build

2026-09-18 05:23:57 +08:00 · 2026-09-13 15:40:54 -05:00
parent 5bead81598
commit 3506c2561b
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-02446532-DEBUG";
+const uint8_t gitversion[19] = "DEV-5bead815-DEBUG";
@@ -1 +1 @@
-DEV-02446532-DEBUG
+DEV-5bead815-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_8548372190097700555) {
-   out_8548372190097700555[0] = delta_x[0] + nom_x[0];
-   out_8548372190097700555[1] = delta_x[1] + nom_x[1];
-   out_8548372190097700555[2] = delta_x[2] + nom_x[2];
-   out_8548372190097700555[3] = delta_x[3] + nom_x[3];
-   out_8548372190097700555[4] = delta_x[4] + nom_x[4];
-   out_8548372190097700555[5] = delta_x[5] + nom_x[5];
-   out_8548372190097700555[6] = delta_x[6] + nom_x[6];
-   out_8548372190097700555[7] = delta_x[7] + nom_x[7];
-   out_8548372190097700555[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_6455770263676897448) {
+   out_6455770263676897448[0] = delta_x[0] + nom_x[0];
+   out_6455770263676897448[1] = delta_x[1] + nom_x[1];
+   out_6455770263676897448[2] = delta_x[2] + nom_x[2];
+   out_6455770263676897448[3] = delta_x[3] + nom_x[3];
+   out_6455770263676897448[4] = delta_x[4] + nom_x[4];
+   out_6455770263676897448[5] = delta_x[5] + nom_x[5];
+   out_6455770263676897448[6] = delta_x[6] + nom_x[6];
+   out_6455770263676897448[7] = delta_x[7] + nom_x[7];
+   out_6455770263676897448[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_6257373597812199292) {
-   out_6257373597812199292[0] = -nom_x[0] + true_x[0];
-   out_6257373597812199292[1] = -nom_x[1] + true_x[1];
-   out_6257373597812199292[2] = -nom_x[2] + true_x[2];
-   out_6257373597812199292[3] = -nom_x[3] + true_x[3];
-   out_6257373597812199292[4] = -nom_x[4] + true_x[4];
-   out_6257373597812199292[5] = -nom_x[5] + true_x[5];
-   out_6257373597812199292[6] = -nom_x[6] + true_x[6];
-   out_6257373597812199292[7] = -nom_x[7] + true_x[7];
-   out_6257373597812199292[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_3264339508163218326) {
+   out_3264339508163218326[0] = -nom_x[0] + true_x[0];
+   out_3264339508163218326[1] = -nom_x[1] + true_x[1];
+   out_3264339508163218326[2] = -nom_x[2] + true_x[2];
+   out_3264339508163218326[3] = -nom_x[3] + true_x[3];
+   out_3264339508163218326[4] = -nom_x[4] + true_x[4];
+   out_3264339508163218326[5] = -nom_x[5] + true_x[5];
+   out_3264339508163218326[6] = -nom_x[6] + true_x[6];
+   out_3264339508163218326[7] = -nom_x[7] + true_x[7];
+   out_3264339508163218326[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_7008429191596952258) {
-   out_7008429191596952258[0] = 1.0;
-   out_7008429191596952258[1] = 0.0;
-   out_7008429191596952258[2] = 0.0;
-   out_7008429191596952258[3] = 0.0;
-   out_7008429191596952258[4] = 0.0;
-   out_7008429191596952258[5] = 0.0;
-   out_7008429191596952258[6] = 0.0;
-   out_7008429191596952258[7] = 0.0;
-   out_7008429191596952258[8] = 0.0;
-   out_7008429191596952258[9] = 0.0;
-   out_7008429191596952258[10] = 1.0;
-   out_7008429191596952258[11] = 0.0;
-   out_7008429191596952258[12] = 0.0;
-   out_7008429191596952258[13] = 0.0;
-   out_7008429191596952258[14] = 0.0;
-   out_7008429191596952258[15] = 0.0;
-   out_7008429191596952258[16] = 0.0;
-   out_7008429191596952258[17] = 0.0;
-   out_7008429191596952258[18] = 0.0;
-   out_7008429191596952258[19] = 0.0;
-   out_7008429191596952258[20] = 1.0;
-   out_7008429191596952258[21] = 0.0;
-   out_7008429191596952258[22] = 0.0;
-   out_7008429191596952258[23] = 0.0;
-   out_7008429191596952258[24] = 0.0;
-   out_7008429191596952258[25] = 0.0;
-   out_7008429191596952258[26] = 0.0;
-   out_7008429191596952258[27] = 0.0;
-   out_7008429191596952258[28] = 0.0;
-   out_7008429191596952258[29] = 0.0;
-   out_7008429191596952258[30] = 1.0;
-   out_7008429191596952258[31] = 0.0;
-   out_7008429191596952258[32] = 0.0;
-   out_7008429191596952258[33] = 0.0;
-   out_7008429191596952258[34] = 0.0;
-   out_7008429191596952258[35] = 0.0;
-   out_7008429191596952258[36] = 0.0;
-   out_7008429191596952258[37] = 0.0;
-   out_7008429191596952258[38] = 0.0;
-   out_7008429191596952258[39] = 0.0;
-   out_7008429191596952258[40] = 1.0;
-   out_7008429191596952258[41] = 0.0;
-   out_7008429191596952258[42] = 0.0;
-   out_7008429191596952258[43] = 0.0;
-   out_7008429191596952258[44] = 0.0;
-   out_7008429191596952258[45] = 0.0;
-   out_7008429191596952258[46] = 0.0;
-   out_7008429191596952258[47] = 0.0;
-   out_7008429191596952258[48] = 0.0;
-   out_7008429191596952258[49] = 0.0;
-   out_7008429191596952258[50] = 1.0;
-   out_7008429191596952258[51] = 0.0;
-   out_7008429191596952258[52] = 0.0;
-   out_7008429191596952258[53] = 0.0;
-   out_7008429191596952258[54] = 0.0;
-   out_7008429191596952258[55] = 0.0;
-   out_7008429191596952258[56] = 0.0;
-   out_7008429191596952258[57] = 0.0;
-   out_7008429191596952258[58] = 0.0;
-   out_7008429191596952258[59] = 0.0;
-   out_7008429191596952258[60] = 1.0;
-   out_7008429191596952258[61] = 0.0;
-   out_7008429191596952258[62] = 0.0;
-   out_7008429191596952258[63] = 0.0;
-   out_7008429191596952258[64] = 0.0;
-   out_7008429191596952258[65] = 0.0;
-   out_7008429191596952258[66] = 0.0;
-   out_7008429191596952258[67] = 0.0;
-   out_7008429191596952258[68] = 0.0;
-   out_7008429191596952258[69] = 0.0;
-   out_7008429191596952258[70] = 1.0;
-   out_7008429191596952258[71] = 0.0;
-   out_7008429191596952258[72] = 0.0;
-   out_7008429191596952258[73] = 0.0;
-   out_7008429191596952258[74] = 0.0;
-   out_7008429191596952258[75] = 0.0;
-   out_7008429191596952258[76] = 0.0;
-   out_7008429191596952258[77] = 0.0;
-   out_7008429191596952258[78] = 0.0;
-   out_7008429191596952258[79] = 0.0;
-   out_7008429191596952258[80] = 1.0;
+void H_mod_fun(double *state, double *out_2314116705851516155) {
+   out_2314116705851516155[0] = 1.0;
+   out_2314116705851516155[1] = 0.0;
+   out_2314116705851516155[2] = 0.0;
+   out_2314116705851516155[3] = 0.0;
+   out_2314116705851516155[4] = 0.0;
+   out_2314116705851516155[5] = 0.0;
+   out_2314116705851516155[6] = 0.0;
+   out_2314116705851516155[7] = 0.0;
+   out_2314116705851516155[8] = 0.0;
+   out_2314116705851516155[9] = 0.0;
+   out_2314116705851516155[10] = 1.0;
+   out_2314116705851516155[11] = 0.0;
+   out_2314116705851516155[12] = 0.0;
+   out_2314116705851516155[13] = 0.0;
+   out_2314116705851516155[14] = 0.0;
+   out_2314116705851516155[15] = 0.0;
+   out_2314116705851516155[16] = 0.0;
+   out_2314116705851516155[17] = 0.0;
+   out_2314116705851516155[18] = 0.0;
+   out_2314116705851516155[19] = 0.0;
+   out_2314116705851516155[20] = 1.0;
+   out_2314116705851516155[21] = 0.0;
+   out_2314116705851516155[22] = 0.0;
+   out_2314116705851516155[23] = 0.0;
+   out_2314116705851516155[24] = 0.0;
+   out_2314116705851516155[25] = 0.0;
+   out_2314116705851516155[26] = 0.0;
+   out_2314116705851516155[27] = 0.0;
+   out_2314116705851516155[28] = 0.0;
+   out_2314116705851516155[29] = 0.0;
+   out_2314116705851516155[30] = 1.0;
+   out_2314116705851516155[31] = 0.0;
+   out_2314116705851516155[32] = 0.0;
+   out_2314116705851516155[33] = 0.0;
+   out_2314116705851516155[34] = 0.0;
+   out_2314116705851516155[35] = 0.0;
+   out_2314116705851516155[36] = 0.0;
+   out_2314116705851516155[37] = 0.0;
+   out_2314116705851516155[38] = 0.0;
+   out_2314116705851516155[39] = 0.0;
+   out_2314116705851516155[40] = 1.0;
+   out_2314116705851516155[41] = 0.0;
+   out_2314116705851516155[42] = 0.0;
+   out_2314116705851516155[43] = 0.0;
+   out_2314116705851516155[44] = 0.0;
+   out_2314116705851516155[45] = 0.0;
+   out_2314116705851516155[46] = 0.0;
+   out_2314116705851516155[47] = 0.0;
+   out_2314116705851516155[48] = 0.0;
+   out_2314116705851516155[49] = 0.0;
+   out_2314116705851516155[50] = 1.0;
+   out_2314116705851516155[51] = 0.0;
+   out_2314116705851516155[52] = 0.0;
+   out_2314116705851516155[53] = 0.0;
+   out_2314116705851516155[54] = 0.0;
+   out_2314116705851516155[55] = 0.0;
+   out_2314116705851516155[56] = 0.0;
+   out_2314116705851516155[57] = 0.0;
+   out_2314116705851516155[58] = 0.0;
+   out_2314116705851516155[59] = 0.0;
+   out_2314116705851516155[60] = 1.0;
+   out_2314116705851516155[61] = 0.0;
+   out_2314116705851516155[62] = 0.0;
+   out_2314116705851516155[63] = 0.0;
+   out_2314116705851516155[64] = 0.0;
+   out_2314116705851516155[65] = 0.0;
+   out_2314116705851516155[66] = 0.0;
+   out_2314116705851516155[67] = 0.0;
+   out_2314116705851516155[68] = 0.0;
+   out_2314116705851516155[69] = 0.0;
+   out_2314116705851516155[70] = 1.0;
+   out_2314116705851516155[71] = 0.0;
+   out_2314116705851516155[72] = 0.0;
+   out_2314116705851516155[73] = 0.0;
+   out_2314116705851516155[74] = 0.0;
+   out_2314116705851516155[75] = 0.0;
+   out_2314116705851516155[76] = 0.0;
+   out_2314116705851516155[77] = 0.0;
+   out_2314116705851516155[78] = 0.0;
+   out_2314116705851516155[79] = 0.0;
+   out_2314116705851516155[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_211764458208077354) {
-   out_211764458208077354[0] = state[0];
-   out_211764458208077354[1] = state[1];
-   out_211764458208077354[2] = state[2];
-   out_211764458208077354[3] = state[3];
-   out_211764458208077354[4] = state[4];
-   out_211764458208077354[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_211764458208077354[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_211764458208077354[7] = state[7];
-   out_211764458208077354[8] = state[8];
+void f_fun(double *state, double dt, double *out_3179221506286947540) {
+   out_3179221506286947540[0] = state[0];
+   out_3179221506286947540[1] = state[1];
+   out_3179221506286947540[2] = state[2];
+   out_3179221506286947540[3] = state[3];
+   out_3179221506286947540[4] = state[4];
+   out_3179221506286947540[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_3179221506286947540[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_3179221506286947540[7] = state[7];
+   out_3179221506286947540[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_6789911951967766610) {
-   out_6789911951967766610[0] = 1;
-   out_6789911951967766610[1] = 0;
-   out_6789911951967766610[2] = 0;
-   out_6789911951967766610[3] = 0;
-   out_6789911951967766610[4] = 0;
-   out_6789911951967766610[5] = 0;
-   out_6789911951967766610[6] = 0;
-   out_6789911951967766610[7] = 0;
-   out_6789911951967766610[8] = 0;
-   out_6789911951967766610[9] = 0;
-   out_6789911951967766610[10] = 1;
-   out_6789911951967766610[11] = 0;
-   out_6789911951967766610[12] = 0;
-   out_6789911951967766610[13] = 0;
-   out_6789911951967766610[14] = 0;
-   out_6789911951967766610[15] = 0;
-   out_6789911951967766610[16] = 0;
-   out_6789911951967766610[17] = 0;
-   out_6789911951967766610[18] = 0;
-   out_6789911951967766610[19] = 0;
-   out_6789911951967766610[20] = 1;
-   out_6789911951967766610[21] = 0;
-   out_6789911951967766610[22] = 0;
-   out_6789911951967766610[23] = 0;
-   out_6789911951967766610[24] = 0;
-   out_6789911951967766610[25] = 0;
-   out_6789911951967766610[26] = 0;
-   out_6789911951967766610[27] = 0;
-   out_6789911951967766610[28] = 0;
-   out_6789911951967766610[29] = 0;
-   out_6789911951967766610[30] = 1;
-   out_6789911951967766610[31] = 0;
-   out_6789911951967766610[32] = 0;
-   out_6789911951967766610[33] = 0;
-   out_6789911951967766610[34] = 0;
-   out_6789911951967766610[35] = 0;
-   out_6789911951967766610[36] = 0;
-   out_6789911951967766610[37] = 0;
-   out_6789911951967766610[38] = 0;
-   out_6789911951967766610[39] = 0;
-   out_6789911951967766610[40] = 1;
-   out_6789911951967766610[41] = 0;
-   out_6789911951967766610[42] = 0;
-   out_6789911951967766610[43] = 0;
-   out_6789911951967766610[44] = 0;
-   out_6789911951967766610[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_6789911951967766610[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_6789911951967766610[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6789911951967766610[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6789911951967766610[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_6789911951967766610[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_6789911951967766610[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_6789911951967766610[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6789911951967766610[53] = -9.8100000000000005*dt;
-   out_6789911951967766610[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_6789911951967766610[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_6789911951967766610[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6789911951967766610[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6789911951967766610[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_6789911951967766610[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_6789911951967766610[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_6789911951967766610[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6789911951967766610[62] = 0;
-   out_6789911951967766610[63] = 0;
-   out_6789911951967766610[64] = 0;
-   out_6789911951967766610[65] = 0;
-   out_6789911951967766610[66] = 0;
-   out_6789911951967766610[67] = 0;
-   out_6789911951967766610[68] = 0;
-   out_6789911951967766610[69] = 0;
-   out_6789911951967766610[70] = 1;
-   out_6789911951967766610[71] = 0;
-   out_6789911951967766610[72] = 0;
-   out_6789911951967766610[73] = 0;
-   out_6789911951967766610[74] = 0;
-   out_6789911951967766610[75] = 0;
-   out_6789911951967766610[76] = 0;
-   out_6789911951967766610[77] = 0;
-   out_6789911951967766610[78] = 0;
-   out_6789911951967766610[79] = 0;
-   out_6789911951967766610[80] = 1;
+void F_fun(double *state, double dt, double *out_2603402554270443885) {
+   out_2603402554270443885[0] = 1;
+   out_2603402554270443885[1] = 0;
+   out_2603402554270443885[2] = 0;
+   out_2603402554270443885[3] = 0;
+   out_2603402554270443885[4] = 0;
+   out_2603402554270443885[5] = 0;
+   out_2603402554270443885[6] = 0;
+   out_2603402554270443885[7] = 0;
+   out_2603402554270443885[8] = 0;
+   out_2603402554270443885[9] = 0;
+   out_2603402554270443885[10] = 1;
+   out_2603402554270443885[11] = 0;
+   out_2603402554270443885[12] = 0;
+   out_2603402554270443885[13] = 0;
+   out_2603402554270443885[14] = 0;
+   out_2603402554270443885[15] = 0;
+   out_2603402554270443885[16] = 0;
+   out_2603402554270443885[17] = 0;
+   out_2603402554270443885[18] = 0;
+   out_2603402554270443885[19] = 0;
+   out_2603402554270443885[20] = 1;
+   out_2603402554270443885[21] = 0;
+   out_2603402554270443885[22] = 0;
+   out_2603402554270443885[23] = 0;
+   out_2603402554270443885[24] = 0;
+   out_2603402554270443885[25] = 0;
+   out_2603402554270443885[26] = 0;
+   out_2603402554270443885[27] = 0;
+   out_2603402554270443885[28] = 0;
+   out_2603402554270443885[29] = 0;
+   out_2603402554270443885[30] = 1;
+   out_2603402554270443885[31] = 0;
+   out_2603402554270443885[32] = 0;
+   out_2603402554270443885[33] = 0;
+   out_2603402554270443885[34] = 0;
+   out_2603402554270443885[35] = 0;
+   out_2603402554270443885[36] = 0;
+   out_2603402554270443885[37] = 0;
+   out_2603402554270443885[38] = 0;
+   out_2603402554270443885[39] = 0;
+   out_2603402554270443885[40] = 1;
+   out_2603402554270443885[41] = 0;
+   out_2603402554270443885[42] = 0;
+   out_2603402554270443885[43] = 0;
+   out_2603402554270443885[44] = 0;
+   out_2603402554270443885[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_2603402554270443885[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_2603402554270443885[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2603402554270443885[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2603402554270443885[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_2603402554270443885[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_2603402554270443885[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_2603402554270443885[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2603402554270443885[53] = -9.8100000000000005*dt;
+   out_2603402554270443885[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_2603402554270443885[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_2603402554270443885[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2603402554270443885[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2603402554270443885[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_2603402554270443885[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_2603402554270443885[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_2603402554270443885[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2603402554270443885[62] = 0;
+   out_2603402554270443885[63] = 0;
+   out_2603402554270443885[64] = 0;
+   out_2603402554270443885[65] = 0;
+   out_2603402554270443885[66] = 0;
+   out_2603402554270443885[67] = 0;
+   out_2603402554270443885[68] = 0;
+   out_2603402554270443885[69] = 0;
+   out_2603402554270443885[70] = 1;
+   out_2603402554270443885[71] = 0;
+   out_2603402554270443885[72] = 0;
+   out_2603402554270443885[73] = 0;
+   out_2603402554270443885[74] = 0;
+   out_2603402554270443885[75] = 0;
+   out_2603402554270443885[76] = 0;
+   out_2603402554270443885[77] = 0;
+   out_2603402554270443885[78] = 0;
+   out_2603402554270443885[79] = 0;
+   out_2603402554270443885[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_7956251239264178232) {
-   out_7956251239264178232[0] = state[6];
+void h_25(double *state, double *unused, double *out_7483142871930603684) {
+   out_7483142871930603684[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_912908841376907547) {
-   out_912908841376907547[0] = 0;
-   out_912908841376907547[1] = 0;
-   out_912908841376907547[2] = 0;
-   out_912908841376907547[3] = 0;
-   out_912908841376907547[4] = 0;
-   out_912908841376907547[5] = 0;
-   out_912908841376907547[6] = 1;
-   out_912908841376907547[7] = 0;
-   out_912908841376907547[8] = 0;
+void H_25(double *state, double *unused, double *out_1208863944137975522) {
+   out_1208863944137975522[0] = 0;
+   out_1208863944137975522[1] = 0;
+   out_1208863944137975522[2] = 0;
+   out_1208863944137975522[3] = 0;
+   out_1208863944137975522[4] = 0;
+   out_1208863944137975522[5] = 0;
+   out_1208863944137975522[6] = 1;
+   out_1208863944137975522[7] = 0;
+   out_1208863944137975522[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_7723154835838931558) {
-   out_7723154835838931558[0] = state[4];
-   out_7723154835838931558[1] = state[5];
+void h_24(double *state, double *unused, double *out_5607942348347630047) {
+   out_5607942348347630047[0] = state[4];
+   out_5607942348347630047[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_2501382670766146913) {
-   out_2501382670766146913[0] = 0;
-   out_2501382670766146913[1] = 0;
-   out_2501382670766146913[2] = 0;
-   out_2501382670766146913[3] = 0;
-   out_2501382670766146913[4] = 1;
-   out_2501382670766146913[5] = 0;
-   out_2501382670766146913[6] = 0;
-   out_2501382670766146913[7] = 0;
-   out_2501382670766146913[8] = 0;
-   out_2501382670766146913[9] = 0;
-   out_2501382670766146913[10] = 0;
-   out_2501382670766146913[11] = 0;
-   out_2501382670766146913[12] = 0;
-   out_2501382670766146913[13] = 0;
-   out_2501382670766146913[14] = 1;
-   out_2501382670766146913[15] = 0;
-   out_2501382670766146913[16] = 0;
-   out_2501382670766146913[17] = 0;
+void H_24(double *state, double *unused, double *out_25779713474104338) {
+   out_25779713474104338[0] = 0;
+   out_25779713474104338[1] = 0;
+   out_25779713474104338[2] = 0;
+   out_25779713474104338[3] = 0;
+   out_25779713474104338[4] = 1;
+   out_25779713474104338[5] = 0;
+   out_25779713474104338[6] = 0;
+   out_25779713474104338[7] = 0;
+   out_25779713474104338[8] = 0;
+   out_25779713474104338[9] = 0;
+   out_25779713474104338[10] = 0;
+   out_25779713474104338[11] = 0;
+   out_25779713474104338[12] = 0;
+   out_25779713474104338[13] = 0;
+   out_25779713474104338[14] = 1;
+   out_25779713474104338[15] = 0;
+   out_25779713474104338[16] = 0;
+   out_25779713474104338[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_4094567762835676580) {
-   out_4094567762835676580[0] = state[4];
+void h_30(double *state, double *unused, double *out_3845693343676581334) {
+   out_3845693343676581334[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_3614787488750700651) {
-   out_3614787488750700651[0] = 0;
-   out_3614787488750700651[1] = 0;
-   out_3614787488750700651[2] = 0;
-   out_3614787488750700651[3] = 0;
-   out_3614787488750700651[4] = 1;
-   out_3614787488750700651[5] = 0;
-   out_3614787488750700651[6] = 0;
-   out_3614787488750700651[7] = 0;
-   out_3614787488750700651[8] = 0;
+void H_30(double *state, double *unused, double *out_1079524996994735452) {
+   out_1079524996994735452[0] = 0;
+   out_1079524996994735452[1] = 0;
+   out_1079524996994735452[2] = 0;
+   out_1079524996994735452[3] = 0;
+   out_1079524996994735452[4] = 1;
+   out_1079524996994735452[5] = 0;
+   out_1079524996994735452[6] = 0;
+   out_1079524996994735452[7] = 0;
+   out_1079524996994735452[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_4086855108634070771) {
-   out_4086855108634070771[0] = state[7];
+void h_26(double *state, double *unused, double *out_8847366611337426979) {
+   out_8847366611337426979[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_2828594477497148677) {
-   out_2828594477497148677[0] = 0;
-   out_2828594477497148677[1] = 0;
-   out_2828594477497148677[2] = 0;
-   out_2828594477497148677[3] = 0;
-   out_2828594477497148677[4] = 0;
-   out_2828594477497148677[5] = 0;
-   out_2828594477497148677[6] = 0;
-   out_2828594477497148677[7] = 1;
-   out_2828594477497148677[8] = 0;
+void H_26(double *state, double *unused, double *out_2532639374736080702) {
+   out_2532639374736080702[0] = 0;
+   out_2532639374736080702[1] = 0;
+   out_2532639374736080702[2] = 0;
+   out_2532639374736080702[3] = 0;
+   out_2532639374736080702[4] = 0;
+   out_2532639374736080702[5] = 0;
+   out_2532639374736080702[6] = 0;
+   out_2532639374736080702[7] = 1;
+   out_2532639374736080702[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_3279583348191151873) {
-   out_3279583348191151873[0] = state[3];
+void h_27(double *state, double *unused, double *out_7323093963955398614) {
+   out_7323093963955398614[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_5789550800551125562) {
-   out_5789550800551125562[0] = 0;
-   out_5789550800551125562[1] = 0;
-   out_5789550800551125562[2] = 0;
-   out_5789550800551125562[3] = 1;
-   out_5789550800551125562[4] = 0;
-   out_5789550800551125562[5] = 0;
-   out_5789550800551125562[6] = 0;
-   out_5789550800551125562[7] = 0;
-   out_5789550800551125562[8] = 0;
+void H_27(double *state, double *unused, double *out_1095238314805689459) {
+   out_1095238314805689459[0] = 0;
+   out_1095238314805689459[1] = 0;
+   out_1095238314805689459[2] = 0;
+   out_1095238314805689459[3] = 1;
+   out_1095238314805689459[4] = 0;
+   out_1095238314805689459[5] = 0;
+   out_1095238314805689459[6] = 0;
+   out_1095238314805689459[7] = 0;
+   out_1095238314805689459[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_3491251878159199063) {
-   out_3491251878159199063[0] = state[1];
+void h_29(double *state, double *unused, double *out_1155979923984264311) {
+   out_1155979923984264311[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_3104556144436308467) {
-   out_3104556144436308467[0] = 0;
-   out_3104556144436308467[1] = 1;
-   out_3104556144436308467[2] = 0;
-   out_3104556144436308467[3] = 0;
-   out_3104556144436308467[4] = 0;
-   out_3104556144436308467[5] = 0;
-   out_3104556144436308467[6] = 0;
-   out_3104556144436308467[7] = 0;
-   out_3104556144436308467[8] = 0;
+void H_29(double *state, double *unused, double *out_1589756341309127636) {
+   out_1589756341309127636[0] = 0;
+   out_1589756341309127636[1] = 1;
+   out_1589756341309127636[2] = 0;
+   out_1589756341309127636[3] = 0;
+   out_1589756341309127636[4] = 0;
+   out_1589756341309127636[5] = 0;
+   out_1589756341309127636[6] = 0;
+   out_1589756341309127636[7] = 0;
+   out_1589756341309127636[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_2111839547115010136) {
-   out_2111839547115010136[0] = state[0];
+void h_28(double *state, double *unused, double *out_5021130674020958612) {
+   out_5021130674020958612[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_1140925872870982216) {
-   out_1140925872870982216[0] = 1;
-   out_1140925872870982216[1] = 0;
-   out_1140925872870982216[2] = 0;
-   out_1140925872870982216[3] = 0;
-   out_1140925872870982216[4] = 0;
-   out_1140925872870982216[5] = 0;
-   out_1140925872870982216[6] = 0;
-   out_1140925872870982216[7] = 0;
-   out_1140925872870982216[8] = 0;
+void H_28(double *state, double *unused, double *out_7891000058744771066) {
+   out_7891000058744771066[0] = 1;
+   out_7891000058744771066[1] = 0;
+   out_7891000058744771066[2] = 0;
+   out_7891000058744771066[3] = 0;
+   out_7891000058744771066[4] = 0;
+   out_7891000058744771066[5] = 0;
+   out_7891000058744771066[6] = 0;
+   out_7891000058744771066[7] = 0;
+   out_7891000058744771066[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_271458526840810605) {
-   out_271458526840810605[0] = state[8];
+void h_31(double *state, double *unused, double *out_3082328551024898747) {
+   out_3082328551024898747[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_3454802579730500153) {
-   out_3454802579730500153[0] = 0;
-   out_3454802579730500153[1] = 0;
-   out_3454802579730500153[2] = 0;
-   out_3454802579730500153[3] = 0;
-   out_3454802579730500153[4] = 0;
-   out_3454802579730500153[5] = 0;
-   out_3454802579730500153[6] = 0;
-   out_3454802579730500153[7] = 0;
-   out_3454802579730500153[8] = 1;
+void H_31(double *state, double *unused, double *out_1239509906014935950) {
+   out_1239509906014935950[0] = 0;
+   out_1239509906014935950[1] = 0;
+   out_1239509906014935950[2] = 0;
+   out_1239509906014935950[3] = 0;
+   out_1239509906014935950[4] = 0;
+   out_1239509906014935950[5] = 0;
+   out_1239509906014935950[6] = 0;
+   out_1239509906014935950[7] = 0;
+   out_1239509906014935950[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_8548372190097700555) {
-  err_fun(nom_x, delta_x, out_8548372190097700555);
+void car_err_fun(double *nom_x, double *delta_x, double *out_6455770263676897448) {
+  err_fun(nom_x, delta_x, out_6455770263676897448);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_6257373597812199292) {
-  inv_err_fun(nom_x, true_x, out_6257373597812199292);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_3264339508163218326) {
+  inv_err_fun(nom_x, true_x, out_3264339508163218326);
 }
-void car_H_mod_fun(double *state, double *out_7008429191596952258) {
-  H_mod_fun(state, out_7008429191596952258);
+void car_H_mod_fun(double *state, double *out_2314116705851516155) {
+  H_mod_fun(state, out_2314116705851516155);
 }
-void car_f_fun(double *state, double dt, double *out_211764458208077354) {
-  f_fun(state,  dt, out_211764458208077354);
+void car_f_fun(double *state, double dt, double *out_3179221506286947540) {
+  f_fun(state,  dt, out_3179221506286947540);
 }
-void car_F_fun(double *state, double dt, double *out_6789911951967766610) {
-  F_fun(state,  dt, out_6789911951967766610);
+void car_F_fun(double *state, double dt, double *out_2603402554270443885) {
+  F_fun(state,  dt, out_2603402554270443885);
 }
-void car_h_25(double *state, double *unused, double *out_7956251239264178232) {
-  h_25(state, unused, out_7956251239264178232);
+void car_h_25(double *state, double *unused, double *out_7483142871930603684) {
+  h_25(state, unused, out_7483142871930603684);
 }
-void car_H_25(double *state, double *unused, double *out_912908841376907547) {
-  H_25(state, unused, out_912908841376907547);
+void car_H_25(double *state, double *unused, double *out_1208863944137975522) {
+  H_25(state, unused, out_1208863944137975522);
 }
-void car_h_24(double *state, double *unused, double *out_7723154835838931558) {
-  h_24(state, unused, out_7723154835838931558);
+void car_h_24(double *state, double *unused, double *out_5607942348347630047) {
+  h_24(state, unused, out_5607942348347630047);
 }
-void car_H_24(double *state, double *unused, double *out_2501382670766146913) {
-  H_24(state, unused, out_2501382670766146913);
+void car_H_24(double *state, double *unused, double *out_25779713474104338) {
+  H_24(state, unused, out_25779713474104338);
 }
-void car_h_30(double *state, double *unused, double *out_4094567762835676580) {
-  h_30(state, unused, out_4094567762835676580);
+void car_h_30(double *state, double *unused, double *out_3845693343676581334) {
+  h_30(state, unused, out_3845693343676581334);
 }
-void car_H_30(double *state, double *unused, double *out_3614787488750700651) {
-  H_30(state, unused, out_3614787488750700651);
+void car_H_30(double *state, double *unused, double *out_1079524996994735452) {
+  H_30(state, unused, out_1079524996994735452);
 }
-void car_h_26(double *state, double *unused, double *out_4086855108634070771) {
-  h_26(state, unused, out_4086855108634070771);
+void car_h_26(double *state, double *unused, double *out_8847366611337426979) {
+  h_26(state, unused, out_8847366611337426979);
 }
-void car_H_26(double *state, double *unused, double *out_2828594477497148677) {
-  H_26(state, unused, out_2828594477497148677);
+void car_H_26(double *state, double *unused, double *out_2532639374736080702) {
+  H_26(state, unused, out_2532639374736080702);
 }
-void car_h_27(double *state, double *unused, double *out_3279583348191151873) {
-  h_27(state, unused, out_3279583348191151873);
+void car_h_27(double *state, double *unused, double *out_7323093963955398614) {
+  h_27(state, unused, out_7323093963955398614);
 }
-void car_H_27(double *state, double *unused, double *out_5789550800551125562) {
-  H_27(state, unused, out_5789550800551125562);
+void car_H_27(double *state, double *unused, double *out_1095238314805689459) {
+  H_27(state, unused, out_1095238314805689459);
 }
-void car_h_29(double *state, double *unused, double *out_3491251878159199063) {
-  h_29(state, unused, out_3491251878159199063);
+void car_h_29(double *state, double *unused, double *out_1155979923984264311) {
+  h_29(state, unused, out_1155979923984264311);
 }
-void car_H_29(double *state, double *unused, double *out_3104556144436308467) {
-  H_29(state, unused, out_3104556144436308467);
+void car_H_29(double *state, double *unused, double *out_1589756341309127636) {
+  H_29(state, unused, out_1589756341309127636);
 }
-void car_h_28(double *state, double *unused, double *out_2111839547115010136) {
-  h_28(state, unused, out_2111839547115010136);
+void car_h_28(double *state, double *unused, double *out_5021130674020958612) {
+  h_28(state, unused, out_5021130674020958612);
 }
-void car_H_28(double *state, double *unused, double *out_1140925872870982216) {
-  H_28(state, unused, out_1140925872870982216);
+void car_H_28(double *state, double *unused, double *out_7891000058744771066) {
+  H_28(state, unused, out_7891000058744771066);
 }
-void car_h_31(double *state, double *unused, double *out_271458526840810605) {
-  h_31(state, unused, out_271458526840810605);
+void car_h_31(double *state, double *unused, double *out_3082328551024898747) {
+  h_31(state, unused, out_3082328551024898747);
 }
-void car_H_31(double *state, double *unused, double *out_3454802579730500153) {
-  H_31(state, unused, out_3454802579730500153);
+void car_H_31(double *state, double *unused, double *out_1239509906014935950) {
+  H_31(state, unused, out_1239509906014935950);
 }
 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_8548372190097700555);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_6257373597812199292);
-void car_H_mod_fun(double *state, double *out_7008429191596952258);
-void car_f_fun(double *state, double dt, double *out_211764458208077354);
-void car_F_fun(double *state, double dt, double *out_6789911951967766610);
-void car_h_25(double *state, double *unused, double *out_7956251239264178232);
-void car_H_25(double *state, double *unused, double *out_912908841376907547);
-void car_h_24(double *state, double *unused, double *out_7723154835838931558);
-void car_H_24(double *state, double *unused, double *out_2501382670766146913);
-void car_h_30(double *state, double *unused, double *out_4094567762835676580);
-void car_H_30(double *state, double *unused, double *out_3614787488750700651);
-void car_h_26(double *state, double *unused, double *out_4086855108634070771);
-void car_H_26(double *state, double *unused, double *out_2828594477497148677);
-void car_h_27(double *state, double *unused, double *out_3279583348191151873);
-void car_H_27(double *state, double *unused, double *out_5789550800551125562);
-void car_h_29(double *state, double *unused, double *out_3491251878159199063);
-void car_H_29(double *state, double *unused, double *out_3104556144436308467);
-void car_h_28(double *state, double *unused, double *out_2111839547115010136);
-void car_H_28(double *state, double *unused, double *out_1140925872870982216);
-void car_h_31(double *state, double *unused, double *out_271458526840810605);
-void car_H_31(double *state, double *unused, double *out_3454802579730500153);
+void car_err_fun(double *nom_x, double *delta_x, double *out_6455770263676897448);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_3264339508163218326);
+void car_H_mod_fun(double *state, double *out_2314116705851516155);
+void car_f_fun(double *state, double dt, double *out_3179221506286947540);
+void car_F_fun(double *state, double dt, double *out_2603402554270443885);
+void car_h_25(double *state, double *unused, double *out_7483142871930603684);
+void car_H_25(double *state, double *unused, double *out_1208863944137975522);
+void car_h_24(double *state, double *unused, double *out_5607942348347630047);
+void car_H_24(double *state, double *unused, double *out_25779713474104338);
+void car_h_30(double *state, double *unused, double *out_3845693343676581334);
+void car_H_30(double *state, double *unused, double *out_1079524996994735452);
+void car_h_26(double *state, double *unused, double *out_8847366611337426979);
+void car_H_26(double *state, double *unused, double *out_2532639374736080702);
+void car_h_27(double *state, double *unused, double *out_7323093963955398614);
+void car_H_27(double *state, double *unused, double *out_1095238314805689459);
+void car_h_29(double *state, double *unused, double *out_1155979923984264311);
+void car_H_29(double *state, double *unused, double *out_1589756341309127636);
+void car_h_28(double *state, double *unused, double *out_5021130674020958612);
+void car_H_28(double *state, double *unused, double *out_7891000058744771066);
+void car_h_31(double *state, double *unused, double *out_3082328551024898747);
+void car_H_31(double *state, double *unused, double *out_1239509906014935950);
 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_7911616955151800495);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7584171002491943517);
-void pose_H_mod_fun(double *state, double *out_8208145951121679600);
-void pose_f_fun(double *state, double dt, double *out_7339808689618378881);
-void pose_F_fun(double *state, double dt, double *out_4299830908048765183);
-void pose_h_4(double *state, double *unused, double *out_3838924425177329508);
-void pose_H_4(double *state, double *unused, double *out_6964376043796922763);
-void pose_h_10(double *state, double *unused, double *out_4478443536349725461);
-void pose_H_10(double *state, double *unused, double *out_8208658119783990230);
-void pose_h_13(double *state, double *unused, double *out_349204714200215709);
-void pose_H_13(double *state, double *unused, double *out_8270094204580296052);
-void pose_h_14(double *state, double *unused, double *out_5535558880524166264);
-void pose_H_14(double *state, double *unused, double *out_7519127173573144324);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_3211789106073125283);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6226563961506943969);
+void pose_H_mod_fun(double *state, double *out_5161461913541420634);
+void pose_f_fun(double *state, double dt, double *out_3057528827902898560);
+void pose_F_fun(double *state, double dt, double *out_2410705301866754520);
+void pose_h_4(double *state, double *unused, double *out_9112018432623595899);
+void pose_H_4(double *state, double *unused, double *out_5072803088510724449);
+void pose_h_10(double *state, double *unused, double *out_1222625076235428622);
+void pose_H_10(double *state, double *unused, double *out_6913994360612087924);
+void pose_h_13(double *state, double *unused, double *out_5539054079846767747);
+void pose_H_13(double *state, double *unused, double *out_5637405008192568553);
+void pose_h_14(double *state, double *unused, double *out_4189770429909065638);
+void pose_H_14(double *state, double *unused, double *out_1990014656215352153);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }