build

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-e0d9e05f-DEBUG";
+const uint8_t gitversion[19] = "DEV-f63ee337-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-e0d9e05f-DEBUG
+DEV-f63ee337-DEBUG

selfdrive/locationd/models/generated/car.cpp

@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
  *                                                                            *
  *                         This file is part of 'ekf'                         *
  ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_3970546799234288025) {
-   out_3970546799234288025[0] = delta_x[0] + nom_x[0];
-   out_3970546799234288025[1] = delta_x[1] + nom_x[1];
-   out_3970546799234288025[2] = delta_x[2] + nom_x[2];
-   out_3970546799234288025[3] = delta_x[3] + nom_x[3];
-   out_3970546799234288025[4] = delta_x[4] + nom_x[4];
-   out_3970546799234288025[5] = delta_x[5] + nom_x[5];
-   out_3970546799234288025[6] = delta_x[6] + nom_x[6];
-   out_3970546799234288025[7] = delta_x[7] + nom_x[7];
-   out_3970546799234288025[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_943833552876303288) {
+   out_943833552876303288[0] = delta_x[0] + nom_x[0];
+   out_943833552876303288[1] = delta_x[1] + nom_x[1];
+   out_943833552876303288[2] = delta_x[2] + nom_x[2];
+   out_943833552876303288[3] = delta_x[3] + nom_x[3];
+   out_943833552876303288[4] = delta_x[4] + nom_x[4];
+   out_943833552876303288[5] = delta_x[5] + nom_x[5];
+   out_943833552876303288[6] = delta_x[6] + nom_x[6];
+   out_943833552876303288[7] = delta_x[7] + nom_x[7];
+   out_943833552876303288[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550) {
-   out_2567718075778826550[0] = -nom_x[0] + true_x[0];
-   out_2567718075778826550[1] = -nom_x[1] + true_x[1];
-   out_2567718075778826550[2] = -nom_x[2] + true_x[2];
-   out_2567718075778826550[3] = -nom_x[3] + true_x[3];
-   out_2567718075778826550[4] = -nom_x[4] + true_x[4];
-   out_2567718075778826550[5] = -nom_x[5] + true_x[5];
-   out_2567718075778826550[6] = -nom_x[6] + true_x[6];
-   out_2567718075778826550[7] = -nom_x[7] + true_x[7];
-   out_2567718075778826550[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_528301401300769025) {
+   out_528301401300769025[0] = -nom_x[0] + true_x[0];
+   out_528301401300769025[1] = -nom_x[1] + true_x[1];
+   out_528301401300769025[2] = -nom_x[2] + true_x[2];
+   out_528301401300769025[3] = -nom_x[3] + true_x[3];
+   out_528301401300769025[4] = -nom_x[4] + true_x[4];
+   out_528301401300769025[5] = -nom_x[5] + true_x[5];
+   out_528301401300769025[6] = -nom_x[6] + true_x[6];
+   out_528301401300769025[7] = -nom_x[7] + true_x[7];
+   out_528301401300769025[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_1717749627572306313) {
-   out_1717749627572306313[0] = 1.0;
-   out_1717749627572306313[1] = 0.0;
-   out_1717749627572306313[2] = 0.0;
-   out_1717749627572306313[3] = 0.0;
-   out_1717749627572306313[4] = 0.0;
-   out_1717749627572306313[5] = 0.0;
-   out_1717749627572306313[6] = 0.0;
-   out_1717749627572306313[7] = 0.0;
-   out_1717749627572306313[8] = 0.0;
-   out_1717749627572306313[9] = 0.0;
-   out_1717749627572306313[10] = 1.0;
-   out_1717749627572306313[11] = 0.0;
-   out_1717749627572306313[12] = 0.0;
-   out_1717749627572306313[13] = 0.0;
-   out_1717749627572306313[14] = 0.0;
-   out_1717749627572306313[15] = 0.0;
-   out_1717749627572306313[16] = 0.0;
-   out_1717749627572306313[17] = 0.0;
-   out_1717749627572306313[18] = 0.0;
-   out_1717749627572306313[19] = 0.0;
-   out_1717749627572306313[20] = 1.0;
-   out_1717749627572306313[21] = 0.0;
-   out_1717749627572306313[22] = 0.0;
-   out_1717749627572306313[23] = 0.0;
-   out_1717749627572306313[24] = 0.0;
-   out_1717749627572306313[25] = 0.0;
-   out_1717749627572306313[26] = 0.0;
-   out_1717749627572306313[27] = 0.0;
-   out_1717749627572306313[28] = 0.0;
-   out_1717749627572306313[29] = 0.0;
-   out_1717749627572306313[30] = 1.0;
-   out_1717749627572306313[31] = 0.0;
-   out_1717749627572306313[32] = 0.0;
-   out_1717749627572306313[33] = 0.0;
-   out_1717749627572306313[34] = 0.0;
-   out_1717749627572306313[35] = 0.0;
-   out_1717749627572306313[36] = 0.0;
-   out_1717749627572306313[37] = 0.0;
-   out_1717749627572306313[38] = 0.0;
-   out_1717749627572306313[39] = 0.0;
-   out_1717749627572306313[40] = 1.0;
-   out_1717749627572306313[41] = 0.0;
-   out_1717749627572306313[42] = 0.0;
-   out_1717749627572306313[43] = 0.0;
-   out_1717749627572306313[44] = 0.0;
-   out_1717749627572306313[45] = 0.0;
-   out_1717749627572306313[46] = 0.0;
-   out_1717749627572306313[47] = 0.0;
-   out_1717749627572306313[48] = 0.0;
-   out_1717749627572306313[49] = 0.0;
-   out_1717749627572306313[50] = 1.0;
