build

2026-09-18 13:33:53 +08:00 · 2026-09-15 20:25:19 -05:00
parent 26de11932a
commit 239121b0e1
96 changed files with 1347 additions and 1347 deletions
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-a8d1f231-DEBUG";
+const uint8_t gitversion[19] = "DEV-26de1193-DEBUG";
@@ -1 +1 @@
-DEV-a8d1f231-DEBUG
+DEV-26de1193-DEBUG
@@ -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_5579271098234299589) {
-   out_5579271098234299589[0] = delta_x[0] + nom_x[0];
-   out_5579271098234299589[1] = delta_x[1] + nom_x[1];
-   out_5579271098234299589[2] = delta_x[2] + nom_x[2];
-   out_5579271098234299589[3] = delta_x[3] + nom_x[3];
-   out_5579271098234299589[4] = delta_x[4] + nom_x[4];
-   out_5579271098234299589[5] = delta_x[5] + nom_x[5];
-   out_5579271098234299589[6] = delta_x[6] + nom_x[6];
-   out_5579271098234299589[7] = delta_x[7] + nom_x[7];
-   out_5579271098234299589[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_6314153535178174931) {
+   out_6314153535178174931[0] = delta_x[0] + nom_x[0];
+   out_6314153535178174931[1] = delta_x[1] + nom_x[1];
+   out_6314153535178174931[2] = delta_x[2] + nom_x[2];
+   out_6314153535178174931[3] = delta_x[3] + nom_x[3];
+   out_6314153535178174931[4] = delta_x[4] + nom_x[4];
+   out_6314153535178174931[5] = delta_x[5] + nom_x[5];
+   out_6314153535178174931[6] = delta_x[6] + nom_x[6];
+   out_6314153535178174931[7] = delta_x[7] + nom_x[7];
+   out_6314153535178174931[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_8879118943542071452) {
-   out_8879118943542071452[0] = -nom_x[0] + true_x[0];
-   out_8879118943542071452[1] = -nom_x[1] + true_x[1];
-   out_8879118943542071452[2] = -nom_x[2] + true_x[2];
-   out_8879118943542071452[3] = -nom_x[3] + true_x[3];
-   out_8879118943542071452[4] = -nom_x[4] + true_x[4];
-   out_8879118943542071452[5] = -nom_x[5] + true_x[5];
-   out_8879118943542071452[6] = -nom_x[6] + true_x[6];
-   out_8879118943542071452[7] = -nom_x[7] + true_x[7];
-   out_8879118943542071452[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_7049921009392106379) {
+   out_7049921009392106379[0] = -nom_x[0] + true_x[0];
+   out_7049921009392106379[1] = -nom_x[1] + true_x[1];
+   out_7049921009392106379[2] = -nom_x[2] + true_x[2];
+   out_7049921009392106379[3] = -nom_x[3] + true_x[3];
+   out_7049921009392106379[4] = -nom_x[4] + true_x[4];
+   out_7049921009392106379[5] = -nom_x[5] + true_x[5];
+   out_7049921009392106379[6] = -nom_x[6] + true_x[6];
+   out_7049921009392106379[7] = -nom_x[7] + true_x[7];
+   out_7049921009392106379[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_4346759063564356553) {
-   out_4346759063564356553[0] = 1.0;
-   out_4346759063564356553[1] = 0.0;
-   out_4346759063564356553[2] = 0.0;
-   out_4346759063564356553[3] = 0.0;
-   out_4346759063564356553[4] = 0.0;
-   out_4346759063564356553[5] = 0.0;
-   out_4346759063564356553[6] = 0.0;
-   out_4346759063564356553[7] = 0.0;
-   out_4346759063564356553[8] = 0.0;
-   out_4346759063564356553[9] = 0.0;
-   out_4346759063564356553[10] = 1.0;
-   out_4346759063564356553[11] = 0.0;
-   out_4346759063564356553[12] = 0.0;
-   out_4346759063564356553[13] = 0.0;
-   out_4346759063564356553[14] = 0.0;
-   out_4346759063564356553[15] = 0.0;
-   out_4346759063564356553[16] = 0.0;
-   out_4346759063564356553[17] = 0.0;
-   out_4346759063564356553[18] = 0.0;
-   out_4346759063564356553[19] = 0.0;
-   out_4346759063564356553[20] = 1.0;
-   out_4346759063564356553[21] = 0.0;
-   out_4346759063564356553[22] = 0.0;
-   out_4346759063564356553[23] = 0.0;
-   out_4346759063564356553[24] = 0.0;
-   out_4346759063564356553[25] = 0.0;
-   out_4346759063564356553[26] = 0.0;
-   out_4346759063564356553[27] = 0.0;
-   out_4346759063564356553[28] = 0.0;
-   out_4346759063564356553[29] = 0.0;
-   out_4346759063564356553[30] = 1.0;
-   out_4346759063564356553[31] = 0.0;
-   out_4346759063564356553[32] = 0.0;
-   out_4346759063564356553[33] = 0.0;
-   out_4346759063564356553[34] = 0.0;
-   out_4346759063564356553[35] = 0.0;
-   out_4346759063564356553[36] = 0.0;
-   out_4346759063564356553[37] = 0.0;
-   out_4346759063564356553[38] = 0.0;
-   out_4346759063564356553[39] = 0.0;
-   out_4346759063564356553[40] = 1.0;
-   out_4346759063564356553[41] = 0.0;
-   out_4346759063564356553[42] = 0.0;
-   out_4346759063564356553[43] = 0.0;
-   out_4346759063564356553[44] = 0.0;
-   out_4346759063564356553[45] = 0.0;
-   out_4346759063564356553[46] = 0.0;
-   out_4346759063564356553[47] = 0.0;
-   out_4346759063564356553[48] = 0.0;
-   out_4346759063564356553[49] = 0.0;
-   out_4346759063564356553[50] = 1.0;
-   out_4346759063564356553[51] = 0.0;
