build

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-3c9721be-DEBUG";
+const uint8_t gitversion[19] = "DEV-06f6ff66-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-3c9721be-DEBUG
+DEV-06f6ff66-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_3432893246118840176) {
-   out_3432893246118840176[0] = delta_x[0] + nom_x[0];
-   out_3432893246118840176[1] = delta_x[1] + nom_x[1];
-   out_3432893246118840176[2] = delta_x[2] + nom_x[2];
-   out_3432893246118840176[3] = delta_x[3] + nom_x[3];
-   out_3432893246118840176[4] = delta_x[4] + nom_x[4];
-   out_3432893246118840176[5] = delta_x[5] + nom_x[5];
-   out_3432893246118840176[6] = delta_x[6] + nom_x[6];
-   out_3432893246118840176[7] = delta_x[7] + nom_x[7];
-   out_3432893246118840176[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_5769240825907262247) {
+   out_5769240825907262247[0] = delta_x[0] + nom_x[0];
+   out_5769240825907262247[1] = delta_x[1] + nom_x[1];
+   out_5769240825907262247[2] = delta_x[2] + nom_x[2];
+   out_5769240825907262247[3] = delta_x[3] + nom_x[3];
+   out_5769240825907262247[4] = delta_x[4] + nom_x[4];
+   out_5769240825907262247[5] = delta_x[5] + nom_x[5];
+   out_5769240825907262247[6] = delta_x[6] + nom_x[6];
+   out_5769240825907262247[7] = delta_x[7] + nom_x[7];
+   out_5769240825907262247[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_1800982245938664737) {
-   out_1800982245938664737[0] = -nom_x[0] + true_x[0];
-   out_1800982245938664737[1] = -nom_x[1] + true_x[1];
-   out_1800982245938664737[2] = -nom_x[2] + true_x[2];
-   out_1800982245938664737[3] = -nom_x[3] + true_x[3];
-   out_1800982245938664737[4] = -nom_x[4] + true_x[4];
-   out_1800982245938664737[5] = -nom_x[5] + true_x[5];
-   out_1800982245938664737[6] = -nom_x[6] + true_x[6];
-   out_1800982245938664737[7] = -nom_x[7] + true_x[7];
-   out_1800982245938664737[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_2180470504006262414) {
+   out_2180470504006262414[0] = -nom_x[0] + true_x[0];
+   out_2180470504006262414[1] = -nom_x[1] + true_x[1];
+   out_2180470504006262414[2] = -nom_x[2] + true_x[2];
+   out_2180470504006262414[3] = -nom_x[3] + true_x[3];
+   out_2180470504006262414[4] = -nom_x[4] + true_x[4];
+   out_2180470504006262414[5] = -nom_x[5] + true_x[5];
+   out_2180470504006262414[6] = -nom_x[6] + true_x[6];
+   out_2180470504006262414[7] = -nom_x[7] + true_x[7];
+   out_2180470504006262414[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_1928298863277366044) {
-   out_1928298863277366044[0] = 1.0;
-   out_1928298863277366044[1] = 0.0;
-   out_1928298863277366044[2] = 0.0;
-   out_1928298863277366044[3] = 0.0;
-   out_1928298863277366044[4] = 0.0;
-   out_1928298863277366044[5] = 0.0;
-   out_1928298863277366044[6] = 0.0;
-   out_1928298863277366044[7] = 0.0;
-   out_1928298863277366044[8] = 0.0;
-   out_1928298863277366044[9] = 0.0;
-   out_1928298863277366044[10] = 1.0;
-   out_1928298863277366044[11] = 0.0;
-   out_1928298863277366044[12] = 0.0;
-   out_1928298863277366044[13] = 0.0;
-   out_1928298863277366044[14] = 0.0;
-   out_1928298863277366044[15] = 0.0;
-   out_1928298863277366044[16] = 0.0;
-   out_1928298863277366044[17] = 0.0;
-   out_1928298863277366044[18] = 0.0;
-   out_1928298863277366044[19] = 0.0;
-   out_1928298863277366044[20] = 1.0;
-   out_1928298863277366044[21] = 0.0;
-   out_1928298863277366044[22] = 0.0;
-   out_1928298863277366044[23] = 0.0;
-   out_1928298863277366044[24] = 0.0;
-   out_1928298863277366044[25] = 0.0;
-   out_1928298863277366044[26] = 0.0;
-   out_1928298863277366044[27] = 0.0;
-   out_1928298863277366044[28] = 0.0;
-   out_1928298863277366044[29] = 0.0;
-   out_1928298863277366044[30] = 1.0;
-   out_1928298863277366044[31] = 0.0;
-   out_1928298863277366044[32] = 0.0;
-   out_1928298863277366044[33] = 0.0;
-   out_1928298863277366044[34] = 0.0;
-   out_1928298863277366044[35] = 0.0;
-   out_1928298863277366044[36] = 0.0;
-   out_1928298863277366044[37] = 0.0;
-   out_1928298863277366044[38] = 0.0;
-   out_1928298863277366044[39] = 0.0;
-   out_1928298863277366044[40] = 1.0;
-   out_1928298863277366044[41] = 0.0;
-   out_1928298863277366044[42] = 0.0;
-   out_1928298863277366044[43] = 0.0;
-   out_1928298863277366044[44] = 0.0;
-   out_1928298863277366044[45] = 0.0;
-   out_1928298863277366044[46] = 0.0;
-   out_1928298863277366044[47] = 0.0;
-   out_1928298863277366044[48] = 0.0;
-   out_1928298863277366044[49] = 0.0;
-   out_1928298863277366044[50] = 1.0;
-   out_1928298863277366044[51] = 0.0;
-   out_1928298863277366044[52] = 0.0;
-   out_1928298863277366044[53] = 0.0;
-   out_1928298863277366044[54] = 0.0;
-   out_1928298863277366044[55] = 0.0;
-   out_1928298863277366044[56] = 0.0;
-   out_1928298863277366044[57] = 0.0;
-   out_1928298863277366044[58] = 0.0;
-   out_1928298863277366044[59] = 0.0;
-   out_1928298863277366044[60] = 1.0;
-   out_1928298863277366044[61] = 0.0;
-   out_1928298863277366044[62] = 0.0;
-   out_1928298863277366044[63] = 0.0;
-   out_1928298863277366044[64] = 0.0;
-   out_1928298863277366044[65] = 0.0;
-   out_1928298863277366044[66] = 0.0;
-   out_1928298863277366044[67] = 0.0;
-   out_1928298863277366044[68] = 0.0;
-   out_1928298863277366044[69] = 0.0;
-   out_1928298863277366044[70] = 1.0;
-   out_1928298863277366044[71] = 0.0;
-   out_1928298863277366044[72] = 0.0;
-   out_1928298863277366044[73] = 0.0;
-   out_1928298863277366044[74] = 0.0;
-   out_1928298863277366044[75] = 0.0;
-   out_1928298863277366044[76] = 0.0;
-   out_1928298863277366044[77] = 0.0;
-   out_1928298863277366044[78] = 0.0;
-   out_1928298863277366044[79] = 0.0;
-   out_1928298863277366044[80] = 1.0;
+void H_mod_fun(double *state, double *out_199921167776384783) {
+   out_199921167776384783[0] = 1.0;
+   out_199921167776384783[1] = 0.0;
+   out_199921167776384783[2] = 0.0;
+   out_199921167776384783[3] = 0.0;
+   out_199921167776384783[4] = 0.0;
+   out_199921167776384783[5] = 0.0;
+   out_199921167776384783[6] = 0.0;
+   out_199921167776384783[7] = 0.0;
+   out_199921167776384783[8] = 0.0;
+   out_199921167776384783[9] = 0.0;
+   out_199921167776384783[10] = 1.0;
+   out_199921167776384783[11] = 0.0;
+   out_199921167776384783[12] = 0.0;
+   out_199921167776384783[13] = 0.0;
+   out_199921167776384783[14] = 0.0;
+   out_199921167776384783[15] = 0.0;
+   out_199921167776384783[16] = 0.0;
+   out_199921167776384783[17] = 0.0;
+   out_199921167776384783[18] = 0.0;
+   out_199921167776384783[19] = 0.0;
+   out_199921167776384783[20] = 1.0;
+   out_199921167776384783[21] = 0.0;
+   out_199921167776384783[22] = 0.0;
+   out_199921167776384783[23] = 0.0;
+   out_199921167776384783[24] = 0.0;
+   out_199921167776384783[25] = 0.0;
+   out_199921167776384783[26] = 0.0;
+   out_199921167776384783[27] = 0.0;
+   out_199921167776384783[28] = 0.0;
+   out_199921167776384783[29] = 0.0;
+   out_199921167776384783[30] = 1.0;
+   out_199921167776384783[31] = 0.0;
+   out_199921167776384783[32] = 0.0;
+   out_199921167776384783[33] = 0.0;
+   out_199921167776384783[34] = 0.0;
+   out_199921167776384783[35] = 0.0;
+   out_199921167776384783[36] = 0.0;
+   out_199921167776384783[37] = 0.0;
+   out_199921167776384783[38] = 0.0;
+   out_199921167776384783[39] = 0.0;
+   out_199921167776384783[40] = 1.0;
+   out_199921167776384783[41] = 0.0;
+   out_199921167776384783[42] = 0.0;
+   out_199921167776384783[43] = 0.0;
+   out_199921167776384783[44] = 0.0;
+   out_199921167776384783[45] = 0.0;
+   out_199921167776384783[46] = 0.0;
+   out_199921167776384783[47] = 0.0;
+   out_199921167776384783[48] = 0.0;
+   out_199921167776384783[49] = 0.0;
+   out_199921167776384783[50] = 1.0;
+   out_199921167776384783[51] = 0.0;
+   out_199921167776384783[52] = 0.0;
+   out_199921167776384783[53] = 0.0;
+   out_199921167776384783[54] = 0.0;
+   out_199921167776384783[55] = 0.0;
+   out_199921167776384783[56] = 0.0;
+   out_199921167776384783[57] = 0.0;
+   out_199921167776384783[58] = 0.0;
+   out_199921167776384783[59] = 0.0;
+   out_199921167776384783[60] = 1.0;
+   out_199921167776384783[61] = 0.0;
+   out_199921167776384783[62] = 0.0;
+   out_199921167776384783[63] = 0.0;
+   out_199921167776384783[64] = 0.0;
+   out_199921167776384783[65] = 0.0;
+   out_199921167776384783[66] = 0.0;
+   out_199921167776384783[67] = 0.0;
+   out_199921167776384783[68] = 0.0;
+   out_199921167776384783[69] = 0.0;
+   out_199921167776384783[70] = 1.0;
+   out_199921167776384783[71] = 0.0;
+   out_199921167776384783[72] = 0.0;
+   out_199921167776384783[73] = 0.0;
+   out_199921167776384783[74] = 0.0;
+   out_199921167776384783[75] = 0.0;
+   out_199921167776384783[76] = 0.0;
+   out_199921167776384783[77] = 0.0;
+   out_199921167776384783[78] = 0.0;
+   out_199921167776384783[79] = 0.0;
+   out_199921167776384783[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_4615698619111285378) {
-   out_4615698619111285378[0] = state[0];
-   out_4615698619111285378[1] = state[1];
-   out_4615698619111285378[2] = state[2];
-   out_4615698619111285378[3] = state[3];
-   out_4615698619111285378[4] = state[4];
-   out_4615698619111285378[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_4615698619111285378[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_4615698619111285378[7] = state[7];
-   out_4615698619111285378[8] = state[8];
+void f_fun(double *state, double dt, double *out_1042331506821406330) {
+   out_1042331506821406330[0] = state[0];
+   out_1042331506821406330[1] = state[1];
+   out_1042331506821406330[2] = state[2];
+   out_1042331506821406330[3] = state[3];
+   out_1042331506821406330[4] = state[4];
+   out_1042331506821406330[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_1042331506821406330[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_1042331506821406330[7] = state[7];
+   out_1042331506821406330[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_4973087374980231388) {
-   out_4973087374980231388[0] = 1;
-   out_4973087374980231388[1] = 0;
-   out_4973087374980231388[2] = 0;
-   out_4973087374980231388[3] = 0;
-   out_4973087374980231388[4] = 0;
-   out_4973087374980231388[5] = 0;
-   out_4973087374980231388[6] = 0;
-   out_4973087374980231388[7] = 0;
-   out_4973087374980231388[8] = 0;
-   out_4973087374980231388[9] = 0;
-   out_4973087374980231388[10] = 1;
-   out_4973087374980231388[11] = 0;
-   out_4973087374980231388[12] = 0;
-   out_4973087374980231388[13] = 0;
-   out_4973087374980231388[14] = 0;
-   out_4973087374980231388[15] = 0;
-   out_4973087374980231388[16] = 0;
-   out_4973087374980231388[17] = 0;
-   out_4973087374980231388[18] = 0;
-   out_4973087374980231388[19] = 0;
-   out_4973087374980231388[20] = 1;
-   out_4973087374980231388[21] = 0;
-   out_4973087374980231388[22] = 0;
-   out_4973087374980231388[23] = 0;
-   out_4973087374980231388[24] = 0;
-   out_4973087374980231388[25] = 0;
-   out_4973087374980231388[26] = 0;
-   out_4973087374980231388[27] = 0;
-   out_4973087374980231388[28] = 0;
-   out_4973087374980231388[29] = 0;
-   out_4973087374980231388[30] = 1;
-   out_4973087374980231388[31] = 0;
-   out_4973087374980231388[32] = 0;
-   out_4973087374980231388[33] = 0;
-   out_4973087374980231388[34] = 0;
-   out_4973087374980231388[35] = 0;
-   out_4973087374980231388[36] = 0;
-   out_4973087374980231388[37] = 0;
-   out_4973087374980231388[38] = 0;
-   out_4973087374980231388[39] = 0;
-   out_4973087374980231388[40] = 1;
-   out_4973087374980231388[41] = 0;
-   out_4973087374980231388[42] = 0;
-   out_4973087374980231388[43] = 0;
-   out_4973087374980231388[44] = 0;
-   out_4973087374980231388[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_4973087374980231388[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_4973087374980231388[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_4973087374980231388[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_4973087374980231388[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_4973087374980231388[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_4973087374980231388[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_4973087374980231388[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_4973087374980231388[53] = -9.8100000000000005*dt;
-   out_4973087374980231388[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_4973087374980231388[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_4973087374980231388[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_4973087374980231388[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_4973087374980231388[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_4973087374980231388[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_4973087374980231388[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_4973087374980231388[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_4973087374980231388[62] = 0;
-   out_4973087374980231388[63] = 0;
-   out_4973087374980231388[64] = 0;
-   out_4973087374980231388[65] = 0;
-   out_4973087374980231388[66] = 0;
-   out_4973087374980231388[67] = 0;
-   out_4973087374980231388[68] = 0;
-   out_4973087374980231388[69] = 0;
-   out_4973087374980231388[70] = 1;
-   out_4973087374980231388[71] = 0;
-   out_4973087374980231388[72] = 0;
-   out_4973087374980231388[73] = 0;
-   out_4973087374980231388[74] = 0;
-   out_4973087374980231388[75] = 0;
-   out_4973087374980231388[76] = 0;
-   out_4973087374980231388[77] = 0;
-   out_4973087374980231388[78] = 0;
-   out_4973087374980231388[79] = 0;
-   out_4973087374980231388[80] = 1;
+void F_fun(double *state, double dt, double *out_8550568359085178836) {
+   out_8550568359085178836[0] = 1;
+   out_8550568359085178836[1] = 0;
+   out_8550568359085178836[2] = 0;
+   out_8550568359085178836[3] = 0;
+   out_8550568359085178836[4] = 0;
+   out_8550568359085178836[5] = 0;
+   out_8550568359085178836[6] = 0;
+   out_8550568359085178836[7] = 0;
+   out_8550568359085178836[8] = 0;
+   out_8550568359085178836[9] = 0;
+   out_8550568359085178836[10] = 1;
+   out_8550568359085178836[11] = 0;
+   out_8550568359085178836[12] = 0;
+   out_8550568359085178836[13] = 0;
+   out_8550568359085178836[14] = 0;
+   out_8550568359085178836[15] = 0;
+   out_8550568359085178836[16] = 0;
+   out_8550568359085178836[17] = 0;
+   out_8550568359085178836[18] = 0;
+   out_8550568359085178836[19] = 0;
+   out_8550568359085178836[20] = 1;
+   out_8550568359085178836[21] = 0;
+   out_8550568359085178836[22] = 0;
+   out_8550568359085178836[23] = 0;
+   out_8550568359085178836[24] = 0;
+   out_8550568359085178836[25] = 0;
+   out_8550568359085178836[26] = 0;
+   out_8550568359085178836[27] = 0;
+   out_8550568359085178836[28] = 0;
+   out_8550568359085178836[29] = 0;
+   out_8550568359085178836[30] = 1;
+   out_8550568359085178836[31] = 0;
+   out_8550568359085178836[32] = 0;
+   out_8550568359085178836[33] = 0;
+   out_8550568359085178836[34] = 0;
+   out_8550568359085178836[35] = 0;
+   out_8550568359085178836[36] = 0;
+   out_8550568359085178836[37] = 0;
+   out_8550568359085178836[38] = 0;
+   out_8550568359085178836[39] = 0;
+   out_8550568359085178836[40] = 1;
+   out_8550568359085178836[41] = 0;
+   out_8550568359085178836[42] = 0;
+   out_8550568359085178836[43] = 0;
+   out_8550568359085178836[44] = 0;
+   out_8550568359085178836[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_8550568359085178836[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_8550568359085178836[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_8550568359085178836[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_8550568359085178836[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_8550568359085178836[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_8550568359085178836[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_8550568359085178836[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_8550568359085178836[53] = -9.8100000000000005*dt;
+   out_8550568359085178836[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_8550568359085178836[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_8550568359085178836[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_8550568359085178836[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_8550568359085178836[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_8550568359085178836[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_8550568359085178836[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_8550568359085178836[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_8550568359085178836[62] = 0;
+   out_8550568359085178836[63] = 0;
+   out_8550568359085178836[64] = 0;
+   out_8550568359085178836[65] = 0;
+   out_8550568359085178836[66] = 0;
+   out_8550568359085178836[67] = 0;
+   out_8550568359085178836[68] = 0;
+   out_8550568359085178836[69] = 0;
+   out_8550568359085178836[70] = 1;
+   out_8550568359085178836[71] = 0;
+   out_8550568359085178836[72] = 0;
+   out_8550568359085178836[73] = 0;
+   out_8550568359085178836[74] = 0;
+   out_8550568359085178836[75] = 0;
+   out_8550568359085178836[76] = 0;
+   out_8550568359085178836[77] = 0;
+   out_8550568359085178836[78] = 0;
+   out_8550568359085178836[79] = 0;
+   out_8550568359085178836[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_725345121681315694) {
-   out_725345121681315694[0] = state[6];
+void h_25(double *state, double *unused, double *out_5837605696441742449) {
+   out_5837605696441742449[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_140226422483346712) {
-   out_140226422483346712[0] = 0;
-   out_140226422483346712[1] = 0;
-   out_140226422483346712[2] = 0;
-   out_140226422483346712[3] = 0;
-   out_140226422483346712[4] = 0;
-   out_140226422483346712[5] = 0;
-   out_140226422483346712[6] = 1;
-   out_140226422483346712[7] = 0;
-   out_140226422483346712[8] = 0;
+void H_25(double *state, double *unused, double *out_8993267058135852454) {
+   out_8993267058135852454[0] = 0;
+   out_8993267058135852454[1] = 0;
+   out_8993267058135852454[2] = 0;
+   out_8993267058135852454[3] = 0;
+   out_8993267058135852454[4] = 0;
+   out_8993267058135852454[5] = 0;
+   out_8993267058135852454[6] = 1;
+   out_8993267058135852454[7] = 0;
+   out_8993267058135852454[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_4245224659262713745) {
-   out_4245224659262713745[0] = state[4];
-   out_4245224659262713745[1] = state[5];
+void h_24(double *state, double *unused, double *out_5044076517459918856) {
+   out_5044076517459918856[0] = state[4];
+   out_5044076517459918856[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_610683904526685436) {
-   out_610683904526685436[0] = 0;
-   out_610683904526685436[1] = 0;
-   out_610683904526685436[2] = 0;
-   out_610683904526685436[3] = 0;
-   out_610683904526685436[4] = 1;
-   out_610683904526685436[5] = 0;
-   out_610683904526685436[6] = 0;
-   out_610683904526685436[7] = 0;
-   out_610683904526685436[8] = 0;
-   out_610683904526685436[9] = 0;
-   out_610683904526685436[10] = 0;
-   out_610683904526685436[11] = 0;
-   out_610683904526685436[12] = 0;
-   out_610683904526685436[13] = 0;
-   out_610683904526685436[14] = 1;
-   out_610683904526685436[15] = 0;
-   out_610683904526685436[16] = 0;
-   out_610683904526685436[17] = 0;
+void H_24(double *state, double *unused, double *out_7280827416568199596) {
+   out_7280827416568199596[0] = 0;
+   out_7280827416568199596[1] = 0;
+   out_7280827416568199596[2] = 0;
+   out_7280827416568199596[3] = 0;
+   out_7280827416568199596[4] = 1;
+   out_7280827416568199596[5] = 0;
+   out_7280827416568199596[6] = 0;
+   out_7280827416568199596[7] = 0;
+   out_7280827416568199596[8] = 0;
+   out_7280827416568199596[9] = 0;
+   out_7280827416568199596[10] = 0;
+   out_7280827416568199596[11] = 0;
+   out_7280827416568199596[12] = 0;
+   out_7280827416568199596[13] = 0;
+   out_7280827416568199596[14] = 1;
+   out_7280827416568199596[15] = 0;
+   out_7280827416568199596[16] = 0;
+   out_7280827416568199596[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_882531790032444839) {
-   out_882531790032444839[0] = state[4];
+void h_30(double *state, double *unused, double *out_5983125520662397420) {
+   out_5983125520662397420[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_269565369626586782) {
-   out_269565369626586782[0] = 0;
-   out_269565369626586782[1] = 0;
-   out_269565369626586782[2] = 0;
-   out_269565369626586782[3] = 0;
-   out_269565369626586782[4] = 1;
-   out_269565369626586782[5] = 0;
-   out_269565369626586782[6] = 0;
-   out_269565369626586782[7] = 0;
-   out_269565369626586782[8] = 0;
+void H_30(double *state, double *unused, double *out_2076576716644235699) {
+   out_2076576716644235699[0] = 0;
+   out_2076576716644235699[1] = 0;
+   out_2076576716644235699[2] = 0;
+   out_2076576716644235699[3] = 0;
+   out_2076576716644235699[4] = 1;
+   out_2076576716644235699[5] = 0;
+   out_2076576716644235699[6] = 0;
+   out_2076576716644235699[7] = 0;
+   out_2076576716644235699[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_1240296775338871155) {
-   out_1240296775338871155[0] = state[7];
+void h_26(double *state, double *unused, double *out_234514271167533250) {
+   out_234514271167533250[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_3881729741357402936) {
-   out_3881729741357402936[0] = 0;
-   out_3881729741357402936[1] = 0;
-   out_3881729741357402936[2] = 0;
-   out_3881729741357402936[3] = 0;
-   out_3881729741357402936[4] = 0;
-   out_3881729741357402936[5] = 0;
-   out_3881729741357402936[6] = 0;
-   out_3881729741357402936[7] = 1;
-   out_3881729741357402936[8] = 0;
+void H_26(double *state, double *unused, double *out_5688741088375051853) {
+   out_5688741088375051853[0] = 0;
+   out_5688741088375051853[1] = 0;
+   out_5688741088375051853[2] = 0;
+   out_5688741088375051853[3] = 0;
+   out_5688741088375051853[4] = 0;
+   out_5688741088375051853[5] = 0;
+   out_5688741088375051853[6] = 0;
+   out_5688741088375051853[7] = 1;
+   out_5688741088375051853[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_4276328145979529951) {
-   out_4276328145979529951[0] = state[3];
+void h_27(double *state, double *unused, double *out_7383231161432484220) {
+   out_7383231161432484220[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_2444328681427011693) {
-   out_2444328681427011693[0] = 0;
-   out_2444328681427011693[1] = 0;
-   out_2444328681427011693[2] = 0;
-   out_2444328681427011693[3] = 1;
-   out_2444328681427011693[4] = 0;
-   out_2444328681427011693[5] = 0;
-   out_2444328681427011693[6] = 0;
-   out_2444328681427011693[7] = 0;
-   out_2444328681427011693[8] = 0;
+void H_27(double *state, double *unused, double *out_4251340028444660610) {
+   out_4251340028444660610[0] = 0;
+   out_4251340028444660610[1] = 0;
+   out_4251340028444660610[2] = 0;
+   out_4251340028444660610[3] = 1;
+   out_4251340028444660610[4] = 0;
+   out_4251340028444660610[5] = 0;
+   out_4251340028444660610[6] = 0;
+   out_4251340028444660610[7] = 0;
+   out_4251340028444660610[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_3486937110841142490) {
-   out_3486937110841142490[0] = state[1];
+void h_29(double *state, double *unused, double *out_7461945285386308551) {
+   out_7461945285386308551[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_240665974687805402) {
-   out_240665974687805402[0] = 0;
-   out_240665974687805402[1] = 1;
-   out_240665974687805402[2] = 0;
-   out_240665974687805402[3] = 0;
-   out_240665974687805402[4] = 0;
-   out_240665974687805402[5] = 0;
-   out_240665974687805402[6] = 0;
-   out_240665974687805402[7] = 0;
-   out_240665974687805402[8] = 0;
+void H_29(double *state, double *unused, double *out_5964702755314211643) {
+   out_5964702755314211643[0] = 0;
+   out_5964702755314211643[1] = 1;
+   out_5964702755314211643[2] = 0;
+   out_5964702755314211643[3] = 0;
+   out_5964702755314211643[4] = 0;
+   out_5964702755314211643[5] = 0;
+   out_5964702755314211643[6] = 0;
+   out_5964702755314211643[7] = 0;
+   out_5964702755314211643[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_4705641026027310814) {
-   out_4705641026027310814[0] = state[0];
+void h_28(double *state, double *unused, double *out_2381557893771638575) {
+   out_2381557893771638575[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_9206653648343458316) {
-   out_9206653648343458316[0] = 1;
-   out_9206653648343458316[1] = 0;
-   out_9206653648343458316[2] = 0;
-   out_9206653648343458316[3] = 0;
-   out_9206653648343458316[4] = 0;
-   out_9206653648343458316[5] = 0;
-   out_9206653648343458316[6] = 0;
-   out_9206653648343458316[7] = 0;
-   out_9206653648343458316[8] = 0;
+void H_28(double *state, double *unused, double *out_7399642301325809399) {
+   out_7399642301325809399[0] = 1;
+   out_7399642301325809399[1] = 0;
+   out_7399642301325809399[2] = 0;
+   out_7399642301325809399[3] = 0;
+   out_7399642301325809399[4] = 0;
+   out_7399642301325809399[5] = 0;
+   out_7399642301325809399[6] = 0;
+   out_7399642301325809399[7] = 0;
+   out_7399642301325809399[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_6045490104669035242) {
-   out_6045490104669035242[0] = state[8];
+void h_31(double *state, double *unused, double *out_4845873120447136726) {
+   out_4845873120447136726[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_109580460606386284) {
-   out_109580460606386284[0] = 0;
-   out_109580460606386284[1] = 0;
-   out_109580460606386284[2] = 0;
-   out_109580460606386284[3] = 0;
-   out_109580460606386284[4] = 0;
-   out_109580460606386284[5] = 0;
-   out_109580460606386284[6] = 0;
-   out_109580460606386284[7] = 0;
-   out_109580460606386284[8] = 1;
+void H_31(double *state, double *unused, double *out_8962621096258892026) {
+   out_8962621096258892026[0] = 0;
+   out_8962621096258892026[1] = 0;
+   out_8962621096258892026[2] = 0;
+   out_8962621096258892026[3] = 0;
+   out_8962621096258892026[4] = 0;
+   out_8962621096258892026[5] = 0;
+   out_8962621096258892026[6] = 0;
+   out_8962621096258892026[7] = 0;
+   out_8962621096258892026[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_3432893246118840176) {
-  err_fun(nom_x, delta_x, out_3432893246118840176);
+void car_err_fun(double *nom_x, double *delta_x, double *out_5769240825907262247) {
+  err_fun(nom_x, delta_x, out_5769240825907262247);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_1800982245938664737) {
-  inv_err_fun(nom_x, true_x, out_1800982245938664737);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_2180470504006262414) {
+  inv_err_fun(nom_x, true_x, out_2180470504006262414);
 }
-void car_H_mod_fun(double *state, double *out_1928298863277366044) {
-  H_mod_fun(state, out_1928298863277366044);
+void car_H_mod_fun(double *state, double *out_199921167776384783) {
+  H_mod_fun(state, out_199921167776384783);
 }
-void car_f_fun(double *state, double dt, double *out_4615698619111285378) {
-  f_fun(state,  dt, out_4615698619111285378);
+void car_f_fun(double *state, double dt, double *out_1042331506821406330) {
+  f_fun(state,  dt, out_1042331506821406330);
 }
-void car_F_fun(double *state, double dt, double *out_4973087374980231388) {
-  F_fun(state,  dt, out_4973087374980231388);
+void car_F_fun(double *state, double dt, double *out_8550568359085178836) {
+  F_fun(state,  dt, out_8550568359085178836);
 }
-void car_h_25(double *state, double *unused, double *out_725345121681315694) {
-  h_25(state, unused, out_725345121681315694);
+void car_h_25(double *state, double *unused, double *out_5837605696441742449) {
+  h_25(state, unused, out_5837605696441742449);
 }
-void car_H_25(double *state, double *unused, double *out_140226422483346712) {
-  H_25(state, unused, out_140226422483346712);
+void car_H_25(double *state, double *unused, double *out_8993267058135852454) {
+  H_25(state, unused, out_8993267058135852454);
 }
-void car_h_24(double *state, double *unused, double *out_4245224659262713745) {
-  h_24(state, unused, out_4245224659262713745);
+void car_h_24(double *state, double *unused, double *out_5044076517459918856) {
+  h_24(state, unused, out_5044076517459918856);
 }
-void car_H_24(double *state, double *unused, double *out_610683904526685436) {
-  H_24(state, unused, out_610683904526685436);
+void car_H_24(double *state, double *unused, double *out_7280827416568199596) {
+  H_24(state, unused, out_7280827416568199596);
 }
-void car_h_30(double *state, double *unused, double *out_882531790032444839) {
-  h_30(state, unused, out_882531790032444839);
+void car_h_30(double *state, double *unused, double *out_5983125520662397420) {
+  h_30(state, unused, out_5983125520662397420);
 }
-void car_H_30(double *state, double *unused, double *out_269565369626586782) {
-  H_30(state, unused, out_269565369626586782);
+void car_H_30(double *state, double *unused, double *out_2076576716644235699) {
+  H_30(state, unused, out_2076576716644235699);
 }
-void car_h_26(double *state, double *unused, double *out_1240296775338871155) {
-  h_26(state, unused, out_1240296775338871155);
+void car_h_26(double *state, double *unused, double *out_234514271167533250) {
+  h_26(state, unused, out_234514271167533250);
 }
-void car_H_26(double *state, double *unused, double *out_3881729741357402936) {
-  H_26(state, unused, out_3881729741357402936);
+void car_H_26(double *state, double *unused, double *out_5688741088375051853) {
+  H_26(state, unused, out_5688741088375051853);
 }
-void car_h_27(double *state, double *unused, double *out_4276328145979529951) {
-  h_27(state, unused, out_4276328145979529951);
+void car_h_27(double *state, double *unused, double *out_7383231161432484220) {
+  h_27(state, unused, out_7383231161432484220);
 }
-void car_H_27(double *state, double *unused, double *out_2444328681427011693) {
-  H_27(state, unused, out_2444328681427011693);
+void car_H_27(double *state, double *unused, double *out_4251340028444660610) {
+  H_27(state, unused, out_4251340028444660610);
 }
-void car_h_29(double *state, double *unused, double *out_3486937110841142490) {
-  h_29(state, unused, out_3486937110841142490);
+void car_h_29(double *state, double *unused, double *out_7461945285386308551) {
+  h_29(state, unused, out_7461945285386308551);
 }
-void car_H_29(double *state, double *unused, double *out_240665974687805402) {
-  H_29(state, unused, out_240665974687805402);
+void car_H_29(double *state, double *unused, double *out_5964702755314211643) {
+  H_29(state, unused, out_5964702755314211643);
 }
-void car_h_28(double *state, double *unused, double *out_4705641026027310814) {
-  h_28(state, unused, out_4705641026027310814);
+void car_h_28(double *state, double *unused, double *out_2381557893771638575) {
+  h_28(state, unused, out_2381557893771638575);
 }
-void car_H_28(double *state, double *unused, double *out_9206653648343458316) {
-  H_28(state, unused, out_9206653648343458316);
+void car_H_28(double *state, double *unused, double *out_7399642301325809399) {
+  H_28(state, unused, out_7399642301325809399);
 }
-void car_h_31(double *state, double *unused, double *out_6045490104669035242) {
-  h_31(state, unused, out_6045490104669035242);
+void car_h_31(double *state, double *unused, double *out_4845873120447136726) {
+  h_31(state, unused, out_4845873120447136726);
 }
-void car_H_31(double *state, double *unused, double *out_109580460606386284) {
-  H_31(state, unused, out_109580460606386284);
+void car_H_31(double *state, double *unused, double *out_8962621096258892026) {
+  H_31(state, unused, out_8962621096258892026);
 }
 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_3432893246118840176);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_1800982245938664737);
-void car_H_mod_fun(double *state, double *out_1928298863277366044);
-void car_f_fun(double *state, double dt, double *out_4615698619111285378);
-void car_F_fun(double *state, double dt, double *out_4973087374980231388);
-void car_h_25(double *state, double *unused, double *out_725345121681315694);
-void car_H_25(double *state, double *unused, double *out_140226422483346712);
-void car_h_24(double *state, double *unused, double *out_4245224659262713745);
-void car_H_24(double *state, double *unused, double *out_610683904526685436);
-void car_h_30(double *state, double *unused, double *out_882531790032444839);
-void car_H_30(double *state, double *unused, double *out_269565369626586782);
-void car_h_26(double *state, double *unused, double *out_1240296775338871155);
-void car_H_26(double *state, double *unused, double *out_3881729741357402936);
-void car_h_27(double *state, double *unused, double *out_4276328145979529951);
-void car_H_27(double *state, double *unused, double *out_2444328681427011693);
-void car_h_29(double *state, double *unused, double *out_3486937110841142490);
-void car_H_29(double *state, double *unused, double *out_240665974687805402);
-void car_h_28(double *state, double *unused, double *out_4705641026027310814);
-void car_H_28(double *state, double *unused, double *out_9206653648343458316);
-void car_h_31(double *state, double *unused, double *out_6045490104669035242);
-void car_H_31(double *state, double *unused, double *out_109580460606386284);
+void car_err_fun(double *nom_x, double *delta_x, double *out_5769240825907262247);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_2180470504006262414);
+void car_H_mod_fun(double *state, double *out_199921167776384783);
+void car_f_fun(double *state, double dt, double *out_1042331506821406330);
+void car_F_fun(double *state, double dt, double *out_8550568359085178836);
+void car_h_25(double *state, double *unused, double *out_5837605696441742449);
+void car_H_25(double *state, double *unused, double *out_8993267058135852454);
+void car_h_24(double *state, double *unused, double *out_5044076517459918856);
+void car_H_24(double *state, double *unused, double *out_7280827416568199596);
+void car_h_30(double *state, double *unused, double *out_5983125520662397420);
+void car_H_30(double *state, double *unused, double *out_2076576716644235699);
+void car_h_26(double *state, double *unused, double *out_234514271167533250);
+void car_H_26(double *state, double *unused, double *out_5688741088375051853);
+void car_h_27(double *state, double *unused, double *out_7383231161432484220);
+void car_H_27(double *state, double *unused, double *out_4251340028444660610);
+void car_h_29(double *state, double *unused, double *out_7461945285386308551);
+void car_H_29(double *state, double *unused, double *out_5964702755314211643);
+void car_h_28(double *state, double *unused, double *out_2381557893771638575);
+void car_H_28(double *state, double *unused, double *out_7399642301325809399);
+void car_h_31(double *state, double *unused, double *out_4845873120447136726);
+void car_H_31(double *state, double *unused, double *out_8962621096258892026);
 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_845527351868247428);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6367069276716114158);
-void pose_H_mod_fun(double *state, double *out_7305256634145735915);
-void pose_f_fun(double *state, double dt, double *out_9088132790328569434);
-void pose_F_fun(double *state, double dt, double *out_729090673475074795);
-void pose_h_4(double *state, double *unused, double *out_8764272932229882331);
-void pose_H_4(double *state, double *unused, double *out_5988969054524734966);
-void pose_h_10(double *state, double *unused, double *out_6414221724467934748);
-void pose_H_10(double *state, double *unused, double *out_1153388749736371435);
-void pose_h_13(double *state, double *unused, double *out_5610980844253424068);
-void pose_H_13(double *state, double *unused, double *out_2776695229192402165);
-void pose_h_14(double *state, double *unused, double *out_4768711222929490371);
-void pose_H_14(double *state, double *unused, double *out_9071757486820107262);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_7746602045410251207);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7631524114608656485);
+void pose_H_mod_fun(double *state, double *out_506241675272442753);
+void pose_f_fun(double *state, double dt, double *out_4178544833437689493);
+void pose_F_fun(double *state, double dt, double *out_8152186578689356973);
+void pose_h_4(double *state, double *unused, double *out_6179676342109340429);
+void pose_H_4(double *state, double *unused, double *out_1260402677327155360);
+void pose_h_10(double *state, double *unused, double *out_9202982941819295536);
+void pose_H_10(double *state, double *unused, double *out_6171075050568888644);
+void pose_h_13(double *state, double *unused, double *out_5137979176045158123);
+void pose_H_13(double *state, double *unused, double *out_4472676502659488161);
+void pose_h_14(double *state, double *unused, double *out_7033934925710428047);
+void pose_H_14(double *state, double *unused, double *out_1822385754968216936);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }