872496357561) { + out_9053893872496357561[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_9053893872496357561[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_9053893872496357561[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_6385265893824183484) { - out_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[7] = 0; - out_6385265893824183484[8] = 0; - out_6385265893824183484[9] = 0; - out_6385265893824183484[10] = 0; - out_6385265893824183484[11] = 0; - out_6385265893824183484[12] = 0; - out_6385265893824183484[13] = 0; - out_6385265893824183484[14] = 0; - out_6385265893824183484[15] = 0; - out_6385265893824183484[16] = 1; - out_6385265893824183484[17] = 0; - out_6385265893824183484[18] = 0; - out_6385265893824183484[19] = 1; - out_6385265893824183484[20] = 0; - out_6385265893824183484[21] = 0; - out_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[29] = 0; - out_6385265893824183484[30] = 0; - out_6385265893824183484[31] = 0; - out_6385265893824183484[32] = 0; - out_6385265893824183484[33] = 0; - out_6385265893824183484[34] = 0; - out_6385265893824183484[35] = 0; - out_6385265893824183484[36] = 0; - out_6385265893824183484[37] = 0; - out_6385265893824183484[38] = 0; - out_6385265893824183484[39] = 1; - out_6385265893824183484[40] = 0; - out_6385265893824183484[41] = 0; - out_6385265893824183484[42] = 1; - out_6385265893824183484[43] = 0; - out_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[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_6385265893824183484[51] = 0; - out_6385265893824183484[52] = 0; - out_6385265893824183484[53] = 0; - out_6385265893824183484[54] = 0; - out_6385265893824183484[55] = 0; - out_6385265893824183484[56] = 0; - out_6385265893824183484[57] = 0; - out_6385265893824183484[58] = 0; - out_6385265893824183484[59] = 0; - out_6385265893824183484[60] = 0; - out_6385265893824183484[61] = 0; - out_6385265893824183484[62] = 1; - out_6385265893824183484[63] = 0; - out_6385265893824183484[64] = 0; - out_6385265893824183484[65] = 1; +void H_10(double *state, double *unused, double *out_140518164600154776) { + out_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[7] = 0; + out_140518164600154776[8] = 0; + out_140518164600154776[9] = 0; + out_140518164600154776[10] = 0; + out_140518164600154776[11] = 0; + out_140518164600154776[12] = 0; + out_140518164600154776[13] = 0; + out_140518164600154776[14] = 0; + out_140518164600154776[15] = 0; + out_140518164600154776[16] = 1; + out_140518164600154776[17] = 0; + out_140518164600154776[18] = 0; + out_140518164600154776[19] = 1; + out_140518164600154776[20] = 0; + out_140518164600154776[21] = 0; + out_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[29] = 0; + out_140518164600154776[30] = 0; + out_140518164600154776[31] = 0; + out_140518164600154776[32] = 0; + out_140518164600154776[33] = 0; + out_140518164600154776[34] = 0; + out_140518164600154776[35] = 0; + out_140518164600154776[36] = 0; + out_140518164600154776[37] = 0; + out_140518164600154776[38] = 0; + out_140518164600154776[39] = 1; + out_140518164600154776[40] = 0; + out_140518164600154776[41] = 0; + out_140518164600154776[42] = 1; + out_140518164600154776[43] = 0; + out_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[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_140518164600154776[51] = 0; + out_140518164600154776[52] = 0; + out_140518164600154776[53] = 0; + out_140518164600154776[54] = 0; + out_140518164600154776[55] = 0; + out_140518164600154776[56] = 0; + out_140518164600154776[57] = 0; + out_140518164600154776[58] = 0; + out_140518164600154776[59] = 0; + out_140518164600154776[60] = 0; + out_140518164600154776[61] = 0; + out_140518164600154776[62] = 1; + out_140518164600154776[63] = 0; + out_140518164600154776[64] = 0; + out_140518164600154776[65] = 1; } -void h_12(double *state, double *unused, double *out_7296993372404775801) { - out_7296993372404775801[0] = state[0]; - out_7296993372404775801[1] = state[1]; - out_7296993372404775801[2] = state[2]; +void h_12(double *state, double *unused, double *out_835136029362175519) { + out_835136029362175519[0] = state[0]; + out_835136029362175519[1] = state[1]; + out_835136029362175519[2] = state[2]; } -void H_12(double *state, double *unused, double *out_2352661322801732354) { - out_2352661322801732354[0] = 1; - out_2352661322801732354[1] = 0; - out_2352661322801732354[2] = 0; - out_2352661322801732354[3] = 0; - out_2352661322801732354[4] = 0; - out_2352661322801732354[5] = 0; - out_2352661322801732354[6] = 0; - out_2352661322801732354[7] = 0; - out_2352661322801732354[8] = 0; - out_2352661322801732354[9] = 0; - out_2352661322801732354[10] = 0; - out_2352661322801732354[11] = 0; - out_2352661322801732354[12] = 0; - out_2352661322801732354[13] = 0; - out_2352661322801732354[14] = 0; - out_2352661322801732354[15] = 0; - out_2352661322801732354[16] = 0; - out_2352661322801732354[17] = 0; - out_2352661322801732354[18] = 0; - out_2352661322801732354[19] = 0; - out_2352661322801732354[20] = 0; - out_2352661322801732354[21] = 0; - out_2352661322801732354[22] = 0; - out_2352661322801732354[23] = 1; - out_2352661322801732354[24] = 0; - out_2352661322801732354[25] = 0; - out_2352661322801732354[26] = 0; - out_2352661322801732354[27] = 0; - out_2352661322801732354[28] = 0; - out_2352661322801732354[29] = 0; - out_2352661322801732354[30] = 0; - out_2352661322801732354[31] = 0; - out_2352661322801732354[32] = 0; - out_2352661322801732354[33] = 0; - out_2352661322801732354[34] = 0; - out_2352661322801732354[35] = 0; - out_2352661322801732354[36] = 0; - out_2352661322801732354[37] = 0; - out_2352661322801732354[38] = 0; - out_2352661322801732354[39] = 0; - out_2352661322801732354[40] = 0; - out_2352661322801732354[41] = 0; - out_2352661322801732354[42] = 0; - out_2352661322801732354[43] = 0; - out_2352661322801732354[44] = 0; - out_2352661322801732354[45] = 0; - out_2352661322801732354[46] = 1; - out_2352661322801732354[47] = 0; - out_2352661322801732354[48] = 0; - out_2352661322801732354[49] = 0; - out_2352661322801732354[50] = 0; - out_2352661322801732354[51] = 0; - out_2352661322801732354[52] = 0; - out_2352661322801732354[53] = 0; - out_2352661322801732354[54] = 0; - out_2352661322801732354[55] = 0; - out_2352661322801732354[56] = 0; - out_2352661322801732354[57] = 0; - out_2352661322801732354[58] = 0; - out_2352661322801732354[59] = 0; - out_2352661322801732354[60] = 0; - out_2352661322801732354[61] = 0; - out_2352661322801732354[62] = 0; - out_2352661322801732354[63] = 0; - out_2352661322801732354[64] = 0; - out_2352661322801732354[65] = 0; +void H_12(double *state, double *unused, double *out_6609094977797707144) { + out_6609094977797707144[0] = 1; + out_6609094977797707144[1] = 0; + out_6609094977797707144[2] = 0; + out_6609094977797707144[3] = 0; + out_6609094977797707144[4] = 0; + out_6609094977797707144[5] = 0; + out_6609094977797707144[6] = 0; + out_6609094977797707144[7] = 0; + out_6609094977797707144[8] = 0; + out_6609094977797707144[9] = 0; + out_6609094977797707144[10] = 0; + out_6609094977797707144[11] = 0; + out_6609094977797707144[12] = 0; + out_6609094977797707144[13] = 0; + out_6609094977797707144[14] = 0; + out_6609094977797707144[15] = 0; + out_6609094977797707144[16] = 0; + out_6609094977797707144[17] = 0; + out_6609094977797707144[18] = 0; + out_6609094977797707144[19] = 0; + out_6609094977797707144[20] = 0; + out_6609094977797707144[21] = 0; + out_6609094977797707144[22] = 0; + out_6609094977797707144[23] = 1; + out_6609094977797707144[24] = 0; + out_6609094977797707144[25] = 0; + out_6609094977797707144[26] = 0; + out_6609094977797707144[27] = 0; + out_6609094977797707144[28] = 0; + out_6609094977797707144[29] = 0; + out_6609094977797707144[30] = 0; + out_6609094977797707144[31] = 0; + out_6609094977797707144[32] = 0; + out_6609094977797707144[33] = 0; + out_6609094977797707144[34] = 0; + out_6609094977797707144[35] = 0; + out_6609094977797707144[36] = 0; + out_6609094977797707144[37] = 0; + out_6609094977797707144[38] = 0; + out_6609094977797707144[39] = 0; + out_6609094977797707144[40] = 0; + out_6609094977797707144[41] = 0; + out_6609094977797707144[42] = 0; + out_6609094977797707144[43] = 0; + out_6609094977797707144[44] = 0; + out_6609094977797707144[45] = 0; + out_6609094977797707144[46] = 1; + out_6609094977797707144[47] = 0; + out_6609094977797707144[48] = 0; + out_6609094977797707144[49] = 0; + out_6609094977797707144[50] = 0; + out_6609094977797707144[51] = 0; + out_6609094977797707144[52] = 0; + out_6609094977797707144[53] = 0; + out_6609094977797707144[54] = 0; + out_6609094977797707144[55] = 0; + out_6609094977797707144[56] = 0; + out_6609094977797707144[57] = 0; + out_6609094977797707144[58] = 0; + out_6609094977797707144[59] = 0; + out_6609094977797707144[60] = 0; + out_6609094977797707144[61] = 0; + out_6609094977797707144[62] = 0; + out_6609094977797707144[63] = 0; + out_6609094977797707144[64] = 0; + out_6609094977797707144[65] = 0; } -void h_35(double *state, double *unused, double *out_947171662528612088) { - out_947171662528612088[0] = state[7]; - out_947171662528612088[1] = state[8]; - out_947171662528612088[2] = state[9]; +void h_35(double *state, double *unused, double *out_93555897102822674) { + out_93555897102822674[0] = state[7]; + out_93555897102822674[1] = state[8]; + out_93555897102822674[2] = state[9]; } -void H_35(double *state, double *unused, double *out_392901709523281355) { - out_392901709523281355[0] = 0; - out_392901709523281355[1] = 0; - out_392901709523281355[2] = 0; - out_392901709523281355[3] = 0; - out_392901709523281355[4] = 0; - out_392901709523281355[5] = 0; - out_392901709523281355[6] = 0; - out_392901709523281355[7] = 1; - out_392901709523281355[8] = 0; - out_392901709523281355[9] = 0; - out_392901709523281355[10] = 0; - out_392901709523281355[11] = 0; - out_392901709523281355[12] = 0; - out_392901709523281355[13] = 0; - out_392901709523281355[14] = 0; - out_392901709523281355[15] = 0; - out_392901709523281355[16] = 0; - out_392901709523281355[17] = 0; - out_392901709523281355[18] = 0; - out_392901709523281355[19] = 0; - out_392901709523281355[20] = 0; - out_392901709523281355[21] = 0; - out_392901709523281355[22] = 0; - out_392901709523281355[23] = 0; - out_392901709523281355[24] = 0; - out_392901709523281355[25] = 0; - out_392901709523281355[26] = 0; - out_392901709523281355[27] = 0; - out_392901709523281355[28] = 0; - out_392901709523281355[29] = 0; - out_392901709523281355[30] = 1; - out_392901709523281355[31] = 0; - out_392901709523281355[32] = 0; - out_392901709523281355[33] = 0; - out_392901709523281355[34] = 0; - out_392901709523281355[35] = 0; - out_392901709523281355[36] = 0; - out_392901709523281355[37] = 0; - out_392901709523281355[38] = 0; - out_392901709523281355[39] = 0; - out_392901709523281355[40] = 0; - out_392901709523281355[41] = 0; - out_392901709523281355[42] = 0; - out_392901709523281355[43] = 0; - out_392901709523281355[44] = 0; - out_392901709523281355[45] = 0; - out_392901709523281355[46] = 0; - out_392901709523281355[47] = 0; - out_392901709523281355[48] = 0; - out_392901709523281355[49] = 0; - out_392901709523281355[50] = 0; - out_392901709523281355[51] = 0; - out_392901709523281355[52] = 0; - out_392901709523281355[53] = 1; - out_392901709523281355[54] = 0; - out_392901709523281355[55] = 0; - out_392901709523281355[56] = 0; - out_392901709523281355[57] = 0; - out_392901709523281355[58] = 0; - out_392901709523281355[59] = 0; - out_392901709523281355[60] = 0; - out_392901709523281355[61] = 0; - out_392901709523281355[62] = 0; - out_392901709523281355[63] = 0; - out_392901709523281355[64] = 0; - out_392901709523281355[65] = 0; +void H_35(double *state, double *unused, double *out_9092086063586830763) { + out_9092086063586830763[0] = 0; + out_9092086063586830763[1] = 0; + out_9092086063586830763[2] = 0; + out_9092086063586830763[3] = 0; + out_9092086063586830763[4] = 0; + out_9092086063586830763[5] = 0; + out_9092086063586830763[6] = 0; + out_9092086063586830763[7] = 1; + out_9092086063586830763[8] = 0; + out_9092086063586830763[9] = 0; + out_9092086063586830763[10] = 0; + out_9092086063586830763[11] = 0; + out_9092086063586830763[12] = 0; + out_9092086063586830763[13] = 0; + out_9092086063586830763[14] = 0; + out_9092086063586830763[15] = 0; + out_9092086063586830763[16] = 0; + out_9092086063586830763[17] = 0; + out_9092086063586830763[18] = 0; + out_9092086063586830763[19] = 0; + out_9092086063586830763[20] = 0; + out_9092086063586830763[21] = 0; + out_9092086063586830763[22] = 0; + out_9092086063586830763[23] = 0; + out_9092086063586830763[24] = 0; + out_9092086063586830763[25] = 0; + out_9092086063586830763[26] = 0; + out_9092086063586830763[27] = 0; + out_9092086063586830763[28] = 0; + out_9092086063586830763[29] = 0; + out_9092086063586830763[30] = 1; + out_9092086063586830763[31] = 0; + out_9092086063586830763[32] = 0; + out_9092086063586830763[33] = 0; + out_9092086063586830763[34] = 0; + out_9092086063586830763[35] = 0; + out_9092086063586830763[36] = 0; + out_9092086063586830763[37] = 0; + out_9092086063586830763[38] = 0; + out_9092086063586830763[39] = 0; + out_9092086063586830763[40] = 0; + out_9092086063586830763[41] = 0; + out_9092086063586830763[42] = 0; + out_9092086063586830763[43] = 0; + out_9092086063586830763[44] = 0; + out_9092086063586830763[45] = 0; + out_9092086063586830763[46] = 0; + out_9092086063586830763[47] = 0; + out_9092086063586830763[48] = 0; + out_9092086063586830763[49] = 0; + out_9092086063586830763[50] = 0; + out_9092086063586830763[51] = 0; + out_9092086063586830763[52] = 0; + out_9092086063586830763[53] = 1; + out_9092086063586830763[54] = 0; + out_9092086063586830763[55] = 0; + out_9092086063586830763[56] = 0; + out_9092086063586830763[57] = 0; + out_9092086063586830763[58] = 0; + out_9092086063586830763[59] = 0; + out_9092086063586830763[60] = 0; + out_9092086063586830763[61] = 0; + out_9092086063586830763[62] = 0; + out_9092086063586830763[63] = 0; + out_9092086063586830763[64] = 0; + out_9092086063586830763[65] = 0; } -void h_32(double *state, double *unused, double *out_2929900686975731664) { - out_2929900686975731664[0] = state[3]; - out_2929900686975731664[1] = state[4]; - out_2929900686975731664[2] = state[5]; - out_2929900686975731664[3] = state[6]; +void h_32(double *state, double *unused, double *out_6290965057558394135) { + out_6290965057558394135[0] = state[3]; + out_6290965057558394135[1] = state[4]; + out_6290965057558394135[2] = state[5]; + out_6290965057558394135[3] = state[6]; } -void H_32(double *state, double *unused, double *out_8907135071749521650) { - out_8907135071749521650[0] = 0; - out_8907135071749521650[1] = 0; - out_8907135071749521650[2] = 0; - out_8907135071749521650[3] = 1; - out_8907135071749521650[4] = 0; - out_8907135071749521650[5] = 0; - out_8907135071749521650[6] = 0; - out_8907135071749521650[7] = 0; - out_8907135071749521650[8] = 0; - out_8907135071749521650[9] = 0; - out_8907135071749521650[10] = 0; - out_8907135071749521650[11] = 0; - out_8907135071749521650[12] = 0; - out_8907135071749521650[13] = 0; - out_8907135071749521650[14] = 0; - out_8907135071749521650[15] = 0; - out_8907135071749521650[16] = 0; - out_8907135071749521650[17] = 0; - out_8907135071749521650[18] = 0; - out_8907135071749521650[19] = 0; - out_8907135071749521650[20] = 0; - out_8907135071749521650[21] = 0; - out_8907135071749521650[22] = 0; - out_8907135071749521650[23] = 0; - out_8907135071749521650[24] = 0; - out_8907135071749521650[25] = 0; - out_8907135071749521650[26] = 1; - out_8907135071749521650[27] = 0; - out_8907135071749521650[28] = 0; - out_8907135071749521650[29] = 0; - out_8907135071749521650[30] = 0; - out_8907135071749521650[31] = 0; - out_8907135071749521650[32] = 0; - out_8907135071749521650[33] = 0; - out_8907135071749521650[34] = 0; - out_8907135071749521650[35] = 0; - out_8907135071749521650[36] = 0; - out_8907135071749521650[37] = 0; - out_8907135071749521650[38] = 0; - out_8907135071749521650[39] = 0; - out_8907135071749521650[40] = 0; - out_8907135071749521650[41] = 0; - out_8907135071749521650[42] = 0; - out_8907135071749521650[43] = 0; - out_8907135071749521650[44] = 0; - out_8907135071749521650[45] = 0; - out_8907135071749521650[46] = 0; - out_8907135071749521650[47] = 0; - out_8907135071749521650[48] = 0; - out_8907135071749521650[49] = 1; - out_8907135071749521650[50] = 0; - out_8907135071749521650[51] = 0; - out_8907135071749521650[52] = 0; - out_8907135071749521650[53] = 0; - out_8907135071749521650[54] = 0; - out_8907135071749521650[55] = 0; - out_8907135071749521650[56] = 0; - out_8907135071749521650[57] = 0; - out_8907135071749521650[58] = 0; - out_8907135071749521650[59] = 0; - out_8907135071749521650[60] = 0; - out_8907135071749521650[61] = 0; - out_8907135071749521650[62] = 0; - out_8907135071749521650[63] = 0; - out_8907135071749521650[64] = 0; - out_8907135071749521650[65] = 0; - out_8907135071749521650[66] = 0; - out_8907135071749521650[67] = 0; - out_8907135071749521650[68] = 0; - out_8907135071749521650[69] = 0; - out_8907135071749521650[70] = 0; - out_8907135071749521650[71] = 0; - out_8907135071749521650[72] = 1; - out_8907135071749521650[73] = 0; - out_8907135071749521650[74] = 0; - out_8907135071749521650[75] = 0; - out_8907135071749521650[76] = 0; - out_8907135071749521650[77] = 0; - out_8907135071749521650[78] = 0; - out_8907135071749521650[79] = 0; - out_8907135071749521650[80] = 0; - out_8907135071749521650[81] = 0; - out_8907135071749521650[82] = 0; - out_8907135071749521650[83] = 0; - out_8907135071749521650[84] = 0; - out_8907135071749521650[85] = 0; - out_8907135071749521650[86] = 0; - out_8907135071749521650[87] = 0; +void H_32(double *state, double *unused, double *out_2439793506428604497) { + out_2439793506428604497[0] = 0; + out_2439793506428604497[1] = 0; + out_2439793506428604497[2] = 0; + out_2439793506428604497[3] = 1; + out_2439793506428604497[4] = 0; + out_2439793506428604497[5] = 0; + out_2439793506428604497[6] = 0; + out_2439793506428604497[7] = 0; + out_2439793506428604497[8] = 0; + out_2439793506428604497[9] = 0; + out_2439793506428604497[10] = 0; + out_2439793506428604497[11] = 0; + out_2439793506428604497[12] = 0; + out_2439793506428604497[13] = 0; + out_2439793506428604497[14] = 0; + out_2439793506428604497[15] = 0; + out_2439793506428604497[16] = 0; + out_2439793506428604497[17] = 0; + out_2439793506428604497[18] = 0; + out_2439793506428604497[19] = 0; + out_2439793506428604497[20] = 0; + out_2439793506428604497[21] = 0; + out_2439793506428604497[22] = 0; + out_2439793506428604497[23] = 0; + out_2439793506428604497[24] = 0; + out_2439793506428604497[25] = 0; + out_2439793506428604497[26] = 1; + out_2439793506428604497[27] = 0; + out_2439793506428604497[28] = 0; + out_2439793506428604497[29] = 0; + out_2439793506428604497[30] = 0; + out_2439793506428604497[31] = 0; + out_2439793506428604497[32] = 0; + out_2439793506428604497[33] = 0; + out_2439793506428604497[34] = 0; + out_2439793506428604497[35] = 0; + out_2439793506428604497[36] = 0; + out_2439793506428604497[37] = 0; + out_2439793506428604497[38] = 0; + out_2439793506428604497[39] = 0; + out_2439793506428604497[40] = 0; + out_2439793506428604497[41] = 0; + out_2439793506428604497[42] = 0; + out_2439793506428604497[43] = 0; + out_2439793506428604497[44] = 0; + out_2439793506428604497[45] = 0; + out_2439793506428604497[46] = 0; + out_2439793506428604497[47] = 0; + out_2439793506428604497[48] = 0; + out_2439793506428604497[49] = 1; + out_2439793506428604497[50] = 0; + out_2439793506428604497[51] = 0; + out_2439793506428604497[52] = 0; + out_2439793506428604497[53] = 0; + out_2439793506428604497[54] = 0; + out_2439793506428604497[55] = 0; + out_2439793506428604497[56] = 0; + out_2439793506428604497[57] = 0; + out_2439793506428604497[58] = 0; + out_2439793506428604497[59] = 0; + out_2439793506428604497[60] = 0; + out_2439793506428604497[61] = 0; + out_2439793506428604497[62] = 0; + out_2439793506428604497[63] = 0; + out_2439793506428604497[64] = 0; + out_2439793506428604497[65] = 0; + out_2439793506428604497[66] = 0; + out_2439793506428604497[67] = 0; + out_2439793506428604497[68] = 0; + out_2439793506428604497[69] = 0; + out_2439793506428604497[70] = 0; + out_2439793506428604497[71] = 0; + out_2439793506428604497[72] = 1; + out_2439793506428604497[73] = 0; + out_2439793506428604497[74] = 0; + out_2439793506428604497[75] = 0; + out_2439793506428604497[76] = 0; + out_2439793506428604497[77] = 0; + out_2439793506428604497[78] = 0; + out_2439793506428604497[79] = 0; + out_2439793506428604497[80] = 0; + out_2439793506428604497[81] = 0; + out_2439793506428604497[82] = 0; + out_2439793506428604497[83] = 0; + out_2439793506428604497[84] = 0; + out_2439793506428604497[85] = 0; + out_2439793506428604497[86] = 0; + out_2439793506428604497[87] = 0; } -void h_13(double *state, double *unused, double *out_4581312559012542837) { - out_4581312559012542837[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_4581312559012542837[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_4581312559012542837[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_8490099498842921417) { + out_8490099498842921417[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_8490099498842921417[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_8490099498842921417[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_569470278268388809) { - out_569470278268388809[0] = 0; - out_569470278268388809[1] = 0; - out_569470278268388809[2] = 0; - out_569470278268388809[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; - out_569470278268388809[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_569470278268388809[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; - out_569470278268388809[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; - out_569470278268388809[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); - out_569470278268388809[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; - out_569470278268388809[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; - out_569470278268388809[10] = 0; - out_569470278268388809[11] = 0; - out_569470278268388809[12] = 0; - out_569470278268388809[13] = 0; - out_569470278268388809[14] = 0; - out_569470278268388809[15] = 0; - out_569470278268388809[16] = 0; - out_569470278268388809[17] = 0; - out_569470278268388809[18] = 0; - out_569470278268388809[19] = 0; - out_569470278268388809[20] = 0; - out_569470278268388809[21] = 0; - out_569470278268388809[22] = 0; - out_569470278268388809[23] = 0; - out_569470278268388809[24] = 0; - out_569470278268388809[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; - out_569470278268388809[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; - out_569470278268388809[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_569470278268388809[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; - out_569470278268388809[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; - out_569470278268388809[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); - out_569470278268388809[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; - out_569470278268388809[32] = 0; - out_569470278268388809[33] = 0; - out_569470278268388809[34] = 0; - out_569470278268388809[35] = 0; - out_569470278268388809[36] = 0; - out_569470278268388809[37] = 0; - out_569470278268388809[38] = 0; - out_569470278268388809[39] = 0; - out_569470278268388809[40] = 0; - out_569470278268388809[41] = 0; - out_569470278268388809[42] = 0; - out_569470278268388809[43] = 0; - out_569470278268388809[44] = 0; - out_569470278268388809[45] = 0; - out_569470278268388809[46] = 0; - out_569470278268388809[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; - out_569470278268388809[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; - out_569470278268388809[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; - out_569470278268388809[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_569470278268388809[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; - out_569470278268388809[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; - out_569470278268388809[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); - out_569470278268388809[54] = 0; - out_569470278268388809[55] = 0; - out_569470278268388809[56] = 0; - out_569470278268388809[57] = 0; - out_569470278268388809[58] = 0; - out_569470278268388809[59] = 0; - out_569470278268388809[60] = 0; - out_569470278268388809[61] = 0; - out_569470278268388809[62] = 0; - out_569470278268388809[63] = 0; - out_569470278268388809[64] = 0; - out_569470278268388809[65] = 0; +void H_13(double *state, double *unused, double *out_8653375813311677152) { + out_8653375813311677152[0] = 0; + out_8653375813311677152[1] = 0; + out_8653375813311677152[2] = 0; + out_8653375813311677152[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_8653375813311677152[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_8653375813311677152[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; + out_8653375813311677152[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_8653375813311677152[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); + out_8653375813311677152[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; + out_8653375813311677152[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; + out_8653375813311677152[10] = 0; + out_8653375813311677152[11] = 0; + out_8653375813311677152[12] = 0; + out_8653375813311677152[13] = 0; + out_8653375813311677152[14] = 0; + out_8653375813311677152[15] = 0; + out_8653375813311677152[16] = 0; + out_8653375813311677152[17] = 0; + out_8653375813311677152[18] = 0; + out_8653375813311677152[19] = 0; + out_8653375813311677152[20] = 0; + out_8653375813311677152[21] = 0; + out_8653375813311677152[22] = 0; + out_8653375813311677152[23] = 0; + out_8653375813311677152[24] = 0; + out_8653375813311677152[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_8653375813311677152[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_8653375813311677152[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_8653375813311677152[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; + out_8653375813311677152[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; + out_8653375813311677152[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); + out_8653375813311677152[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; + out_8653375813311677152[32] = 0; + out_8653375813311677152[33] = 0; + out_8653375813311677152[34] = 0; + out_8653375813311677152[35] = 0; + out_8653375813311677152[36] = 0; + out_8653375813311677152[37] = 0; + out_8653375813311677152[38] = 0; + out_8653375813311677152[39] = 0; + out_8653375813311677152[40] = 0; + out_8653375813311677152[41] = 0; + out_8653375813311677152[42] = 0; + out_8653375813311677152[43] = 0; + out_8653375813311677152[44] = 0; + out_8653375813311677152[45] = 0; + out_8653375813311677152[46] = 0; + out_8653375813311677152[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_8653375813311677152[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; + out_8653375813311677152[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_8653375813311677152[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_8653375813311677152[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; + out_8653375813311677152[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; + out_8653375813311677152[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); + out_8653375813311677152[54] = 0; + out_8653375813311677152[55] = 0; + out_8653375813311677152[56] = 0; + out_8653375813311677152[57] = 0; + out_8653375813311677152[58] = 0; + out_8653375813311677152[59] = 0; + out_8653375813311677152[60] = 0; + out_8653375813311677152[61] = 0; + out_8653375813311677152[62] = 0; + out_8653375813311677152[63] = 0; + out_8653375813311677152[64] = 0; + out_8653375813311677152[65] = 0; } -void h_14(double *state, double *unused, double *out_7444569565063482614) { - out_7444569565063482614[0] = state[10]; - out_7444569565063482614[1] = state[11]; - out_7444569565063482614[2] = state[12]; +void h_14(double *state, double *unused, double *out_2388230207696517986) { + out_2388230207696517986[0] = state[10]; + out_2388230207696517986[1] = state[11]; + out_2388230207696517986[2] = state[12]; } -void H_14(double *state, double *unused, double *out_7130928084204103504) { - out_7130928084204103504[0] = 0; - out_7130928084204103504[1] = 0; - out_7130928084204103504[2] = 0; - out_7130928084204103504[3] = 0; - out_7130928084204103504[4] = 0; - out_7130928084204103504[5] = 0; - out_7130928084204103504[6] = 0; - out_7130928084204103504[7] = 0; - out_7130928084204103504[8] = 0; - out_7130928084204103504[9] = 0; - out_7130928084204103504[10] = 1; - out_7130928084204103504[11] = 0; - out_7130928084204103504[12] = 0; - out_7130928084204103504[13] = 0; - out_7130928084204103504[14] = 0; - out_7130928084204103504[15] = 0; - out_7130928084204103504[16] = 0; - out_7130928084204103504[17] = 0; - out_7130928084204103504[18] = 0; - out_7130928084204103504[19] = 0; - out_7130928084204103504[20] = 0; - out_7130928084204103504[21] = 0; - out_7130928084204103504[22] = 0; - out_7130928084204103504[23] = 0; - out_7130928084204103504[24] = 0; - out_7130928084204103504[25] = 0; - out_7130928084204103504[26] = 0; - out_7130928084204103504[27] = 0; - out_7130928084204103504[28] = 0; - out_7130928084204103504[29] = 0; - out_7130928084204103504[30] = 0; - out_7130928084204103504[31] = 0; - out_7130928084204103504[32] = 0; - out_7130928084204103504[33] = 1; - out_7130928084204103504[34] = 0; - out_7130928084204103504[35] = 0; - out_7130928084204103504[36] = 0; - out_7130928084204103504[37] = 0; - out_7130928084204103504[38] = 0; - out_7130928084204103504[39] = 0; - out_7130928084204103504[40] = 0; - out_7130928084204103504[41] = 0; - out_7130928084204103504[42] = 0; - out_7130928084204103504[43] = 0; - out_7130928084204103504[44] = 0; - out_7130928084204103504[45] = 0; - out_7130928084204103504[46] = 0; - out_7130928084204103504[47] = 0; - out_7130928084204103504[48] = 0; - out_7130928084204103504[49] = 0; - out_7130928084204103504[50] = 0; - out_7130928084204103504[51] = 0; - out_7130928084204103504[52] = 0; - out_7130928084204103504[53] = 0; - out_7130928084204103504[54] = 0; - out_7130928084204103504[55] = 0; - out_7130928084204103504[56] = 1; - out_7130928084204103504[57] = 0; - out_7130928084204103504[58] = 0; - out_7130928084204103504[59] = 0; - out_7130928084204103504[60] = 0; - out_7130928084204103504[61] = 0; - out_7130928084204103504[62] = 0; - out_7130928084204103504[63] = 0; - out_7130928084204103504[64] = 0; - out_7130928084204103504[65] = 0; +void H_14(double *state, double *unused, double *out_6229185599379704122) { + out_6229185599379704122[0] = 0; + out_6229185599379704122[1] = 0; + out_6229185599379704122[2] = 0; + out_6229185599379704122[3] = 0; + out_6229185599379704122[4] = 0; + out_6229185599379704122[5] = 0; + out_6229185599379704122[6] = 0; + out_6229185599379704122[7] = 0; + out_6229185599379704122[8] = 0; + out_6229185599379704122[9] = 0; + out_6229185599379704122[10] = 1; + out_6229185599379704122[11] = 0; + out_6229185599379704122[12] = 0; + out_6229185599379704122[13] = 0; + out_6229185599379704122[14] = 0; + out_6229185599379704122[15] = 0; + out_6229185599379704122[16] = 0; + out_6229185599379704122[17] = 0; + out_6229185599379704122[18] = 0; + out_6229185599379704122[19] = 0; + out_6229185599379704122[20] = 0; + out_6229185599379704122[21] = 0; + out_6229185599379704122[22] = 0; + out_6229185599379704122[23] = 0; + out_6229185599379704122[24] = 0; + out_6229185599379704122[25] = 0; + out_6229185599379704122[26] = 0; + out_6229185599379704122[27] = 0; + out_6229185599379704122[28] = 0; + out_6229185599379704122[29] = 0; + out_6229185599379704122[30] = 0; + out_6229185599379704122[31] = 0; + out_6229185599379704122[32] = 0; + out_6229185599379704122[33] = 1; + out_6229185599379704122[34] = 0; + out_6229185599379704122[35] = 0; + out_6229185599379704122[36] = 0; + out_6229185599379704122[37] = 0; + out_6229185599379704122[38] = 0; + out_6229185599379704122[39] = 0; + out_6229185599379704122[40] = 0; + out_6229185599379704122[41] = 0; + out_6229185599379704122[42] = 0; + out_6229185599379704122[43] = 0; + out_6229185599379704122[44] = 0; + out_6229185599379704122[45] = 0; + out_6229185599379704122[46] = 0; + out_6229185599379704122[47] = 0; + out_6229185599379704122[48] = 0; + out_6229185599379704122[49] = 0; + out_6229185599379704122[50] = 0; + out_6229185599379704122[51] = 0; + out_6229185599379704122[52] = 0; + out_6229185599379704122[53] = 0; + out_6229185599379704122[54] = 0; + out_6229185599379704122[55] = 0; + out_6229185599379704122[56] = 1; + out_6229185599379704122[57] = 0; + out_6229185599379704122[58] = 0; + out_6229185599379704122[59] = 0; + out_6229185599379704122[60] = 0; + out_6229185599379704122[61] = 0; + out_6229185599379704122[62] = 0; + out_6229185599379704122[63] = 0; + out_6229185599379704122[64] = 0; + out_6229185599379704122[65] = 0; } -void h_33(double *state, double *unused, double *out_7317084925230058116) { - out_7317084925230058116[0] = state[16]; - out_7317084925230058116[1] = state[17]; - out_7317084925230058116[2] = state[18]; +void h_33(double *state, double *unused, double *out_3386383232379514061) { + out_3386383232379514061[0] = state[16]; + out_3386383232379514061[1] = state[17]; + out_3386383232379514061[2] = state[18]; } -void H_33(double *state, double *unused, double *out_3543458714162138959) { - out_3543458714162138959[0] = 0; - out_3543458714162138959[1] = 0; - out_3543458714162138959[2] = 0; - out_3543458714162138959[3] = 0; - out_3543458714162138959[4] = 0; - out_3543458714162138959[5] = 0; - out_3543458714162138959[6] = 0; - out_3543458714162138959[7] = 0; - out_3543458714162138959[8] = 0; - out_3543458714162138959[9] = 0; - out_3543458714162138959[10] = 0; - out_3543458714162138959[11] = 0; - out_3543458714162138959[12] = 0; - out_3543458714162138959[13] = 0; - out_3543458714162138959[14] = 0; - out_3543458714162138959[15] = 0; - out_3543458714162138959[16] = 1; - out_3543458714162138959[17] = 0; - out_3543458714162138959[18] = 0; - out_3543458714162138959[19] = 0; - out_3543458714162138959[20] = 0; - out_3543458714162138959[21] = 0; - out_3543458714162138959[22] = 0; - out_3543458714162138959[23] = 0; - out_3543458714162138959[24] = 0; - out_3543458714162138959[25] = 0; - out_3543458714162138959[26] = 0; - out_3543458714162138959[27] = 0; - out_3543458714162138959[28] = 0; - out_3543458714162138959[29] = 0; - out_3543458714162138959[30] = 0; - out_3543458714162138959[31] = 0; - out_3543458714162138959[32] = 0; - out_3543458714162138959[33] = 0; - out_3543458714162138959[34] = 0; - out_3543458714162138959[35] = 0; - out_3543458714162138959[36] = 0; - out_3543458714162138959[37] = 0; - out_3543458714162138959[38] = 0; - out_3543458714162138959[39] = 1; - out_3543458714162138959[40] = 0; - out_3543458714162138959[41] = 0; - out_3543458714162138959[42] = 0; - out_3543458714162138959[43] = 0; - out_3543458714162138959[44] = 0; - out_3543458714162138959[45] = 0; - out_3543458714162138959[46] = 0; - out_3543458714162138959[47] = 0; - out_3543458714162138959[48] = 0; - out_3543458714162138959[49] = 0; - out_3543458714162138959[50] = 0; - out_3543458714162138959[51] = 0; - out_3543458714162138959[52] = 0; - out_3543458714162138959[53] = 0; - out_3543458714162138959[54] = 0; - out_3543458714162138959[55] = 0; - out_3543458714162138959[56] = 0; - out_3543458714162138959[57] = 0; - out_3543458714162138959[58] = 0; - out_3543458714162138959[59] = 0; - out_3543458714162138959[60] = 0; - out_3543458714162138959[61] = 0; - out_3543458714162138959[62] = 1; - out_3543458714162138959[63] = 0; - out_3543458714162138959[64] = 0; - out_3543458714162138959[65] = 0; +void H_33(double *state, double *unused, double *out_5941529058947973159) { + out_5941529058947973159[0] = 0; + out_5941529058947973159[1] = 0; + out_5941529058947973159[2] = 0; + out_5941529058947973159[3] = 0; + out_5941529058947973159[4] = 0; + out_5941529058947973159[5] = 0; + out_5941529058947973159[6] = 0; + out_5941529058947973159[7] = 0; + out_5941529058947973159[8] = 0; + out_5941529058947973159[9] = 0; + out_5941529058947973159[10] = 0; + out_5941529058947973159[11] = 0; + out_5941529058947973159[12] = 0; + out_5941529058947973159[13] = 0; + out_5941529058947973159[14] = 0; + out_5941529058947973159[15] = 0; + out_5941529058947973159[16] = 1; + out_5941529058947973159[17] = 0; + out_5941529058947973159[18] = 0; + out_5941529058947973159[19] = 0; + out_5941529058947973159[20] = 0; + out_5941529058947973159[21] = 0; + out_5941529058947973159[22] = 0; + out_5941529058947973159[23] = 0; + out_5941529058947973159[24] = 0; + out_5941529058947973159[25] = 0; + out_5941529058947973159[26] = 0; + out_5941529058947973159[27] = 0; + out_5941529058947973159[28] = 0; + out_5941529058947973159[29] = 0; + out_5941529058947973159[30] = 0; + out_5941529058947973159[31] = 0; + out_5941529058947973159[32] = 0; + out_5941529058947973159[33] = 0; + out_5941529058947973159[34] = 0; + out_5941529058947973159[35] = 0; + out_5941529058947973159[36] = 0; + out_5941529058947973159[37] = 0; + out_5941529058947973159[38] = 0; + out_5941529058947973159[39] = 1; + out_5941529058947973159[40] = 0; + out_5941529058947973159[41] = 0; + out_5941529058947973159[42] = 0; + out_5941529058947973159[43] = 0; + out_5941529058947973159[44] = 0; + out_5941529058947973159[45] = 0; + out_5941529058947973159[46] = 0; + out_5941529058947973159[47] = 0; + out_5941529058947973159[48] = 0; + out_5941529058947973159[49] = 0; + out_5941529058947973159[50] = 0; + out_5941529058947973159[51] = 0; + out_5941529058947973159[52] = 0; + out_5941529058947973159[53] = 0; + out_5941529058947973159[54] = 0; + out_5941529058947973159[55] = 0; + out_5941529058947973159[56] = 0; + out_5941529058947973159[57] = 0; + out_5941529058947973159[58] = 0; + out_5941529058947973159[59] = 0; + out_5941529058947973159[60] = 0; + out_5941529058947973159[61] = 0; + out_5941529058947973159[62] = 1; + out_5941529058947973159[63] = 0; + out_5941529058947973159[64] = 0; + out_5941529058947973159[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_6240008686817713408) { - H(in_vec, out_6240008686817713408); +void live_H(double *in_vec, double *out_734965431798586088) { + H(in_vec, out_734965431798586088); } -void live_err_fun(double *nom_x, double *delta_x, double *out_3690665086918622964) { - err_fun(nom_x, delta_x, out_3690665086918622964); +void live_err_fun(double *nom_x, double *delta_x, double *out_7867135572176938343) { + err_fun(nom_x, delta_x, out_7867135572176938343); } -void live_inv_err_fun(double *nom_x, double *true_x, double *out_8615868703535681088) { - inv_err_fun(nom_x, true_x, out_8615868703535681088); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_4469849344899012791) { + inv_err_fun(nom_x, true_x, out_4469849344899012791); } -void live_H_mod_fun(double *state, double *out_1988291488770769521) { - H_mod_fun(state, out_1988291488770769521); +void live_H_mod_fun(double *state, double *out_482044005104989923) { + H_mod_fun(state, out_482044005104989923); } -void live_f_fun(double *state, double dt, double *out_3263988285527381505) { - f_fun(state, dt, out_3263988285527381505); +void live_f_fun(double *state, double dt, double *out_5277401503139322236) { + f_fun(state, dt, out_5277401503139322236); } -void live_F_fun(double *state, double dt, double *out_4332092747232242913) { - F_fun(state, dt, out_4332092747232242913); +void live_F_fun(double *state, double dt, double *out_6716422747633413136) { + F_fun(state, dt, out_6716422747633413136); } -void live_h_4(double *state, double *unused, double *out_6582152946104087701) { - h_4(state, unused, out_6582152946104087701); +void live_h_4(double *state, double *unused, double *out_7766204740505938751) { + h_4(state, unused, out_7766204740505938751); } -void live_H_4(double *state, double *unused, double *out_8426954437225368770) { - H_4(state, unused, out_8426954437225368770); +void live_H_4(double *state, double *unused, double *out_5987995952750113477) { + H_4(state, unused, out_5987995952750113477); } -void live_h_9(double *state, double *unused, double *out_7444569565063482614) { - h_9(state, unused, out_7444569565063482614); +void live_h_9(double *state, double *unused, double *out_2388230207696517986) { + h_9(state, unused, out_2388230207696517986); } -void live_H_9(double *state, double *unused, double *out_7130928084204103504) { - H_9(state, unused, out_7130928084204103504); +void live_H_9(double *state, double *unused, double *out_6229185599379704122) { + H_9(state, unused, out_6229185599379704122); } -void live_h_10(double *state, double *unused, double *out_1939752611965379146) { - h_10(state, unused, out_1939752611965379146); +void live_h_10(double *state, double *unused, double *out_9053893872496357561) { + h_10(state, unused, out_9053893872496357561); } -void live_H_10(double *state, double *unused, double *out_6385265893824183484) { - H_10(state, unused, out_6385265893824183484); +void live_H_10(double *state, double *unused, double *out_140518164600154776) { + H_10(state, unused, out_140518164600154776); } -void live_h_12(double *state, double *unused, double *out_7296993372404775801) { - h_12(state, unused, out_7296993372404775801); +void live_h_12(double *state, double *unused, double *out_835136029362175519) { + h_12(state, unused, out_835136029362175519); } -void live_H_12(double *state, double *unused, double *out_2352661322801732354) { - H_12(state, unused, out_2352661322801732354); +void live_H_12(double *state, double *unused, double *out_6609094977797707144) { + H_12(state, unused, out_6609094977797707144); } -void live_h_35(double *state, double *unused, double *out_947171662528612088) { - h_35(state, unused, out_947171662528612088); +void live_h_35(double *state, double *unused, double *out_93555897102822674) { + h_35(state, unused, out_93555897102822674); } -void live_H_35(double *state, double *unused, double *out_392901709523281355) { - H_35(state, unused, out_392901709523281355); +void live_H_35(double *state, double *unused, double *out_9092086063586830763) { + H_35(state, unused, out_9092086063586830763); } -void live_h_32(double *state, double *unused, double *out_2929900686975731664) { - h_32(state, unused, out_2929900686975731664); +void live_h_32(double *state, double *unused, double *out_6290965057558394135) { + h_32(state, unused, out_6290965057558394135); } -void live_H_32(double *state, double *unused, double *out_8907135071749521650) { - H_32(state, unused, out_8907135071749521650); +void live_H_32(double *state, double *unused, double *out_2439793506428604497) { + H_32(state, unused, out_2439793506428604497); } -void live_h_13(double *state, double *unused, double *out_4581312559012542837) { - h_13(state, unused, out_4581312559012542837); +void live_h_13(double *state, double *unused, double *out_8490099498842921417) { + h_13(state, unused, out_8490099498842921417); } -void live_H_13(double *state, double *unused, double *out_569470278268388809) { - H_13(state, unused, out_569470278268388809); +void live_H_13(double *state, double *unused, double *out_8653375813311677152) { + H_13(state, unused, out_8653375813311677152); } -void live_h_14(double *state, double *unused, double *out_7444569565063482614) { - h_14(state, unused, out_7444569565063482614); +void live_h_14(double *state, double *unused, double *out_2388230207696517986) { + h_14(state, unused, out_2388230207696517986); } -void live_H_14(double *state, double *unused, double *out_7130928084204103504) { - H_14(state, unused, out_7130928084204103504); +void live_H_14(double *state, double *unused, double *out_6229185599379704122) { + H_14(state, unused, out_6229185599379704122); } -void live_h_33(double *state, double *unused, double *out_7317084925230058116) { - h_33(state, unused, out_7317084925230058116); +void live_h_33(double *state, double *unused, double *out_3386383232379514061) { + h_33(state, unused, out_3386383232379514061); } -void live_H_33(double *state, double *unused, double *out_3543458714162138959) { - H_33(state, unused, out_3543458714162138959); +void live_H_33(double *state, double *unused, double *out_5941529058947973159) { + H_33(state, unused, out_5941529058947973159); } 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 b5b69513d..ce14c6ac6 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_6240008686817713408); -void live_err_fun(double *nom_x, double *delta_x, double *out_3690665086918622964); -void live_inv_err_fun(double *nom_x, double *true_x, double *out_8615868703535681088); -void live_H_mod_fun(double *state, double *out_1988291488770769521); -void live_f_fun(double *state, double dt, double *out_3263988285527381505); -void live_F_fun(double *state, double dt, double *out_4332092747232242913); -void live_h_4(double *state, double *unused, double *out_6582152946104087701); -void live_H_4(double *state, double *unused, double *out_8426954437225368770); -void live_h_9(double *state, double *unused, double *out_7444569565063482614); -void live_H_9(double *state, double *unused, double *out_7130928084204103504); -void live_h_10(double *state, double *unused, double *out_1939752611965379146); -void live_H_10(double *state, double *unused, double *out_6385265893824183484); -void live_h_12(double *state, double *unused, double *out_7296993372404775801); -void live_H_12(double *state, double *unused, double *out_2352661322801732354); -void live_h_35(double *state, double *unused, double *out_947171662528612088); -void live_H_35(double *state, double *unused, double *out_392901709523281355); -void live_h_32(double *state, double *unused, double *out_2929900686975731664); -void live_H_32(double *state, double *unused, double *out_8907135071749521650); -void live_h_13(double *state, double *unused, double *out_4581312559012542837); -void live_H_13(double *state, double *unused, double *out_569470278268388809); -void live_h_14(double *state, double *unused, double *out_7444569565063482614); -void live_H_14(double *state, double *unused, double *out_7130928084204103504); -void live_h_33(double *state, double *unused, double *out_7317084925230058116); -void live_H_33(double *state, double *unused, double *out_3543458714162138959); +void live_H(double *in_vec, double *out_734965431798586088); +void live_err_fun(double *nom_x, double *delta_x, double *out_7867135572176938343); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_4469849344899012791); +void live_H_mod_fun(double *state, double *out_482044005104989923); +void live_f_fun(double *state, double dt, double *out_5277401503139322236); +void live_F_fun(double *state, double dt, double *out_6716422747633413136); +void live_h_4(double *state, double *unused, double *out_7766204740505938751); +void live_H_4(double *state, double *unused, double *out_5987995952750113477); +void live_h_9(double *state, double *unused, double *out_2388230207696517986); +void live_H_9(double *state, double *unused, double *out_6229185599379704122); +void live_h_10(double *state, double *unused, double *out_9053893872496357561); +void live_H_10(double *state, double *unused, double *out_140518164600154776); +void live_h_12(double *state, double *unused, double *out_835136029362175519); +void live_H_12(double *state, double *unused, double *out_6609094977797707144); +void live_h_35(double *state, double *unused, double *out_93555897102822674); +void live_H_35(double *state, double *unused, double *out_9092086063586830763); +void live_h_32(double *state, double *unused, double *out_6290965057558394135); +void live_H_32(double *state, double *unused, double *out_2439793506428604497); +void live_h_13(double *state, double *unused, double *out_8490099498842921417); +void live_H_13(double *state, double *unused, double *out_8653375813311677152); +void live_h_14(double *state, double *unused, double *out_2388230207696517986); +void live_H_14(double *state, double *unused, double *out_6229185599379704122); +void live_h_33(double *state, double *unused, double *out_3386383232379514061); +void live_H_33(double *state, double *unused, double *out_5941529058947973159); 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 f68abe4a6..c338a93b8 100755 Binary files a/selfdrive/locationd/ubloxd and b/selfdrive/locationd/ubloxd differ diff --git a/selfdrive/modeld/_modeld b/selfdrive/modeld/_modeld index c537bd483..d8f728e6d 100755 Binary files a/selfdrive/modeld/_modeld and b/selfdrive/modeld/_modeld differ diff --git a/selfdrive/modeld/models/supercombo.thneed b/selfdrive/modeld/models/supercombo.thneed index d8bbadf2a..1a4ff267d 100644 Binary files a/selfdrive/modeld/models/supercombo.thneed and b/selfdrive/modeld/models/supercombo.thneed differ diff --git a/selfdrive/sensord/_sensord b/selfdrive/sensord/_sensord index 76059abf6..c17f9cc82 100755 Binary files a/selfdrive/sensord/_sensord and b/selfdrive/sensord/_sensord differ diff --git a/selfdrive/ui/_ui b/selfdrive/ui/_ui index 4b74164bf..00f08ab5f 100755 Binary files a/selfdrive/ui/_ui and b/selfdrive/ui/_ui differ diff --git a/selfdrive/ui/qt/spinner b/selfdrive/ui/qt/spinner index 0859eed42..ca3784c98 100755 Binary files a/selfdrive/ui/qt/spinner and b/selfdrive/ui/qt/spinner differ diff --git a/selfdrive/ui/qt/text b/selfdrive/ui/qt/text index e10e950fb..a5f874cfe 100755 Binary files a/selfdrive/ui/qt/text and b/selfdrive/ui/qt/text differ diff --git a/selfdrive/ui/soundd/_soundd b/selfdrive/ui/soundd/_soundd index c872413a0..84476a869 100755 Binary files a/selfdrive/ui/soundd/_soundd and b/selfdrive/ui/soundd/_soundd differ diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm index 23a37fad2..fe44ed4f2 100644 Binary files a/selfdrive/ui/translations/main_ja.qm and b/selfdrive/ui/translations/main_ja.qm differ diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index de97b71f7..6ca5efaab 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -114,87 +114,109 @@ DPCarPanel - + Override Speed When Below - + Override feature will be enabled when set cruise speed is lower than this value. 1 km/h = 0.62 mph. - + km/h - + Turn On Cruise Speed Override - + This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h) - + Toyota / Lexus - + Enable SnG Mod - + Enable this to fix stop and go (SnG) issue on some models. Reboot required. - + Enable AM Physical Button Ctrl - + Enable this to link Accel Mode (AM) control to the physical button (TSS2). ONLY WORK ON SOME OF TSS1 VEHICLES. Reboot required. - + + Enable Door Auto Lock + + + + + Enable this to lock doors when drive above 25 km/h. +ONLY WORK ON SOME VEHICLES. + + + + + Enable Door Auto Unlock + + + + + Enable this to unlock doors when shift to gear P. +ONLY WORK ON SOME VEHICLES. + + + + Honda - + Enable EPS Mod Mode - + Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware. Reboot required. - + Mazda - + Display Below Steer Speed Alert - + Enable this will show below steer speed alert. Thanks to @TheCrowd @@ -203,118 +225,118 @@ Thanks to @TheCrowd DPControlPanel - + ALCA Delay - + Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically. - + secs - + ALCA Min Speed - + ALCA minimum engage speed in mph. 1 mph = 1.61 km/h. - + mph - + LCA Min Speed - + LCA minimum engage speed in mph. 1 mph = 1.61 km/h. - + Lateral Ctrl Mode - + 1 = Lane Change Assist (LCA) 2 = Auto Lane Change Assist (ALCA) - + Longitudinal - + Manually Control Accel Mode - + Enable this if you wish to adjust openpilot's acceleration control. - + Enable vision based turn control - + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. - + Lateral - + Use Lane Lines - + Enable this if you wish to use lane lines mode. - + Use LQR Controller - + Enable this if you wish to use LQR instead of PID or INDI controller. WORKS WELL ONLY ON SOME VEHICLES. More linear steering experience. - + Always On Lateral - + Use at your own risk! 1 = Stock Long 2 = OP Long @@ -322,6 +344,16 @@ Run Panda Recovery if Panda is not detected after reboot. Reboot required. + + + Camera Offset + + + + + Adjust your camera position if your device is not mounted as per guidance. + + DPGeneralPanel @@ -445,9 +477,12 @@ The device should reboot once if it finish updating. - - - Are you sure? + Are you sure you want to flash the panda? + + + + + Are you sure delete all media? @@ -465,18 +500,44 @@ The device should reboot once if it finish updating. Tap the button ONLY if your panda ran into issue. + + + Are you sure you want to run recover panda script? + + - Delete All Driving Log + Reset dragonpilot conf + RESET + ﾘｾｯﾄ + + + + Tap the button to reset all your dragonpilot congiration to default value. +Reboot required. + + + + + Are you sure you want to reset dp params? + + + + + Delete All Driving Log + + + + DELETE - + Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs). @@ -484,34 +545,34 @@ The device should reboot once if it finish updating. DPMapsPanel - + Show Full Screen Nav. - + This will show navigation in full screen. Please tap green boarder if you wish to switch back drive view. - + Search Destination using Google Map - + This will allow you to search destination in google map api. You will need to apply your own google map api key.Enter your key detail in web interface once it's enabled. - + Enable Nav. - + This will let use the build in Navigation. Use web interface to control it: *http://<device_ip>:8082*. You will need to apply your own mapbox token at https://www.mapbox.com/. @@ -520,52 +581,52 @@ Reboot required. - + Enable Speed Limit Control - + Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits. - + Enable Speed Limit Offset - + Set speed limit slightly higher than actual speed limit for a more natural drive. - + Enable Map Data Turn Control - + Use curvature info from map data to define speed limits to take turns ahead - + Show debug UI elements - + Show UI elements that aid debugging. - + Enable MapD - + Use OSM to assist lateral/longitudinal control. Please note: 1. This feature will works only when your car support OP longitudinal. @@ -578,69 +639,95 @@ Please note: DPUIPanel - + Display Mode - + 0 = Default 1 = Screen Off While Driving - + Screen Brightness - + Adjust your screen brightness. - - + + AUTO - + Alert Volume - + Adjust your alert volume. - + Quiet Drive - + Display alert and play important warning sound. Thanks @sunnyhaibin. - + + Display Speed + + + + + Enable this to display your current speed. + + + + + Display Event / Steer Icon + + + + + + Enable this to display the icon. + + + + + Display Driver Monitor Indicator + + + + Display Side Info - + Enable this to display steering angle / lead car distance / engine RPM. - + Display Top Info - + Enable this to display time / system temp / battery level. @@ -1048,70 +1135,70 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高速度 - - + + SPEED 速度 - - + + LIMIT 制限速度 - + REAL STEER - + RAM PER - + OFF - + ENG RPM - + NOR - + SPT - + ECO - + ACCEL @@ -1501,31 +1588,31 @@ location set Sidebar - - + + CONNECT 接続 - + OFFLINE オフライン - - + + ONLINE オンライン - + ERROR エラー - - - + + + TEMP 温度 @@ -1542,27 +1629,27 @@ location set OK - + VEHICLE 車両 - + NO NO - + PANDA PANDA - + GPS GPS - + SEARCH 検索 diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm index e23303f77..b9155adef 100644 Binary files a/selfdrive/ui/translations/main_ko.qm and b/selfdrive/ui/translations/main_ko.qm differ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 916c609f9..2235b7f36 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -114,87 +114,109 @@ DPCarPanel - + Override Speed When Below - + Override feature will be enabled when set cruise speed is lower than this value. 1 km/h = 0.62 mph. - + km/h - + Turn On Cruise Speed Override - + This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h) - + Toyota / Lexus - + Enable SnG Mod - + Enable this to fix stop and go (SnG) issue on some models. Reboot required. - + Enable AM Physical Button Ctrl - + Enable this to link Accel Mode (AM) control to the physical button (TSS2). ONLY WORK ON SOME OF TSS1 VEHICLES. Reboot required. - + + Enable Door Auto Lock + + + + + Enable this to lock doors when drive above 25 km/h. +ONLY WORK ON SOME VEHICLES. + + + + + Enable Door Auto Unlock + + + + + Enable this to unlock doors when shift to gear P. +ONLY WORK ON SOME VEHICLES. + + + + Honda - + Enable EPS Mod Mode - + Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware. Reboot required. - + Mazda - + Display Below Steer Speed Alert - + Enable this will show below steer speed alert. Thanks to @TheCrowd @@ -203,118 +225,118 @@ Thanks to @TheCrowd DPControlPanel - + ALCA Delay - + Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically. - + secs - + ALCA Min Speed - + ALCA minimum engage speed in mph. 1 mph = 1.61 km/h. - + mph - + LCA Min Speed - + LCA minimum engage speed in mph. 1 mph = 1.61 km/h. - + Lateral Ctrl Mode - + 1 = Lane Change Assist (LCA) 2 = Auto Lane Change Assist (ALCA) - + Longitudinal - + Manually Control Accel Mode - + Enable this if you wish to adjust openpilot's acceleration control. - + Enable vision based turn control - + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. - + Lateral - + Use Lane Lines - + Enable this if you wish to use lane lines mode. - + Use LQR Controller - + Enable this if you wish to use LQR instead of PID or INDI controller. WORKS WELL ONLY ON SOME VEHICLES. More linear steering experience. - + Always On Lateral - + Use at your own risk! 1 = Stock Long 2 = OP Long @@ -322,6 +344,16 @@ Run Panda Recovery if Panda is not detected after reboot. Reboot required. + + + Camera Offset + + + + + Adjust your camera position if your device is not mounted as per guidance. + + DPGeneralPanel @@ -445,9 +477,12 @@ The device should reboot once if it finish updating. - - - Are you sure? + Are you sure you want to flash the panda? + + + + + Are you sure delete all media? @@ -465,18 +500,44 @@ The device should reboot once if it finish updating. Tap the button ONLY if your panda ran into issue. + + + Are you sure you want to run recover panda script? + + - Delete All Driving Log + Reset dragonpilot conf + RESET + 재설정 + + + + Tap the button to reset all your dragonpilot congiration to default value. +Reboot required. + + + + + Are you sure you want to reset dp params? + + + + + Delete All Driving Log + + + + DELETE - + Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs). @@ -484,34 +545,34 @@ The device should reboot once if it finish updating. DPMapsPanel - + Show Full Screen Nav. - + This will show navigation in full screen. Please tap green boarder if you wish to switch back drive view. - + Search Destination using Google Map - + This will allow you to search destination in google map api. You will need to apply your own google map api key.Enter your key detail in web interface once it's enabled. - + Enable Nav. - + This will let use the build in Navigation. Use web interface to control it: *http://<device_ip>:8082*. You will need to apply your own mapbox token at https://www.mapbox.com/. @@ -520,52 +581,52 @@ Reboot required. - + Enable Speed Limit Control - + Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits. - + Enable Speed Limit Offset - + Set speed limit slightly higher than actual speed limit for a more natural drive. - + Enable Map Data Turn Control - + Use curvature info from map data to define speed limits to take turns ahead - + Show debug UI elements - + Show UI elements that aid debugging. - + Enable MapD - + Use OSM to assist lateral/longitudinal control. Please note: 1. This feature will works only when your car support OP longitudinal. @@ -578,69 +639,95 @@ Please note: DPUIPanel - + Display Mode - + 0 = Default 1 = Screen Off While Driving - + Screen Brightness - + Adjust your screen brightness. - - + + AUTO - + Alert Volume - + Adjust your alert volume. - + Quiet Drive - + Display alert and play important warning sound. Thanks @sunnyhaibin. - + + Display Speed + + + + + Enable this to display your current speed. + + + + + Display Event / Steer Icon + + + + + + Enable this to display the icon. + + + + + Display Driver Monitor Indicator + + + + Display Side Info - + Enable this to display steering angle / lead car distance / engine RPM. - + Display Top Info - + Enable this to display time / system temp / battery level. @@ -1048,70 +1135,70 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX MAX - - + + SPEED SPEED - - + + LIMIT LIMIT - + REAL STEER - + RAM PER - + OFF - + ENG RPM - + NOR - + SPT - + ECO - + ACCEL @@ -1501,31 +1588,31 @@ location set Sidebar - - + + CONNECT 연결 - + OFFLINE 오프라인 - - + + ONLINE 온라인 - + ERROR 오류 - - - + + + TEMP 온도 @@ -1542,27 +1629,27 @@ location set 경고 - + VEHICLE 차량 - + NO NO - + PANDA PANDA - + GPS GPS - + SEARCH 검색중 diff --git a/selfdrive/ui/translations/main_pt-BR.qm b/selfdrive/ui/translations/main_pt-BR.qm new file mode 100644 index 000000000..50ede181d Binary files /dev/null and b/selfdrive/ui/translations/main_pt-BR.qm differ diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 9825cdf42..c31be1239 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -114,87 +114,109 @@ DPCarPanel - + Override Speed When Below - + Override feature will be enabled when set cruise speed is lower than this value. 1 km/h = 0.62 mph. - + km/h - + Turn On Cruise Speed Override - + This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h) - + Toyota / Lexus - + Enable SnG Mod - + Enable this to fix stop and go (SnG) issue on some models. Reboot required. - + Enable AM Physical Button Ctrl - + Enable this to link Accel Mode (AM) control to the physical button (TSS2). ONLY WORK ON SOME OF TSS1 VEHICLES. Reboot required. - + + Enable Door Auto Lock + + + + + Enable this to lock doors when drive above 25 km/h. +ONLY WORK ON SOME VEHICLES. + + + + + Enable Door Auto Unlock + + + + + Enable this to unlock doors when shift to gear P. +ONLY WORK ON SOME VEHICLES. + + + + Honda - + Enable EPS Mod Mode - + Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware. Reboot required. - + Mazda - + Display Below Steer Speed Alert - + Enable this will show below steer speed alert. Thanks to @TheCrowd @@ -203,118 +225,118 @@ Thanks to @TheCrowd DPControlPanel - + ALCA Delay - + Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically. - + secs - + ALCA Min Speed - + ALCA minimum engage speed in mph. 1 mph = 1.61 km/h. - + mph - + LCA Min Speed - + LCA minimum engage speed in mph. 1 mph = 1.61 km/h. - + Lateral Ctrl Mode - + 1 = Lane Change Assist (LCA) 2 = Auto Lane Change Assist (ALCA) - + Longitudinal - + Manually Control Accel Mode - + Enable this if you wish to adjust openpilot's acceleration control. - + Enable vision based turn control - + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. - + Lateral - + Use Lane Lines - + Enable this if you wish to use lane lines mode. - + Use LQR Controller - + Enable this if you wish to use LQR instead of PID or INDI controller. WORKS WELL ONLY ON SOME VEHICLES. More linear steering experience. - + Always On Lateral - + Use at your own risk! 1 = Stock Long 2 = OP Long @@ -322,6 +344,16 @@ Run Panda Recovery if Panda is not detected after reboot. Reboot required. + + + Camera Offset + + + + + Adjust your camera position if your device is not mounted as per guidance. + + DPGeneralPanel @@ -445,9 +477,12 @@ The device should reboot once if it finish updating. - - - Are you sure? + Are you sure you want to flash the panda? + + + + + Are you sure delete all media? @@ -465,18 +500,44 @@ The device should reboot once if it finish updating. Tap the button ONLY if your panda ran into issue. + + + Are you sure you want to run recover panda script? + + - Delete All Driving Log + Reset dragonpilot conf + RESET + RESET + + + + Tap the button to reset all your dragonpilot congiration to default value. +Reboot required. + + + + + Are you sure you want to reset dp params? + + + + + Delete All Driving Log + + + + DELETE - + Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs). @@ -484,34 +545,34 @@ The device should reboot once if it finish updating. DPMapsPanel - + Show Full Screen Nav. - + This will show navigation in full screen. Please tap green boarder if you wish to switch back drive view. - + Search Destination using Google Map - + This will allow you to search destination in google map api. You will need to apply your own google map api key.Enter your key detail in web interface once it's enabled. - + Enable Nav. - + This will let use the build in Navigation. Use web interface to control it: *http://<device_ip>:8082*. You will need to apply your own mapbox token at https://www.mapbox.com/. @@ -520,52 +581,52 @@ Reboot required. - + Enable Speed Limit Control - + Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits. - + Enable Speed Limit Offset - + Set speed limit slightly higher than actual speed limit for a more natural drive. - + Enable Map Data Turn Control - + Use curvature info from map data to define speed limits to take turns ahead - + Show debug UI elements - + Show UI elements that aid debugging. - + Enable MapD - + Use OSM to assist lateral/longitudinal control. Please note: 1. This feature will works only when your car support OP longitudinal. @@ -578,69 +639,95 @@ Please note: DPUIPanel - + Display Mode - + 0 = Default 1 = Screen Off While Driving - + Screen Brightness - + Adjust your screen brightness. - - + + AUTO - + Alert Volume - + Adjust your alert volume. - + Quiet Drive - + Display alert and play important warning sound. Thanks @sunnyhaibin. - + + Display Speed + + + + + Enable this to display your current speed. + + + + + Display Event / Steer Icon + + + + + + Enable this to display the icon. + + + + + Display Driver Monitor Indicator + + + + Display Side Info - + Enable this to display steering angle / lead car distance / engine RPM. - + Display Top Info - + Enable this to display time / system temp / battery level. @@ -1049,70 +1136,70 @@ trabalho definido NvgWindow - + km/h km/h - + mph mph - - + + MAX LIMITE - - + + SPEED MAX - - + + LIMIT VELO - + REAL STEER - + RAM PER - + OFF - + ENG RPM - + NOR - + SPT - + ECO - + ACCEL @@ -1505,31 +1592,31 @@ trabalho definido Sidebar - - + + CONNECT CONEXÃO - + OFFLINE DESCONEC - - + + ONLINE CONECTADO - + ERROR ERRO - - - + + + TEMP TEMP @@ -1546,27 +1633,27 @@ trabalho definido OK - + VEHICLE VEÍCULO - + NO SEM - + PANDA PANDA - + GPS GPS - + SEARCH PROCURA diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index 8a1385946..e890b450f 100644 Binary files a/selfdrive/ui/translations/main_zh-CHS.qm and b/selfdrive/ui/translations/main_zh-CHS.qm differ diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 2feb44c12..88e561074 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -114,87 +114,109 @@ DPCarPanel - + Override Speed When Below - + Override feature will be enabled when set cruise speed is lower than this value. 1 km/h = 0.62 mph. - + km/h - + Turn On Cruise Speed Override - + This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h) - + Toyota / Lexus - + Enable SnG Mod - + Enable this to fix stop and go (SnG) issue on some models. Reboot required. - + Enable AM Physical Button Ctrl - + Enable this to link Accel Mode (AM) control to the physical button (TSS2). ONLY WORK ON SOME OF TSS1 VEHICLES. Reboot required. - + + Enable Door Auto Lock + + + + + Enable this to lock doors when drive above 25 km/h. +ONLY WORK ON SOME VEHICLES. + + + + + Enable Door Auto Unlock + + + + + Enable this to unlock doors when shift to gear P. +ONLY WORK ON SOME VEHICLES. + + + + Honda - + Enable EPS Mod Mode - + Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware. Reboot required. - + Mazda - + Display Below Steer Speed Alert - + Enable this will show below steer speed alert. Thanks to @TheCrowd @@ -203,118 +225,118 @@ Thanks to @TheCrowd DPControlPanel - + ALCA Delay - + Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically. - + secs - + ALCA Min Speed - + ALCA minimum engage speed in mph. 1 mph = 1.61 km/h. - + mph - + LCA Min Speed - + LCA minimum engage speed in mph. 1 mph = 1.61 km/h. - + Lateral Ctrl Mode - + 1 = Lane Change Assist (LCA) 2 = Auto Lane Change Assist (ALCA) - + Longitudinal - + Manually Control Accel Mode - + Enable this if you wish to adjust openpilot's acceleration control. - + Enable vision based turn control - + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. - + Lateral - + Use Lane Lines - + Enable this if you wish to use lane lines mode. - + Use LQR Controller - + Enable this if you wish to use LQR instead of PID or INDI controller. WORKS WELL ONLY ON SOME VEHICLES. More linear steering experience. - + Always On Lateral - + Use at your own risk! 1 = Stock Long 2 = OP Long @@ -322,6 +344,16 @@ Run Panda Recovery if Panda is not detected after reboot. Reboot required. + + + Camera Offset + + + + + Adjust your camera position if your device is not mounted as per guidance. + + DPGeneralPanel @@ -445,9 +477,12 @@ The device should reboot once if it finish updating. - - - Are you sure? + Are you sure you want to flash the panda? + + + + + Are you sure delete all media? @@ -465,18 +500,44 @@ The device should reboot once if it finish updating. Tap the button ONLY if your panda ran into issue. + + + Are you sure you want to run recover panda script? + + - Delete All Driving Log + Reset dragonpilot conf + RESET + 重置 + + + + Tap the button to reset all your dragonpilot congiration to default value. +Reboot required. + + + + + Are you sure you want to reset dp params? + + + + + Delete All Driving Log + + + + DELETE - + Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs). @@ -484,34 +545,34 @@ The device should reboot once if it finish updating. DPMapsPanel - + Show Full Screen Nav. - + This will show navigation in full screen. Please tap green boarder if you wish to switch back drive view. - + Search Destination using Google Map - + This will allow you to search destination in google map api. You will need to apply your own google map api key.Enter your key detail in web interface once it's enabled. - + Enable Nav. - + This will let use the build in Navigation. Use web interface to control it: *http://<device_ip>:8082*. You will need to apply your own mapbox token at https://www.mapbox.com/. @@ -520,52 +581,52 @@ Reboot required. - + Enable Speed Limit Control - + Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits. - + Enable Speed Limit Offset - + Set speed limit slightly higher than actual speed limit for a more natural drive. - + Enable Map Data Turn Control - + Use curvature info from map data to define speed limits to take turns ahead - + Show debug UI elements - + Show UI elements that aid debugging. - + Enable MapD - + Use OSM to assist lateral/longitudinal control. Please note: 1. This feature will works only when your car support OP longitudinal. @@ -578,69 +639,95 @@ Please note: DPUIPanel - + Display Mode - + 0 = Default 1 = Screen Off While Driving - + Screen Brightness - + Adjust your screen brightness. - - + + AUTO - + Alert Volume - + Adjust your alert volume. - + Quiet Drive - + Display alert and play important warning sound. Thanks @sunnyhaibin. - + + Display Speed + + + + + Enable this to display your current speed. + + + + + Display Event / Steer Icon + + + + + + Enable this to display the icon. + + + + + Display Driver Monitor Indicator + + + + Display Side Info - + Enable this to display steering angle / lead car distance / engine RPM. - + Display Top Info - + Enable this to display time / system temp / battery level. @@ -1046,70 +1133,70 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高定速 - - + + SPEED SPEED - - + + LIMIT LIMIT - + REAL STEER - + RAM PER - + OFF - + ENG RPM - + NOR - + SPT - + ECO - + ACCEL @@ -1499,31 +1586,31 @@ location set Sidebar - - + + CONNECT CONNECT - + OFFLINE 离线 - - + + ONLINE 在线 - + ERROR 连接出错 - - - + + + TEMP 设备温度 @@ -1540,27 +1627,27 @@ location set 一般 - + VEHICLE 车辆连接 - + NO 无 - + PANDA PANDA - + GPS GPS - + SEARCH 搜索中 diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm index cf83a6ea6..49ab5dc9e 100644 Binary files a/selfdrive/ui/translations/main_zh-CHT.qm and b/selfdrive/ui/translations/main_zh-CHT.qm differ diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index e659fb75b..5c8276452 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -114,56 +114,56 @@ DPCarPanel - + Override Speed When Below 改寫定速當定速值低於： - + Override feature will be enabled when set cruise speed is lower than this value. 1 km/h = 0.62 mph. 系統將會改寫定速值當低於此指定的值。 1 km/h = 0.62 mph。 - + km/h - + 公里 - + Turn On Cruise Speed Override 啟用巡航速度改寫 - + This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h) 開啟這個選項後，您將可以把定速至最低 5km/hr (一般最低為 26～40km/h) - + Toyota / Lexus - + Enable SnG Mod 啟用 SnG 協助 - + Enable this to fix stop and go (SnG) issue on some models. Reboot required. 開啟這個選項可以解決某些車型無法跟車到停後再啟動（SnG）的問題 需要重新啟動。 - + Enable AM Physical Button Ctrl 啟用加速模式和方向盤實體按鈕關聯 - + Enable this to link Accel Mode (AM) control to the physical button (TSS2). ONLY WORK ON SOME OF TSS1 VEHICLES. Reboot required. @@ -172,33 +172,58 @@ Reboot required. 需重新啟動。 - + + Enable Door Auto Lock + 啟用車門自動上鎖 + + + + Enable this to lock doors when drive above 25 km/h. +ONLY WORK ON SOME VEHICLES. + 開啟這個選項後，車子在行駛超過 25 km/h 時會自動上鎖。 +並不適用所有的車型。 + + + + Enable Door Auto Unlock + 啟用車門自動上鎖 + + + + Enable this to unlock doors when shift to gear P. +ONLY WORK ON SOME VEHICLES. + 開啟這個選項後，車子在打入 P 檔時會自動解鎖。 +並不適用所有的車型。 + + + Honda - + Enable EPS Mod Mode - + 啟用 EPS 破解支持 - + Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware. Reboot required. - + 啟用這個選項後 openpilot 將可以使用更廣的方向盤控制值。註：您的方向盤需要刷過修改過的 EPS 固件。 +需重新啟動。 - + Mazda - + Display Below Steer Speed Alert 顯示低速轉向失效提示 - + Enable this will show below steer speed alert. Thanks to @TheCrowd 啟用這個選項後，將在車速低於可輔助轉向的速度時，顯示提示 @@ -207,109 +232,109 @@ Thanks to @TheCrowd DPControlPanel - + ALCA Delay 設置自動換道延遲時間 - + Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically. 一旦車輛滿足所有自動換道的啟動需求，它將會等待設定的秒數後再執行換道。 - + secs 秒 - + ALCA Min Speed 自動換道最低啟用速度 - + ALCA minimum engage speed in mph. 1 mph = 1.61 km/h. 自動換道啟用速度 (單位為每小時英里)。 1 英里 (mph) 約等於 1.61 公里 (km/h)。 - + mph 英里 - + LCA Min Speed 輔助換道最低啟用速度 - + LCA minimum engage speed in mph. 1 mph = 1.61 km/h. 輔助換道啟用速度 (單位為每小時英里)。 1 英里 (mph) 約等於 1.61 公里 (km/h)。 - + Lateral Ctrl Mode 橫向控制模式 - + 1 = Lane Change Assist (LCA) 2 = Auto Lane Change Assist (ALCA) 1 = 輔助換道 (LCA) 2 = 自動換道 (ALCA) - + Longitudinal 縱向控制 (油門/剎車) - + Manually Control Accel Mode 手動控制加速模式 - + Enable this if you wish to adjust openpilot's acceleration control. 啟用這個選項後您可以調整 openpilot 的加速模式 (節能、一般、運動)。 - + Enable vision based turn control 啟用視覺模型路徑控制車速 - + Use vision path predictions to estimate the appropriate speed to drive through turns ahead. 使用視覺模型預測的路徑來判斷前方的過彎速度。 - + Lateral 橫向控制 (方向盤) - + Use Lane Lines 使用車道線 - + Enable this if you wish to use lane lines mode. 啟用這個選項後，模型將會以車道線判斷行駛路線。 - + Use LQR Controller 使用 LQR 控制器 - + Enable this if you wish to use LQR instead of PID or INDI controller. WORKS WELL ONLY ON SOME VEHICLES. More linear steering experience. @@ -318,12 +343,12 @@ More linear steering experience. LQR 提供比 PID、INDI 更線性的控制。 - + Always On Lateral 全時置中 - + Use at your own risk! 1 = Stock Long 2 = OP Long @@ -334,6 +359,16 @@ Reboot required. 2 = 使用 op ACC 需重新啟動，如果遇到不能連線問題請使用恢復恢復 Panda 韌體功能。 + + + Camera Offset + 相機偏移 + + + + Adjust your camera position if your device is not mounted as per guidance. + 如果您的裝置並非依照安裝說明安裝，您可以用這個設定來微調您裝置的相機與 ADAS 相機的間距。 + DPGeneralPanel @@ -464,10 +499,17 @@ The device should reboot once if it finish updating. - - + Are you sure you want to flash the panda? + 您確定要刷寫 Panda 嗎？ + + + + Are you sure delete all media? + 您確定要刪除所有的行車記錄嗎？ + + Are you sure? - 您確定嗎？ + 您確定嗎？ @@ -484,18 +526,45 @@ The device should reboot once if it finish updating. Tap the button ONLY if your panda ran into issue. 僅當您的 Panda 遇到問題時才點擊按鈕。 + + + Are you sure you want to run recover panda script? + 您確定要執行 Panda 恢復的動作嗎？ + + + + Reset dragonpilot conf + 重置所有 dragonpilot 的設定值 + + + + RESET + 重置 + + Tap the button to reset all your dragonpilot congiration to default value. +Reboot required. + 點擊右方按鈕來重置所有的 dragonpilot 相關的設定值。 +需重新啟動。 + + + + Are you sure you want to reset dp params? + 您確定要重置嗎？ + + + Delete All Driving Log 刪除所有的行駛記錄 - + DELETE 刪除 - + Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs). 點擊按鈕來清空您所有的行駛記錄（包含 dashcam / gpx 等等）。 @@ -503,36 +572,36 @@ The device should reboot once if it finish updating. DPMapsPanel - + Show Full Screen Nav. 啟用全螢幕道航 - + This will show navigation in full screen. Please tap green boarder if you wish to switch back drive view. 這將會把導航畫面擴展至全螢幕。 如果想切換回行車畫面，請點擊或滑動綠色邊框區域。 - + Search Destination using Google Map 使用 Google Map 搜尋目的地 - + This will allow you to search destination in google map api. You will need to apply your own google map api key.Enter your key detail in web interface once it's enabled. 這將讓您使用 google map API 來搜尋目的地。 您將需要申請自已的 google map api 密鑰，申請完後進入網頁介面輸入即可。 - + Enable Nav. 啟用導航服務 - + This will let use the build in Navigation. Use web interface to control it: *http://<device_ip>:8082*. You will need to apply your own mapbox token at https://www.mapbox.com/. @@ -545,53 +614,53 @@ Reboot required. 需要重新開機。 - + Enable Speed Limit Control 啟用速限控制 - + Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits. 依照圖資上的速限控制您的車速。 - + Enable Speed Limit Offset 啟用限速控制偏移 - + Set speed limit slightly higher than actual speed limit for a more natural drive. 將速度限製設置為略高於實際速度限制，實現更自然的駕駛。 - + Enable Map Data Turn Control 啟用圖資路徑控制車速 - + Use curvature info from map data to define speed limits to take turns ahead 使用圖資上的路徑來判斷前方的過彎速度 使用速度顯示為UI中左下方三角形內數值 - + Show debug UI elements 顯示除錯用圖示 - + Show UI elements that aid debugging. 於右上方顯示除錯用訊息 - + Enable MapD 啟用 MapD 服務 - + Use OSM to assist lateral/longitudinal control. Please note: 1. This feature will works only when your car support OP longitudinal. @@ -609,70 +678,96 @@ Please note: DPUIPanel - + Display Mode 顯示模式 - + 0 = Default 1 = Screen Off While Driving 0 = 預設 1 = 行駛時關閉畫面 - + Screen Brightness 螢幕亮度 - + Adjust your screen brightness. 調整螢幕的亮度。 - - + + AUTO 自動 - + Alert Volume 提示音量 - + Adjust your alert volume. 調整設備的提示音量。 - + Quiet Drive 靜音模式 - + Display alert and play important warning sound. Thanks @sunnyhaibin. 開啟這個選項後，設備只會在重要的警示時顯示和發出聲響。謝謝 @sunnyhaibin. - + + Display Speed + 顯示車速 + + + + Enable this to display your current speed. + 啟用這個選項來顯示目前車速。 + + + + Display Event / Steer Icon + 顯示事件圖示 + + + + + Enable this to display the icon. + 啟用UI右上角顯示事件/轉向圖標。 + + + + Display Driver Monitor Indicator + 顯示駕駛監控圖示 + + + Display Side Info 顯示側邊資訊欄 - + Enable this to display steering angle / lead car distance / engine RPM. 開啟這個選項後，畫面側邊將會顯示額外的訊息。 - + Display Top Info 顯示上方資訊欄 - + Enable this to display time / system temp / battery level. 開啟這個選項後，畫面將會顯示額外的訊息。 @@ -1080,70 +1175,70 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高 - - + + SPEED 速度 - - + + LIMIT 速限 - + REAL STEER 實際轉角 - + RAM PER 記憶體用量 - + OFF 停止 - + ENG RPM 引擎轉速 - + NOR 一般 - + SPT 運動 - + ECO 節能 - + ACCEL 加速 @@ -1533,31 +1628,31 @@ location set Sidebar - - + + CONNECT 雲端服務 - + OFFLINE 已離線 - - + + ONLINE 已連線 - + ERROR 錯誤 - - - + + + TEMP 溫度 @@ -1574,27 +1669,27 @@ location set 一般 - + VEHICLE 車輛通訊 - + NO 未連線 - + PANDA 車輛通訊 - + GPS GPS - + SEARCH 車輛通訊 diff --git a/system/camerad/camerad b/system/camerad/camerad index 3ef6fb7dc..ad5229a21 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/clocksd/clocksd b/system/clocksd/clocksd index 57fcdb286..b3db78f56 100755 Binary files a/system/clocksd/clocksd and b/system/clocksd/clocksd differ