-   out_4346759063564356553[52] = 0.0;
-   out_4346759063564356553[53] = 0.0;
-   out_4346759063564356553[54] = 0.0;
-   out_4346759063564356553[55] = 0.0;
-   out_4346759063564356553[56] = 0.0;
-   out_4346759063564356553[57] = 0.0;
-   out_4346759063564356553[58] = 0.0;
-   out_4346759063564356553[59] = 0.0;
-   out_4346759063564356553[60] = 1.0;
-   out_4346759063564356553[61] = 0.0;
-   out_4346759063564356553[62] = 0.0;
-   out_4346759063564356553[63] = 0.0;
-   out_4346759063564356553[64] = 0.0;
-   out_4346759063564356553[65] = 0.0;
-   out_4346759063564356553[66] = 0.0;
-   out_4346759063564356553[67] = 0.0;
-   out_4346759063564356553[68] = 0.0;
-   out_4346759063564356553[69] = 0.0;
-   out_4346759063564356553[70] = 1.0;
-   out_4346759063564356553[71] = 0.0;
-   out_4346759063564356553[72] = 0.0;
-   out_4346759063564356553[73] = 0.0;
-   out_4346759063564356553[74] = 0.0;
-   out_4346759063564356553[75] = 0.0;
-   out_4346759063564356553[76] = 0.0;
-   out_4346759063564356553[77] = 0.0;
-   out_4346759063564356553[78] = 0.0;
-   out_4346759063564356553[79] = 0.0;
-   out_4346759063564356553[80] = 1.0;
+void H_mod_fun(double *state, double *out_9070114660809295187) {
+   out_9070114660809295187[0] = 1.0;
+   out_9070114660809295187[1] = 0.0;
+   out_9070114660809295187[2] = 0.0;
+   out_9070114660809295187[3] = 0.0;
+   out_9070114660809295187[4] = 0.0;
+   out_9070114660809295187[5] = 0.0;
+   out_9070114660809295187[6] = 0.0;
+   out_9070114660809295187[7] = 0.0;
+   out_9070114660809295187[8] = 0.0;
+   out_9070114660809295187[9] = 0.0;
+   out_9070114660809295187[10] = 1.0;
+   out_9070114660809295187[11] = 0.0;
+   out_9070114660809295187[12] = 0.0;
+   out_9070114660809295187[13] = 0.0;
+   out_9070114660809295187[14] = 0.0;
+   out_9070114660809295187[15] = 0.0;
+   out_9070114660809295187[16] = 0.0;
+   out_9070114660809295187[17] = 0.0;
+   out_9070114660809295187[18] = 0.0;
+   out_9070114660809295187[19] = 0.0;
+   out_9070114660809295187[20] = 1.0;
+   out_9070114660809295187[21] = 0.0;
+   out_9070114660809295187[22] = 0.0;
+   out_9070114660809295187[23] = 0.0;
+   out_9070114660809295187[24] = 0.0;
+   out_9070114660809295187[25] = 0.0;
+   out_9070114660809295187[26] = 0.0;
+   out_9070114660809295187[27] = 0.0;
+   out_9070114660809295187[28] = 0.0;
+   out_9070114660809295187[29] = 0.0;
+   out_9070114660809295187[30] = 1.0;
+   out_9070114660809295187[31] = 0.0;
+   out_9070114660809295187[32] = 0.0;
+   out_9070114660809295187[33] = 0.0;
+   out_9070114660809295187[34] = 0.0;
+   out_9070114660809295187[35] = 0.0;
+   out_9070114660809295187[36] = 0.0;
+   out_9070114660809295187[37] = 0.0;
+   out_9070114660809295187[38] = 0.0;
+   out_9070114660809295187[39] = 0.0;
+   out_9070114660809295187[40] = 1.0;
+   out_9070114660809295187[41] = 0.0;
+   out_9070114660809295187[42] = 0.0;
+   out_9070114660809295187[43] = 0.0;
+   out_9070114660809295187[44] = 0.0;
+   out_9070114660809295187[45] = 0.0;
+   out_9070114660809295187[46] = 0.0;
+   out_9070114660809295187[47] = 0.0;
+   out_9070114660809295187[48] = 0.0;
+   out_9070114660809295187[49] = 0.0;
+   out_9070114660809295187[50] = 1.0;
+   out_9070114660809295187[51] = 0.0;
+   out_9070114660809295187[52] = 0.0;
+   out_9070114660809295187[53] = 0.0;
+   out_9070114660809295187[54] = 0.0;
+   out_9070114660809295187[55] = 0.0;
+   out_9070114660809295187[56] = 0.0;
+   out_9070114660809295187[57] = 0.0;
+   out_9070114660809295187[58] = 0.0;
+   out_9070114660809295187[59] = 0.0;
+   out_9070114660809295187[60] = 1.0;
+   out_9070114660809295187[61] = 0.0;
+   out_9070114660809295187[62] = 0.0;
+   out_9070114660809295187[63] = 0.0;
+   out_9070114660809295187[64] = 0.0;
+   out_9070114660809295187[65] = 0.0;
+   out_9070114660809295187[66] = 0.0;
+   out_9070114660809295187[67] = 0.0;
+   out_9070114660809295187[68] = 0.0;
+   out_9070114660809295187[69] = 0.0;
+   out_9070114660809295187[70] = 1.0;
+   out_9070114660809295187[71] = 0.0;
+   out_9070114660809295187[72] = 0.0;
+   out_9070114660809295187[73] = 0.0;
+   out_9070114660809295187[74] = 0.0;
+   out_9070114660809295187[75] = 0.0;
+   out_9070114660809295187[76] = 0.0;
+   out_9070114660809295187[77] = 0.0;
+   out_9070114660809295187[78] = 0.0;
+   out_9070114660809295187[79] = 0.0;
+   out_9070114660809295187[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_8401415236153157083) {
-   out_8401415236153157083[0] = state[0];
-   out_8401415236153157083[1] = state[1];
-   out_8401415236153157083[2] = state[2];
-   out_8401415236153157083[3] = state[3];
-   out_8401415236153157083[4] = state[4];
-   out_8401415236153157083[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_8401415236153157083[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_8401415236153157083[7] = state[7];
-   out_8401415236153157083[8] = state[8];
+void f_fun(double *state, double dt, double *out_7847765386725654972) {
+   out_7847765386725654972[0] = state[0];
+   out_7847765386725654972[1] = state[1];
+   out_7847765386725654972[2] = state[2];
+   out_7847765386725654972[3] = state[3];
+   out_7847765386725654972[4] = state[4];
+   out_7847765386725654972[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_7847765386725654972[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_7847765386725654972[7] = state[7];
+   out_7847765386725654972[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_1973239055632703499) {
-   out_1973239055632703499[0] = 1;
-   out_1973239055632703499[1] = 0;
-   out_1973239055632703499[2] = 0;
-   out_1973239055632703499[3] = 0;
-   out_1973239055632703499[4] = 0;
-   out_1973239055632703499[5] = 0;
-   out_1973239055632703499[6] = 0;
-   out_1973239055632703499[7] = 0;
-   out_1973239055632703499[8] = 0;
-   out_1973239055632703499[9] = 0;
-   out_1973239055632703499[10] = 1;
-   out_1973239055632703499[11] = 0;
-   out_1973239055632703499[12] = 0;
-   out_1973239055632703499[13] = 0;
-   out_1973239055632703499[14] = 0;
-   out_1973239055632703499[15] = 0;
-   out_1973239055632703499[16] = 0;
-   out_1973239055632703499[17] = 0;
-   out_1973239055632703499[18] = 0;
-   out_1973239055632703499[19] = 0;
-   out_1973239055632703499[20] = 1;
-   out_1973239055632703499[21] = 0;
-   out_1973239055632703499[22] = 0;
-   out_1973239055632703499[23] = 0;
-   out_1973239055632703499[24] = 0;
-   out_1973239055632703499[25] = 0;
-   out_1973239055632703499[26] = 0;
-   out_1973239055632703499[27] = 0;
-   out_1973239055632703499[28] = 0;
-   out_1973239055632703499[29] = 0;
-   out_1973239055632703499[30] = 1;
-   out_1973239055632703499[31] = 0;
-   out_1973239055632703499[32] = 0;
-   out_1973239055632703499[33] = 0;
-   out_1973239055632703499[34] = 0;
-   out_1973239055632703499[35] = 0;
-   out_1973239055632703499[36] = 0;
-   out_1973239055632703499[37] = 0;
-   out_1973239055632703499[38] = 0;
-   out_1973239055632703499[39] = 0;
-   out_1973239055632703499[40] = 1;
-   out_1973239055632703499[41] = 0;
-   out_1973239055632703499[42] = 0;
-   out_1973239055632703499[43] = 0;
-   out_1973239055632703499[44] = 0;
-   out_1973239055632703499[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_1973239055632703499[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_1973239055632703499[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_1973239055632703499[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_1973239055632703499[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_1973239055632703499[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_1973239055632703499[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_1973239055632703499[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_1973239055632703499[53] = -9.8100000000000005*dt;
-   out_1973239055632703499[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_1973239055632703499[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_1973239055632703499[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_1973239055632703499[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_1973239055632703499[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_1973239055632703499[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_1973239055632703499[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_1973239055632703499[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_1973239055632703499[62] = 0;
-   out_1973239055632703499[63] = 0;
-   out_1973239055632703499[64] = 0;
-   out_1973239055632703499[65] = 0;
-   out_1973239055632703499[66] = 0;
-   out_1973239055632703499[67] = 0;
-   out_1973239055632703499[68] = 0;
-   out_1973239055632703499[69] = 0;
-   out_1973239055632703499[70] = 1;
-   out_1973239055632703499[71] = 0;
-   out_1973239055632703499[72] = 0;
-   out_1973239055632703499[73] = 0;
-   out_1973239055632703499[74] = 0;
-   out_1973239055632703499[75] = 0;
-   out_1973239055632703499[76] = 0;
-   out_1973239055632703499[77] = 0;
-   out_1973239055632703499[78] = 0;
-   out_1973239055632703499[79] = 0;
-   out_1973239055632703499[80] = 1;
+void F_fun(double *state, double dt, double *out_6490326381461081645) {
+   out_6490326381461081645[0] = 1;
+   out_6490326381461081645[1] = 0;
+   out_6490326381461081645[2] = 0;
+   out_6490326381461081645[3] = 0;
+   out_6490326381461081645[4] = 0;
+   out_6490326381461081645[5] = 0;
+   out_6490326381461081645[6] = 0;
+   out_6490326381461081645[7] = 0;
+   out_6490326381461081645[8] = 0;
+   out_6490326381461081645[9] = 0;
+   out_6490326381461081645[10] = 1;
+   out_6490326381461081645[11] = 0;
+   out_6490326381461081645[12] = 0;
+   out_6490326381461081645[13] = 0;
+   out_6490326381461081645[14] = 0;
+   out_6490326381461081645[15] = 0;
+   out_6490326381461081645[16] = 0;
+   out_6490326381461081645[17] = 0;
+   out_6490326381461081645[18] = 0;
+   out_6490326381461081645[19] = 0;
+   out_6490326381461081645[20] = 1;
+   out_6490326381461081645[21] = 0;
+   out_6490326381461081645[22] = 0;
+   out_6490326381461081645[23] = 0;
+   out_6490326381461081645[24] = 0;
+   out_6490326381461081645[25] = 0;
+   out_6490326381461081645[26] = 0;
+   out_6490326381461081645[27] = 0;
+   out_6490326381461081645[28] = 0;
+   out_6490326381461081645[29] = 0;
+   out_6490326381461081645[30] = 1;
+   out_6490326381461081645[31] = 0;
+   out_6490326381461081645[32] = 0;
+   out_6490326381461081645[33] = 0;
+   out_6490326381461081645[34] = 0;
+   out_6490326381461081645[35] = 0;
+   out_6490326381461081645[36] = 0;
+   out_6490326381461081645[37] = 0;
+   out_6490326381461081645[38] = 0;
+   out_6490326381461081645[39] = 0;
+   out_6490326381461081645[40] = 1;
+   out_6490326381461081645[41] = 0;
+   out_6490326381461081645[42] = 0;
+   out_6490326381461081645[43] = 0;
+   out_6490326381461081645[44] = 0;
+   out_6490326381461081645[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_6490326381461081645[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_6490326381461081645[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6490326381461081645[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6490326381461081645[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_6490326381461081645[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_6490326381461081645[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_6490326381461081645[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6490326381461081645[53] = -9.8100000000000005*dt;
+   out_6490326381461081645[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_6490326381461081645[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_6490326381461081645[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6490326381461081645[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6490326381461081645[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_6490326381461081645[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_6490326381461081645[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_6490326381461081645[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6490326381461081645[62] = 0;
+   out_6490326381461081645[63] = 0;
+   out_6490326381461081645[64] = 0;
+   out_6490326381461081645[65] = 0;
+   out_6490326381461081645[66] = 0;
+   out_6490326381461081645[67] = 0;
+   out_6490326381461081645[68] = 0;
+   out_6490326381461081645[69] = 0;
+   out_6490326381461081645[70] = 1;
+   out_6490326381461081645[71] = 0;
+   out_6490326381461081645[72] = 0;
+   out_6490326381461081645[73] = 0;
+   out_6490326381461081645[74] = 0;
+   out_6490326381461081645[75] = 0;
+   out_6490326381461081645[76] = 0;
+   out_6490326381461081645[77] = 0;
+   out_6490326381461081645[78] = 0;
+   out_6490326381461081645[79] = 0;
+   out_6490326381461081645[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_7709444436246576106) {
-   out_7709444436246576106[0] = state[6];
+void h_25(double *state, double *unused, double *out_258705256034994534) {
+   out_258705256034994534[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_4906796784232957826) {
-   out_4906796784232957826[0] = 0;
-   out_4906796784232957826[1] = 0;
-   out_4906796784232957826[2] = 0;
-   out_4906796784232957826[3] = 0;
-   out_4906796784232957826[4] = 0;
-   out_4906796784232957826[5] = 0;
-   out_4906796784232957826[6] = 1;
-   out_4906796784232957826[7] = 0;
-   out_4906796784232957826[8] = 0;
+void H_25(double *state, double *unused, double *out_123073565102942050) {
+   out_123073565102942050[0] = 0;
+   out_123073565102942050[1] = 0;
+   out_123073565102942050[2] = 0;
+   out_123073565102942050[3] = 0;
+   out_123073565102942050[4] = 0;
+   out_123073565102942050[5] = 0;
+   out_123073565102942050[6] = 1;
+   out_123073565102942050[7] = 0;
+   out_123073565102942050[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_8161953024412082811) {
-   out_8161953024412082811[0] = state[4];
-   out_8161953024412082811[1] = state[5];
+void h_24(double *state, double *unused, double *out_5989007342487248666) {
+   out_5989007342487248666[0] = state[4];
+   out_5989007342487248666[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_6319825032271366663) {
-   out_6319825032271366663[0] = 0;
-   out_6319825032271366663[1] = 0;
-   out_6319825032271366663[2] = 0;
-   out_6319825032271366663[3] = 0;
-   out_6319825032271366663[4] = 1;
-   out_6319825032271366663[5] = 0;
-   out_6319825032271366663[6] = 0;
-   out_6319825032271366663[7] = 0;
-   out_6319825032271366663[8] = 0;
-   out_6319825032271366663[9] = 0;
-   out_6319825032271366663[10] = 0;
-   out_6319825032271366663[11] = 0;
-   out_6319825032271366663[12] = 0;
-   out_6319825032271366663[13] = 0;
-   out_6319825032271366663[14] = 1;
-   out_6319825032271366663[15] = 0;
-   out_6319825032271366663[16] = 0;
-   out_6319825032271366663[17] = 0;
+void H_24(double *state, double *unused, double *out_4869582892069451084) {
+   out_4869582892069451084[0] = 0;
+   out_4869582892069451084[1] = 0;
+   out_4869582892069451084[2] = 0;
+   out_4869582892069451084[3] = 0;
+   out_4869582892069451084[4] = 1;
+   out_4869582892069451084[5] = 0;
+   out_4869582892069451084[6] = 0;
+   out_4869582892069451084[7] = 0;
+   out_4869582892069451084[8] = 0;
+   out_4869582892069451084[9] = 0;
+   out_4869582892069451084[10] = 0;
+   out_4869582892069451084[11] = 0;
+   out_4869582892069451084[12] = 0;
+   out_4869582892069451084[13] = 0;
+   out_4869582892069451084[14] = 1;
+   out_4869582892069451084[15] = 0;
+   out_4869582892069451084[16] = 0;
+   out_4869582892069451084[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_8890419815179839294) {
-   out_8890419815179839294[0] = state[4];
+void h_30(double *state, double *unused, double *out_179991132081170203) {
+   out_179991132081170203[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_7425129742740206453) {
-   out_7425129742740206453[0] = 0;
-   out_7425129742740206453[1] = 0;
-   out_7425129742740206453[2] = 0;
-   out_7425129742740206453[3] = 0;
-   out_7425129742740206453[4] = 1;
-   out_7425129742740206453[5] = 0;
-   out_7425129742740206453[6] = 0;
-   out_7425129742740206453[7] = 0;
-   out_7425129742740206453[8] = 0;
+void H_30(double *state, double *unused, double *out_6793616776388674705) {
+   out_6793616776388674705[0] = 0;
+   out_6793616776388674705[1] = 0;
+   out_6793616776388674705[2] = 0;
+   out_6793616776388674705[3] = 0;
+   out_6793616776388674705[4] = 1;
+   out_6793616776388674705[5] = 0;
+   out_6793616776388674705[6] = 0;
+   out_6793616776388674705[7] = 0;
+   out_6793616776388674705[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_8798474113368893512) {
-   out_8798474113368893512[0] = state[7];
+void h_26(double *state, double *unused, double *out_4821682135579675442) {
+   out_4821682135579675442[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_1165293465358901602) {
-   out_1165293465358901602[0] = 0;
-   out_1165293465358901602[1] = 0;
-   out_1165293465358901602[2] = 0;
-   out_1165293465358901602[3] = 0;
-   out_1165293465358901602[4] = 0;
-   out_1165293465358901602[5] = 0;
-   out_1165293465358901602[6] = 0;
-   out_1165293465358901602[7] = 1;
-   out_1165293465358901602[8] = 0;
+void H_26(double *state, double *unused, double *out_3181452404657858551) {
+   out_3181452404657858551[0] = 0;
+   out_3181452404657858551[1] = 0;
+   out_3181452404657858551[2] = 0;
+   out_3181452404657858551[3] = 0;
+   out_3181452404657858551[4] = 0;
+   out_3181452404657858551[5] = 0;
+   out_3181452404657858551[6] = 0;
+   out_3181452404657858551[7] = 1;
+   out_3181452404657858551[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_4672658384802243421) {
-   out_4672658384802243421[0] = state[3];
+void h_27(double *state, double *unused, double *out_5260378523695840179) {
+   out_5260378523695840179[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_8798020259785401946) {
-   out_8798020259785401946[0] = 0;
-   out_8798020259785401946[1] = 0;
-   out_8798020259785401946[2] = 0;
-   out_8798020259785401946[3] = 1;
-   out_8798020259785401946[4] = 0;
-   out_8798020259785401946[5] = 0;
-   out_8798020259785401946[6] = 0;
-   out_8798020259785401946[7] = 0;
-   out_8798020259785401946[8] = 0;
+void H_27(double *state, double *unused, double *out_4618853464588249794) {
+   out_4618853464588249794[0] = 0;
+   out_4618853464588249794[1] = 0;
+   out_4618853464588249794[2] = 0;
+   out_4618853464588249794[3] = 1;
+   out_4618853464588249794[4] = 0;
+   out_4618853464588249794[5] = 0;
+   out_4618853464588249794[6] = 0;
+   out_4618853464588249794[7] = 0;
+   out_4618853464588249794[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_4214457022643681759) {
-   out_4214457022643681759[0] = state[1];
+void h_29(double *state, double *unused, double *out_5535572585980346068) {
+   out_5535572585980346068[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_7935361087054598637) {
-   out_7935361087054598637[0] = 0;
-   out_7935361087054598637[1] = 1;
-   out_7935361087054598637[2] = 0;
-   out_7935361087054598637[3] = 0;
-   out_7935361087054598637[4] = 0;
-   out_7935361087054598637[5] = 0;
-   out_7935361087054598637[6] = 0;
-   out_7935361087054598637[7] = 0;
-   out_7935361087054598637[8] = 0;
+void H_29(double *state, double *unused, double *out_2905490737718698761) {
+   out_2905490737718698761[0] = 0;
+   out_2905490737718698761[1] = 1;
+   out_2905490737718698761[2] = 0;
+   out_2905490737718698761[3] = 0;
+   out_2905490737718698761[4] = 0;
+   out_2905490737718698761[5] = 0;
+   out_2905490737718698761[6] = 0;
+   out_2905490737718698761[7] = 0;
+   out_2905490737718698761[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_8772412421246462550) {
-   out_8772412421246462550[0] = state[0];
+void h_28(double *state, double *unused, double *out_4092634722619698442) {
+   out_4092634722619698442[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_2852962069985068063) {
-   out_2852962069985068063[0] = 1;
-   out_2852962069985068063[1] = 0;
-   out_2852962069985068063[2] = 0;
-   out_2852962069985068063[3] = 0;
-   out_2852962069985068063[4] = 0;
-   out_2852962069985068063[5] = 0;
-   out_2852962069985068063[6] = 0;
-   out_2852962069985068063[7] = 0;
-   out_2852962069985068063[8] = 0;
+void H_28(double *state, double *unused, double *out_2176908279350831813) {
+   out_2176908279350831813[0] = 1;
+   out_2176908279350831813[1] = 0;
+   out_2176908279350831813[2] = 0;
+   out_2176908279350831813[3] = 0;
+   out_2176908279350831813[4] = 0;
+   out_2176908279350831813[5] = 0;
+   out_2176908279350831813[6] = 0;
+   out_2176908279350831813[7] = 0;
+   out_2176908279350831813[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_7434250373962070217) {
-   out_7434250373962070217[0] = state[8];
+void h_31(double *state, double *unused, double *out_1709336648663877701) {
+   out_1709336648663877701[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_539085363125550126) {
-   out_539085363125550126[0] = 0;
-   out_539085363125550126[1] = 0;
-   out_539085363125550126[2] = 0;
-   out_539085363125550126[3] = 0;
-   out_539085363125550126[4] = 0;
-   out_539085363125550126[5] = 0;
-   out_539085363125550126[6] = 0;
-   out_539085363125550126[7] = 0;
-   out_539085363125550126[8] = 1;
+void H_31(double *state, double *unused, double *out_6953601685408875203) {
+   out_6953601685408875203[0] = 0;
+   out_6953601685408875203[1] = 0;
+   out_6953601685408875203[2] = 0;
+   out_6953601685408875203[3] = 0;
+   out_6953601685408875203[4] = 0;
+   out_6953601685408875203[5] = 0;
+   out_6953601685408875203[6] = 0;
+   out_6953601685408875203[7] = 0;
+   out_6953601685408875203[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_5579271098234299589) {
-  err_fun(nom_x, delta_x, out_5579271098234299589);
+void car_err_fun(double *nom_x, double *delta_x, double *out_6314153535178174931) {
+  err_fun(nom_x, delta_x, out_6314153535178174931);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_8879118943542071452) {
-  inv_err_fun(nom_x, true_x, out_8879118943542071452);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_7049921009392106379) {
+  inv_err_fun(nom_x, true_x, out_7049921009392106379);
 }
-void car_H_mod_fun(double *state, double *out_4346759063564356553) {
-  H_mod_fun(state, out_4346759063564356553);
+void car_H_mod_fun(double *state, double *out_9070114660809295187) {
+  H_mod_fun(state, out_9070114660809295187);
 }
-void car_f_fun(double *state, double dt, double *out_8401415236153157083) {
-  f_fun(state,  dt, out_8401415236153157083);
+void car_f_fun(double *state, double dt, double *out_7847765386725654972) {
+  f_fun(state,  dt, out_7847765386725654972);
 }
-void car_F_fun(double *state, double dt, double *out_1973239055632703499) {
-  F_fun(state,  dt, out_1973239055632703499);
+void car_F_fun(double *state, double dt, double *out_6490326381461081645) {
+  F_fun(state,  dt, out_6490326381461081645);
 }
-void car_h_25(double *state, double *unused, double *out_7709444436246576106) {
-  h_25(state, unused, out_7709444436246576106);
+void car_h_25(double *state, double *unused, double *out_258705256034994534) {
+  h_25(state, unused, out_258705256034994534);
 }
-void car_H_25(double *state, double *unused, double *out_4906796784232957826) {
-  H_25(state, unused, out_4906796784232957826);
+void car_H_25(double *state, double *unused, double *out_123073565102942050) {
+  H_25(state, unused, out_123073565102942050);
 }
-void car_h_24(double *state, double *unused, double *out_8161953024412082811) {
-  h_24(state, unused, out_8161953024412082811);
+void car_h_24(double *state, double *unused, double *out_5989007342487248666) {
+  h_24(state, unused, out_5989007342487248666);
 }
-void car_H_24(double *state, double *unused, double *out_6319825032271366663) {
-  H_24(state, unused, out_6319825032271366663);
+void car_H_24(double *state, double *unused, double *out_4869582892069451084) {
+  H_24(state, unused, out_4869582892069451084);
 }
-void car_h_30(double *state, double *unused, double *out_8890419815179839294) {
-  h_30(state, unused, out_8890419815179839294);
+void car_h_30(double *state, double *unused, double *out_179991132081170203) {
+  h_30(state, unused, out_179991132081170203);
 }
-void car_H_30(double *state, double *unused, double *out_7425129742740206453) {
-  H_30(state, unused, out_7425129742740206453);
+void car_H_30(double *state, double *unused, double *out_6793616776388674705) {
+  H_30(state, unused, out_6793616776388674705);
 }
-void car_h_26(double *state, double *unused, double *out_8798474113368893512) {
-  h_26(state, unused, out_8798474113368893512);
+void car_h_26(double *state, double *unused, double *out_4821682135579675442) {
+  h_26(state, unused, out_4821682135579675442);
 }
-void car_H_26(double *state, double *unused, double *out_1165293465358901602) {
-  H_26(state, unused, out_1165293465358901602);
+void car_H_26(double *state, double *unused, double *out_3181452404657858551) {
+  H_26(state, unused, out_3181452404657858551);
 }
-void car_h_27(double *state, double *unused, double *out_4672658384802243421) {
-  h_27(state, unused, out_4672658384802243421);
+void car_h_27(double *state, double *unused, double *out_5260378523695840179) {
+  h_27(state, unused, out_5260378523695840179);
 }
-void car_H_27(double *state, double *unused, double *out_8798020259785401946) {
-  H_27(state, unused, out_8798020259785401946);
+void car_H_27(double *state, double *unused, double *out_4618853464588249794) {
+  H_27(state, unused, out_4618853464588249794);
 }
-void car_h_29(double *state, double *unused, double *out_4214457022643681759) {
-  h_29(state, unused, out_4214457022643681759);
+void car_h_29(double *state, double *unused, double *out_5535572585980346068) {
+  h_29(state, unused, out_5535572585980346068);
 }
-void car_H_29(double *state, double *unused, double *out_7935361087054598637) {
-  H_29(state, unused, out_7935361087054598637);
+void car_H_29(double *state, double *unused, double *out_2905490737718698761) {
+  H_29(state, unused, out_2905490737718698761);
 }
-void car_h_28(double *state, double *unused, double *out_8772412421246462550) {
-  h_28(state, unused, out_8772412421246462550);
+void car_h_28(double *state, double *unused, double *out_4092634722619698442) {
+  h_28(state, unused, out_4092634722619698442);
 }
-void car_H_28(double *state, double *unused, double *out_2852962069985068063) {
-  H_28(state, unused, out_2852962069985068063);
+void car_H_28(double *state, double *unused, double *out_2176908279350831813) {
+  H_28(state, unused, out_2176908279350831813);
 }
-void car_h_31(double *state, double *unused, double *out_7434250373962070217) {
-  h_31(state, unused, out_7434250373962070217);
+void car_h_31(double *state, double *unused, double *out_1709336648663877701) {
+  h_31(state, unused, out_1709336648663877701);
 }
-void car_H_31(double *state, double *unused, double *out_539085363125550126) {
-  H_31(state, unused, out_539085363125550126);
+void car_H_31(double *state, double *unused, double *out_6953601685408875203) {
+  H_31(state, unused, out_6953601685408875203);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
  predict(in_x, in_P, in_Q, dt);
@@ -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_5579271098234299589);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_8879118943542071452);
-void car_H_mod_fun(double *state, double *out_4346759063564356553);
-void car_f_fun(double *state, double dt, double *out_8401415236153157083);
-void car_F_fun(double *state, double dt, double *out_1973239055632703499);
-void car_h_25(double *state, double *unused, double *out_7709444436246576106);
-void car_H_25(double *state, double *unused, double *out_4906796784232957826);
-void car_h_24(double *state, double *unused, double *out_8161953024412082811);
-void car_H_24(double *state, double *unused, double *out_6319825032271366663);
-void car_h_30(double *state, double *unused, double *out_8890419815179839294);
-void car_H_30(double *state, double *unused, double *out_7425129742740206453);
-void car_h_26(double *state, double *unused, double *out_8798474113368893512);
-void car_H_26(double *state, double *unused, double *out_1165293465358901602);
-void car_h_27(double *state, double *unused, double *out_4672658384802243421);
-void car_H_27(double *state, double *unused, double *out_8798020259785401946);
-void car_h_29(double *state, double *unused, double *out_4214457022643681759);
-void car_H_29(double *state, double *unused, double *out_7935361087054598637);
-void car_h_28(double *state, double *unused, double *out_8772412421246462550);
-void car_H_28(double *state, double *unused, double *out_2852962069985068063);
-void car_h_31(double *state, double *unused, double *out_7434250373962070217);
-void car_H_31(double *state, double *unused, double *out_539085363125550126);
+void car_err_fun(double *nom_x, double *delta_x, double *out_6314153535178174931);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_7049921009392106379);
+void car_H_mod_fun(double *state, double *out_9070114660809295187);
+void car_f_fun(double *state, double dt, double *out_7847765386725654972);
+void car_F_fun(double *state, double dt, double *out_6490326381461081645);
+void car_h_25(double *state, double *unused, double *out_258705256034994534);
+void car_H_25(double *state, double *unused, double *out_123073565102942050);
+void car_h_24(double *state, double *unused, double *out_5989007342487248666);
+void car_H_24(double *state, double *unused, double *out_4869582892069451084);
+void car_h_30(double *state, double *unused, double *out_179991132081170203);
+void car_H_30(double *state, double *unused, double *out_6793616776388674705);
+void car_h_26(double *state, double *unused, double *out_4821682135579675442);
+void car_H_26(double *state, double *unused, double *out_3181452404657858551);
+void car_h_27(double *state, double *unused, double *out_5260378523695840179);
+void car_H_27(double *state, double *unused, double *out_4618853464588249794);
+void car_h_29(double *state, double *unused, double *out_5535572585980346068);
+void car_H_29(double *state, double *unused, double *out_2905490737718698761);
+void car_h_28(double *state, double *unused, double *out_4092634722619698442);
+void car_H_28(double *state, double *unused, double *out_2176908279350831813);
+void car_h_31(double *state, double *unused, double *out_1709336648663877701);
+void car_H_31(double *state, double *unused, double *out_6953601685408875203);
 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);
@@ -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_5010206230741134473);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1188067782326305394);
-void pose_H_mod_fun(double *state, double *out_7990211645421290333);
-void pose_f_fun(double *state, double dt, double *out_2076252175851799438);
-void pose_F_fun(double *state, double dt, double *out_5637265960027517094);
-void pose_h_4(double *state, double *unused, double *out_4126661282704422428);
-void pose_H_4(double *state, double *unused, double *out_7236050643366577726);
-void pose_h_10(double *state, double *unused, double *out_8418525422339329003);
-void pose_H_10(double *state, double *unused, double *out_7705227448246336422);
-void pose_h_13(double *state, double *unused, double *out_1137889379193769762);
-void pose_H_13(double *state, double *unused, double *out_4023776818034244925);
-void pose_h_14(double *state, double *unused, double *out_3946282764828343143);
-void pose_H_14(double *state, double *unused, double *out_3272809787027093197);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_1227579335886564773);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7708296302708828001);
+void pose_H_mod_fun(double *state, double *out_145151651698479708);
+void pose_f_fun(double *state, double dt, double *out_6753877240357292479);
+void pose_F_fun(double *state, double dt, double *out_48451545294533288);
+void pose_h_4(double *state, double *unused, double *out_711207782401779392);
+void pose_H_4(double *state, double *unused, double *out_6437019938278623926);
+void pose_h_10(double *state, double *unused, double *out_2942660564170460979);
+void pose_H_10(double *state, double *unused, double *out_7753365329259358525);
+void pose_h_13(double *state, double *unused, double *out_2914132243760424113);
+void pose_H_13(double *state, double *unused, double *out_3224746112946291125);
+void pose_h_14(double *state, double *unused, double *out_677306400367602538);
+void pose_H_14(double *state, double *unused, double *out_2473779081939139397);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }