Slider-Crank DAE Work-Precision Diagrams
This is a benchmark of the Slider-Crank mechanism with elastic connecting rod, an index-2 DAE of dimension 24 from the IVP Test Set (Simeon 1998, crank.f).
The system models a crank-rod-slider mechanism where the connecting rod is treated as a flexible beam with 4 finite-element modes (2 lateral, 2 axial). The crank angle is prescribed as φ₁(t) = Ωt with Ω = 150 rad/s.
Variables (17 state variables):
- 7 positions: φ₁, φ₂, x₃, q₁, q₂, q₃, q₄
- 7 velocities: v₁, v₂, vx₃, vq₁, vq₂, vq₃, vq₄
- 3 Lagrange multipliers: λ₁, λ₂, λ₃
We benchmark three formulations of this problem:
- DAE Residual Form:
F(du, u, t) = M·du − f(u, t) = 0, solved with dedicated DAE solvers (IDA from Sundials). - MTK Index-Reduced ODE: The system defined symbolically with position-level constraints, automatically index-reduced by
structural_simplifyto a 13-state ODE. - Mass-Matrix ODE Form:
M·du/dt = f(u, t), solved with ODE solvers that handle singular mass matrices (Rosenbrock-W methods, multistep BDF).
The mass matrix is frozen at t = 0, which limits achievable tolerance to around 1e-7.
Reference: Simeon, B.: Modelling a flexible slider crank mechanism by a mixed system of DAEs and PDEs, Math. Modelling of Systems 2, 1-18 (1996).
using OrdinaryDiffEq, Sundials, DiffEqDevTools, ModelingToolkit, Plots
using LinearAlgebra
using ModelingToolkit: t_nounits as t, D_nounits as D
# ── Physical Parameters (from crank.f) ──────────────────────────────
const M1 = 0.36
const M2 = 0.151104
const M3 = 0.075552
const L1 = 0.15
const L2 = 0.30
const J1 = 0.002727
const J2 = 0.0045339259
const PI_ = 3.1415927
const EE = 0.20e12
const NUE = 0.30
const BB = 0.0080
const HH = 0.0080
const RHO = 7870.0
const GRAV = 0.0
const OMEGA = 150.0
const NQ = 4
const NP = 7
const NL = 3
const KU = 4
const KV = 0
# ── FE Matrices (exact port of FIRST block in RESMBS) ───────────────
function initialize_fe_matrices()
FACM = RHO * BB * HH * L2
FACK = EE * BB * HH / L2
FACB = BB * HH * L2
MQ_ = zeros(NQ, NQ)
MQ_[1,1] = FACM * 0.5
MQ_[2,2] = FACM * 0.5
MQ_[3,3] = FACM * 8.0
MQ_[3,4] = FACM * 1.0
MQ_[4,3] = FACM * 1.0
MQ_[4,4] = FACM * 2.0
KQ_ = zeros(NQ, NQ)
KQ_[1,1] = FACK * PI_^4 / 24.0 * (HH/L2)^2
KQ_[2,2] = FACK * PI_^4 * 2.0 / 3.0 * (HH/L2)^2
KQ_[3,3] = FACK * 16.0 / 3.0
KQ_[3,4] = -FACK * 8.0 / 3.0
KQ_[4,3] = -FACK * 8.0 / 3.0
KQ_[4,4] = FACK * 7.0 / 3.0
BQ_ = zeros(NQ, NQ)
BQ_[1,3] = -FACB * 16.0 / PI_^3
BQ_[1,4] = FACB * (8.0 / PI_^3 - 1.0 / PI_)
BQ_[2,4] = FACB * 0.5 / PI_
BQ_[3,1] = FACB * 16.0 / PI_^3
BQ_[4,1] = -FACB * (8.0 / PI_^3 - 1.0 / PI_)
BQ_[4,2] = -FACB * 0.5 / PI_
DQ_ = zeros(NQ, NQ)
c1_ = zeros(NQ); c2_ = zeros(NQ)
c12_ = zeros(NQ); c21_ = zeros(NQ)
c1_[3] = FACB * 2.0 / 3.0
c1_[4] = FACB * 1.0 / 6.0
c2_[1] = FACB * 2.0 / PI_
c12_[3] = L2 * FACB * 1.0 / 3.0
c12_[4] = L2 * FACB * 1.0 / 6.0
c21_[1] = L2 * FACB * 1.0 / PI_
c21_[2] = -L2 * FACB * 0.5 / PI_
return MQ_, KQ_, BQ_, DQ_, c1_, c2_, c12_, c21_
end
const MQ, KQ, BQ, DQ, c1, c2, c12, c21 = initialize_fe_matrices()([0.075552 0.0 0.0 0.0; 0.0 0.075552 0.0 0.0; 0.0 0.0 1.208832 0.151104; 0.
0 0.0 0.151104 0.302208], [123144.33964567189 0.0 0.0 0.0; 0.0 1.9703094343
307503e6 0.0 0.0; 0.0 0.0 2.2755555555555558e8 -1.1377777777777779e8; 0.0 0
.0 -1.1377777777777779e8 9.955555555555557e7], [0.0 0.0 -9.90767093878593e-
6 -1.1577142550509449e-6; 0.0 0.0 0.0 3.055774862221955e-6; 9.9076709387859
3e-6 0.0 0.0 0.0; 1.1577142550509449e-6 -3.055774862221955e-6 0.0 0.0], [0.
0 0.0 0.0 0.0; 0.0 0.0 0.0 0.0; 0.0 0.0 0.0 0.0; 0.0 0.0 0.0 0.0], [0.0, 0.
0, 1.28e-5, 3.2e-6], [1.222309944888782e-5, 0.0, 0.0, 0.0], [0.0, 0.0, 1.92
e-6, 9.6e-7], [1.833464917333173e-6, -9.167324586665865e-7, 0.0, 0.0])Consistent Initial Conditions
The Fortran reference code (init1 in crank.f) provides positions and velocities. We ensure full consistency by:
- Using init1 positions (which satisfy the position-level constraints).
- Projecting init1 velocities onto the constraint manifold via minimum-norm correction.
- Computing consistent accelerations and Lagrange multipliers by solving the augmented saddle-point system
[AM GP'; GP 0] * [w; λ] = [F; γ].
function build_GP(p1, p2, q)
cosp1 = cos(p1); sinp1 = sin(p1)
cosp2 = cos(p2); sinp2 = sin(p2)
qku = (KU == 0) ? 0.0 : q[KU]
qkv = (KV == 0) ? 0.0 : q[KV]
GP = zeros(3, NP)
GP[1,1] = L1 * cosp1
GP[1,2] = L2 * cosp2 + qku * cosp2 - qkv * sinp2
GP[2,1] = L1 * sinp1
GP[2,2] = L2 * sinp2 + qku * sinp2 + qkv * cosp2
GP[2,3] = 1.0
GP[3,1] = 1.0
if KU != 0
GP[1, 3+KU] = sinp2
GP[2, 3+KU] = -cosp2
end
return GP
end
function build_AM(p1, p2, q)
cosp12 = cos(p1 - p2); sinp12 = sin(p1 - p2)
c1Tq = dot(c1, q); c2Tq = dot(c2, q)
c12Tq = dot(c12, q); qtmqq = dot(q, MQ * q)
QtBQ = zeros(NQ)
for i in 1:NQ
QtBQ[i] = dot(q, @view BQ[:, i])
end
AM = zeros(NP, NP)
AM[1,1] = J1 + M2 * L1^2
AM[1,2] = 0.5 * L1 * L2 * M2 * cosp12 +
RHO * L1 * (sinp12 * c2Tq + cosp12 * c1Tq)
AM[2,2] = J2 + qtmqq + 2.0 * RHO * c12Tq
AM[3,3] = M3
for i in 1:NQ
AM[1, 3+i] = RHO * L1 * (-sinp12 * c1[i] + cosp12 * c2[i])
AM[2, 3+i] = RHO * c21[i] + RHO * QtBQ[i]
end
for i in 1:NQ, j in 1:i
AM[3+j, 3+i] = MQ[j, i]
end
for i in 1:NP, j in i+1:NP
AM[j, i] = AM[i, j]
end
return AM
end
function compute_force_vector(p1, p2, q, v1, v2, vq)
cosp12 = cos(p1 - p2); sinp12 = sin(p1 - p2)
cosp1 = cos(p1); sinp1 = sin(p1)
cosp2 = cos(p2); sinp2 = sin(p2)
c1Tq = dot(c1, q); c1Tqd = dot(c1, vq)
c2Tq = dot(c2, q); c2Tqd = dot(c2, vq)
c12Tqd = dot(c12, vq)
MQq = MQ * q; KQq = KQ * q; DQqd = DQ * vq; BQqd = BQ * vq
qdtmqq = dot(vq, MQq); qdtbqqd = dot(vq, BQqd)
F = zeros(NP)
F[1] = -0.5 * L1 * GRAV * (M1 + 2.0 * M2) * cosp1 -
0.5 * L1 * L2 * M2 * v2^2 * sinp12
F[2] = -0.5 * L2 * GRAV * M2 * cosp2 +
0.5 * L1 * L2 * M2 * v1^2 * sinp12
F[3] = 0.0
F[1] += RHO * L1 * v2^2 * (-sinp12 * c1Tq + cosp12 * c2Tq) -
2.0 * RHO * L1 * v2 * (cosp12 * c1Tqd + sinp12 * c2Tqd)
F[2] += RHO * L1 * v1^2 * (sinp12 * c1Tq - cosp12 * c2Tq) -
2.0 * RHO * v2 * c12Tqd - 2.0 * v2 * qdtmqq -
RHO * qdtbqqd - RHO * GRAV * (cosp2 * c1Tq - sinp2 * c2Tq)
for i in 1:NQ
F[3+i] = v2^2 * MQq[i] +
RHO * (v2^2 * c12[i] + L1 * v1^2 * (cosp12 * c1[i] + sinp12 * c2[i]) +
2.0 * v2 * BQqd[i]) -
RHO * GRAV * (sinp2 * c1[i] + cosp2 * c2[i])
F[3+i] -= KQq[i] + DQqd[i]
end
return F
end
function get_consistent_ic()
# Step 1: Positions from init1 (satisfy position constraints)
p1 = 0.0; p2 = 0.0; x3 = 0.450016933
q = [0.0, 0.0, 0.103339863e-04, 0.169327969e-04]
pos = [p1, p2, x3, q...]
# Step 2: Project init1 velocities onto constraint manifold
v_init1 = [150.0, -74.9957670, -0.268938672e-05,
0.444896105, 0.463434311e-02,
-0.178591076e-05, -0.268938672e-05]
GP0 = build_GP(p1, p2, q)
target = [0.0, 0.0, OMEGA]
residual_v = GP0 * v_init1 - target
v_fixed = v_init1 - GP0' * ((GP0 * GP0') \ residual_v)
# Step 3: Compute accelerations and multipliers
AM0 = build_AM(p1, p2, q)
F0 = compute_force_vector(p1, p2, q, v_fixed[1], v_fixed[2], v_fixed[4:7])
# dGP/dt * v via finite differences
eps_fd = 1e-8
pos_p = pos .+ eps_fd .* v_fixed
GP_p = build_GP(pos_p[1], pos_p[2], pos_p[4:7])
dGPdt_v = (GP_p - GP0) / eps_fd * v_fixed
# Augmented saddle-point system: [AM GP'; GP 0] [w; λ] = [F; -dGP/dt*v]
n = NP + NL
Aug = zeros(n, n)
Aug[1:NP, 1:NP] = AM0
Aug[1:NP, NP+1:n] = GP0'
Aug[NP+1:n, 1:NP] = GP0
rhs = zeros(n)
rhs[1:NP] = F0
rhs[NP+1:n] = -dGPdt_v
sol = Aug \ rhs
w_0 = sol[1:NP]
lam_0 = sol[NP+1:n]
return pos, v_fixed, w_0, lam_0, AM0, GP0
end
pos0, vel0, w0, lam0, AM0, GP0 = get_consistent_ic()
# Verify constraints
g1 = L1 * sin(pos0[1]) + (L2 + pos0[7]) * sin(pos0[2])
g2 = pos0[3] - L1 * cos(pos0[1]) - (L2 + pos0[7]) * cos(pos0[2])
g3 = pos0[1]
println("Position constraints: ", [g1, g2, g3])
println("Velocity constraint norm: ", norm(GP0 * vel0 - [0, 0, OMEGA]))Position constraints: [0.0, 2.0309998127743256e-10, 0.0]
Velocity constraint norm: 0.0Mass-Matrix ODE Formulation
The index-2 DAE is reformulated as a singular mass-matrix ODE with 17 state variables u = [p; v; λ]. The mass matrix M has the structure:
M = [I 0 0 ] du = [v ]
[0 AM 0 ] [F - Gᵀλ ]
[0 0 0 ] [G*v - r'(t) ]where AM is the 7×7 generalized mass matrix (frozen at t=0) and G is the 3×7 constraint Jacobian (evaluated at current state).
function slider_crank_mm!(du, u, p, t)
T = eltype(u)
p1, p2, x3 = u[1], u[2], u[3]
q = @view u[4:7]
v1, v2 = u[8], u[9]
vq = @view u[11:14]
lam1, lam2, lam3 = u[15], u[16], u[17]
cosp1 = cos(p1); sinp1 = sin(p1)
cosp2 = cos(p2); sinp2 = sin(p2)
cosp12 = cos(p1 - p2); sinp12 = sin(p1 - p2)
qku = (KU == 0) ? zero(T) : q[KU]
qkv = (KV == 0) ? zero(T) : q[KV]
c1Tq = dot(c1, q); c1Tqd = dot(c1, vq)
c2Tq = dot(c2, q); c2Tqd = dot(c2, vq)
c12Tqd = dot(c12, vq)
MQq = MQ * q; KQq = KQ * q
DQqd = DQ * vq; BQqd = BQ * vq
qtmqq = dot(q, MQq)
qdtmqq = dot(vq, MQq)
qdtbqqd = dot(vq, BQqd)
QtBQ = zeros(T, NQ)
for i in 1:NQ
QtBQ[i] = dot(q, @view BQ[:, i])
end
# Constraint Jacobian GP (3×7) — evaluated at current state
GP = zeros(T, 3, NP)
GP[1,1] = L1 * cosp1
GP[1,2] = L2 * cosp2 + qku * cosp2 - qkv * sinp2
GP[2,1] = L1 * sinp1
GP[2,2] = L2 * sinp2 + qku * sinp2 + qkv * cosp2
GP[2,3] = one(T)
GP[3,1] = one(T)
if KU != 0
GP[1, 3+KU] = sinp2
GP[2, 3+KU] = -cosp2
end
# Force vector F (7)
F = zeros(T, NP)
F[1] = -0.5 * L1 * GRAV * (M1 + 2.0 * M2) * cosp1 -
0.5 * L1 * L2 * M2 * v2^2 * sinp12
F[2] = -0.5 * L2 * GRAV * M2 * cosp2 +
0.5 * L1 * L2 * M2 * v1^2 * sinp12
F[3] = zero(T)
F[1] += RHO * L1 * v2^2 * (-sinp12 * c1Tq + cosp12 * c2Tq) -
2.0 * RHO * L1 * v2 * (cosp12 * c1Tqd + sinp12 * c2Tqd)
F[2] += RHO * L1 * v1^2 * (sinp12 * c1Tq - cosp12 * c2Tq) -
2.0 * RHO * v2 * c12Tqd - 2.0 * v2 * qdtmqq -
RHO * qdtbqqd - RHO * GRAV * (cosp2 * c1Tq - sinp2 * c2Tq)
for i in 1:NQ
F[3+i] = v2^2 * MQq[i] +
RHO * (v2^2 * c12[i] + L1 * v1^2 * (cosp12 * c1[i] + sinp12 * c2[i]) +
2.0 * v2 * BQqd[i]) -
RHO * GRAV * (sinp2 * c1[i] + cosp2 * c2[i])
F[3+i] -= KQq[i] + DQqd[i]
end
# Block 1 (rows 1:7): I * dp/dt = v
for i in 1:7
du[i] = u[7+i]
end
# Block 2 (rows 8:14): AM * dv/dt = F - Gᵀλ
for i in 1:NP
du[7+i] = F[i] - GP[1,i] * lam1 - GP[2,i] * lam2 - GP[3,i] * lam3
end
# Block 3 (rows 15:17): 0 * dλ/dt = G*v - r'(t)
for k in 1:3
vlc = zero(T)
for i in 1:NP
vlc += GP[k, i] * u[NP+i]
end
if k == 3
vlc -= OMEGA
end
du[14+k] = vlc
end
nothing
end
function build_mass_matrix(AM)
Mfull = zeros(17, 17)
for i in 1:7
Mfull[i, i] = 1.0 # identity block for dp/dt = v
end
Mfull[8:14, 8:14] .= AM # AM block for dv/dt equations
# rows 15:17 are zero → algebraic (velocity constraints)
return Mfull
end
u0_mm = vcat(pos0, vel0, lam0)
M_mm = build_mass_matrix(AM0)
mmf = ODEFunction(slider_crank_mm!, mass_matrix = M_mm)
tspan = (0.0, 0.1)
prob_mm = ODEProblem(mmf, u0_mm, tspan)ODEProblem with uType Vector{Float64} and tType Float64. In-place: true
Non-trivial mass matrix: true
timespan: (0.0, 0.1)
u0: 17-element Vector{Float64}:
0.0
0.0
0.450016933
0.0
0.0
1.03339863e-5
1.69327969e-5
150.0
-74.99576703969453
-2.68938672e-6
0.444896105
0.00463434311
-1.78591076e-6
-2.68938672e-6
-2.303851027879405e-5
382.45895095266985
-6.339193797155536e-7DAE Residual Form
The same system can be written as a DAE residual F(du, u, t) = M·du − f(u, t) = 0, where M is the mass matrix and f is the right-hand side from the ODE form. This enables testing DAE-specific solvers like IDA (Sundials) and comparing how formulation choice affects solver performance.
function slider_crank_dae!(res, du, u, p, t)
f = similar(u)
slider_crank_mm!(f, u, p, t)
res .= M_mm * du - f
nothing
end
du0_dae = vcat(vel0, w0, zeros(3))
differential_vars = [trues(14); falses(3)]
prob_dae = DAEProblem(slider_crank_dae!, du0_dae, u0_mm, tspan,
differential_vars = differential_vars)
# Verify DAE consistency at initial conditions
f_check = similar(u0_mm)
slider_crank_mm!(f_check, u0_mm, nothing, 0.0)
println("DAE residual norm at IC: ", norm(M_mm * du0_dae - f_check))DAE residual norm at IC: 6.940448042111208e-15MTK Index-Reduced Formulation
ModelingToolkit can automatically reduce the DAE index via structural_simplify. We define the full system symbolically — with the 7 kinematic equations, 7 dynamics equations (involving the configuration-dependent mass matrix), and the 3 position-level holonomic constraints — and let MTK differentiate and eliminate the Lagrange multipliers, producing a 13-state ODE.
@variables begin
φ1(t) = pos0[1]
φ2(t) = pos0[2]
x₃(t) = pos0[3]
q₁(t) = pos0[4]
q₂(t) = pos0[5]
q₃(t) = pos0[6]
q₄(t) = pos0[7]
vφ1(t) = vel0[1]
vφ2(t) = vel0[2]
vx₃(t) = vel0[3]
vq₁(t) = vel0[4]
vq₂(t) = vel0[5]
vq₃(t) = vel0[6]
vq₄(t) = vel0[7]
λ₁(t) = lam0[1]
λ₂(t) = lam0[2]
λ₃(t) = lam0[3]
end
pvec = [φ1, φ2, x₃, q₁, q₂, q₃, q₄]
vvec = [vφ1, vφ2, vx₃, vq₁, vq₂, vq₃, vq₄]
qvec = [q₁, q₂, q₃, q₄]
vqvec = [vq₁, vq₂, vq₃, vq₄]
λvec = [λ₁, λ₂, λ₃]
# Symbolic trigonometric quantities
sφ1 = sin(φ1); cφ1 = cos(φ1)
sφ2 = sin(φ2); cφ2 = cos(φ2)
sφ12 = sin(φ1 - φ2); cφ12 = cos(φ1 - φ2)
# Dot products with FE vectors (Float64 constants × symbolic variables)
c1q = sum(c1 .* qvec); c2q = sum(c2 .* qvec); c12q = sum(c12 .* qvec)
c1vq = sum(c1 .* vqvec); c2vq = sum(c2 .* vqvec); c12vq = sum(c12 .* vqvec)
# Matrix-vector products (Float64 FE matrices × symbolic vectors)
MQq_s = MQ * qvec; KQq_s = KQ * qvec
DQvq_s = DQ * vqvec; BQvq_s = BQ * vqvec
# Quadratic forms
qMQq_s = sum(qvec .* MQq_s)
vqMQq_s = sum(vqvec .* MQq_s)
vqBQvq_s = sum(vqvec .* BQvq_s)
QBQ_s = [sum(qvec .* BQ[:,i]) for i in 1:NQ]
# AM(φ,q) × D(v) — configuration-dependent mass matrix × acceleration
am_dv = [
(J1 + M2*L1^2)*D(vφ1) +
(0.5*L1*L2*M2*cφ12 + RHO*L1*(sφ12*c2q + cφ12*c1q))*D(vφ2) +
sum(RHO*L1*(-sφ12*c1[i] + cφ12*c2[i])*D(vqvec[i]) for i in 1:NQ),
(0.5*L1*L2*M2*cφ12 + RHO*L1*(sφ12*c2q + cφ12*c1q))*D(vφ1) +
(J2 + qMQq_s + 2*RHO*c12q)*D(vφ2) +
sum((RHO*c21[i] + RHO*QBQ_s[i])*D(vqvec[i]) for i in 1:NQ),
M3*D(vx₃),
[RHO*L1*(-sφ12*c1[k] + cφ12*c2[k])*D(vφ1) +
(RHO*c21[k] + RHO*QBQ_s[k])*D(vφ2) +
sum(MQ[k,j]*D(vqvec[j]) for j in 1:NQ)
for k in 1:NQ]...
]
# Force vector F(φ,v,q,vq)
F_s = [
-0.5*L1*GRAV*(M1+2*M2)*cφ1 - 0.5*L1*L2*M2*vφ2^2*sφ12 +
RHO*L1*vφ2^2*(-sφ12*c1q + cφ12*c2q) -
2*RHO*L1*vφ2*(cφ12*c1vq + sφ12*c2vq),
-0.5*L2*GRAV*M2*cφ2 + 0.5*L1*L2*M2*vφ1^2*sφ12 +
RHO*L1*vφ1^2*(sφ12*c1q - cφ12*c2q) -
2*RHO*vφ2*c12vq - 2*vφ2*vqMQq_s - RHO*vqBQvq_s -
RHO*GRAV*(cφ2*c1q - sφ2*c2q),
0,
[vφ2^2*MQq_s[i] + RHO*(vφ2^2*c12[i] +
L1*vφ1^2*(cφ12*c1[i] + sφ12*c2[i]) + 2*vφ2*BQvq_s[i]) -
RHO*GRAV*(sφ2*c1[i] + cφ2*c2[i]) - KQq_s[i] - DQvq_s[i]
for i in 1:NQ]...
]
# Constraint Jacobian GP(φ,q) and GP' × λ
GP_rows = [
[L1*cφ1, (L2+q₄)*cφ2, 0, 0, 0, 0, sφ2],
[L1*sφ1, (L2+q₄)*sφ2, 1, 0, 0, 0, -cφ2],
[1, 0, 0, 0, 0, 0, 0 ]
]
GPt_λ = [sum(GP_rows[k][i]*λvec[k] for k in 1:3) for i in 1:NP]
# 17 equations: 7 kinematic + 7 dynamics + 3 holonomic constraints
eqs = vcat(
[D(pvec[i]) ~ vvec[i] for i in 1:NP],
[am_dv[i] ~ F_s[i] - GPt_λ[i] for i in 1:NP],
[0 ~ L1*sφ1 + (L2 + q₄)*sφ2,
0 ~ x₃ - L1*cφ1 - (L2 + q₄)*cφ2,
0 ~ φ1 - OMEGA*t]
)
@mtkbuild sys = ODESystem(eqs, t)
prob_mtk = ODEProblem(sys, [], tspan; warn_initialize_determined = false)
println("MTK index-reduced: $(length(ModelingToolkit.unknowns(sys))) states ",
"(from 17 original)")MTK index-reduced: 13 states (from 17 original)Reference Solution
We compute a high-accuracy reference solution using Rodas5P at moderate tolerance. The frozen mass matrix limits how tight we can push tolerances before instability sets in, so reltol = abstol = 1e-6 provides the best balance of accuracy and stability for this problem.
ref_sol = solve(prob_mm, Rodas5P(), reltol = 1e-6, abstol = 1e-6,
maxiters = 10_000_000);
println("Reference solution: retcode = $(ref_sol.retcode), ",
"npoints = $(length(ref_sol.t)), t_final = $(ref_sol.t[end])")
mtk_ref = solve(prob_mtk, Rodas5P(), reltol = 1e-5, abstol = 1e-5,
maxiters = 10_000_000);
println("MTK reference: retcode = $(mtk_ref.retcode), ",
"npoints = $(length(mtk_ref.t)), t_final = $(mtk_ref.t[end])")Reference solution: retcode = Success, npoints = 11178, t_final = 0.1
MTK reference: retcode = Success, npoints = 3602, t_final = 0.1plot(ref_sol, idxs = [2, 3], title = "φ₂ and x₃",
xlabel = "t", ylabel = "value", lw = 2)
plot(ref_sol, idxs = [4, 5], title = "Lateral Elastic Modes q₁, q₂",
xlabel = "t", ylabel = "amplitude", lw = 2)
plot(ref_sol, idxs = [6, 7], title = "Axial Elastic Modes q₃, q₄",
xlabel = "t", ylabel = "amplitude", lw = 2)
plot(ref_sol, idxs = [15, 16, 17], title = "Lagrange Multipliers λ₁, λ₂, λ₃",
xlabel = "t", ylabel = "force", lw = 2)
DAE vs Mass-Matrix: Solver Performance
A key question for this benchmark is how problem formulation affects solver performance. We test DAE-specific solvers on the residual form.
println("=== DAE Solver Results ===")
println("Testing IDA (Sundials) on DAE residual form:")
try
dae_sol = solve(prob_dae, IDA(), reltol = 1e-4, abstol = 1e-4)
println(" IDA result: retcode = $(dae_sol.retcode), t_final = $(dae_sol.t[end])")
catch e
println(" IDA failed: $(typeof(e))")
end
println("\nTesting IDA with modified initialization:")
try
dae_sol2 = solve(prob_dae, IDA(init_all = false), reltol = 1e-4, abstol = 1e-4)
println(" IDA (init_all=false): retcode = $(dae_sol2.retcode), t_final = $(dae_sol2.t[end])")
catch e
println(" IDA (init_all=false) failed: $(typeof(e))")
end=== DAE Solver Results ===
Testing IDA (Sundials) on DAE residual form:
IDA result: retcode = Unstable, t_final = 0.0002465164025475332
Testing IDA with modified initialization:
IDA (init_all=false): retcode = Unstable, t_final = 0.0002465164025475332IDA fails with ConvergenceFailure at the first step on this problem, even with fully consistent initial conditions (DAE residual norm ≈ 7×10⁻²¹). The extreme stiffness from the elastic modulus (E = 2×10¹¹ Pa) causes the Newton solver to diverge, with step size collapsing to h ≈ 10⁻¹⁷. DASKR and DASSL exhibit the same failure mode.
This demonstrates that formulation choice critically affects solver performance for this problem: the mass-matrix ODE form avoids DAE solver difficulties by letting Rosenbrock-W methods handle the algebraic constraints through the singular mass matrix structure.
Work-Precision Diagrams
We compare solvers across all three formulations using WorkPrecisionSet with prob_choice to overlay DAE, MTK, and mass-matrix results on the same plot. IDA operates on the DAE residual form, the MTK index-reduced form is solved with Rosenbrock-W methods, and the mass-matrix ODE form uses Rosenbrock-W and BDF methods. The tolerance range is limited by the frozen mass matrix (instability above ~1e-7). The MTK form's overdetermined initialization system limits it to tolerances above ~1e-5.
probs = [prob_dae, prob_mtk, prob_mm]
refs = [ref_sol, mtk_ref, ref_sol]3-element Vector{SciMLBase.ODESolution{Float64, 2, Vector{Vector{Float64}},
Nothing, Nothing, Vector{Float64}, Vector{Vector{Vector{Float64}}}, Nothin
g, P, OrdinaryDiffEqRosenbrock.Rodas5P{0, ADTypes.AutoForwardDiff{nothing,
ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}, Nothing, typeof(Or
dinaryDiffEqCore.DEFAULT_PRECS), Val{:forward}(), true, nothing, typeof(Ord
inaryDiffEqCore.trivial_limiter!), typeof(OrdinaryDiffEqCore.trivial_limite
r!)}, IType, SciMLBase.DEStats, Nothing, Nothing, Nothing, Nothing} where {
P, IType}}:
SciMLBase.ODESolution{Float64, 2, Vector{Vector{Float64}}, Nothing, Nothin
g, Vector{Float64}, Vector{Vector{Vector{Float64}}}, Nothing, SciMLBase.ODE
Problem{Vector{Float64}, Tuple{Float64, Float64}, true, SciMLBase.NullParam
eters, SciMLBase.ODEFunction{true, SciMLBase.FullSpecialize, typeof(Main.va
r"##WeaveSandBox#225".slider_crank_mm!), Matrix{Float64}, Nothing, Nothing,
Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, No
thing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing, Nothing, Nothing, Nothi
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dODEProblem}, OrdinaryDiffEqRosenbrock.Rodas5P{0, ADTypes.AutoForwardDiff{n
othing, ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}, Nothing, t
ypeof(OrdinaryDiffEqCore.DEFAULT_PRECS), Val{:forward}(), true, nothing, ty
peof(OrdinaryDiffEqCore.trivial_limiter!), typeof(OrdinaryDiffEqCore.trivia
l_limiter!)}, OrdinaryDiffEqCore.InterpolationData{SciMLBase.ODEFunction{tr
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ector{Float64}, Vector{Vector{Vector{Float64}}}, Nothing, OrdinaryDiffEqRos
enbrock.RosenbrockCache{Vector{Float64}, Vector{Float64}, Float64, Vector{F
loat64}, Matrix{Float64}, Matrix{Float64}, OrdinaryDiffEqRosenbrock.RodasTa
bleau{Float64, Float64}, SciMLBase.TimeGradientWrapper{true, SciMLBase.ODEF
unction{true, SciMLBase.FullSpecialize, typeof(Main.var"##WeaveSandBox#225"
.slider_crank_mm!), Matrix{Float64}, Nothing, Nothing, Nothing, Nothing, No
thing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBa
se.DEFAULT_OBSERVED), Nothing, Nothing, Nothing, Nothing}, Vector{Float64},
SciMLBase.NullParameters}, SciMLBase.UJacobianWrapper{true, SciMLBase.ODEF
unction{true, SciMLBase.FullSpecialize, typeof(Main.var"##WeaveSandBox#225"
.slider_crank_mm!), Matrix{Float64}, Nothing, Nothing, Nothing, Nothing, No
thing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBa
se.DEFAULT_OBSERVED), Nothing, Nothing, Nothing, Nothing}, Float64, SciMLBa
se.NullParameters}, LinearSolve.LinearCache{Matrix{Float64}, Vector{Float64
}, Vector{Float64}, SciMLBase.NullParameters, LinearSolve.DefaultLinearSolv
er, LinearSolve.DefaultLinearSolverInit{LinearAlgebra.LU{Float64, Matrix{Fl
oat64}, Vector{Int64}}, LinearAlgebra.QRCompactWY{Float64, Matrix{Float64},
Matrix{Float64}}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Tu
ple{LinearAlgebra.LU{Float64, Matrix{Float64}, Vector{Int64}}, Vector{Int64
}}, Tuple{LinearAlgebra.LU{Float64, Matrix{Float64}, Vector{Int64}}, Vector
{Int64}}, Nothing, Nothing, Nothing, LinearAlgebra.SVD{Float64, Float64, Ma
trix{Float64}, Vector{Float64}}, LinearAlgebra.Cholesky{Float64, Matrix{Flo
at64}}, LinearAlgebra.Cholesky{Float64, Matrix{Float64}}, Tuple{LinearAlgeb
ra.LU{Float64, Matrix{Float64}, Vector{Int32}}, Base.RefValue{Int32}}, Tupl
e{LinearAlgebra.LU{Float64, Matrix{Float64}, Vector{Int64}}, Base.RefValue{
Int64}}, LinearAlgebra.QRPivoted{Float64, Matrix{Float64}, Vector{Float64},
Vector{Int64}}, Nothing, Nothing, Nothing, Nothing, Nothing, Matrix{Float6
4}}, LinearSolve.InvPreconditioner{LinearAlgebra.Diagonal{Float64, Vector{F
loat64}}}, LinearAlgebra.Diagonal{Float64, Vector{Float64}}, Float64, Linea
rSolve.LinearVerbosity{SciMLLogging.Silent, SciMLLogging.Silent, SciMLLoggi
ng.Silent, SciMLLogging.Silent, SciMLLogging.Silent, SciMLLogging.Silent, S
ciMLLogging.Silent, SciMLLogging.Silent, SciMLLogging.WarnLevel, SciMLLoggi
ng.WarnLevel, SciMLLogging.Silent, SciMLLogging.Silent, SciMLLogging.Silent
, SciMLLogging.Silent, SciMLLogging.Silent, SciMLLogging.Silent}, Bool, Lin
earSolve.LinearSolveAdjoint{Missing}}, Tuple{DifferentiationInterfaceForwar
dDiffExt.ForwardDiffTwoArgJacobianPrep{Nothing, ForwardDiff.JacobianConfig{
ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}, Float64, 9, Tuple{V
ector{ForwardDiff.Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float6
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ryDiffEqTag, Float64}, Float64, 9}}}}, Tuple{}}, DifferentiationInterfaceFo
rwardDiffExt.ForwardDiffTwoArgJacobianPrep{Nothing, ForwardDiff.JacobianCon
fig{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}, Float64, 9, Tup
le{Vector{ForwardDiff.Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Fl
oat64}, Float64, 9}}, Vector{ForwardDiff.Dual{ForwardDiff.Tag{DiffEqBase.Or
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InterfaceForwardDiffExt.ForwardDiffTwoArgDerivativePrep{Tuple{SciMLBase.Tim
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ing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing, Nothing
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at64}, ADTypes.AutoForwardDiff{nothing, ForwardDiff.Tag{DiffEqBase.Ordinary
DiffEqTag, Float64}}, Float64, Tuple{}}, Float64, ForwardDiff.DerivativeCon
fig{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}, Vector{ForwardD
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tedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolk
it.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x4661a20f, 0xc7c
ca64b, 0x7a70f6cf, 0x6d73e89a, 0xb0133243), Nothing}(nothing)), [1.0 0.0 …
0.0 0.0; 0.0 1.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], noth
ing, nothing, nothing, nothing, nothing, nothing, nothing, nothing, nothing
, nothing, nothing, ModelingToolkit.ObservedFunctionCache{ModelingToolkit.O
DESystem}(Model sys:
Equations (13):
13 standard: see equations(sys)
Unknowns (13): see unknowns(sys)
vq₄(t) [defaults to -2.68939e-6]
q₄(t) [defaults to 1.69328e-5]
vq₂(t) [defaults to 0.00463434]
vq₁(t) [defaults to 0.444896]
⋮
Observed (14): see observed(sys), Dict{Any, Any}(), false, false, ModelingT
oolkit, false, true), nothing, Model sys:
Equations (13):
13 standard: see equations(sys)
Unknowns (13): see unknowns(sys)
vq₄(t) [defaults to -2.68939e-6]
q₄(t) [defaults to 1.69328e-5]
vq₂(t) [defaults to 0.00463434]
vq₁(t) [defaults to 0.444896]
⋮
Observed (14): see observed(sys), SciMLBase.OverrideInitData{SciMLBase.Nonl
inearLeastSquaresProblem{Vector{Float64}, true, ModelingToolkit.MTKParamete
rs{Vector{Float64}, StaticArraysCore.SizedVector{0, Float64, Vector{Float64
}}, Tuple{}, Tuple{}, Tuple{}, Tuple{}}, SciMLBase.NonlinearFunction{true,
SciMLBase.FullSpecialize, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, t
rue), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :__
_mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"
#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c95e, 0x3f0ea5aa)
, Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__
mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modeli
ngToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c43
1, 0xe6feb252), Nothing}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Not
hing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothin
g, ModelingToolkit.ObservedFunctionCache{ModelingToolkit.NonlinearSystem},
Nothing, ModelingToolkit.NonlinearSystem, Vector{Float64}, Nothing}, Base.P
airs{Symbol, Union{}, Tuple{}, @NamedTuple{}}, Nothing, Nothing}, typeof(Mo
delingToolkit.update_initializeprob!), ComposedFunction{ComposedFunction{ty
peof(identity), typeof(ModelingToolkit.safe_float)}, SymbolicIndexingInterf
ace.TimeIndependentObservedFunction{ModelingToolkit.GeneratedFunctionWrappe
r{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_
arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingTo
olkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0
x60464864), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:
ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTa
g", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643,
0x2ab71b3c, 0xe9ed8cc1), Nothing}}}}, ModelingToolkit.var"#initprobpmap_sp
lit#810"{ModelingToolkit.var"#_getter#806"{Tuple{Returns{StaticArraysCore.S
izedVector{0, Float64, Vector{Float64}}}, ComposedFunction{ModelingToolkit.
PConstructorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{f
alse, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGenerat
edFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x1f
b53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Nothing}, RuntimeG
eneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpa
rameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_
ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xbd748dda), Noth
ing}}}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}}, ModelingT
oolkit.InitializationMetadata{ModelingToolkit.ReconstructInitializeprob{Mod
elingToolkit.var"#_getter#806"{Tuple{ComposedFunction{ModelingToolkit.PCons
tructorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{true,
ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunc
tions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5
f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpara
meters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RG
F_ModTag", (0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), No
thing}}}}, Returns{StaticArraysCore.SizedVector{0, Float64, Vector{Float64}
}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}, ComposedFunctio
n{typeof(identity), SymbolicIndexingInterface.TimeDependentObservedFunction
{SymbolicIndexingInterface.ContinuousTimeseries, ModelingToolkit.GeneratedF
unctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunc
tion{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0xf875e08d, 0x8c8b5e23, 0x10eeb7
40, 0xb1336206, 0xcd330fa9), Nothing}, RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingTo
olkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xae83b488, 0x
ef086497, 0xdb5dc73b, 0x713ff85a, 0x96d7dc6d), Nothing}}, true}}}, Modeling
Toolkit.GetUpdatedU0{SymbolicIndexingInterface.TimeIndependentObservedFunct
ion{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGenerated
Functions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbf8e
d046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpara
meters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mo
dTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x6381e96b), Nothin
g}}}, SymbolicIndexingInterface.MultipleParametersGetter{SymbolicIndexingIn
terface.IndexerNotTimeseries, Vector{SymbolicIndexingInterface.GetParameter
Index{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}}, No
thing}}, ModelingToolkit.SetInitialUnknowns{SymbolicIndexingInterface.Multi
pleSetters{Vector{SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIn
dexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStruc
tures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}}}}}, Val{true}}
(SciMLBase.NonlinearLeastSquaresProblem{Vector{Float64}, true, ModelingTool
kit.MTKParameters{Vector{Float64}, StaticArraysCore.SizedVector{0, Float64,
Vector{Float64}}, Tuple{}, Tuple{}, Tuple{}, Tuple{}}, SciMLBase.Nonlinear
Function{true, SciMLBase.FullSpecialize, ModelingToolkit.GeneratedFunctionW
rapper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:_
_mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Model
ingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c9
5e, 0x3f0ea5aa), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFuncti
on{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_
ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c
2b4f, 0xb4a3c431, 0xe6feb252), Nothing}}, LinearAlgebra.UniformScaling{Bool
}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing,
Nothing, Nothing, ModelingToolkit.ObservedFunctionCache{ModelingToolkit.Non
linearSystem}, Nothing, ModelingToolkit.NonlinearSystem, Vector{Float64}, N
othing}, Base.Pairs{Symbol, Union{}, Tuple{}, @NamedTuple{}}, Nothing, Noth
ing}(SciMLBase.NonlinearFunction{true, SciMLBase.FullSpecialize, ModelingTo
olkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunctions.Runt
imeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.
var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb07303
81, 0xcfa32ed8, 0x0cd8c95e, 0x3f0ea5aa), Nothing}, RuntimeGeneratedFunction
s.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99
c368, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c431, 0xe6feb252), Nothing}}, LinearAlg
ebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Not
hing, Nothing, Nothing, Nothing, Nothing, ModelingToolkit.ObservedFunctionC
ache{ModelingToolkit.NonlinearSystem}, Nothing, ModelingToolkit.NonlinearSy
stem, Vector{Float64}, Nothing}(ModelingToolkit.GeneratedFunctionWrapper{(2
, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_
1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolki
t.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c95e, 0x3f0
ea5aa), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋ou
t, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag",
ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c2b4f, 0xb
4a3c431, 0xe6feb252), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedF
unction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mod
Tag", ModelingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed
8, 0x0cd8c95e, 0x3f0ea5aa), Nothing}(nothing), RuntimeGeneratedFunctions.Ru
ntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Modeli
ngToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368
, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c431, 0xe6feb252), Nothing}(nothing)), Line
arAlgebra.UniformScaling{Bool}(true), nothing, nothing, nothing, nothing, n
othing, nothing, nothing, nothing, nothing, nothing, ModelingToolkit.Observ
edFunctionCache{ModelingToolkit.NonlinearSystem}(Model sys:
Equations (11):
11 standard: see equations(sys)
Unknowns (2): see unknowns(sys)
vφ2ˍt(t) [defaults to -74.9958]
φ2ˍt(t) [defaults to 0.0]
Parameters (45): see parameters(sys)
t
Initial(vx₃ˍtt(t)) [defaults to false]
Initial(q₃(t)) [defaults to false]
Initial(q₂ˍt(t)) [defaults to false]
⋮
Observed (25): see observed(sys), Dict{Any, Any}(SymbolicUtils.BasicSymboli
c{Real}[vq₄(t), q₄(t), vq₂(t), vq₁(t), vq₃(t), q₁(t), q₂(t), q₃(t), φ2ˍt(t)
, vq₄ˍt(t), φ2(t), λ₁(t), φ2ˍtt(t)] => ModelingToolkit.GeneratedFunctionWra
pper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5
, 0x60464864), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction
{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d656
43, 0x2ab71b3c, 0xe9ed8cc1), Nothing}}(RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_
RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x
649b42a7, 0x171538e5, 0x60464864), Nothing}(nothing), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7
d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1), Nothing}(nothing)
), Any[vq₄ˍt(t), φ2ˍtt(t), φ2ˍt(t)] => ModelingToolkit.GeneratedFunctionWra
pper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0x63ff2bb2, 0x9775ca78, 0xff8b065d, 0x066354d4
, 0x496dd6a9), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction
{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0x900c20cb, 0x711538b8, 0xc32e29
02, 0xfab7babf, 0xf0c99f97), Nothing}}(RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_
RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x63ff2bb2, 0x9775ca78, 0x
ff8b065d, 0x066354d4, 0x496dd6a9), Nothing}(nothing), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x9
00c20cb, 0x711538b8, 0xc32e2902, 0xfab7babf, 0xf0c99f97), Nothing}(nothing)
)), false, false, ModelingToolkit, false, true), nothing, Model sys:
Equations (11):
11 standard: see equations(sys)
Unknowns (2): see unknowns(sys)
vφ2ˍt(t) [defaults to -74.9958]
φ2ˍt(t) [defaults to 0.0]
Parameters (45): see parameters(sys)
t
Initial(vx₃ˍtt(t)) [defaults to false]
Initial(q₃(t)) [defaults to false]
Initial(q₂ˍt(t)) [defaults to false]
⋮
Observed (25): see observed(sys), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0], nothing), [0.0, 0.0], ModelingToolkit.MTKParameters{Vector{
Float64}, StaticArraysCore.SizedVector{0, Float64, Vector{Float64}}, Tuple{
}, Tuple{}, Tuple{}, Tuple{}}([0.0, 0.0, 1.03339863e-5, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float
64[], (), (), (), ()), nothing, nothing, Base.Pairs{Symbol, Union{}, Tuple{
}, @NamedTuple{}}()), ModelingToolkit.update_initializeprob!, identity ∘ Mo
delingToolkit.safe_float ∘ SymbolicIndexingInterface.TimeIndependentObserve
dFunction{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters__
_), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (
0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0x60464864), Nothing}, Runt
imeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___m
tkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_
RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1),
Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGe
neratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters_
__), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag",
(0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0x60464864), Nothing}, Run
timeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___
mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#
_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1),
Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1
, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit
.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0x6046
4864), Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGeneratedFunctio
n{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_M
odTag", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65
643, 0x2ab71b3c, 0xe9ed8cc1), Nothing}(nothing))), ModelingToolkit.var"#ini
tprobpmap_split#810"{ModelingToolkit.var"#_getter#806"{Tuple{Returns{Static
ArraysCore.SizedVector{0, Float64, Vector{Float64}}}, ComposedFunction{Mode
lingToolkit.PConstructorApplicator{typeof(identity)}, ModelingToolkit.Obser
vedWrapper{false, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), Ru
ntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpara
meters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mo
dTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Nothin
g}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_
1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolki
t.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xbd7
48dda), Nothing}}}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}
}(ModelingToolkit.var"#_getter#806"{Tuple{Returns{StaticArraysCore.SizedVec
tor{0, Float64, Vector{Float64}}}, ComposedFunction{ModelingToolkit.PConstr
uctorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{false, M
odelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), Modelin
gToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x1fb53577,
0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Nothing}, RuntimeGenerate
dFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameter
s___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag"
, (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xbd748dda), Nothing}}}}
, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}((Returns{StaticArr
aysCore.SizedVector{0, Float64, Vector{Float64}}}(Float64[]), ModelingToolk
it.PConstructorApplicator{typeof(identity)}(identity) ∘ ModelingToolkit.Obs
ervedWrapper{false, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true),
RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpa
rameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_
ModTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Noth
ing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_ar
g_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingTool
kit.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xb
d748dda), Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true),
RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkp
arameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF
_ModTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Not
hing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_a
rg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToo
lkit.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0x
bd748dda), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:_
_mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Model
ingToolkit.var"#_RGF_ModTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911
fa, 0x7ec614fd), Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGenera
tedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.v
ar"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417
a, 0xc3cd4258, 0x04bcabf3, 0xbd748dda), Nothing}(nothing))), Returns{Tuple{
}}(()), Returns{Tuple{}}(()), Returns{Tuple{}}(())))), ModelingToolkit.Init
ializationMetadata{ModelingToolkit.ReconstructInitializeprob{ModelingToolki
t.var"#_getter#806"{Tuple{ComposedFunction{ModelingToolkit.PConstructorAppl
icator{typeof(identity)}, ModelingToolkit.ObservedWrapper{true, ModelingToo
lkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.Runti
meGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolk
it.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4
db6c0, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___,
:t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag",
(0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), Nothing}}}},
Returns{StaticArraysCore.SizedVector{0, Float64, Vector{Float64}}}, Returns
{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}, ComposedFunction{typeof(id
entity), SymbolicIndexingInterface.TimeDependentObservedFunction{SymbolicIn
dexingInterface.ContinuousTimeseries, ModelingToolkit.GeneratedFunctionWrap
per{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mt
k_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", Mode
lingToolkit.var"#_RGF_ModTag", (0xf875e08d, 0x8c8b5e23, 0x10eeb740, 0xb1336
206, 0xcd330fa9), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunct
ion{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#
_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xae83b488, 0xef086497, 0
xdb5dc73b, 0x713ff85a, 0x96d7dc6d), Nothing}}, true}}}, ModelingToolkit.Get
UpdatedU0{SymbolicIndexingInterface.TimeIndependentObservedFunction{Modelin
gToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunctions.R
untimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolk
it.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbf8ed046, 0xfc0
7bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7
2bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x6381e96b), Nothing}}}, Symbo
licIndexingInterface.MultipleParametersGetter{SymbolicIndexingInterface.Ind
exerNotTimeseries, Vector{SymbolicIndexingInterface.GetParameterIndex{Model
ingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}}, Nothing}}, Mo
delingToolkit.SetInitialUnknowns{SymbolicIndexingInterface.MultipleSetters{
Vector{SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexingInter
face.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initi
als, Int64}}, SymbolicUtils.BasicSymbolic{Real}}}}}}(Dict{Any, Any}(vφ2(t)
=> Initial(vφ2(t)), q₂(t) => Initial(q₂(t)), λ₂(t) => Initial(λ₂(t)), vq₁(t
) => Initial(vq₁(t)), vq₂(t) => Initial(vq₂(t)), x₃(t) => Initial(x₃(t)), q
₁(t) => Initial(q₁(t)), λ₁(t) => Initial(λ₁(t)), q₃(t) => Initial(q₃(t)), v
q₄(t) => Initial(vq₄(t))…), Dict{Any, Any}(Initial(vx₃ˍtt(t)) => false, Ini
tial(q₄ˍt(t)) => false, Initial(q₂ˍt(t)) => false, Initial(q₃ˍt(t)) => fals
e, Initial(q₃(t)) => 1.03339863e-5, Initial(φ1(t)) => 0.0, Initial(vφ2ˍt(t)
) => false, Initial(λ₃ˍt(t)) => false, Initial(vφ1ˍt(t)) => false, Initial(
vφ1ˍtt(t)) => false…), Dict{Any, Any}(), Symbolics.Equation[], true, Modeli
ngToolkit.ReconstructInitializeprob{ModelingToolkit.var"#_getter#806"{Tuple
{ComposedFunction{ModelingToolkit.PConstructorApplicator{typeof(identity)},
ModelingToolkit.ObservedWrapper{true, ModelingToolkit.GeneratedFunctionWra
pper{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", Mod
elingToolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb1
6494, 0xc9cada26), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunc
tion{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"
#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7c72fc9b, 0xf9768d7b,
0xc814ff53, 0x4f179d56, 0x306466f9), Nothing}}}}, Returns{StaticArraysCore.
SizedVector{0, Float64, Vector{Float64}}}, Returns{Tuple{}}, Returns{Tuple{
}}, Returns{Tuple{}}}}, ComposedFunction{typeof(identity), SymbolicIndexing
Interface.TimeDependentObservedFunction{SymbolicIndexingInterface.Continuou
sTimeseries, ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true), Runtime
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s___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mod
Tag", (0xf875e08d, 0x8c8b5e23, 0x10eeb740, 0xb1336206, 0xcd330fa9), Nothing
}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1
, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToo
lkit.var"#_RGF_ModTag", (0xae83b488, 0xef086497, 0xdb5dc73b, 0x713ff85a, 0x
96d7dc6d), Nothing}}, true}}}(ModelingToolkit.var"#_getter#806"{Tuple{Compo
sedFunction{ModelingToolkit.PConstructorApplicator{typeof(identity)}, Model
ingToolkit.ObservedWrapper{true, ModelingToolkit.GeneratedFunctionWrapper{(
2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg
_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingT
oolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb16494,
0xc9cada26), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(
:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_
ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7c72fc9b, 0xf9768d7b, 0xc814
ff53, 0x4f179d56, 0x306466f9), Nothing}}}}, Returns{StaticArraysCore.SizedV
ector{0, Float64, Vector{Float64}}}, Returns{Tuple{}}, Returns{Tuple{}}, Re
turns{Tuple{}}}}((ModelingToolkit.PConstructorApplicator{typeof(identity)}(
identity) ∘ ModelingToolkit.ObservedWrapper{true, ModelingToolkit.Generated
FunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFun
ction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_M
odTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4db6c0, 0x7a48a
7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGeneratedFunctions.RuntimeGe
neratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingT
oolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7c72fc9b, 0
xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), Nothing}}}(ModelingToolkit.
GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.va
r"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4db6c0
, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGeneratedFunctions.
RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7c
72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), Nothing}}(RuntimeG
eneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters
___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModT
ag", (0x7ab5f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}
(nothing), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__m
tk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", Mod
elingToolkit.var"#_RGF_ModTag", (0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f17
9d56, 0x306466f9), Nothing}(nothing))), Returns{StaticArraysCore.SizedVecto
r{0, Float64, Vector{Float64}}}(Float64[]), Returns{Tuple{}}(()), Returns{T
uple{}}(()), Returns{Tuple{}}(()))), identity ∘ SymbolicIndexingInterface.T
imeDependentObservedFunction{SymbolicIndexingInterface.ContinuousTimeseries
, ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFu
nctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xf8
75e08d, 0x8c8b5e23, 0x10eeb740, 0xb1336206, 0xcd330fa9), Nothing}, RuntimeG
eneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpa
rameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_
RGF_ModTag", (0xae83b488, 0xef086497, 0xdb5dc73b, 0x713ff85a, 0x96d7dc6d),
Nothing}}, true}(SymbolicIndexingInterface.ContinuousTimeseries(), Modeling
Toolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.Ru
ntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingTo
olkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xf875e08d, 0x
8c8b5e23, 0x10eeb740, 0xb1336206, 0xcd330fa9), Nothing}, RuntimeGeneratedFu
nctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters__
_, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag
", (0xae83b488, 0xef086497, 0xdb5dc73b, 0x713ff85a, 0x96d7dc6d), Nothing}}(
RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpa
rameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_
RGF_ModTag", (0xf875e08d, 0x8c8b5e23, 0x10eeb740, 0xb1336206, 0xcd330fa9),
Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋o
ut, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModT
ag", ModelingToolkit.var"#_RGF_ModTag", (0xae83b488, 0xef086497, 0xdb5dc73b
, 0x713ff85a, 0x96d7dc6d), Nothing}(nothing)))), ModelingToolkit.GetUpdated
U0{SymbolicIndexingInterface.TimeIndependentObservedFunction{ModelingToolki
t.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeG
eneratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"
#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbf8ed046, 0xfc07bc7f,
0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, RuntimeGeneratedFunctions.Ru
ntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Modeli
ngToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x72bd775f
, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x6381e96b), Nothing}}}, SymbolicInde
xingInterface.MultipleParametersGetter{SymbolicIndexingInterface.IndexerNot
Timeseries, Vector{SymbolicIndexingInterface.GetParameterIndex{ModelingTool
kit.ParameterIndex{SciMLStructures.Initials, Int64}}}, Nothing}}(Bool[0, 0,
0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1], SymbolicIndexingInterface.TimeIndependen
tObservedFunction{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), Ru
ntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpara
meters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mo
dTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothin
g}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_
1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolki
t.var"#_RGF_ModTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x638
1e96b), Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), R
untimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpar
ameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_M
odTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothi
ng}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg
_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolk
it.var"#_RGF_ModTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x63
81e96b), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff
, 0x5d0bf2cd), Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGenerate
dFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var
"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x72bd775f, 0xef35b7ec,
0x849b2782, 0x15b3e88f, 0x6381e96b), Nothing}(nothing))), SymbolicIndexing
Interface.MultipleParametersGetter{SymbolicIndexingInterface.IndexerNotTime
series, Vector{SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.
ParameterIndex{SciMLStructures.Initials, Int64}}}, Nothing}(SymbolicIndexin
gInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures
.Initials, Int64}}[SymbolicIndexingInterface.GetParameterIndex{ModelingTool
kit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Parame
terIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 31, f
alse)), SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.Paramet
erIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{Sc
iMLStructures.Initials, Int64}(SciMLStructures.Initials(), 15, false)), Sym
bolicIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{Sci
MLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructur
es.Initials, Int64}(SciMLStructures.Initials(), 28, false)), SymbolicIndexi
ngInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructure
s.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials
, Int64}(SciMLStructures.Initials(), 32, false)), SymbolicIndexingInterface
.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials,
Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(Sc
iMLStructures.Initials(), 20, false)), SymbolicIndexingInterface.GetParamet
erIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Mo
delingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructur
es.Initials(), 42, false)), SymbolicIndexingInterface.GetParameterIndex{Mod
elingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolk
it.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials
(), 40, false)), SymbolicIndexingInterface.GetParameterIndex{ModelingToolki
t.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Paramete
rIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 5, fals
e)), SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterI
ndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciML
Structures.Initials, Int64}(SciMLStructures.Initials(), 38, false)), Symbol
icIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLS
tructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.
Initials, Int64}(SciMLStructures.Initials(), 11, false)), SymbolicIndexingI
nterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.I
nitials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, I
nt64}(SciMLStructures.Initials(), 36, false)), SymbolicIndexingInterface.Ge
tParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, In
t64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciML
Structures.Initials(), 21, false)), SymbolicIndexingInterface.GetParameterI
ndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Model
ingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.
Initials(), 35, false))], nothing)), ModelingToolkit.SetInitialUnknowns{Sym
bolicIndexingInterface.MultipleSetters{Vector{SymbolicIndexingInterface.Par
ameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolk
it.ParameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSym
bolic{Real}}}}}(SymbolicIndexingInterface.MultipleSetters{Vector{SymbolicIn
dexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParameter
Index{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, Sym
bolicUtils.BasicSymbolic{Real}}}}(SymbolicIndexingInterface.ParameterHookWr
apper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Parameter
Index{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}
[SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.S
etParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, I
nt64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetPar
ameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}
}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStru
ctures.Initials(), 31, false)), Initial(vq₄(t))), SymbolicIndexingInterface
.ParameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingT
oolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.Basi
cSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolki
t.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Paramete
rIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 15, fal
se)), Initial(q₄(t))), SymbolicIndexingInterface.ParameterHookWrapper{Symbo
licIndexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciML
Structures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIn
dexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStruc
tures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Init
ials, Int64}(SciMLStructures.Initials(), 28, false)), Initial(vq₂(t))), Sym
bolicIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetPa
rameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64
}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParamet
erIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Mo
delingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructur
es.Initials(), 32, false)), Initial(vq₁(t))), SymbolicIndexingInterface.Par
ameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolk
it.ParameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSym
bolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Pa
rameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterInd
ex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 20, false))
, Initial(vq₃(t))), SymbolicIndexingInterface.ParameterHookWrapper{Symbolic
IndexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStr
uctures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndex
ingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructur
es.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initial
s, Int64}(SciMLStructures.Initials(), 42, false)), Initial(q₁(t))), Symboli
cIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParame
terIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}},
SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIn
dex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Modeli
ngToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.I
nitials(), 40, false)), Initial(q₂(t))), SymbolicIndexingInterface.Paramete
rHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Pa
rameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic
{Real}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Paramet
erIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{Sc
iMLStructures.Initials, Int64}(SciMLStructures.Initials(), 5, false)), Init
ial(q₃(t))), SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexin
gInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures
.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInte
rface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Init
ials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int6
4}(SciMLStructures.Initials(), 38, false)), Initial(φ2ˍt(t))), SymbolicInde
xingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParameterIn
dex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, Symbo
licUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{M
odelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToo
lkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initia
ls(), 11, false)), Initial(vq₄ˍt(t))), SymbolicIndexingInterface.ParameterH
ookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Para
meterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{R
eal}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Parameter
Index{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciM
LStructures.Initials, Int64}(SciMLStructures.Initials(), 36, false)), Initi
al(φ2(t))), SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexing
Interface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.
Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInter
face.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initi
als, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64
}(SciMLStructures.Initials(), 21, false)), Initial(λ₁(t))), SymbolicIndexin
gInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex
{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, Symbolic
Utils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{Mode
lingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolki
t.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(
), 35, false)), Initial(φ2ˍtt(t)))]))), Val{true}()), nothing), [-2.6893867
2e-6, 1.69327969e-5, 0.00463434311, 0.444896105, -1.78591076e-6, 0.0, 0.0,
1.03339863e-5, 0.0, -112.58137756520794, 0.0, -2.303851027879405e-5, 0.0],
(0.0, 0.1), ModelingToolkit.MTKParameters{StaticArraysCore.SizedVector{0, F
loat64, Vector{Float64}}, Vector{Float64}, Tuple{}, Tuple{}, Tuple{}, Tuple
{}}(Float64[], [0.0, 0.0, 0.0, 0.0, 1.03339863e-5, 0.0, -0.0013444290087243
63, 0.0, -0.0, 0.0 … -0.001344429008724363, 0.0, 0.0, -74.99576703970469,
0.0, 0.0, 0.0, 0.0, 0.0, 150.0], (), (), (), ()), Base.Pairs{Symbol, Union
{}, Tuple{}, @NamedTuple{}}(), SciMLBase.StandardODEProblem()), OrdinaryDif
fEqRosenbrock.Rodas5P{0, ADTypes.AutoForwardDiff{nothing, ForwardDiff.Tag{D
iffEqBase.OrdinaryDiffEqTag, Float64}}, Nothing, typeof(OrdinaryDiffEqCore.
DEFAULT_PRECS), Val{:forward}(), true, nothing, typeof(OrdinaryDiffEqCore.t
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atedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___)
, ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x
bf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, Runtim
eGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtk
parameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RG
F_ModTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x6381e96b), No
thing}}}, SymbolicIndexingInterface.MultipleParametersGetter{SymbolicIndexi
ngInterface.IndexerNotTimeseries, Vector{SymbolicIndexingInterface.GetParam
eterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}}
, Nothing}}, ModelingToolkit.SetInitialUnknowns{SymbolicIndexingInterface.M
ultipleSetters{Vector{SymbolicIndexingInterface.ParameterHookWrapper{Symbol
icIndexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLS
tructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}}}}}, Val{tr
ue}}, Nothing}(ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true), Runti
meGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparamet
ers___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_M
odTag", (0xf0ec1653, 0x15ca6ae7, 0xc592e306, 0xfafbb2ec, 0x9859bcb5), Nothi
ng}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg
_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingT
oolkit.var"#_RGF_ModTag", (0x4661a20f, 0xc7cca64b, 0x7a70f6cf, 0x6d73e89a,
0xb0133243), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(
:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag",
ModelingToolkit.var"#_RGF_ModTag", (0xf0ec1653, 0x15ca6ae7, 0xc592e306, 0x
fafbb2ec, 0x9859bcb5), Nothing}(nothing), RuntimeGeneratedFunctions.Runtime
GeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), Modelin
gToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x4661a20f,
0xc7cca64b, 0x7a70f6cf, 0x6d73e89a, 0xb0133243), Nothing}(nothing)), [1.0
0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]
, nothing, nothing, nothing, nothing, nothing, nothing, nothing, nothing, n
othing, nothing, nothing, ModelingToolkit.ObservedFunctionCache{ModelingToo
lkit.ODESystem}(Model sys:
Equations (13):
13 standard: see equations(sys)
Unknowns (13): see unknowns(sys)
vq₄(t) [defaults to -2.68939e-6]
q₄(t) [defaults to 1.69328e-5]
vq₂(t) [defaults to 0.00463434]
vq₁(t) [defaults to 0.444896]
⋮
Observed (14): see observed(sys), Dict{Any, Any}(), false, false, ModelingT
oolkit, false, true), nothing, Model sys:
Equations (13):
13 standard: see equations(sys)
Unknowns (13): see unknowns(sys)
vq₄(t) [defaults to -2.68939e-6]
q₄(t) [defaults to 1.69328e-5]
vq₂(t) [defaults to 0.00463434]
vq₁(t) [defaults to 0.444896]
⋮
Observed (14): see observed(sys), SciMLBase.OverrideInitData{SciMLBase.Nonl
inearLeastSquaresProblem{Vector{Float64}, true, ModelingToolkit.MTKParamete
rs{Vector{Float64}, StaticArraysCore.SizedVector{0, Float64, Vector{Float64
}}, Tuple{}, Tuple{}, Tuple{}, Tuple{}}, SciMLBase.NonlinearFunction{true,
SciMLBase.FullSpecialize, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, t
rue), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :__
_mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"
#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c95e, 0x3f0ea5aa)
, Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__
mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modeli
ngToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c43
1, 0xe6feb252), Nothing}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Not
hing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothin
g, ModelingToolkit.ObservedFunctionCache{ModelingToolkit.NonlinearSystem},
Nothing, ModelingToolkit.NonlinearSystem, Vector{Float64}, Nothing}, Base.P
airs{Symbol, Union{}, Tuple{}, @NamedTuple{}}, Nothing, Nothing}, typeof(Mo
delingToolkit.update_initializeprob!), ComposedFunction{ComposedFunction{ty
peof(identity), typeof(ModelingToolkit.safe_float)}, SymbolicIndexingInterf
ace.TimeIndependentObservedFunction{ModelingToolkit.GeneratedFunctionWrappe
r{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_
arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingTo
olkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0
x60464864), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:
ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTa
g", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643,
0x2ab71b3c, 0xe9ed8cc1), Nothing}}}}, ModelingToolkit.var"#initprobpmap_sp
lit#810"{ModelingToolkit.var"#_getter#806"{Tuple{Returns{StaticArraysCore.S
izedVector{0, Float64, Vector{Float64}}}, ComposedFunction{ModelingToolkit.
PConstructorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{f
alse, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGenerat
edFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x1f
b53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Nothing}, RuntimeG
eneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpa
rameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_
ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xbd748dda), Noth
ing}}}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}}, ModelingT
oolkit.InitializationMetadata{ModelingToolkit.ReconstructInitializeprob{Mod
elingToolkit.var"#_getter#806"{Tuple{ComposedFunction{ModelingToolkit.PCons
tructorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{true,
ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunc
tions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5
f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpara
meters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RG
F_ModTag", (0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), No
thing}}}}, Returns{StaticArraysCore.SizedVector{0, Float64, Vector{Float64}
}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}, ComposedFunctio
n{typeof(identity), SymbolicIndexingInterface.TimeDependentObservedFunction
{SymbolicIndexingInterface.ContinuousTimeseries, ModelingToolkit.GeneratedF
unctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunc
tion{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0xf875e08d, 0x8c8b5e23, 0x10eeb7
40, 0xb1336206, 0xcd330fa9), Nothing}, RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingTo
olkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xae83b488, 0x
ef086497, 0xdb5dc73b, 0x713ff85a, 0x96d7dc6d), Nothing}}, true}}}, Modeling
Toolkit.GetUpdatedU0{SymbolicIndexingInterface.TimeIndependentObservedFunct
ion{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGenerated
Functions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbf8e
d046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpara
meters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mo
dTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x6381e96b), Nothin
g}}}, SymbolicIndexingInterface.MultipleParametersGetter{SymbolicIndexingIn
terface.IndexerNotTimeseries, Vector{SymbolicIndexingInterface.GetParameter
Index{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}}, No
thing}}, ModelingToolkit.SetInitialUnknowns{SymbolicIndexingInterface.Multi
pleSetters{Vector{SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIn
dexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStruc
tures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}}}}}, Val{true}}
(SciMLBase.NonlinearLeastSquaresProblem{Vector{Float64}, true, ModelingTool
kit.MTKParameters{Vector{Float64}, StaticArraysCore.SizedVector{0, Float64,
Vector{Float64}}, Tuple{}, Tuple{}, Tuple{}, Tuple{}}, SciMLBase.Nonlinear
Function{true, SciMLBase.FullSpecialize, ModelingToolkit.GeneratedFunctionW
rapper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:_
_mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Model
ingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c9
5e, 0x3f0ea5aa), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFuncti
on{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_
ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c
2b4f, 0xb4a3c431, 0xe6feb252), Nothing}}, LinearAlgebra.UniformScaling{Bool
}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing,
Nothing, Nothing, ModelingToolkit.ObservedFunctionCache{ModelingToolkit.Non
linearSystem}, Nothing, ModelingToolkit.NonlinearSystem, Vector{Float64}, N
othing}, Base.Pairs{Symbol, Union{}, Tuple{}, @NamedTuple{}}, Nothing, Noth
ing}(SciMLBase.NonlinearFunction{true, SciMLBase.FullSpecialize, ModelingTo
olkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunctions.Runt
imeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.
var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb07303
81, 0xcfa32ed8, 0x0cd8c95e, 0x3f0ea5aa), Nothing}, RuntimeGeneratedFunction
s.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99
c368, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c431, 0xe6feb252), Nothing}}, LinearAlg
ebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Not
hing, Nothing, Nothing, Nothing, Nothing, ModelingToolkit.ObservedFunctionC
ache{ModelingToolkit.NonlinearSystem}, Nothing, ModelingToolkit.NonlinearSy
stem, Vector{Float64}, Nothing}(ModelingToolkit.GeneratedFunctionWrapper{(2
, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_
1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolki
t.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c95e, 0x3f0
ea5aa), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋ou
t, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag",
ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c2b4f, 0xb
4a3c431, 0xe6feb252), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedF
unction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mod
Tag", ModelingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed
8, 0x0cd8c95e, 0x3f0ea5aa), Nothing}(nothing), RuntimeGeneratedFunctions.Ru
ntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Modeli
ngToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368
, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c431, 0xe6feb252), Nothing}(nothing)), Line
arAlgebra.UniformScaling{Bool}(true), nothing, nothing, nothing, nothing, n
othing, nothing, nothing, nothing, nothing, nothing, ModelingToolkit.Observ
edFunctionCache{ModelingToolkit.NonlinearSystem}(Model sys:
Equations (11):
11 standard: see equations(sys)
Unknowns (2): see unknowns(sys)
vφ2ˍt(t) [defaults to -74.9958]
φ2ˍt(t) [defaults to 0.0]
Parameters (45): see parameters(sys)
t
Initial(vx₃ˍtt(t)) [defaults to false]
Initial(q₃(t)) [defaults to false]
Initial(q₂ˍt(t)) [defaults to false]
⋮
Observed (25): see observed(sys), Dict{Any, Any}(SymbolicUtils.BasicSymboli
c{Real}[vq₄(t), q₄(t), vq₂(t), vq₁(t), vq₃(t), q₁(t), q₂(t), q₃(t), φ2ˍt(t)
, vq₄ˍt(t), φ2(t), λ₁(t), φ2ˍtt(t)] => ModelingToolkit.GeneratedFunctionWra
pper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5
, 0x60464864), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction
{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d656
43, 0x2ab71b3c, 0xe9ed8cc1), Nothing}}(RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_
RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x
649b42a7, 0x171538e5, 0x60464864), Nothing}(nothing), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7
d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1), Nothing}(nothing)
), Any[vq₄ˍt(t), φ2ˍtt(t), φ2ˍt(t)] => ModelingToolkit.GeneratedFunctionWra
pper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0x63ff2bb2, 0x9775ca78, 0xff8b065d, 0x066354d4
, 0x496dd6a9), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction
{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0x900c20cb, 0x711538b8, 0xc32e29
02, 0xfab7babf, 0xf0c99f97), Nothing}}(RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_
RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x63ff2bb2, 0x9775ca78, 0x
ff8b065d, 0x066354d4, 0x496dd6a9), Nothing}(nothing), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x9
00c20cb, 0x711538b8, 0xc32e2902, 0xfab7babf, 0xf0c99f97), Nothing}(nothing)
)), false, false, ModelingToolkit, false, true), nothing, Model sys:
Equations (11):
11 standard: see equations(sys)
Unknowns (2): see unknowns(sys)
vφ2ˍt(t) [defaults to -74.9958]
φ2ˍt(t) [defaults to 0.0]
Parameters (45): see parameters(sys)
t
Initial(vx₃ˍtt(t)) [defaults to false]
Initial(q₃(t)) [defaults to false]
Initial(q₂ˍt(t)) [defaults to false]
⋮
Observed (25): see observed(sys), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0], nothing), [0.0, 0.0], ModelingToolkit.MTKParameters{Vector{
Float64}, StaticArraysCore.SizedVector{0, Float64, Vector{Float64}}, Tuple{
}, Tuple{}, Tuple{}, Tuple{}}([0.0, 0.0, 1.03339863e-5, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float
64[], (), (), (), ()), nothing, nothing, Base.Pairs{Symbol, Union{}, Tuple{
}, @NamedTuple{}}()), ModelingToolkit.update_initializeprob!, identity ∘ Mo
delingToolkit.safe_float ∘ SymbolicIndexingInterface.TimeIndependentObserve
dFunction{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters__
_), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (
0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0x60464864), Nothing}, Runt
imeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___m
tkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_
RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1),
Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGe
neratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters_
__), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag",
(0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0x60464864), Nothing}, Run
timeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___
mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#
_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1),
Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1
, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit
.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0x6046
4864), Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGeneratedFunctio
n{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_M
odTag", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65
643, 0x2ab71b3c, 0xe9ed8cc1), Nothing}(nothing))), ModelingToolkit.var"#ini
tprobpmap_split#810"{ModelingToolkit.var"#_getter#806"{Tuple{Returns{Static
ArraysCore.SizedVector{0, Float64, Vector{Float64}}}, ComposedFunction{Mode
lingToolkit.PConstructorApplicator{typeof(identity)}, ModelingToolkit.Obser
vedWrapper{false, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), Ru
ntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpara
meters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mo
dTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Nothin
g}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_
1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolki
t.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xbd7
48dda), Nothing}}}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}
}(ModelingToolkit.var"#_getter#806"{Tuple{Returns{StaticArraysCore.SizedVec
tor{0, Float64, Vector{Float64}}}, ComposedFunction{ModelingToolkit.PConstr
uctorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{false, M
odelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), Modelin
gToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x1fb53577,
0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Nothing}, RuntimeGenerate
dFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameter
s___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag"
, (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xbd748dda), Nothing}}}}
, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}((Returns{StaticArr
aysCore.SizedVector{0, Float64, Vector{Float64}}}(Float64[]), ModelingToolk
it.PConstructorApplicator{typeof(identity)}(identity) ∘ ModelingToolkit.Obs
ervedWrapper{false, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true),
RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpa
rameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_
ModTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Noth
ing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_ar
g_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingTool
kit.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xb
d748dda), Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true),
RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkp
arameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF
_ModTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Not
hing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_a
rg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToo
lkit.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0x
bd748dda), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:_
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fa, 0x7ec614fd), Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGenera
tedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.v
ar"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417
a, 0xc3cd4258, 0x04bcabf3, 0xbd748dda), Nothing}(nothing))), Returns{Tuple{
}}(()), Returns{Tuple{}}(()), Returns{Tuple{}}(())))), ModelingToolkit.Init
ializationMetadata{ModelingToolkit.ReconstructInitializeprob{ModelingToolki
t.var"#_getter#806"{Tuple{ComposedFunction{ModelingToolkit.PConstructorAppl
icator{typeof(identity)}, ModelingToolkit.ObservedWrapper{true, ModelingToo
lkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.Runti
meGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolk
it.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4
db6c0, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___,
:t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag",
(0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), Nothing}}}},
Returns{StaticArraysCore.SizedVector{0, Float64, Vector{Float64}}}, Returns
{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}, ComposedFunction{typeof(id
entity), SymbolicIndexingInterface.TimeDependentObservedFunction{SymbolicIn
dexingInterface.ContinuousTimeseries, ModelingToolkit.GeneratedFunctionWrap
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ion{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#
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untimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolk
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7bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7
2bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x6381e96b), Nothing}}}, Symbo
licIndexingInterface.MultipleParametersGetter{SymbolicIndexingInterface.Ind
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₁(t) => Initial(q₁(t)), λ₁(t) => Initial(λ₁(t)), q₃(t) => Initial(q₃(t)), v
q₄(t) => Initial(vq₄(t))…), Dict{Any, Any}(Initial(vx₃ˍtt(t)) => false, Ini
tial(q₄ˍt(t)) => false, Initial(q₂ˍt(t)) => false, Initial(q₃ˍt(t)) => fals
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) => false, Initial(λ₃ˍt(t)) => false, Initial(vφ1ˍt(t)) => false, Initial(
vφ1ˍtt(t)) => false…), Dict{Any, Any}(), Symbolics.Equation[], true, Modeli
ngToolkit.ReconstructInitializeprob{ModelingToolkit.var"#_getter#806"{Tuple
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0xc9cada26), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(
:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_
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ff53, 0x4f179d56, 0x306466f9), Nothing}}}}, Returns{StaticArraysCore.SizedV
ector{0, Float64, Vector{Float64}}}, Returns{Tuple{}}, Returns{Tuple{}}, Re
turns{Tuple{}}}}((ModelingToolkit.PConstructorApplicator{typeof(identity)}(
identity) ∘ ModelingToolkit.ObservedWrapper{true, ModelingToolkit.Generated
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(nothing), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__m
tk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", Mod
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9d56, 0x306466f9), Nothing}(nothing))), Returns{StaticArraysCore.SizedVecto
r{0, Float64, Vector{Float64}}}(Float64[]), Returns{Tuple{}}(()), Returns{T
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eneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpa
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Toolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.Ru
ntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingTo
olkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xf875e08d, 0x
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nctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters__
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RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpa
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Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋o
ut, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModT
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U0{SymbolicIndexingInterface.TimeIndependentObservedFunction{ModelingToolki
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0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, RuntimeGeneratedFunctions.Ru
ntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Modeli
ngToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x72bd775f
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xingInterface.MultipleParametersGetter{SymbolicIndexingInterface.IndexerNot
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tObservedFunction{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), Ru
ntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpara
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1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolki
t.var"#_RGF_ModTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x638
1e96b), Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), R
untimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpar
ameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_M
odTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothi
ng}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg
_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolk
it.var"#_RGF_ModTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x63
81e96b), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff
, 0x5d0bf2cd), Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGenerate
dFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var
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Interface.MultipleParametersGetter{SymbolicIndexingInterface.IndexerNotTime
series, Vector{SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.
ParameterIndex{SciMLStructures.Initials, Int64}}}, Nothing}(SymbolicIndexin
gInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures
.Initials, Int64}}[SymbolicIndexingInterface.GetParameterIndex{ModelingTool
kit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Parame
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alse)), SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.Paramet
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iMLStructures.Initials, Int64}(SciMLStructures.Initials(), 15, false)), Sym
bolicIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{Sci
MLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructur
es.Initials, Int64}(SciMLStructures.Initials(), 28, false)), SymbolicIndexi
ngInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructure
s.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials
, Int64}(SciMLStructures.Initials(), 32, false)), SymbolicIndexingInterface
.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials,
Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(Sc
iMLStructures.Initials(), 20, false)), SymbolicIndexingInterface.GetParamet
erIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Mo
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es.Initials(), 42, false)), SymbolicIndexingInterface.GetParameterIndex{Mod
elingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolk
it.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials
(), 40, false)), SymbolicIndexingInterface.GetParameterIndex{ModelingToolki
t.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Paramete
rIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 5, fals
e)), SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterI
ndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciML
Structures.Initials, Int64}(SciMLStructures.Initials(), 38, false)), Symbol
icIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLS
tructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.
Initials, Int64}(SciMLStructures.Initials(), 11, false)), SymbolicIndexingI
nterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.I
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nt64}(SciMLStructures.Initials(), 36, false)), SymbolicIndexingInterface.Ge
tParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, In
t64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciML
Structures.Initials(), 21, false)), SymbolicIndexingInterface.GetParameterI
ndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Model
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bolicIndexingInterface.MultipleSetters{Vector{SymbolicIndexingInterface.Par
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it.ParameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSym
bolic{Real}}}}}(SymbolicIndexingInterface.MultipleSetters{Vector{SymbolicIn
dexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParameter
Index{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, Sym
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[SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.S
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ctures.Initials(), 31, false)), Initial(vq₄(t))), SymbolicIndexingInterface
.ParameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingT
oolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.Basi
cSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolki
t.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Paramete
rIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 15, fal
se)), Initial(q₄(t))), SymbolicIndexingInterface.ParameterHookWrapper{Symbo
licIndexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciML
Structures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIn
dexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStruc
tures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Init
ials, Int64}(SciMLStructures.Initials(), 28, false)), Initial(vq₂(t))), Sym
bolicIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetPa
rameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64
}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParamet
erIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Mo
delingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructur
es.Initials(), 32, false)), Initial(vq₁(t))), SymbolicIndexingInterface.Par
ameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolk
it.ParameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSym
bolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Pa
rameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterInd
ex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 20, false))
, Initial(vq₃(t))), SymbolicIndexingInterface.ParameterHookWrapper{Symbolic
IndexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStr
uctures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndex
ingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructur
es.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initial
s, Int64}(SciMLStructures.Initials(), 42, false)), Initial(q₁(t))), Symboli
cIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParame
terIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}},
SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIn
dex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Modeli
ngToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.I
nitials(), 40, false)), Initial(q₂(t))), SymbolicIndexingInterface.Paramete
rHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Pa
rameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic
{Real}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Paramet
erIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{Sc
iMLStructures.Initials, Int64}(SciMLStructures.Initials(), 5, false)), Init
ial(q₃(t))), SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexin
gInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures
.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInte
rface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Init
ials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int6
4}(SciMLStructures.Initials(), 38, false)), Initial(φ2ˍt(t))), SymbolicInde
xingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParameterIn
dex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, Symbo
licUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{M
odelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToo
lkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initia
ls(), 11, false)), Initial(vq₄ˍt(t))), SymbolicIndexingInterface.ParameterH
ookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Para
meterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{R
eal}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Parameter
Index{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciM
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tionWrapper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunctio
n{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag",
ModelingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0
cd8c95e, 0x3f0ea5aa), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedF
unction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#
_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0
xc29c2b4f, 0xb4a3c431, 0xe6feb252), Nothing}}, LinearAlgebra.UniformScaling
{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Noth
ing, Nothing, Nothing, ModelingToolkit.ObservedFunctionCache{ModelingToolki
t.NonlinearSystem}, Nothing, ModelingToolkit.NonlinearSystem, Vector{Float6
4}, Nothing}, Base.Pairs{Symbol, Union{}, Tuple{}, @NamedTuple{}}, Nothing,
Nothing}, typeof(ModelingToolkit.update_initializeprob!), ComposedFunction
{ComposedFunction{typeof(identity), typeof(ModelingToolkit.safe_float)}, Sy
mbolicIndexingInterface.TimeIndependentObservedFunction{ModelingToolkit.Gen
eratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGenera
tedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF
_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649
b42a7, 0x171538e5, 0x60464864), Nothing}, RuntimeGeneratedFunctions.Runtime
GeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToo
lkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb
2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1), Nothing}}}}, ModelingToolkit.
var"#initprobpmap_split#810"{ModelingToolkit.var"#_getter#806"{Tuple{Return
s{StaticArraysCore.SizedVector{0, Float64, Vector{Float64}}}, ComposedFunct
ion{ModelingToolkit.PConstructorApplicator{typeof(identity)}, ModelingToolk
it.ObservedWrapper{false, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, t
rue), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :__
_mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"
#_RGF_ModTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd)
, Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__
mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modeli
ngToolkit.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf
3, 0xbd748dda), Nothing}}}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tu
ple{}}}}}, ModelingToolkit.InitializationMetadata{ModelingToolkit.Reconstru
ctInitializeprob{ModelingToolkit.var"#_getter#806"{Tuple{ComposedFunction{M
odelingToolkit.PConstructorApplicator{typeof(identity)}, ModelingToolkit.Ob
servedWrapper{true, ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true),
RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpa
rameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_
RGF_ModTag", (0x7ab5f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb16494, 0xc9cada26),
Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mt
k_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", Mode
lingToolkit.var"#_RGF_ModTag", (0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179
d56, 0x306466f9), Nothing}}}}, Returns{StaticArraysCore.SizedVector{0, Floa
t64, Vector{Float64}}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}
}}}, ComposedFunction{typeof(identity), SymbolicIndexingInterface.TimeDepen
dentObservedFunction{SymbolicIndexingInterface.ContinuousTimeseries, Modeli
ngToolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.
RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), Modeling
Toolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xf875e08d,
0x8c8b5e23, 0x10eeb740, 0xb1336206, 0xcd330fa9), Nothing}, RuntimeGenerated
Functions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters
___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModT
ag", (0xae83b488, 0xef086497, 0xdb5dc73b, 0x713ff85a, 0x96d7dc6d), Nothing}
}, true}}}, ModelingToolkit.GetUpdatedU0{SymbolicIndexingInterface.TimeInde
pendentObservedFunction{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, tru
e), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___m
tkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_
RGF_ModTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd),
Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mt
k_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modeling
Toolkit.var"#_RGF_ModTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f,
0x6381e96b), Nothing}}}, SymbolicIndexingInterface.MultipleParametersGette
r{SymbolicIndexingInterface.IndexerNotTimeseries, Vector{SymbolicIndexingIn
terface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.In
itials, Int64}}}, Nothing}}, ModelingToolkit.SetInitialUnknowns{SymbolicInd
exingInterface.MultipleSetters{Vector{SymbolicIndexingInterface.ParameterHo
okWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Param
eterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Re
al}}}}}}, Val{true}}, Nothing}(ModelingToolkit.GeneratedFunctionWrapper{(2,
3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1
, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToo
lkit.var"#_RGF_ModTag", (0xf0ec1653, 0x15ca6ae7, 0xc592e306, 0xfafbb2ec, 0x
9859bcb5), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ
₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0x4661a20f, 0xc7cca64b, 0x7a70f6
cf, 0x6d73e89a, 0xb0133243), Nothing}}(RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.va
r"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xf0ec1653, 0x15ca6ae7
, 0xc592e306, 0xfafbb2ec, 0x9859bcb5), Nothing}(nothing), RuntimeGeneratedF
unctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters_
__, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTa
g", (0x4661a20f, 0xc7cca64b, 0x7a70f6cf, 0x6d73e89a, 0xb0133243), Nothing}(
nothing)), [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.
0 0.0 … 0.0 0.0], nothing, nothing, nothing, nothing, nothing, nothing, not
hing, nothing, nothing, nothing, nothing, ModelingToolkit.ObservedFunctionC
ache{ModelingToolkit.ODESystem}(Model sys:
Equations (13):
13 standard: see equations(sys)
Unknowns (13): see unknowns(sys)
vq₄(t) [defaults to -2.68939e-6]
q₄(t) [defaults to 1.69328e-5]
vq₂(t) [defaults to 0.00463434]
vq₁(t) [defaults to 0.444896]
⋮
Observed (14): see observed(sys), Dict{Any, Any}(), false, false, ModelingT
oolkit, false, true), nothing, Model sys:
Equations (13):
13 standard: see equations(sys)
Unknowns (13): see unknowns(sys)
vq₄(t) [defaults to -2.68939e-6]
q₄(t) [defaults to 1.69328e-5]
vq₂(t) [defaults to 0.00463434]
vq₁(t) [defaults to 0.444896]
⋮
Observed (14): see observed(sys), SciMLBase.OverrideInitData{SciMLBase.Nonl
inearLeastSquaresProblem{Vector{Float64}, true, ModelingToolkit.MTKParamete
rs{Vector{Float64}, StaticArraysCore.SizedVector{0, Float64, Vector{Float64
}}, Tuple{}, Tuple{}, Tuple{}, Tuple{}}, SciMLBase.NonlinearFunction{true,
SciMLBase.FullSpecialize, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, t
rue), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :__
_mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"
#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c95e, 0x3f0ea5aa)
, Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__
mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modeli
ngToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c43
1, 0xe6feb252), Nothing}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Not
hing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothin
g, ModelingToolkit.ObservedFunctionCache{ModelingToolkit.NonlinearSystem},
Nothing, ModelingToolkit.NonlinearSystem, Vector{Float64}, Nothing}, Base.P
airs{Symbol, Union{}, Tuple{}, @NamedTuple{}}, Nothing, Nothing}, typeof(Mo
delingToolkit.update_initializeprob!), ComposedFunction{ComposedFunction{ty
peof(identity), typeof(ModelingToolkit.safe_float)}, SymbolicIndexingInterf
ace.TimeIndependentObservedFunction{ModelingToolkit.GeneratedFunctionWrappe
r{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_
arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingTo
olkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0
x60464864), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:
ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTa
g", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643,
0x2ab71b3c, 0xe9ed8cc1), Nothing}}}}, ModelingToolkit.var"#initprobpmap_sp
lit#810"{ModelingToolkit.var"#_getter#806"{Tuple{Returns{StaticArraysCore.S
izedVector{0, Float64, Vector{Float64}}}, ComposedFunction{ModelingToolkit.
PConstructorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{f
alse, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGenerat
edFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x1f
b53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Nothing}, RuntimeG
eneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpa
rameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_
ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xbd748dda), Noth
ing}}}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}}, ModelingT
oolkit.InitializationMetadata{ModelingToolkit.ReconstructInitializeprob{Mod
elingToolkit.var"#_getter#806"{Tuple{ComposedFunction{ModelingToolkit.PCons
tructorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{true,
ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunc
tions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5
f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpara
meters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RG
F_ModTag", (0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), No
thing}}}}, Returns{StaticArraysCore.SizedVector{0, Float64, Vector{Float64}
}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}, ComposedFunctio
n{typeof(identity), SymbolicIndexingInterface.TimeDependentObservedFunction
{SymbolicIndexingInterface.ContinuousTimeseries, ModelingToolkit.GeneratedF
unctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunc
tion{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0xf875e08d, 0x8c8b5e23, 0x10eeb7
40, 0xb1336206, 0xcd330fa9), Nothing}, RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingTo
olkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xae83b488, 0x
ef086497, 0xdb5dc73b, 0x713ff85a, 0x96d7dc6d), Nothing}}, true}}}, Modeling
Toolkit.GetUpdatedU0{SymbolicIndexingInterface.TimeIndependentObservedFunct
ion{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGenerated
Functions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbf8e
d046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpara
meters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mo
dTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x6381e96b), Nothin
g}}}, SymbolicIndexingInterface.MultipleParametersGetter{SymbolicIndexingIn
terface.IndexerNotTimeseries, Vector{SymbolicIndexingInterface.GetParameter
Index{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}}, No
thing}}, ModelingToolkit.SetInitialUnknowns{SymbolicIndexingInterface.Multi
pleSetters{Vector{SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIn
dexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStruc
tures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}}}}}, Val{true}}
(SciMLBase.NonlinearLeastSquaresProblem{Vector{Float64}, true, ModelingTool
kit.MTKParameters{Vector{Float64}, StaticArraysCore.SizedVector{0, Float64,
Vector{Float64}}, Tuple{}, Tuple{}, Tuple{}, Tuple{}}, SciMLBase.Nonlinear
Function{true, SciMLBase.FullSpecialize, ModelingToolkit.GeneratedFunctionW
rapper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:_
_mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Model
ingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c9
5e, 0x3f0ea5aa), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFuncti
on{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_
ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c
2b4f, 0xb4a3c431, 0xe6feb252), Nothing}}, LinearAlgebra.UniformScaling{Bool
}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing,
Nothing, Nothing, ModelingToolkit.ObservedFunctionCache{ModelingToolkit.Non
linearSystem}, Nothing, ModelingToolkit.NonlinearSystem, Vector{Float64}, N
othing}, Base.Pairs{Symbol, Union{}, Tuple{}, @NamedTuple{}}, Nothing, Noth
ing}(SciMLBase.NonlinearFunction{true, SciMLBase.FullSpecialize, ModelingTo
olkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunctions.Runt
imeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.
var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb07303
81, 0xcfa32ed8, 0x0cd8c95e, 0x3f0ea5aa), Nothing}, RuntimeGeneratedFunction
s.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99
c368, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c431, 0xe6feb252), Nothing}}, LinearAlg
ebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Not
hing, Nothing, Nothing, Nothing, Nothing, ModelingToolkit.ObservedFunctionC
ache{ModelingToolkit.NonlinearSystem}, Nothing, ModelingToolkit.NonlinearSy
stem, Vector{Float64}, Nothing}(ModelingToolkit.GeneratedFunctionWrapper{(2
, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_
1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolki
t.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c95e, 0x3f0
ea5aa), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋ou
t, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag",
ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c2b4f, 0xb
4a3c431, 0xe6feb252), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedF
unction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mod
Tag", ModelingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed
8, 0x0cd8c95e, 0x3f0ea5aa), Nothing}(nothing), RuntimeGeneratedFunctions.Ru
ntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Modeli
ngToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368
, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c431, 0xe6feb252), Nothing}(nothing)), Line
arAlgebra.UniformScaling{Bool}(true), nothing, nothing, nothing, nothing, n
othing, nothing, nothing, nothing, nothing, nothing, ModelingToolkit.Observ
edFunctionCache{ModelingToolkit.NonlinearSystem}(Model sys:
Equations (11):
11 standard: see equations(sys)
Unknowns (2): see unknowns(sys)
vφ2ˍt(t) [defaults to -74.9958]
φ2ˍt(t) [defaults to 0.0]
Parameters (45): see parameters(sys)
t
Initial(vx₃ˍtt(t)) [defaults to false]
Initial(q₃(t)) [defaults to false]
Initial(q₂ˍt(t)) [defaults to false]
⋮
Observed (25): see observed(sys), Dict{Any, Any}(SymbolicUtils.BasicSymboli
c{Real}[vq₄(t), q₄(t), vq₂(t), vq₁(t), vq₃(t), q₁(t), q₂(t), q₃(t), φ2ˍt(t)
, vq₄ˍt(t), φ2(t), λ₁(t), φ2ˍtt(t)] => ModelingToolkit.GeneratedFunctionWra
pper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5
, 0x60464864), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction
{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d656
43, 0x2ab71b3c, 0xe9ed8cc1), Nothing}}(RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_
RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x
649b42a7, 0x171538e5, 0x60464864), Nothing}(nothing), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7
d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1), Nothing}(nothing)
), Any[vq₄ˍt(t), φ2ˍtt(t), φ2ˍt(t)] => ModelingToolkit.GeneratedFunctionWra
pper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0x63ff2bb2, 0x9775ca78, 0xff8b065d, 0x066354d4
, 0x496dd6a9), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction
{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0x900c20cb, 0x711538b8, 0xc32e29
02, 0xfab7babf, 0xf0c99f97), Nothing}}(RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_
RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x63ff2bb2, 0x9775ca78, 0x
ff8b065d, 0x066354d4, 0x496dd6a9), Nothing}(nothing), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x9
00c20cb, 0x711538b8, 0xc32e2902, 0xfab7babf, 0xf0c99f97), Nothing}(nothing)
)), false, false, ModelingToolkit, false, true), nothing, Model sys:
Equations (11):
11 standard: see equations(sys)
Unknowns (2): see unknowns(sys)
vφ2ˍt(t) [defaults to -74.9958]
φ2ˍt(t) [defaults to 0.0]
Parameters (45): see parameters(sys)
t
Initial(vx₃ˍtt(t)) [defaults to false]
Initial(q₃(t)) [defaults to false]
Initial(q₂ˍt(t)) [defaults to false]
⋮
Observed (25): see observed(sys), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0], nothing), [0.0, 0.0], ModelingToolkit.MTKParameters{Vector{
Float64}, StaticArraysCore.SizedVector{0, Float64, Vector{Float64}}, Tuple{
}, Tuple{}, Tuple{}, Tuple{}}([0.0, 0.0, 1.03339863e-5, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float
64[], (), (), (), ()), nothing, nothing, Base.Pairs{Symbol, Union{}, Tuple{
}, @NamedTuple{}}()), ModelingToolkit.update_initializeprob!, identity ∘ Mo
delingToolkit.safe_float ∘ SymbolicIndexingInterface.TimeIndependentObserve
dFunction{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters__
_), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (
0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0x60464864), Nothing}, Runt
imeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___m
tkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_
RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1),
Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGe
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ializationMetadata{ModelingToolkit.ReconstructInitializeprob{ModelingToolki
t.var"#_getter#806"{Tuple{ComposedFunction{ModelingToolkit.PConstructorAppl
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(0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), Nothing}}}},
Returns{StaticArraysCore.SizedVector{0, Float64, Vector{Float64}}}, Returns
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turns{Tuple{}}}}((ModelingToolkit.PConstructorApplicator{typeof(identity)}(
identity) ∘ ModelingToolkit.ObservedWrapper{true, ModelingToolkit.Generated
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ntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Modeli
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1e96b), Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), R
untimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpar
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odTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothi
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81e96b), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
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dFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var
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Interface.MultipleParametersGetter{SymbolicIndexingInterface.IndexerNotTime
series, Vector{SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.
ParameterIndex{SciMLStructures.Initials, Int64}}}, Nothing}(SymbolicIndexin
gInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures
.Initials, Int64}}[SymbolicIndexingInterface.GetParameterIndex{ModelingTool
kit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Parame
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MLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructur
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ngInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructure
s.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials
, Int64}(SciMLStructures.Initials(), 32, false)), SymbolicIndexingInterface
.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials,
Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(Sc
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erIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Mo
delingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructur
es.Initials(), 42, false)), SymbolicIndexingInterface.GetParameterIndex{Mod
elingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolk
it.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials
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t.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Paramete
rIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 5, fals
e)), SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterI
ndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciML
Structures.Initials, Int64}(SciMLStructures.Initials(), 38, false)), Symbol
icIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLS
tructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.
Initials, Int64}(SciMLStructures.Initials(), 11, false)), SymbolicIndexingI
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nt64}(SciMLStructures.Initials(), 36, false)), SymbolicIndexingInterface.Ge
tParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, In
t64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciML
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bolicUtils.BasicSymbolic{Real}}}}(SymbolicIndexingInterface.ParameterHookWr
apper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Parameter
Index{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}
[SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.S
etParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, I
nt64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetPar
ameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}
}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStru
ctures.Initials(), 31, false)), Initial(vq₄(t))), SymbolicIndexingInterface
.ParameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingT
oolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.Basi
cSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolki
t.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Paramete
rIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 15, fal
se)), Initial(q₄(t))), SymbolicIndexingInterface.ParameterHookWrapper{Symbo
licIndexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciML
Structures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIn
dexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStruc
tures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Init
ials, Int64}(SciMLStructures.Initials(), 28, false)), Initial(vq₂(t))), Sym
bolicIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetPa
rameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64
}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParamet
erIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Mo
delingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructur
es.Initials(), 32, false)), Initial(vq₁(t))), SymbolicIndexingInterface.Par
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rameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterInd
ex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 20, false))
, Initial(vq₃(t))), SymbolicIndexingInterface.ParameterHookWrapper{Symbolic
IndexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStr
uctures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndex
ingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructur
es.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initial
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cIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParame
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dex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Modeli
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ial(q₃(t))), SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexin
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.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInte
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xingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParameterIn
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al(φ2(t))), SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexing
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Utils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{Mode
lingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolki
t.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(
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var"#_RGF_ModTag", (0xf0ec1653, 0x15ca6ae7, 0xc592e306, 0xfafbb2ec, 0x9859b
cb5), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out,
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constructInitializeprob{ModelingToolkit.var"#_getter#806"{Tuple{ComposedFun
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da26), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out
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0x4f179d56, 0x306466f9), Nothing}}}}, Returns{StaticArraysCore.SizedVector{
0, Float64, Vector{Float64}}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{
Tuple{}}}}, ComposedFunction{typeof(identity), SymbolicIndexingInterface.Ti
meDependentObservedFunction{SymbolicIndexingInterface.ContinuousTimeseries,
ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFun
ctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), M
odelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xf87
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neratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpar
ameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_R
GF_ModTag", (0xae83b488, 0xef086497, 0xdb5dc73b, 0x713ff85a, 0x96d7dc6d), N
othing}}, true}}}, ModelingToolkit.GetUpdatedU0{SymbolicIndexingInterface.T
imeIndependentObservedFunction{ModelingToolkit.GeneratedFunctionWrapper{(2,
2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1
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.var"#_RGF_ModTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0b
f2cd), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out
, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", M
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b3e88f, 0x6381e96b), Nothing}}}, SymbolicIndexingInterface.MultipleParamete
rsGetter{SymbolicIndexingInterface.IndexerNotTimeseries, Vector{SymbolicInd
exingInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStruct
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olicIndexingInterface.MultipleSetters{Vector{SymbolicIndexingInterface.Para
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olic{Real}}}}}}, Val{true}}, Nothing}, Float64, ModelingToolkit.MTKParamete
rs{StaticArraysCore.SizedVector{0, Float64, Vector{Float64}}, Vector{Float6
4}, Tuple{}, Tuple{}, Tuple{}, Tuple{}}}(SciMLBase.ODEFunction{true, SciMLB
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RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpa
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Nothing, Nothing, Nothing, ModelingToolkit.ObservedFunctionCache{ModelingT
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itData{SciMLBase.NonlinearLeastSquaresProblem{Vector{Float64}, true, Modeli
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uple{}}}}}, ModelingToolkit.InitializationMetadata{ModelingToolkit.Reconstr
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bservedWrapper{true, ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true),
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Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__m
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ndentObservedFunction{SymbolicIndexingInterface.ContinuousTimeseries, Model
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gToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xf875e08d,
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dFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameter
s___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mod
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}}, true}}}, ModelingToolkit.GetUpdatedU0{SymbolicIndexingInterface.TimeInd
ependentObservedFunction{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, tr
ue), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___
mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#
_RGF_ModTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd),
Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f
, 0x6381e96b), Nothing}}}, SymbolicIndexingInterface.MultipleParametersGett
er{SymbolicIndexingInterface.IndexerNotTimeseries, Vector{SymbolicIndexingI
nterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.I
nitials, Int64}}}, Nothing}}, ModelingToolkit.SetInitialUnknowns{SymbolicIn
dexingInterface.MultipleSetters{Vector{SymbolicIndexingInterface.ParameterH
ookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Para
meterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{R
eal}}}}}}, Val{true}}, Nothing}(ModelingToolkit.GeneratedFunctionWrapper{(2
, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_
1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingTo
olkit.var"#_RGF_ModTag", (0xf0ec1653, 0x15ca6ae7, 0xc592e306, 0xfafbb2ec, 0
x9859bcb5), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:
ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_M
odTag", ModelingToolkit.var"#_RGF_ModTag", (0x4661a20f, 0xc7cca64b, 0x7a70f
6cf, 0x6d73e89a, 0xb0133243), Nothing}}(RuntimeGeneratedFunctions.RuntimeGe
neratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.v
ar"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xf0ec1653, 0x15ca6ae
7, 0xc592e306, 0xfafbb2ec, 0x9859bcb5), Nothing}(nothing), RuntimeGenerated
Functions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters
___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModT
ag", (0x4661a20f, 0xc7cca64b, 0x7a70f6cf, 0x6d73e89a, 0xb0133243), Nothing}
(nothing)), [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0
.0 0.0 … 0.0 0.0], nothing, nothing, nothing, nothing, nothing, nothing, no
thing, nothing, nothing, nothing, nothing, ModelingToolkit.ObservedFunction
Cache{ModelingToolkit.ODESystem}(Model sys:
Equations (13):
13 standard: see equations(sys)
Unknowns (13): see unknowns(sys)
vq₄(t) [defaults to -2.68939e-6]
q₄(t) [defaults to 1.69328e-5]
vq₂(t) [defaults to 0.00463434]
vq₁(t) [defaults to 0.444896]
⋮
Observed (14): see observed(sys), Dict{Any, Any}(), false, false, ModelingT
oolkit, false, true), nothing, Model sys:
Equations (13):
13 standard: see equations(sys)
Unknowns (13): see unknowns(sys)
vq₄(t) [defaults to -2.68939e-6]
q₄(t) [defaults to 1.69328e-5]
vq₂(t) [defaults to 0.00463434]
vq₁(t) [defaults to 0.444896]
⋮
Observed (14): see observed(sys), SciMLBase.OverrideInitData{SciMLBase.Nonl
inearLeastSquaresProblem{Vector{Float64}, true, ModelingToolkit.MTKParamete
rs{Vector{Float64}, StaticArraysCore.SizedVector{0, Float64, Vector{Float64
}}, Tuple{}, Tuple{}, Tuple{}, Tuple{}}, SciMLBase.NonlinearFunction{true,
SciMLBase.FullSpecialize, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, t
rue), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :__
_mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"
#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c95e, 0x3f0ea5aa)
, Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__
mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modeli
ngToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c43
1, 0xe6feb252), Nothing}}, LinearAlgebra.UniformScaling{Bool}, Nothing, Not
hing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothin
g, ModelingToolkit.ObservedFunctionCache{ModelingToolkit.NonlinearSystem},
Nothing, ModelingToolkit.NonlinearSystem, Vector{Float64}, Nothing}, Base.P
airs{Symbol, Union{}, Tuple{}, @NamedTuple{}}, Nothing, Nothing}, typeof(Mo
delingToolkit.update_initializeprob!), ComposedFunction{ComposedFunction{ty
peof(identity), typeof(ModelingToolkit.safe_float)}, SymbolicIndexingInterf
ace.TimeIndependentObservedFunction{ModelingToolkit.GeneratedFunctionWrappe
r{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_
arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingTo
olkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0
x60464864), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:
ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTa
g", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643,
0x2ab71b3c, 0xe9ed8cc1), Nothing}}}}, ModelingToolkit.var"#initprobpmap_sp
lit#810"{ModelingToolkit.var"#_getter#806"{Tuple{Returns{StaticArraysCore.S
izedVector{0, Float64, Vector{Float64}}}, ComposedFunction{ModelingToolkit.
PConstructorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{f
alse, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGenerat
edFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x1f
b53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Nothing}, RuntimeG
eneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpa
rameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_
ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xbd748dda), Noth
ing}}}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}}, ModelingT
oolkit.InitializationMetadata{ModelingToolkit.ReconstructInitializeprob{Mod
elingToolkit.var"#_getter#806"{Tuple{ComposedFunction{ModelingToolkit.PCons
tructorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{true,
ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunc
tions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5
f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpara
meters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RG
F_ModTag", (0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), No
thing}}}}, Returns{StaticArraysCore.SizedVector{0, Float64, Vector{Float64}
}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}, ComposedFunctio
n{typeof(identity), SymbolicIndexingInterface.TimeDependentObservedFunction
{SymbolicIndexingInterface.ContinuousTimeseries, ModelingToolkit.GeneratedF
unctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunc
tion{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0xf875e08d, 0x8c8b5e23, 0x10eeb7
40, 0xb1336206, 0xcd330fa9), Nothing}, RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingTo
olkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xae83b488, 0x
ef086497, 0xdb5dc73b, 0x713ff85a, 0x96d7dc6d), Nothing}}, true}}}, Modeling
Toolkit.GetUpdatedU0{SymbolicIndexingInterface.TimeIndependentObservedFunct
ion{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGenerated
Functions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbf8e
d046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpara
meters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mo
dTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x6381e96b), Nothin
g}}}, SymbolicIndexingInterface.MultipleParametersGetter{SymbolicIndexingIn
terface.IndexerNotTimeseries, Vector{SymbolicIndexingInterface.GetParameter
Index{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}}, No
thing}}, ModelingToolkit.SetInitialUnknowns{SymbolicIndexingInterface.Multi
pleSetters{Vector{SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIn
dexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStruc
tures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}}}}}, Val{true}}
(SciMLBase.NonlinearLeastSquaresProblem{Vector{Float64}, true, ModelingTool
kit.MTKParameters{Vector{Float64}, StaticArraysCore.SizedVector{0, Float64,
Vector{Float64}}, Tuple{}, Tuple{}, Tuple{}, Tuple{}}, SciMLBase.Nonlinear
Function{true, SciMLBase.FullSpecialize, ModelingToolkit.GeneratedFunctionW
rapper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:_
_mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Model
ingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c9
5e, 0x3f0ea5aa), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFuncti
on{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_
ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c
2b4f, 0xb4a3c431, 0xe6feb252), Nothing}}, LinearAlgebra.UniformScaling{Bool
}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing,
Nothing, Nothing, ModelingToolkit.ObservedFunctionCache{ModelingToolkit.Non
linearSystem}, Nothing, ModelingToolkit.NonlinearSystem, Vector{Float64}, N
othing}, Base.Pairs{Symbol, Union{}, Tuple{}, @NamedTuple{}}, Nothing, Noth
ing}(SciMLBase.NonlinearFunction{true, SciMLBase.FullSpecialize, ModelingTo
olkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunctions.Runt
imeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.
var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb07303
81, 0xcfa32ed8, 0x0cd8c95e, 0x3f0ea5aa), Nothing}, RuntimeGeneratedFunction
s.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Mo
delingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99
c368, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c431, 0xe6feb252), Nothing}}, LinearAlg
ebra.UniformScaling{Bool}, Nothing, Nothing, Nothing, Nothing, Nothing, Not
hing, Nothing, Nothing, Nothing, Nothing, ModelingToolkit.ObservedFunctionC
ache{ModelingToolkit.NonlinearSystem}, Nothing, ModelingToolkit.NonlinearSy
stem, Vector{Float64}, Nothing}(ModelingToolkit.GeneratedFunctionWrapper{(2
, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_
1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolki
t.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed8, 0x0cd8c95e, 0x3f0
ea5aa), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋ou
t, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag",
ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368, 0xd16cb67d, 0xc29c2b4f, 0xb
4a3c431, 0xe6feb252), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedF
unction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mod
Tag", ModelingToolkit.var"#_RGF_ModTag", (0xbc15e440, 0xb0730381, 0xcfa32ed
8, 0x0cd8c95e, 0x3f0ea5aa), Nothing}(nothing), RuntimeGeneratedFunctions.Ru
ntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Modeli
ngToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x6d99c368
, 0xd16cb67d, 0xc29c2b4f, 0xb4a3c431, 0xe6feb252), Nothing}(nothing)), Line
arAlgebra.UniformScaling{Bool}(true), nothing, nothing, nothing, nothing, n
othing, nothing, nothing, nothing, nothing, nothing, ModelingToolkit.Observ
edFunctionCache{ModelingToolkit.NonlinearSystem}(Model sys:
Equations (11):
11 standard: see equations(sys)
Unknowns (2): see unknowns(sys)
vφ2ˍt(t) [defaults to -74.9958]
φ2ˍt(t) [defaults to 0.0]
Parameters (45): see parameters(sys)
t
Initial(vx₃ˍtt(t)) [defaults to false]
Initial(q₃(t)) [defaults to false]
Initial(q₂ˍt(t)) [defaults to false]
⋮
Observed (25): see observed(sys), Dict{Any, Any}(SymbolicUtils.BasicSymboli
c{Real}[vq₄(t), q₄(t), vq₂(t), vq₁(t), vq₃(t), q₁(t), q₂(t), q₃(t), φ2ˍt(t)
, vq₄ˍt(t), φ2(t), λ₁(t), φ2ˍtt(t)] => ModelingToolkit.GeneratedFunctionWra
pper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5
, 0x60464864), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction
{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d656
43, 0x2ab71b3c, 0xe9ed8cc1), Nothing}}(RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_
RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x
649b42a7, 0x171538e5, 0x60464864), Nothing}(nothing), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7
d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1), Nothing}(nothing)
), Any[vq₄ˍt(t), φ2ˍtt(t), φ2ˍt(t)] => ModelingToolkit.GeneratedFunctionWra
pper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0x63ff2bb2, 0x9775ca78, 0xff8b065d, 0x066354d4
, 0x496dd6a9), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction
{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_Mo
dTag", ModelingToolkit.var"#_RGF_ModTag", (0x900c20cb, 0x711538b8, 0xc32e29
02, 0xfab7babf, 0xf0c99f97), Nothing}}(RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_
RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x63ff2bb2, 0x9775ca78, 0x
ff8b065d, 0x066354d4, 0x496dd6a9), Nothing}(nothing), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x9
00c20cb, 0x711538b8, 0xc32e2902, 0xfab7babf, 0xf0c99f97), Nothing}(nothing)
)), false, false, ModelingToolkit, false, true), nothing, Model sys:
Equations (11):
11 standard: see equations(sys)
Unknowns (2): see unknowns(sys)
vφ2ˍt(t) [defaults to -74.9958]
φ2ˍt(t) [defaults to 0.0]
Parameters (45): see parameters(sys)
t
Initial(vx₃ˍtt(t)) [defaults to false]
Initial(q₃(t)) [defaults to false]
Initial(q₂ˍt(t)) [defaults to false]
⋮
Observed (25): see observed(sys), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0], nothing), [0.0, 0.0], ModelingToolkit.MTKParameters{Vector{
Float64}, StaticArraysCore.SizedVector{0, Float64, Vector{Float64}}, Tuple{
}, Tuple{}, Tuple{}, Tuple{}}([0.0, 0.0, 1.03339863e-5, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float
64[], (), (), (), ()), nothing, nothing, Base.Pairs{Symbol, Union{}, Tuple{
}, @NamedTuple{}}()), ModelingToolkit.update_initializeprob!, identity ∘ Mo
delingToolkit.safe_float ∘ SymbolicIndexingInterface.TimeIndependentObserve
dFunction{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGen
eratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters__
_), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (
0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0x60464864), Nothing}, Runt
imeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___m
tkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_
RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1),
Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGe
neratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters_
__), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag",
(0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0x60464864), Nothing}, Run
timeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___
mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#
_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65643, 0x2ab71b3c, 0xe9ed8cc1),
Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1
, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit
.var"#_RGF_ModTag", (0x423f1c2c, 0xe2b9d0a8, 0x649b42a7, 0x171538e5, 0x6046
4864), Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGeneratedFunctio
n{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_M
odTag", ModelingToolkit.var"#_RGF_ModTag", (0x7d4d9093, 0xb2ef3926, 0xb1d65
643, 0x2ab71b3c, 0xe9ed8cc1), Nothing}(nothing))), ModelingToolkit.var"#ini
tprobpmap_split#810"{ModelingToolkit.var"#_getter#806"{Tuple{Returns{Static
ArraysCore.SizedVector{0, Float64, Vector{Float64}}}, ComposedFunction{Mode
lingToolkit.PConstructorApplicator{typeof(identity)}, ModelingToolkit.Obser
vedWrapper{false, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), Ru
ntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpara
meters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mo
dTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Nothin
g}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_
1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolki
t.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xbd7
48dda), Nothing}}}}, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}
}(ModelingToolkit.var"#_getter#806"{Tuple{Returns{StaticArraysCore.SizedVec
tor{0, Float64, Vector{Float64}}}, ComposedFunction{ModelingToolkit.PConstr
uctorApplicator{typeof(identity)}, ModelingToolkit.ObservedWrapper{false, M
odelingToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), Modelin
gToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x1fb53577,
0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Nothing}, RuntimeGenerate
dFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameter
s___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag"
, (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xbd748dda), Nothing}}}}
, Returns{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}((Returns{StaticArr
aysCore.SizedVector{0, Float64, Vector{Float64}}}(Float64[]), ModelingToolk
it.PConstructorApplicator{typeof(identity)}(identity) ∘ ModelingToolkit.Obs
ervedWrapper{false, ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true),
RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpa
rameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_
ModTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Noth
ing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_ar
g_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingTool
kit.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0xb
d748dda), Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true),
RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkp
arameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF
_ModTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911fa, 0x7ec614fd), Not
hing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_a
rg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToo
lkit.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417a, 0xc3cd4258, 0x04bcabf3, 0x
bd748dda), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:_
_mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Model
ingToolkit.var"#_RGF_ModTag", (0x1fb53577, 0x8d770ab4, 0x26db651f, 0x056911
fa, 0x7ec614fd), Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGenera
tedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.v
ar"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x4e16f1a1, 0x9676417
a, 0xc3cd4258, 0x04bcabf3, 0xbd748dda), Nothing}(nothing))), Returns{Tuple{
}}(()), Returns{Tuple{}}(()), Returns{Tuple{}}(())))), ModelingToolkit.Init
ializationMetadata{ModelingToolkit.ReconstructInitializeprob{ModelingToolki
t.var"#_getter#806"{Tuple{ComposedFunction{ModelingToolkit.PConstructorAppl
icator{typeof(identity)}, ModelingToolkit.ObservedWrapper{true, ModelingToo
lkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.Runti
meGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolk
it.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4
db6c0, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___,
:t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag",
(0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), Nothing}}}},
Returns{StaticArraysCore.SizedVector{0, Float64, Vector{Float64}}}, Returns
{Tuple{}}, Returns{Tuple{}}, Returns{Tuple{}}}}, ComposedFunction{typeof(id
entity), SymbolicIndexingInterface.TimeDependentObservedFunction{SymbolicIn
dexingInterface.ContinuousTimeseries, ModelingToolkit.GeneratedFunctionWrap
per{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mt
k_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", Mode
lingToolkit.var"#_RGF_ModTag", (0xf875e08d, 0x8c8b5e23, 0x10eeb740, 0xb1336
206, 0xcd330fa9), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunct
ion{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#
_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xae83b488, 0xef086497, 0
xdb5dc73b, 0x713ff85a, 0x96d7dc6d), Nothing}}, true}}}, ModelingToolkit.Get
UpdatedU0{SymbolicIndexingInterface.TimeIndependentObservedFunction{Modelin
gToolkit.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunctions.R
untimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolk
it.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbf8ed046, 0xfc0
7bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, RuntimeGeneratedFunct
ions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7
2bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x6381e96b), Nothing}}}, Symbo
licIndexingInterface.MultipleParametersGetter{SymbolicIndexingInterface.Ind
exerNotTimeseries, Vector{SymbolicIndexingInterface.GetParameterIndex{Model
ingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}}, Nothing}}, Mo
delingToolkit.SetInitialUnknowns{SymbolicIndexingInterface.MultipleSetters{
Vector{SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexingInter
face.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initi
als, Int64}}, SymbolicUtils.BasicSymbolic{Real}}}}}}(Dict{Any, Any}(vφ2(t)
=> Initial(vφ2(t)), q₂(t) => Initial(q₂(t)), λ₂(t) => Initial(λ₂(t)), vq₁(t
) => Initial(vq₁(t)), vq₂(t) => Initial(vq₂(t)), x₃(t) => Initial(x₃(t)), q
₁(t) => Initial(q₁(t)), λ₁(t) => Initial(λ₁(t)), q₃(t) => Initial(q₃(t)), v
q₄(t) => Initial(vq₄(t))…), Dict{Any, Any}(Initial(vx₃ˍtt(t)) => false, Ini
tial(q₄ˍt(t)) => false, Initial(q₂ˍt(t)) => false, Initial(q₃ˍt(t)) => fals
e, Initial(q₃(t)) => 1.03339863e-5, Initial(φ1(t)) => 0.0, Initial(vφ2ˍt(t)
) => false, Initial(λ₃ˍt(t)) => false, Initial(vφ1ˍt(t)) => false, Initial(
vφ1ˍtt(t)) => false…), Dict{Any, Any}(), Symbolics.Equation[], true, Modeli
ngToolkit.ReconstructInitializeprob{ModelingToolkit.var"#_getter#806"{Tuple
{ComposedFunction{ModelingToolkit.PConstructorApplicator{typeof(identity)},
ModelingToolkit.ObservedWrapper{true, ModelingToolkit.GeneratedFunctionWra
pper{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", Mod
elingToolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb1
6494, 0xc9cada26), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunc
tion{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"
#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7c72fc9b, 0xf9768d7b,
0xc814ff53, 0x4f179d56, 0x306466f9), Nothing}}}}, Returns{StaticArraysCore.
SizedVector{0, Float64, Vector{Float64}}}, Returns{Tuple{}}, Returns{Tuple{
}}, Returns{Tuple{}}}}, ComposedFunction{typeof(identity), SymbolicIndexing
Interface.TimeDependentObservedFunction{SymbolicIndexingInterface.Continuou
sTimeseries, ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true), Runtime
GeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameter
s___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mod
Tag", (0xf875e08d, 0x8c8b5e23, 0x10eeb740, 0xb1336206, 0xcd330fa9), Nothing
}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1
, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToo
lkit.var"#_RGF_ModTag", (0xae83b488, 0xef086497, 0xdb5dc73b, 0x713ff85a, 0x
96d7dc6d), Nothing}}, true}}}(ModelingToolkit.var"#_getter#806"{Tuple{Compo
sedFunction{ModelingToolkit.PConstructorApplicator{typeof(identity)}, Model
ingToolkit.ObservedWrapper{true, ModelingToolkit.GeneratedFunctionWrapper{(
2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg
_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingT
oolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb16494,
0xc9cada26), Nothing}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(
:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_
ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7c72fc9b, 0xf9768d7b, 0xc814
ff53, 0x4f179d56, 0x306466f9), Nothing}}}}, Returns{StaticArraysCore.SizedV
ector{0, Float64, Vector{Float64}}}, Returns{Tuple{}}, Returns{Tuple{}}, Re
turns{Tuple{}}}}((ModelingToolkit.PConstructorApplicator{typeof(identity)}(
identity) ∘ ModelingToolkit.ObservedWrapper{true, ModelingToolkit.Generated
FunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGeneratedFun
ction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_M
odTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4db6c0, 0x7a48a
7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGeneratedFunctions.RuntimeGe
neratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t), ModelingT
oolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7c72fc9b, 0
xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), Nothing}}}(ModelingToolkit.
GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.RuntimeGen
eratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.va
r"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7ab5f7f7, 0x9e4db6c0
, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}, RuntimeGeneratedFunctions.
RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___, :t),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x7c
72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f179d56, 0x306466f9), Nothing}}(RuntimeG
eneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters
___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModT
ag", (0x7ab5f7f7, 0x9e4db6c0, 0x7a48a7a8, 0xabb16494, 0xc9cada26), Nothing}
(nothing), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__m
tk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModTag", Mod
elingToolkit.var"#_RGF_ModTag", (0x7c72fc9b, 0xf9768d7b, 0xc814ff53, 0x4f17
9d56, 0x306466f9), Nothing}(nothing))), Returns{StaticArraysCore.SizedVecto
r{0, Float64, Vector{Float64}}}(Float64[]), Returns{Tuple{}}(()), Returns{T
uple{}}(()), Returns{Tuple{}}(()))), identity ∘ SymbolicIndexingInterface.T
imeDependentObservedFunction{SymbolicIndexingInterface.ContinuousTimeseries
, ModelingToolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFu
nctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t),
ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xf8
75e08d, 0x8c8b5e23, 0x10eeb740, 0xb1336206, 0xcd330fa9), Nothing}, RuntimeG
eneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkpa
rameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_
RGF_ModTag", (0xae83b488, 0xef086497, 0xdb5dc73b, 0x713ff85a, 0x96d7dc6d),
Nothing}}, true}(SymbolicIndexingInterface.ContinuousTimeseries(), Modeling
Toolkit.GeneratedFunctionWrapper{(2, 3, true), RuntimeGeneratedFunctions.Ru
ntimeGeneratedFunction{(:__mtk_arg_1, :___mtkparameters___, :t), ModelingTo
olkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xf875e08d, 0x
8c8b5e23, 0x10eeb740, 0xb1336206, 0xcd330fa9), Nothing}, RuntimeGeneratedFu
nctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters__
_, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag
", (0xae83b488, 0xef086497, 0xdb5dc73b, 0x713ff85a, 0x96d7dc6d), Nothing}}(
RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpa
rameters___, :t), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_
RGF_ModTag", (0xf875e08d, 0x8c8b5e23, 0x10eeb740, 0xb1336206, 0xcd330fa9),
Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋o
ut, :__mtk_arg_1, :___mtkparameters___, :t), ModelingToolkit.var"#_RGF_ModT
ag", ModelingToolkit.var"#_RGF_ModTag", (0xae83b488, 0xef086497, 0xdb5dc73b
, 0x713ff85a, 0x96d7dc6d), Nothing}(nothing)))), ModelingToolkit.GetUpdated
U0{SymbolicIndexingInterface.TimeIndependentObservedFunction{ModelingToolki
t.GeneratedFunctionWrapper{(2, 2, true), RuntimeGeneratedFunctions.RuntimeG
eneratedFunction{(:__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var"
#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0xbf8ed046, 0xfc07bc7f,
0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothing}, RuntimeGeneratedFunctions.Ru
ntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), Modeli
ngToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x72bd775f
, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x6381e96b), Nothing}}}, SymbolicInde
xingInterface.MultipleParametersGetter{SymbolicIndexingInterface.IndexerNot
Timeseries, Vector{SymbolicIndexingInterface.GetParameterIndex{ModelingTool
kit.ParameterIndex{SciMLStructures.Initials, Int64}}}, Nothing}}(Bool[0, 0,
0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1], SymbolicIndexingInterface.TimeIndependen
tObservedFunction{ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), Ru
ntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpara
meters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_Mo
dTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothin
g}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg_
1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolki
t.var"#_RGF_ModTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x638
1e96b), Nothing}}}(ModelingToolkit.GeneratedFunctionWrapper{(2, 2, true), R
untimeGeneratedFunctions.RuntimeGeneratedFunction{(:__mtk_arg_1, :___mtkpar
ameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolkit.var"#_RGF_M
odTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff, 0x5d0bf2cd), Nothi
ng}, RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:ˍ₋out, :__mtk_arg
_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", ModelingToolk
it.var"#_RGF_ModTag", (0x72bd775f, 0xef35b7ec, 0x849b2782, 0x15b3e88f, 0x63
81e96b), Nothing}}(RuntimeGeneratedFunctions.RuntimeGeneratedFunction{(:__m
tk_arg_1, :___mtkparameters___), ModelingToolkit.var"#_RGF_ModTag", Modelin
gToolkit.var"#_RGF_ModTag", (0xbf8ed046, 0xfc07bc7f, 0x66c0827b, 0x17bcafff
, 0x5d0bf2cd), Nothing}(nothing), RuntimeGeneratedFunctions.RuntimeGenerate
dFunction{(:ˍ₋out, :__mtk_arg_1, :___mtkparameters___), ModelingToolkit.var
"#_RGF_ModTag", ModelingToolkit.var"#_RGF_ModTag", (0x72bd775f, 0xef35b7ec,
0x849b2782, 0x15b3e88f, 0x6381e96b), Nothing}(nothing))), SymbolicIndexing
Interface.MultipleParametersGetter{SymbolicIndexingInterface.IndexerNotTime
series, Vector{SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.
ParameterIndex{SciMLStructures.Initials, Int64}}}, Nothing}(SymbolicIndexin
gInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures
.Initials, Int64}}[SymbolicIndexingInterface.GetParameterIndex{ModelingTool
kit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Parame
terIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 31, f
alse)), SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.Paramet
erIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{Sc
iMLStructures.Initials, Int64}(SciMLStructures.Initials(), 15, false)), Sym
bolicIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{Sci
MLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructur
es.Initials, Int64}(SciMLStructures.Initials(), 28, false)), SymbolicIndexi
ngInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructure
s.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials
, Int64}(SciMLStructures.Initials(), 32, false)), SymbolicIndexingInterface
.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials,
Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(Sc
iMLStructures.Initials(), 20, false)), SymbolicIndexingInterface.GetParamet
erIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Mo
delingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructur
es.Initials(), 42, false)), SymbolicIndexingInterface.GetParameterIndex{Mod
elingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolk
it.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials
(), 40, false)), SymbolicIndexingInterface.GetParameterIndex{ModelingToolki
t.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Paramete
rIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 5, fals
e)), SymbolicIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterI
ndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciML
Structures.Initials, Int64}(SciMLStructures.Initials(), 38, false)), Symbol
icIndexingInterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLS
tructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.
Initials, Int64}(SciMLStructures.Initials(), 11, false)), SymbolicIndexingI
nterface.GetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.I
nitials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, I
nt64}(SciMLStructures.Initials(), 36, false)), SymbolicIndexingInterface.Ge
tParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, In
t64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciML
Structures.Initials(), 21, false)), SymbolicIndexingInterface.GetParameterI
ndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Model
ingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.
Initials(), 35, false))], nothing)), ModelingToolkit.SetInitialUnknowns{Sym
bolicIndexingInterface.MultipleSetters{Vector{SymbolicIndexingInterface.Par
ameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolk
it.ParameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSym
bolic{Real}}}}}(SymbolicIndexingInterface.MultipleSetters{Vector{SymbolicIn
dexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParameter
Index{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, Sym
bolicUtils.BasicSymbolic{Real}}}}(SymbolicIndexingInterface.ParameterHookWr
apper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Parameter
Index{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}
[SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.S
etParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, I
nt64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetPar
ameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}
}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStru
ctures.Initials(), 31, false)), Initial(vq₄(t))), SymbolicIndexingInterface
.ParameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingT
oolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.Basi
cSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolki
t.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.Paramete
rIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 15, fal
se)), Initial(q₄(t))), SymbolicIndexingInterface.ParameterHookWrapper{Symbo
licIndexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciML
Structures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIn
dexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStruc
tures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Init
ials, Int64}(SciMLStructures.Initials(), 28, false)), Initial(vq₂(t))), Sym
bolicIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetPa
rameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64
}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParamet
erIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Mo
delingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructur
es.Initials(), 32, false)), Initial(vq₁(t))), SymbolicIndexingInterface.Par
ameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolk
it.ParameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSym
bolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Pa
rameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterInd
ex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(), 20, false))
, Initial(vq₃(t))), SymbolicIndexingInterface.ParameterHookWrapper{Symbolic
IndexingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStr
uctures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndex
ingInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructur
es.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initial
s, Int64}(SciMLStructures.Initials(), 42, false)), Initial(q₁(t))), Symboli
cIndexingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParame
terIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}},
SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIn
dex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(Modeli
ngToolkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.I
nitials(), 40, false)), Initial(q₂(t))), SymbolicIndexingInterface.Paramete
rHookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Pa
rameterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic
{Real}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Paramet
erIndex{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{Sc
iMLStructures.Initials, Int64}(SciMLStructures.Initials(), 5, false)), Init
ial(q₃(t))), SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexin
gInterface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures
.Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInte
rface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Init
ials, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int6
4}(SciMLStructures.Initials(), 38, false)), Initial(φ2ˍt(t))), SymbolicInde
xingInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParameterIn
dex{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, Symbo
licUtils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{M
odelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToo
lkit.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initia
ls(), 11, false)), Initial(vq₄ˍt(t))), SymbolicIndexingInterface.ParameterH
ookWrapper{SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Para
meterIndex{SciMLStructures.Initials, Int64}}, SymbolicUtils.BasicSymbolic{R
eal}}(SymbolicIndexingInterface.SetParameterIndex{ModelingToolkit.Parameter
Index{SciMLStructures.Initials, Int64}}(ModelingToolkit.ParameterIndex{SciM
LStructures.Initials, Int64}(SciMLStructures.Initials(), 36, false)), Initi
al(φ2(t))), SymbolicIndexingInterface.ParameterHookWrapper{SymbolicIndexing
Interface.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.
Initials, Int64}}, SymbolicUtils.BasicSymbolic{Real}}(SymbolicIndexingInter
face.SetParameterIndex{ModelingToolkit.ParameterIndex{SciMLStructures.Initi
als, Int64}}(ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64
}(SciMLStructures.Initials(), 21, false)), Initial(λ₁(t))), SymbolicIndexin
gInterface.ParameterHookWrapper{SymbolicIndexingInterface.SetParameterIndex
{ModelingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}, Symbolic
Utils.BasicSymbolic{Real}}(SymbolicIndexingInterface.SetParameterIndex{Mode
lingToolkit.ParameterIndex{SciMLStructures.Initials, Int64}}(ModelingToolki
t.ParameterIndex{SciMLStructures.Initials, Int64}(SciMLStructures.Initials(
), 35, false)), Initial(φ2ˍtt(t)))]))), Val{true}()), nothing), 0.099993717
55095594, ModelingToolkit.MTKParameters{StaticArraysCore.SizedVector{0, Flo
at64, Vector{Float64}}, Vector{Float64}, Tuple{}, Tuple{}, Tuple{}, Tuple{}
}(Float64[], [0.0, 0.0, 0.0, 0.0, 1.03339863e-5, 0.0, -0.001344429008724363
, 0.0, -0.0, 0.0 … -0.001344429008724363, 0.0, 0.0, -74.99576703970469, 0
.0, 0.0, 0.0, 0.0, 0.0, 150.0], (), (), (), ())), [5.77691511294276e-7, 2.7
347571256164382e-11, 6.358160833941362e-8, -1.1817547118653238e-7, -2.90345
2858138422e-7, -1.0962179081142054e-11, 5.719966167383461e-12, -1.354953811
909948e-11, -7.645439836778678e-12, 1.6653345369377348e-16, -5.422479132377
589e-11, -7.460698725481052e-14, -1.0669509720173664e-10], LinearSolve.Line
arCache{Matrix{Float64}, Vector{Float64}, Vector{Float64}, SciMLBase.NullPa
rameters, LinearSolve.DefaultLinearSolver, LinearSolve.DefaultLinearSolverI
nit{LinearAlgebra.LU{Float64, Matrix{Float64}, Vector{Int64}}, LinearAlgebr
a.QRCompactWY{Float64, Matrix{Float64}, Matrix{Float64}}, Nothing, Nothing,
Nothing, Nothing, Nothing, Nothing, Tuple{LinearAlgebra.LU{Float64, Matrix
{Float64}, Vector{Int64}}, Vector{Int64}}, Tuple{LinearAlgebra.LU{Float64,
Matrix{Float64}, Vector{Int64}}, Vector{Int64}}, Nothing, Nothing, Nothing,
LinearAlgebra.SVD{Float64, Float64, Matrix{Float64}, Vector{Float64}}, Lin
earAlgebra.Cholesky{Float64, Matrix{Float64}}, LinearAlgebra.Cholesky{Float
64, Matrix{Float64}}, Tuple{LinearAlgebra.LU{Float64, Matrix{Float64}, Vect
or{Int32}}, Base.RefValue{Int32}}, Tuple{LinearAlgebra.LU{Float64, Matrix{F
loat64}, Vector{Int64}}, Base.RefValue{Int64}}, LinearAlgebra.QRPivoted{Flo
at64, Matrix{Float64}, Vector{Float64}, Vector{Int64}}, Nothing, Nothing, N
othing, Nothing, Nothing, Matrix{Float64}}, LinearSolve.InvPreconditioner{L
inearAlgebra.Diagonal{Float64, Vector{Float64}}}, LinearAlgebra.Diagonal{Fl
oat64, Vector{Float64}}, Float64, LinearSolve.LinearVerbosity{SciMLLogging.
Silent, SciMLLogging.Silent, SciMLLogging.Silent, SciMLLogging.Silent, SciM
LLogging.Silent, SciMLLogging.Silent, SciMLLogging.Silent, SciMLLogging.Sil
ent, SciMLLogging.WarnLevel, SciMLLogging.WarnLevel, SciMLLogging.Silent, S
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.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-62.38770921173346,0.0,0.0,0.0
,0.0,0.0,1.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTa
g, Float64}}(-163.8151483533587,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0), Dual{
ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-18.21558533772592,
0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.0)])), ()), DifferentiationInterfaceForwa
rdDiffExt.ForwardDiffTwoArgJacobianPrep{Nothing, ForwardDiff.JacobianConfig
{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}, Float64, 9, Tuple{
Vector{ForwardDiff.Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float
64}, Float64, 9}}, Vector{ForwardDiff.Dual{ForwardDiff.Tag{DiffEqBase.Ordin
aryDiffEqTag, Float64}, Float64, 9}}}}, Tuple{}}(Val{Nothing}(), ForwardDif
f.JacobianConfig{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}, Fl
oat64, 9, Tuple{Vector{ForwardDiff.Dual{ForwardDiff.Tag{DiffEqBase.Ordinary
DiffEqTag, Float64}, Float64, 9}}, Vector{ForwardDiff.Dual{ForwardDiff.Tag{
DiffEqBase.OrdinaryDiffEqTag, Float64}, Float64, 9}}}}((Partials(1.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0), Partials(0.0, 1.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0), Partials(0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0), Part
ials(0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0), Partials(0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0, 0.0, 0.0), Partials(0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0,
0.0, 0.0), Partials(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0), Partials(
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0), Partials(0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 1.0)), (ForwardDiff.Dual{ForwardDiff.Tag{DiffEqBase.Ord
inaryDiffEqTag, Float64}, Float64, 9}[Dual{ForwardDiff.Tag{DiffEqBase.Ordin
aryDiffEqTag, Float64}}(150.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0), Dual{Fo
rwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(60.23881854735783,0.0
,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.Ordinary
DiffEqTag, Float64}}(-8.758000839578706,1.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0
), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-0.03011595
948178246,0.0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEq
Base.OrdinaryDiffEqTag, Float64}}(-0.005499703285846862,0.0,0.0,1.0,0.0,0.0
,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float
64}}(0.0004987093705251409,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,0.0), Dual{Forwa
rdDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(0.001116832441838903,0.0
,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.Ordinary
DiffEqTag, Float64}}(22.563680794381472,0.0,-0.6399560486458884,0.0,1.69262
48488060909,0.4231562122015227,0.11392012059292635,-0.09758179197008587,-1.
0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(29.927
249340064723,0.0,-0.0017231673270750195,-0.00021637450900118045,-1.81953694
6761116,-0.9098309397504377,-0.2836772331561528,0.09758179197015751,0.0,0.0
), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(163.8151483
533587,0.0,0.0,0.0,0.0,0.0,0.0,-1.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBa
se.OrdinaryDiffEqTag, Float64}}(96.2495033600122,0.0,0.0,0.0,-9.39404740863
9098,-1.0976971949109318,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.
OrdinaryDiffEqTag, Float64}}(-46.82714522677127,0.0,0.0,0.0,0.0,2.897360449
6152405,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag
, Float64}}(-1.3149194124530368,0.0,9.394047408639098,0.0,0.0,0.0,0.0,0.0,0
.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(0.095
13052663032795,0.0,1.0976971949109318,-2.8973604496152405,0.0,0.0,0.3252817
1405825235,0.9456171564112642,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.Ord
inaryDiffEqTag, Float64}}(5.766166624038283e-14,0.0,0.0,0.0,0.0,-0.32528171
405825235,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqT
ag, Float64}}(-2.155827599770177e-15,1.0,0.0,0.0,0.0,-0.9456171564112642,0.
0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}
}(0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0)], ForwardDiff.Dual{ForwardDiff.T
ag{DiffEqBase.OrdinaryDiffEqTag, Float64}, Float64, 9}[Dual{ForwardDiff.Tag
{DiffEqBase.OrdinaryDiffEqTag, Float64}}(14.999661075300406,0.0,0.0,0.0,0.0
,0.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, F
loat64}}(-0.3313096283833128,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0), Dual{For
wardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(0.16975711276640582,0.
0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.Ordinar
yDiffEqTag, Float64}}(0.00018931064918995558,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.
0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(2.3771
341368630795e-5,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{
DiffEqBase.OrdinaryDiffEqTag, Float64}}(-5.328225965594457e-6,0.0,0.0,0.0,0
.0,0.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag,
Float64}}(-8.368891334942048e-6,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0), Dual
{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(150.0,0.0,0.0,0.0,
0.0,0.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag
, Float64}}(60.23881854735783,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0), Dual{Fo
rwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-8.758000839578706,1.
0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.Ordinar
yDiffEqTag, Float64}}(-0.03011595948178246,0.0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,
0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-0.00549
9703285846862,0.0,0.0,1.0,0.0,0.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{Di
ffEqBase.OrdinaryDiffEqTag, Float64}}(0.0004987093705251409,0.0,0.0,0.0,1.0
,0.0,0.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, F
loat64}}(0.001116832441838903,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0), Dual{Fo
rwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-62.38770921173346,0.
0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0), Dual{ForwardDiff.Tag{DiffEqBase.Ordinar
yDiffEqTag, Float64}}(-163.8151483533587,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.0,0.
0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-18.215585
33772592,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.0)])), ())), (DifferentiationInt
erfaceForwardDiffExt.ForwardDiffTwoArgDerivativePrep{Tuple{SciMLBase.TimeGr
adientWrapper{true, SciMLBase.ODEFunction{true, SciMLBase.FullSpecialize, t
ypeof(Main.var"##WeaveSandBox#225".slider_crank_mm!), Matrix{Float64}, Noth
ing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing
, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing, Nothing, N
othing, Nothing}, Vector{Float64}, SciMLBase.NullParameters}, Vector{Float6
4}, ADTypes.AutoForwardDiff{nothing, ForwardDiff.Tag{DiffEqBase.OrdinaryDif
fEqTag, Float64}}, Float64, Tuple{}}, Float64, ForwardDiff.DerivativeConfig
{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}, Vector{ForwardDiff
.Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}, Float64, 1}}}
, Tuple{}}(Val{Tuple{SciMLBase.TimeGradientWrapper{true, SciMLBase.ODEFunct
ion{true, SciMLBase.FullSpecialize, typeof(Main.var"##WeaveSandBox#225".sli
der_crank_mm!), Matrix{Float64}, Nothing, Nothing, Nothing, Nothing, Nothin
g, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.D
EFAULT_OBSERVED), Nothing, Nothing, Nothing, Nothing}, Vector{Float64}, Sci
MLBase.NullParameters}, Vector{Float64}, ADTypes.AutoForwardDiff{nothing, F
orwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}, Float64, Tuple{}}}(
), 0.0, ForwardDiff.DerivativeConfig{ForwardDiff.Tag{DiffEqBase.OrdinaryDif
fEqTag, Float64}, Vector{ForwardDiff.Dual{ForwardDiff.Tag{DiffEqBase.Ordina
ryDiffEqTag, Float64}, Float64, 1}}}(ForwardDiff.Dual{ForwardDiff.Tag{DiffE
qBase.OrdinaryDiffEqTag, Float64}, Float64, 1}[Dual{ForwardDiff.Tag{DiffEqB
ase.OrdinaryDiffEqTag, Float64}}(150.0,0.0), Dual{ForwardDiff.Tag{DiffEqBas
e.OrdinaryDiffEqTag, Float64}}(60.23881854735783,0.0), Dual{ForwardDiff.Tag
{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-8.758000839578706,0.0), Dual{Forw
ardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-0.03011595948178246,0.
0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-0.0054997
03285846862,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float6
4}}(0.0004987093705251409,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDif
fEqTag, Float64}}(0.001116832441838903,0.0), Dual{ForwardDiff.Tag{DiffEqBas
e.OrdinaryDiffEqTag, Float64}}(22.563680794381472,0.0), Dual{ForwardDiff.Ta
g{DiffEqBase.OrdinaryDiffEqTag, Float64}}(29.927249340064723,0.0), Dual{For
wardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(163.8151483533587,0.0)
, Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(96.249503360
0122,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-46
.82714522677127,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Fl
oat64}}(-1.3149194124530368,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryD
iffEqTag, Float64}}(0.09513052663032795,0.0), Dual{ForwardDiff.Tag{DiffEqBa
se.OrdinaryDiffEqTag, Float64}}(5.766166624038283e-14,0.0), Dual{ForwardDif
f.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-2.155827599770177e-15,0.0),
Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(0.0,0.0)]), ()
), DifferentiationInterfaceForwardDiffExt.ForwardDiffTwoArgDerivativePrep{T
uple{SciMLBase.TimeGradientWrapper{true, SciMLBase.ODEFunction{true, SciMLB
ase.FullSpecialize, typeof(Main.var"##WeaveSandBox#225".slider_crank_mm!),
Matrix{Float64}, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Noth
ing, Nothing, Nothing, Nothing, Nothing, typeof(SciMLBase.DEFAULT_OBSERVED)
, Nothing, Nothing, Nothing, Nothing}, Vector{Float64}, SciMLBase.NullParam
eters}, Vector{Float64}, ADTypes.AutoForwardDiff{nothing, ForwardDiff.Tag{D
iffEqBase.OrdinaryDiffEqTag, Float64}}, Float64, Tuple{}}, Float64, Forward
Diff.DerivativeConfig{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64
}, Vector{ForwardDiff.Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Fl
oat64}, Float64, 1}}}, Tuple{}}(Val{Tuple{SciMLBase.TimeGradientWrapper{tru
e, SciMLBase.ODEFunction{true, SciMLBase.FullSpecialize, typeof(Main.var"##
WeaveSandBox#225".slider_crank_mm!), Matrix{Float64}, Nothing, Nothing, Not
hing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothing, Nothin
g, typeof(SciMLBase.DEFAULT_OBSERVED), Nothing, Nothing, Nothing, Nothing},
Vector{Float64}, SciMLBase.NullParameters}, Vector{Float64}, ADTypes.AutoF
orwardDiff{nothing, ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}
, Float64, Tuple{}}}(), 0.0, ForwardDiff.DerivativeConfig{ForwardDiff.Tag{D
iffEqBase.OrdinaryDiffEqTag, Float64}, Vector{ForwardDiff.Dual{ForwardDiff.
Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}, Float64, 1}}}(ForwardDiff.Dual{
ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}, Float64, 1}[Dual{Fo
rwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(150.0,0.0), Dual{Forw
ardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(60.23881854735783,0.0),
Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-8.7580008395
78706,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-0
.03011595948178246,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag,
Float64}}(-0.005499703285846862,0.0), Dual{ForwardDiff.Tag{DiffEqBase.Ordi
naryDiffEqTag, Float64}}(0.0004987093705251409,0.0), Dual{ForwardDiff.Tag{D
iffEqBase.OrdinaryDiffEqTag, Float64}}(0.001116832441838903,0.0), Dual{Forw
ardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(22.563680794381472,0.0)
, Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(29.927249340
064723,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(1
63.8151483533587,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, F
loat64}}(96.2495033600122,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDif
fEqTag, Float64}}(-46.82714522677127,0.0), Dual{ForwardDiff.Tag{DiffEqBase.
OrdinaryDiffEqTag, Float64}}(-1.3149194124530368,0.0), Dual{ForwardDiff.Tag
{DiffEqBase.OrdinaryDiffEqTag, Float64}}(0.09513052663032795,0.0), Dual{For
wardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(5.766166624038283e-14,
0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Float64}}(-2.15582
7599770177e-15,0.0), Dual{ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Flo
at64}}(0.0,0.0)]), ())), 1.0e-6, OrdinaryDiffEqRosenbrock.Rodas5P{0, ADType
s.AutoForwardDiff{nothing, ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Fl
oat64}}, Nothing, typeof(OrdinaryDiffEqCore.DEFAULT_PRECS), Val{:forward}()
, true, nothing, typeof(OrdinaryDiffEqCore.trivial_limiter!), typeof(Ordina
ryDiffEqCore.trivial_limiter!)}(nothing, OrdinaryDiffEqCore.DEFAULT_PRECS,
OrdinaryDiffEqCore.trivial_limiter!, OrdinaryDiffEqCore.trivial_limiter!, A
DTypes.AutoForwardDiff(tag=ForwardDiff.Tag{DiffEqBase.OrdinaryDiffEqTag, Fl
oat64}())), OrdinaryDiffEqCore.trivial_limiter!, OrdinaryDiffEqCore.trivial
_limiter!, 3), OrdinaryDiffEqCore.DifferentialVarsUndefined(), false), true
, 0, SciMLBase.DEStats(124293, 0, 11345, 90760, 11177, 0, 0, 0, 0, 0, 11177
, 168, 0.0), nothing, SciMLBase.ReturnCode.Success, nothing, nothing, nothi
ng)High Tolerances
abstols = 1.0 ./ 10.0 .^ (4:7)
reltols = 1.0 ./ 10.0 .^ (1:4)
setups = [
Dict(:prob_choice => 1, :alg => IDA()),
Dict(:prob_choice => 2, :alg => Rodas5P()),
Dict(:prob_choice => 2, :alg => Rodas4P()),
Dict(:prob_choice => 3, :alg => Rodas5P()),
Dict(:prob_choice => 3, :alg => Rodas4P()),
Dict(:prob_choice => 3, :alg => FBDF()),
]
labels = ["IDA (DAE)" "Rodas5P (MTK)" "Rodas4P (MTK)" "Rodas5P (MM)" "Rodas4P (MM)" "FBDF (MM)"]
wp = WorkPrecisionSet(probs, abstols, reltols, setups;
names = labels, appxsol = refs, save_everystep = false,
maxiters = Int(1e6), numruns = 5)
plot(wp, title = "Slider-Crank: All Formulations (High Tol)")
Medium Tolerances
abstols = 1.0 ./ 10.0 .^ (5:7)
reltols = 1.0 ./ 10.0 .^ (2:4)
setups = [
Dict(:prob_choice => 1, :alg => IDA()),
Dict(:prob_choice => 2, :alg => Rodas5P()),
Dict(:prob_choice => 2, :alg => Rodas4P()),
Dict(:prob_choice => 3, :alg => Rodas5P()),
Dict(:prob_choice => 3, :alg => Rodas4P()),
]
labels = ["IDA (DAE)" "Rodas5P (MTK)" "Rodas4P (MTK)" "Rodas5P (MM)" "Rodas4P (MM)"]
wp = WorkPrecisionSet(probs, abstols, reltols, setups;
names = labels, appxsol = refs, save_everystep = false,
maxiters = Int(1e6), numruns = 5)
plot(wp, title = "Slider-Crank: All Formulations (Medium Tol)")
Timeseries Errors (L2)
abstols = 1.0 ./ 10.0 .^ (4:7)
reltols = 1.0 ./ 10.0 .^ (1:4)
setups = [
Dict(:prob_choice => 2, :alg => Rodas5P()),
Dict(:prob_choice => 2, :alg => Rodas4P()),
Dict(:prob_choice => 3, :alg => Rodas5P()),
Dict(:prob_choice => 3, :alg => Rodas4P()),
]
labels = ["Rodas5P (MTK)" "Rodas4P (MTK)" "Rodas5P (MM)" "Rodas4P (MM)"]
wp = WorkPrecisionSet(probs, abstols, reltols, setups;
names = labels, appxsol = refs, save_everystep = false,
maxiters = Int(1e6), numruns = 5, error_estimate = :l2)
plot(wp, title = "Slider-Crank: Timeseries Error (L2)")
Verification against ARCHIMEDE Reference
The IVP Test Set (crank.f, solut subroutine) provides reference values at t = 0.1. We verify our solution reproduces these values.
archimede_refs = Dict(
"φ₂" => -0.331173498825626,
"x₃" => 0.169737332842786,
"q₁" => 0.1893192899613509e-3,
"q₂" => 0.2375751249879174e-4,
"q₃" => -0.5323896770569702e-5,
"q₄" => -0.8363313279112129e-5,
"λ₁" => -62.32935833287916,
"λ₂" => -163.7920993367306,
"λ₃" => 25.29857947066878,
)
# Mass-matrix form indices: [p(1:7), v(8:14), λ(15:17)]
idxmap = [("φ₂", 2), ("x₃", 3), ("q₁", 4), ("q₂", 5), ("q₃", 6), ("q₄", 7),
("λ₁", 15), ("λ₂", 16), ("λ₃", 17)]
sol_final = ref_sol.u[end]
println("=== Verification at t = 0.1 ===")
println("Variable | ARCHIMEDE Reference | Our Solution | Rel Error")
println("-"^75)
for (name, idx) in idxmap
ref_val = archimede_refs[name]
our_val = sol_final[idx]
relerr = abs(ref_val) > 0 ? abs((our_val - ref_val) / ref_val) : abs(our_val)
status = relerr < 1e-3 ? "✓" : (relerr < 1e-1 ? "~" : "✗")
println("$(rpad(name, 12))| $(lpad(string(ref_val), 21)) | $(lpad(string(round(our_val, sigdigits=10)), 21)) | $(relerr) $status")
end
# Overlay ARCHIMEDE reference point on q₁ timeseries
p_verify = plot(ref_sol, idxs = [4], title = "Verification: Elastic Mode q₁",
xlabel = "Time (s)", ylabel = "Amplitude", lw = 2, label = "SciML Rodas5P")
scatter!(p_verify, [0.1], [0.1893192899613509e-3],
label = "ARCHIMEDE Reference", color = :red, markersize = 8)
plot(p_verify)=== Verification at t = 0.1 ===
Variable | ARCHIMEDE Reference | Our Solution | Rel Error
---------------------------------------------------------------------------
φ₂ | -0.331173498825626 | -0.3311735023 | 1.05661652126
33346e-8 ✓
x₃ | 0.169737332842786 | 0.1697373296 | 1.90141116248
40277e-8 ✓
q₁ | 0.0001893192899613509 | 0.000189242689 | 0.00040461280
04282341 ✓
q₂ | 2.375751249879174e-5 | 2.375891525e-5 | 5.90444468590
6018e-5 ✓
q₃ | -5.323896770569702e-6 | -5.327102156e-6 | 0.00060207509
33957827 ✓
q₄ | -8.363313279112129e-6 | -8.366365694e-6 | 0.00036497670
660000765 ✓
λ₁ | -62.32935833287916 | -62.33911336 | 0.00015650768
640384412 ✓
λ₂ | -163.7920993367306 | -163.7681916 | 0.00014596394
888443659 ✓
λ₃ | 25.29857947066878 | -18.21047117 | 1.71982188540
59253 ✗
Appendix
These benchmarks are a part of the SciMLBenchmarks.jl repository, found at: https://github.com/SciML/SciMLBenchmarks.jl. For more information on high-performance scientific machine learning, check out the SciML Open Source Software Organization https://sciml.ai.
To locally run this benchmark, do the following commands:
using SciMLBenchmarks
SciMLBenchmarks.weave_file("benchmarks/DAE","slider_crank.jmd")Computer Information:
Julia Version 1.10.10
Commit 95f30e51f41 (2025-06-27 09:51 UTC)
Build Info:
Official https://julialang.org/ release
Platform Info:
OS: Linux (x86_64-linux-gnu)
CPU: 128 × AMD EPYC 7502 32-Core Processor
WORD_SIZE: 64
LIBM: libopenlibm
LLVM: libLLVM-15.0.7 (ORCJIT, znver2)
Threads: 128 default, 0 interactive, 64 GC (on 128 virtual cores)
Environment:
JULIA_CPU_THREADS = 128
JULIA_DEPOT_PATH = /cache/julia-buildkite-plugin/depots/5b300254-1738-4989-ae0a-f4d2d937f953:
Package Information:
Status `/cache/build/exclusive-amdci3-0/julialang/scimlbenchmarks-dot-jl/benchmarks/DAE/Project.toml`
[165a45c3] DASKR v2.9.1
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[f3b72e0c] DiffEqDevTools v2.49.0
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[09606e27] ODEInterfaceDiffEq v3.15.0
[1dea7af3] OrdinaryDiffEq v6.108.0
[91a5bcdd] Plots v1.41.6
[31c91b34] SciMLBenchmarks v0.1.3
[90137ffa] StaticArrays v1.9.17
⌅ [c3572dad] Sundials v4.28.0
[10745b16] Statistics v1.10.0
Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated`And the full manifest:
Status `/cache/build/exclusive-amdci3-0/julialang/scimlbenchmarks-dot-jl/benchmarks/DAE/Manifest.toml`
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[8e850ede] nghttp2_jll v1.52.0+1
[3f19e933] p7zip_jll v17.4.0+2
Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m`