-   out_1717749627572306313[51] = 0.0;
-   out_1717749627572306313[52] = 0.0;
-   out_1717749627572306313[53] = 0.0;
-   out_1717749627572306313[54] = 0.0;
-   out_1717749627572306313[55] = 0.0;
-   out_1717749627572306313[56] = 0.0;
-   out_1717749627572306313[57] = 0.0;
-   out_1717749627572306313[58] = 0.0;
-   out_1717749627572306313[59] = 0.0;
-   out_1717749627572306313[60] = 1.0;
-   out_1717749627572306313[61] = 0.0;
-   out_1717749627572306313[62] = 0.0;
-   out_1717749627572306313[63] = 0.0;
-   out_1717749627572306313[64] = 0.0;
-   out_1717749627572306313[65] = 0.0;
-   out_1717749627572306313[66] = 0.0;
-   out_1717749627572306313[67] = 0.0;
-   out_1717749627572306313[68] = 0.0;
-   out_1717749627572306313[69] = 0.0;
-   out_1717749627572306313[70] = 1.0;
-   out_1717749627572306313[71] = 0.0;
-   out_1717749627572306313[72] = 0.0;
-   out_1717749627572306313[73] = 0.0;
-   out_1717749627572306313[74] = 0.0;
-   out_1717749627572306313[75] = 0.0;
-   out_1717749627572306313[76] = 0.0;
-   out_1717749627572306313[77] = 0.0;
-   out_1717749627572306313[78] = 0.0;
-   out_1717749627572306313[79] = 0.0;
-   out_1717749627572306313[80] = 1.0;
+void H_mod_fun(double *state, double *out_7538255523593818631) {
+   out_7538255523593818631[0] = 1.0;
+   out_7538255523593818631[1] = 0.0;
+   out_7538255523593818631[2] = 0.0;
+   out_7538255523593818631[3] = 0.0;
+   out_7538255523593818631[4] = 0.0;
+   out_7538255523593818631[5] = 0.0;
+   out_7538255523593818631[6] = 0.0;
+   out_7538255523593818631[7] = 0.0;
+   out_7538255523593818631[8] = 0.0;
+   out_7538255523593818631[9] = 0.0;
+   out_7538255523593818631[10] = 1.0;
+   out_7538255523593818631[11] = 0.0;
+   out_7538255523593818631[12] = 0.0;
+   out_7538255523593818631[13] = 0.0;
+   out_7538255523593818631[14] = 0.0;
+   out_7538255523593818631[15] = 0.0;
+   out_7538255523593818631[16] = 0.0;
+   out_7538255523593818631[17] = 0.0;
+   out_7538255523593818631[18] = 0.0;
+   out_7538255523593818631[19] = 0.0;
+   out_7538255523593818631[20] = 1.0;
+   out_7538255523593818631[21] = 0.0;
+   out_7538255523593818631[22] = 0.0;
+   out_7538255523593818631[23] = 0.0;
+   out_7538255523593818631[24] = 0.0;
+   out_7538255523593818631[25] = 0.0;
+   out_7538255523593818631[26] = 0.0;
+   out_7538255523593818631[27] = 0.0;
+   out_7538255523593818631[28] = 0.0;
+   out_7538255523593818631[29] = 0.0;
+   out_7538255523593818631[30] = 1.0;
+   out_7538255523593818631[31] = 0.0;
+   out_7538255523593818631[32] = 0.0;
+   out_7538255523593818631[33] = 0.0;
+   out_7538255523593818631[34] = 0.0;
+   out_7538255523593818631[35] = 0.0;
+   out_7538255523593818631[36] = 0.0;
+   out_7538255523593818631[37] = 0.0;
+   out_7538255523593818631[38] = 0.0;
+   out_7538255523593818631[39] = 0.0;
+   out_7538255523593818631[40] = 1.0;
+   out_7538255523593818631[41] = 0.0;
+   out_7538255523593818631[42] = 0.0;
+   out_7538255523593818631[43] = 0.0;
+   out_7538255523593818631[44] = 0.0;
+   out_7538255523593818631[45] = 0.0;
+   out_7538255523593818631[46] = 0.0;
+   out_7538255523593818631[47] = 0.0;
+   out_7538255523593818631[48] = 0.0;
+   out_7538255523593818631[49] = 0.0;
+   out_7538255523593818631[50] = 1.0;
+   out_7538255523593818631[51] = 0.0;
+   out_7538255523593818631[52] = 0.0;
+   out_7538255523593818631[53] = 0.0;
+   out_7538255523593818631[54] = 0.0;
+   out_7538255523593818631[55] = 0.0;
+   out_7538255523593818631[56] = 0.0;
+   out_7538255523593818631[57] = 0.0;
+   out_7538255523593818631[58] = 0.0;
+   out_7538255523593818631[59] = 0.0;
+   out_7538255523593818631[60] = 1.0;
+   out_7538255523593818631[61] = 0.0;
+   out_7538255523593818631[62] = 0.0;
+   out_7538255523593818631[63] = 0.0;
+   out_7538255523593818631[64] = 0.0;
+   out_7538255523593818631[65] = 0.0;
+   out_7538255523593818631[66] = 0.0;
+   out_7538255523593818631[67] = 0.0;
+   out_7538255523593818631[68] = 0.0;
+   out_7538255523593818631[69] = 0.0;
+   out_7538255523593818631[70] = 1.0;
+   out_7538255523593818631[71] = 0.0;
+   out_7538255523593818631[72] = 0.0;
+   out_7538255523593818631[73] = 0.0;
+   out_7538255523593818631[74] = 0.0;
+   out_7538255523593818631[75] = 0.0;
+   out_7538255523593818631[76] = 0.0;
+   out_7538255523593818631[77] = 0.0;
+   out_7538255523593818631[78] = 0.0;
+   out_7538255523593818631[79] = 0.0;
+   out_7538255523593818631[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_4680969065089583930) {
-   out_4680969065089583930[0] = state[0];
-   out_4680969065089583930[1] = state[1];
-   out_4680969065089583930[2] = state[2];
-   out_4680969065089583930[3] = state[3];
-   out_4680969065089583930[4] = state[4];
-   out_4680969065089583930[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
-   out_4680969065089583930[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
-   out_4680969065089583930[7] = state[7];
-   out_4680969065089583930[8] = state[8];
+void f_fun(double *state, double dt, double *out_3917173406968738478) {
+   out_3917173406968738478[0] = state[0];
+   out_3917173406968738478[1] = state[1];
+   out_3917173406968738478[2] = state[2];
+   out_3917173406968738478[3] = state[3];
+   out_3917173406968738478[4] = state[4];
+   out_3917173406968738478[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
+   out_3917173406968738478[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
+   out_3917173406968738478[7] = state[7];
+   out_3917173406968738478[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_6937343164270022068) {
-   out_6937343164270022068[0] = 1;
-   out_6937343164270022068[1] = 0;
-   out_6937343164270022068[2] = 0;
-   out_6937343164270022068[3] = 0;
-   out_6937343164270022068[4] = 0;
-   out_6937343164270022068[5] = 0;
-   out_6937343164270022068[6] = 0;
-   out_6937343164270022068[7] = 0;
-   out_6937343164270022068[8] = 0;
-   out_6937343164270022068[9] = 0;
-   out_6937343164270022068[10] = 1;
-   out_6937343164270022068[11] = 0;
-   out_6937343164270022068[12] = 0;
-   out_6937343164270022068[13] = 0;
-   out_6937343164270022068[14] = 0;
-   out_6937343164270022068[15] = 0;
-   out_6937343164270022068[16] = 0;
-   out_6937343164270022068[17] = 0;
-   out_6937343164270022068[18] = 0;
-   out_6937343164270022068[19] = 0;
-   out_6937343164270022068[20] = 1;
-   out_6937343164270022068[21] = 0;
-   out_6937343164270022068[22] = 0;
-   out_6937343164270022068[23] = 0;
-   out_6937343164270022068[24] = 0;
-   out_6937343164270022068[25] = 0;
-   out_6937343164270022068[26] = 0;
-   out_6937343164270022068[27] = 0;
-   out_6937343164270022068[28] = 0;
-   out_6937343164270022068[29] = 0;
-   out_6937343164270022068[30] = 1;
-   out_6937343164270022068[31] = 0;
-   out_6937343164270022068[32] = 0;
-   out_6937343164270022068[33] = 0;
-   out_6937343164270022068[34] = 0;
-   out_6937343164270022068[35] = 0;
-   out_6937343164270022068[36] = 0;
-   out_6937343164270022068[37] = 0;
-   out_6937343164270022068[38] = 0;
-   out_6937343164270022068[39] = 0;
-   out_6937343164270022068[40] = 1;
-   out_6937343164270022068[41] = 0;
-   out_6937343164270022068[42] = 0;
-   out_6937343164270022068[43] = 0;
-   out_6937343164270022068[44] = 0;
-   out_6937343164270022068[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
-   out_6937343164270022068[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_6937343164270022068[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6937343164270022068[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6937343164270022068[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
-   out_6937343164270022068[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_6937343164270022068[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_6937343164270022068[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6937343164270022068[53] = -9.8100000000000005*dt;
-   out_6937343164270022068[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
-   out_6937343164270022068[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_6937343164270022068[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6937343164270022068[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6937343164270022068[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
-   out_6937343164270022068[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_6937343164270022068[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
-   out_6937343164270022068[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6937343164270022068[62] = 0;
-   out_6937343164270022068[63] = 0;
-   out_6937343164270022068[64] = 0;
-   out_6937343164270022068[65] = 0;
-   out_6937343164270022068[66] = 0;
-   out_6937343164270022068[67] = 0;
-   out_6937343164270022068[68] = 0;
-   out_6937343164270022068[69] = 0;
-   out_6937343164270022068[70] = 1;
-   out_6937343164270022068[71] = 0;
-   out_6937343164270022068[72] = 0;
-   out_6937343164270022068[73] = 0;
-   out_6937343164270022068[74] = 0;
-   out_6937343164270022068[75] = 0;
-   out_6937343164270022068[76] = 0;
-   out_6937343164270022068[77] = 0;
-   out_6937343164270022068[78] = 0;
-   out_6937343164270022068[79] = 0;
-   out_6937343164270022068[80] = 1;
+void F_fun(double *state, double dt, double *out_547656323515283001) {
+   out_547656323515283001[0] = 1;
+   out_547656323515283001[1] = 0;
+   out_547656323515283001[2] = 0;
+   out_547656323515283001[3] = 0;
+   out_547656323515283001[4] = 0;
+   out_547656323515283001[5] = 0;
+   out_547656323515283001[6] = 0;
+   out_547656323515283001[7] = 0;
+   out_547656323515283001[8] = 0;
+   out_547656323515283001[9] = 0;
+   out_547656323515283001[10] = 1;
+   out_547656323515283001[11] = 0;
+   out_547656323515283001[12] = 0;
+   out_547656323515283001[13] = 0;
+   out_547656323515283001[14] = 0;
+   out_547656323515283001[15] = 0;
+   out_547656323515283001[16] = 0;
+   out_547656323515283001[17] = 0;
+   out_547656323515283001[18] = 0;
+   out_547656323515283001[19] = 0;
+   out_547656323515283001[20] = 1;
+   out_547656323515283001[21] = 0;
+   out_547656323515283001[22] = 0;
+   out_547656323515283001[23] = 0;
+   out_547656323515283001[24] = 0;
+   out_547656323515283001[25] = 0;
+   out_547656323515283001[26] = 0;
+   out_547656323515283001[27] = 0;
+   out_547656323515283001[28] = 0;
+   out_547656323515283001[29] = 0;
+   out_547656323515283001[30] = 1;
+   out_547656323515283001[31] = 0;
+   out_547656323515283001[32] = 0;
+   out_547656323515283001[33] = 0;
+   out_547656323515283001[34] = 0;
+   out_547656323515283001[35] = 0;
+   out_547656323515283001[36] = 0;
+   out_547656323515283001[37] = 0;
+   out_547656323515283001[38] = 0;
+   out_547656323515283001[39] = 0;
+   out_547656323515283001[40] = 1;
+   out_547656323515283001[41] = 0;
+   out_547656323515283001[42] = 0;
+   out_547656323515283001[43] = 0;
+   out_547656323515283001[44] = 0;
+   out_547656323515283001[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
+   out_547656323515283001[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_547656323515283001[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_547656323515283001[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_547656323515283001[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
+   out_547656323515283001[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_547656323515283001[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_547656323515283001[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_547656323515283001[53] = -9.8100000000000005*dt;
+   out_547656323515283001[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
+   out_547656323515283001[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_547656323515283001[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_547656323515283001[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_547656323515283001[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
+   out_547656323515283001[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_547656323515283001[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
+   out_547656323515283001[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_547656323515283001[62] = 0;
+   out_547656323515283001[63] = 0;
+   out_547656323515283001[64] = 0;
+   out_547656323515283001[65] = 0;
+   out_547656323515283001[66] = 0;
+   out_547656323515283001[67] = 0;
+   out_547656323515283001[68] = 0;
+   out_547656323515283001[69] = 0;
+   out_547656323515283001[70] = 1;
+   out_547656323515283001[71] = 0;
+   out_547656323515283001[72] = 0;
+   out_547656323515283001[73] = 0;
+   out_547656323515283001[74] = 0;
+   out_547656323515283001[75] = 0;
+   out_547656323515283001[76] = 0;
+   out_547656323515283001[77] = 0;
+   out_547656323515283001[78] = 0;
+   out_547656323515283001[79] = 0;
+   out_547656323515283001[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_5928605043652166783) {
-   out_5928605043652166783[0] = state[6];
+void h_25(double *state, double *unused, double *out_3127457687100704828) {
+   out_3127457687100704828[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_8807656413163385498) {
-   out_8807656413163385498[0] = 0;
-   out_8807656413163385498[1] = 0;
-   out_8807656413163385498[2] = 0;
-   out_8807656413163385498[3] = 0;
-   out_8807656413163385498[4] = 0;
-   out_8807656413163385498[5] = 0;
-   out_8807656413163385498[6] = 1;
-   out_8807656413163385498[7] = 0;
-   out_8807656413163385498[8] = 0;
+void H_25(double *state, double *unused, double *out_7385507900126241308) {
+   out_7385507900126241308[0] = 0;
+   out_7385507900126241308[1] = 0;
+   out_7385507900126241308[2] = 0;
+   out_7385507900126241308[3] = 0;
+   out_7385507900126241308[4] = 0;
+   out_7385507900126241308[5] = 0;
+   out_7385507900126241308[6] = 1;
+   out_7385507900126241308[7] = 0;
+   out_7385507900126241308[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_226265923538190981) {
-   out_226265923538190981[0] = state[4];
-   out_226265923538190981[1] = state[5];
+void h_24(double *state, double *unused, double *out_1385747192697667747) {
+   out_1385747192697667747[0] = state[4];
+   out_1385747192697667747[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_5249730814361062362) {
-   out_5249730814361062362[0] = 0;
-   out_5249730814361062362[1] = 0;
-   out_5249730814361062362[2] = 0;
-   out_5249730814361062362[3] = 0;
-   out_5249730814361062362[4] = 1;
-   out_5249730814361062362[5] = 0;
-   out_5249730814361062362[6] = 0;
-   out_5249730814361062362[7] = 0;
-   out_5249730814361062362[8] = 0;
-   out_5249730814361062362[9] = 0;
-   out_5249730814361062362[10] = 0;
-   out_5249730814361062362[11] = 0;
-   out_5249730814361062362[12] = 0;
-   out_5249730814361062362[13] = 0;
-   out_5249730814361062362[14] = 1;
-   out_5249730814361062362[15] = 0;
-   out_5249730814361062362[16] = 0;
-   out_5249730814361062362[17] = 0;
+void H_24(double *state, double *unused, double *out_3827582301323918172) {
+   out_3827582301323918172[0] = 0;
+   out_3827582301323918172[1] = 0;
+   out_3827582301323918172[2] = 0;
+   out_3827582301323918172[3] = 0;
+   out_3827582301323918172[4] = 1;
+   out_3827582301323918172[5] = 0;
+   out_3827582301323918172[6] = 0;
+   out_3827582301323918172[7] = 0;
+   out_3827582301323918172[8] = 0;
+   out_3827582301323918172[9] = 0;
+   out_3827582301323918172[10] = 0;
+   out_3827582301323918172[11] = 0;
+   out_3827582301323918172[12] = 0;
+   out_3827582301323918172[13] = 0;
+   out_3827582301323918172[14] = 1;
+   out_3827582301323918172[15] = 0;
+   out_3827582301323918172[16] = 0;
+   out_3827582301323918172[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_8880689501803362483) {
-   out_8880689501803362483[0] = state[4];
+void h_30(double *state, double *unused, double *out_4635807569719967613) {
+   out_4635807569719967613[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_6289323454656136871) {
-   out_6289323454656136871[0] = 0;
-   out_6289323454656136871[1] = 0;
-   out_6289323454656136871[2] = 0;
-   out_6289323454656136871[3] = 0;
-   out_6289323454656136871[4] = 1;
-   out_6289323454656136871[5] = 0;
-   out_6289323454656136871[6] = 0;
-   out_6289323454656136871[7] = 0;
-   out_6289323454656136871[8] = 0;
+void H_30(double *state, double *unused, double *out_7514846847269481378) {
+   out_7514846847269481378[0] = 0;
+   out_7514846847269481378[1] = 0;
+   out_7514846847269481378[2] = 0;
+   out_7514846847269481378[3] = 0;
+   out_7514846847269481378[4] = 1;
+   out_7514846847269481378[5] = 0;
+   out_7514846847269481378[6] = 0;
+   out_7514846847269481378[7] = 0;
+   out_7514846847269481378[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_101279670203478282) {
-   out_101279670203478282[0] = state[7];
+void h_26(double *state, double *unused, double *out_4346161602286873152) {
+   out_4346161602286873152[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_5897584341672109894) {
-   out_5897584341672109894[0] = 0;
-   out_5897584341672109894[1] = 0;
-   out_5897584341672109894[2] = 0;
-   out_5897584341672109894[3] = 0;
-   out_5897584341672109894[4] = 0;
-   out_5897584341672109894[5] = 0;
-   out_5897584341672109894[6] = 0;
-   out_5897584341672109894[7] = 1;
-   out_5897584341672109894[8] = 0;
+void H_26(double *state, double *unused, double *out_7319732854709254084) {
+   out_7319732854709254084[0] = 0;
+   out_7319732854709254084[1] = 0;
+   out_7319732854709254084[2] = 0;
+   out_7319732854709254084[3] = 0;
+   out_7319732854709254084[4] = 0;
+   out_7319732854709254084[5] = 0;
+   out_7319732854709254084[6] = 0;
+   out_7319732854709254084[7] = 1;
+   out_7319732854709254084[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_3324199722843469132) {
-   out_3324199722843469132[0] = state[3];
+void h_27(double *state, double *unused, double *out_90671635656372143) {
+   out_90671635656372143[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_8464086766456561782) {
-   out_8464086766456561782[0] = 0;
-   out_8464086766456561782[1] = 0;
-   out_8464086766456561782[2] = 0;
-   out_8464086766456561782[3] = 1;
-   out_8464086766456561782[4] = 0;
-   out_8464086766456561782[5] = 0;
-   out_8464086766456561782[6] = 0;
-   out_8464086766456561782[7] = 0;
-   out_8464086766456561782[8] = 0;
+void H_27(double *state, double *unused, double *out_8757133914639645327) {
+   out_8757133914639645327[0] = 0;
+   out_8757133914639645327[1] = 0;
+   out_8757133914639645327[2] = 0;
+   out_8757133914639645327[3] = 1;
+   out_8757133914639645327[4] = 0;
+   out_8757133914639645327[5] = 0;
+   out_8757133914639645327[6] = 0;
+   out_8757133914639645327[7] = 0;
+   out_8757133914639645327[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_3167013054492339987) {
-   out_3167013054492339987[0] = state[1];
+void h_29(double *state, double *unused, double *out_365865697940878032) {
+   out_365865697940878032[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_5779092110341744687) {
-   out_5779092110341744687[0] = 0;
-   out_5779092110341744687[1] = 1;
-   out_5779092110341744687[2] = 0;
-   out_5779092110341744687[3] = 0;
-   out_5779092110341744687[4] = 0;
-   out_5779092110341744687[5] = 0;
-   out_5779092110341744687[6] = 0;
-   out_5779092110341744687[7] = 0;
-   out_5779092110341744687[8] = 0;
+void H_29(double *state, double *unused, double *out_7004615502955089194) {
+   out_7004615502955089194[0] = 0;
+   out_7004615502955089194[1] = 1;
+   out_7004615502955089194[2] = 0;
+   out_7004615502955089194[3] = 0;
+   out_7004615502955089194[4] = 0;
+   out_7004615502955089194[5] = 0;
+   out_7004615502955089194[6] = 0;
+   out_7004615502955089194[7] = 0;
+   out_7004615502955089194[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_287413671399136447) {
-   out_287413671399136447[0] = state[0];
+void h_28(double *state, double *unused, double *out_6687857119962214334) {
+   out_6687857119962214334[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_7585252946298276355) {
-   out_7585252946298276355[0] = 1;
-   out_7585252946298276355[1] = 0;
-   out_7585252946298276355[2] = 0;
-   out_7585252946298276355[3] = 0;
-   out_7585252946298276355[4] = 0;
-   out_7585252946298276355[5] = 0;
-   out_7585252946298276355[6] = 0;
-   out_7585252946298276355[7] = 0;
-   out_7585252946298276355[8] = 0;
+void H_28(double *state, double *unused, double *out_5040985231389762943) {
+   out_5040985231389762943[0] = 1;
+   out_5040985231389762943[1] = 0;
+   out_5040985231389762943[2] = 0;
+   out_5040985231389762943[3] = 0;
+   out_5040985231389762943[4] = 0;
+   out_5040985231389762943[5] = 0;
+   out_5040985231389762943[6] = 0;
+   out_5040985231389762943[7] = 0;
+   out_5040985231389762943[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_1952667607101882402) {
-   out_1952667607101882402[0] = state[8];
+void h_31(double *state, double *unused, double *out_8548451160258495852) {
+   out_8548451160258495852[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_5271376239438758418) {
-   out_5271376239438758418[0] = 0;
-   out_5271376239438758418[1] = 0;
-   out_5271376239438758418[2] = 0;
-   out_5271376239438758418[3] = 0;
-   out_5271376239438758418[4] = 0;
-   out_5271376239438758418[5] = 0;
-   out_5271376239438758418[6] = 0;
-   out_5271376239438758418[7] = 0;
-   out_5271376239438758418[8] = 1;
+void H_31(double *state, double *unused, double *out_7354861938249280880) {
+   out_7354861938249280880[0] = 0;
+   out_7354861938249280880[1] = 0;
+   out_7354861938249280880[2] = 0;
+   out_7354861938249280880[3] = 0;
+   out_7354861938249280880[4] = 0;
+   out_7354861938249280880[5] = 0;
+   out_7354861938249280880[6] = 0;
+   out_7354861938249280880[7] = 0;
+   out_7354861938249280880[8] = 1;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
   update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
 }
-void car_err_fun(double *nom_x, double *delta_x, double *out_3970546799234288025) {
-  err_fun(nom_x, delta_x, out_3970546799234288025);
+void car_err_fun(double *nom_x, double *delta_x, double *out_943833552876303288) {
+  err_fun(nom_x, delta_x, out_943833552876303288);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550) {
-  inv_err_fun(nom_x, true_x, out_2567718075778826550);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_528301401300769025) {
+  inv_err_fun(nom_x, true_x, out_528301401300769025);
 }
-void car_H_mod_fun(double *state, double *out_1717749627572306313) {
-  H_mod_fun(state, out_1717749627572306313);
+void car_H_mod_fun(double *state, double *out_7538255523593818631) {
+  H_mod_fun(state, out_7538255523593818631);
 }
-void car_f_fun(double *state, double dt, double *out_4680969065089583930) {
-  f_fun(state,  dt, out_4680969065089583930);
+void car_f_fun(double *state, double dt, double *out_3917173406968738478) {
+  f_fun(state,  dt, out_3917173406968738478);
 }
-void car_F_fun(double *state, double dt, double *out_6937343164270022068) {
-  F_fun(state,  dt, out_6937343164270022068);
+void car_F_fun(double *state, double dt, double *out_547656323515283001) {
+  F_fun(state,  dt, out_547656323515283001);
 }
-void car_h_25(double *state, double *unused, double *out_5928605043652166783) {
-  h_25(state, unused, out_5928605043652166783);
+void car_h_25(double *state, double *unused, double *out_3127457687100704828) {
+  h_25(state, unused, out_3127457687100704828);
 }
-void car_H_25(double *state, double *unused, double *out_8807656413163385498) {
-  H_25(state, unused, out_8807656413163385498);
+void car_H_25(double *state, double *unused, double *out_7385507900126241308) {
+  H_25(state, unused, out_7385507900126241308);
 }
-void car_h_24(double *state, double *unused, double *out_226265923538190981) {
-  h_24(state, unused, out_226265923538190981);
+void car_h_24(double *state, double *unused, double *out_1385747192697667747) {
+  h_24(state, unused, out_1385747192697667747);
 }
-void car_H_24(double *state, double *unused, double *out_5249730814361062362) {
-  H_24(state, unused, out_5249730814361062362);
+void car_H_24(double *state, double *unused, double *out_3827582301323918172) {
+  H_24(state, unused, out_3827582301323918172);
 }
-void car_h_30(double *state, double *unused, double *out_8880689501803362483) {
-  h_30(state, unused, out_8880689501803362483);
+void car_h_30(double *state, double *unused, double *out_4635807569719967613) {
+  h_30(state, unused, out_4635807569719967613);
 }
-void car_H_30(double *state, double *unused, double *out_6289323454656136871) {
-  H_30(state, unused, out_6289323454656136871);
+void car_H_30(double *state, double *unused, double *out_7514846847269481378) {
+  H_30(state, unused, out_7514846847269481378);
 }
-void car_h_26(double *state, double *unused, double *out_101279670203478282) {
-  h_26(state, unused, out_101279670203478282);
+void car_h_26(double *state, double *unused, double *out_4346161602286873152) {
+  h_26(state, unused, out_4346161602286873152);
 }
-void car_H_26(double *state, double *unused, double *out_5897584341672109894) {
-  H_26(state, unused, out_5897584341672109894);
+void car_H_26(double *state, double *unused, double *out_7319732854709254084) {
+  H_26(state, unused, out_7319732854709254084);
 }
-void car_h_27(double *state, double *unused, double *out_3324199722843469132) {
-  h_27(state, unused, out_3324199722843469132);
+void car_h_27(double *state, double *unused, double *out_90671635656372143) {
+  h_27(state, unused, out_90671635656372143);
 }
-void car_H_27(double *state, double *unused, double *out_8464086766456561782) {
-  H_27(state, unused, out_8464086766456561782);
+void car_H_27(double *state, double *unused, double *out_8757133914639645327) {
+  H_27(state, unused, out_8757133914639645327);
 }
-void car_h_29(double *state, double *unused, double *out_3167013054492339987) {
-  h_29(state, unused, out_3167013054492339987);
+void car_h_29(double *state, double *unused, double *out_365865697940878032) {
+  h_29(state, unused, out_365865697940878032);
 }
-void car_H_29(double *state, double *unused, double *out_5779092110341744687) {
-  H_29(state, unused, out_5779092110341744687);
+void car_H_29(double *state, double *unused, double *out_7004615502955089194) {
+  H_29(state, unused, out_7004615502955089194);
 }
-void car_h_28(double *state, double *unused, double *out_287413671399136447) {
-  h_28(state, unused, out_287413671399136447);
+void car_h_28(double *state, double *unused, double *out_6687857119962214334) {
+  h_28(state, unused, out_6687857119962214334);
 }
-void car_H_28(double *state, double *unused, double *out_7585252946298276355) {
-  H_28(state, unused, out_7585252946298276355);
+void car_H_28(double *state, double *unused, double *out_5040985231389762943) {
+  H_28(state, unused, out_5040985231389762943);
 }
-void car_h_31(double *state, double *unused, double *out_1952667607101882402) {
-  h_31(state, unused, out_1952667607101882402);
+void car_h_31(double *state, double *unused, double *out_8548451160258495852) {
+  h_31(state, unused, out_8548451160258495852);
 }
-void car_H_31(double *state, double *unused, double *out_5271376239438758418) {
-  H_31(state, unused, out_5271376239438758418);
+void car_H_31(double *state, double *unused, double *out_7354861938249280880) {
+  H_31(state, unused, out_7354861938249280880);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);

selfdrive/locationd/models/generated/car.h

@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_3970546799234288025);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550);
-void car_H_mod_fun(double *state, double *out_1717749627572306313);
-void car_f_fun(double *state, double dt, double *out_4680969065089583930);
-void car_F_fun(double *state, double dt, double *out_6937343164270022068);
-void car_h_25(double *state, double *unused, double *out_5928605043652166783);
-void car_H_25(double *state, double *unused, double *out_8807656413163385498);
-void car_h_24(double *state, double *unused, double *out_226265923538190981);
-void car_H_24(double *state, double *unused, double *out_5249730814361062362);
-void car_h_30(double *state, double *unused, double *out_8880689501803362483);
-void car_H_30(double *state, double *unused, double *out_6289323454656136871);
-void car_h_26(double *state, double *unused, double *out_101279670203478282);
-void car_H_26(double *state, double *unused, double *out_5897584341672109894);
-void car_h_27(double *state, double *unused, double *out_3324199722843469132);
-void car_H_27(double *state, double *unused, double *out_8464086766456561782);
-void car_h_29(double *state, double *unused, double *out_3167013054492339987);
-void car_H_29(double *state, double *unused, double *out_5779092110341744687);
-void car_h_28(double *state, double *unused, double *out_287413671399136447);
-void car_H_28(double *state, double *unused, double *out_7585252946298276355);
-void car_h_31(double *state, double *unused, double *out_1952667607101882402);
-void car_H_31(double *state, double *unused, double *out_5271376239438758418);
+void car_err_fun(double *nom_x, double *delta_x, double *out_943833552876303288);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_528301401300769025);
+void car_H_mod_fun(double *state, double *out_7538255523593818631);
+void car_f_fun(double *state, double dt, double *out_3917173406968738478);
+void car_F_fun(double *state, double dt, double *out_547656323515283001);
+void car_h_25(double *state, double *unused, double *out_3127457687100704828);
+void car_H_25(double *state, double *unused, double *out_7385507900126241308);
+void car_h_24(double *state, double *unused, double *out_1385747192697667747);
+void car_H_24(double *state, double *unused, double *out_3827582301323918172);
+void car_h_30(double *state, double *unused, double *out_4635807569719967613);
+void car_H_30(double *state, double *unused, double *out_7514846847269481378);
+void car_h_26(double *state, double *unused, double *out_4346161602286873152);
+void car_H_26(double *state, double *unused, double *out_7319732854709254084);
+void car_h_27(double *state, double *unused, double *out_90671635656372143);
+void car_H_27(double *state, double *unused, double *out_8757133914639645327);
+void car_h_29(double *state, double *unused, double *out_365865697940878032);
+void car_H_29(double *state, double *unused, double *out_7004615502955089194);
+void car_h_28(double *state, double *unused, double *out_6687857119962214334);
+void car_H_28(double *state, double *unused, double *out_5040985231389762943);
+void car_h_31(double *state, double *unused, double *out_8548451160258495852);
+void car_H_31(double *state, double *unused, double *out_7354861938249280880);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);

selfdrive/locationd/models/generated/pose.h

@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_788519772333288428);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3476371721226452847);
-void pose_H_mod_fun(double *state, double *out_1856202857491626372);
-void pose_f_fun(double *state, double dt, double *out_7190390231498499682);
-void pose_F_fun(double *state, double dt, double *out_4238346152453461367);
-void pose_h_4(double *state, double *unused, double *out_7341523241853351564);
-void pose_H_4(double *state, double *unused, double *out_3675901583397923233);
-void pose_h_10(double *state, double *unused, double *out_7979280784138322600);
-void pose_H_10(double *state, double *unused, double *out_2717029967524110913);
-void pose_h_13(double *state, double *unused, double *out_2249980252911390508);
-void pose_H_13(double *state, double *unused, double *out_3934729624918777696);
-void pose_h_14(double *state, double *unused, double *out_6063115878095578816);
-void pose_H_14(double *state, double *unused, double *out_287339272941561296);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_4298502647758524793);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5600470633109473941);
+void pose_H_mod_fun(double *state, double *out_5604237734398293519);
+void pose_f_fun(double *state, double dt, double *out_1603951998531582898);
+void pose_F_fun(double *state, double dt, double *out_7355016791857912131);
+void pose_h_4(double *state, double *unused, double *out_3151076657578519351);
+void pose_H_4(double *state, double *unused, double *out_9070699129467350525);
+void pose_h_10(double *state, double *unused, double *out_6670778953679817884);
+void pose_H_10(double *state, double *unused, double *out_8318326309939820808);
+void pose_h_13(double *state, double *unused, double *out_8670142885989515415);
+void pose_H_13(double *state, double *unused, double *out_5542289480939677067);
+void pose_h_14(double *state, double *unused, double *out_3946013715221375238);
+void pose_H_14(double *state, double *unused, double *out_6293256511946828795);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }