build

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-284dbddd-DEBUG";
+const uint8_t gitversion[19] = "DEV-9263fd7c-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-284dbddd-DEBUG
+DEV-9263fd7c-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_4436222918597397805) {
-   out_4436222918597397805[0] = delta_x[0] + nom_x[0];
-   out_4436222918597397805[1] = delta_x[1] + nom_x[1];
-   out_4436222918597397805[2] = delta_x[2] + nom_x[2];
-   out_4436222918597397805[3] = delta_x[3] + nom_x[3];
-   out_4436222918597397805[4] = delta_x[4] + nom_x[4];
-   out_4436222918597397805[5] = delta_x[5] + nom_x[5];
-   out_4436222918597397805[6] = delta_x[6] + nom_x[6];
-   out_4436222918597397805[7] = delta_x[7] + nom_x[7];
-   out_4436222918597397805[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_9105893539066631470) {
+   out_9105893539066631470[0] = delta_x[0] + nom_x[0];
+   out_9105893539066631470[1] = delta_x[1] + nom_x[1];
+   out_9105893539066631470[2] = delta_x[2] + nom_x[2];
+   out_9105893539066631470[3] = delta_x[3] + nom_x[3];
+   out_9105893539066631470[4] = delta_x[4] + nom_x[4];
+   out_9105893539066631470[5] = delta_x[5] + nom_x[5];
+   out_9105893539066631470[6] = delta_x[6] + nom_x[6];
+   out_9105893539066631470[7] = delta_x[7] + nom_x[7];
+   out_9105893539066631470[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_5455437002668972894) {
-   out_5455437002668972894[0] = -nom_x[0] + true_x[0];
-   out_5455437002668972894[1] = -nom_x[1] + true_x[1];
-   out_5455437002668972894[2] = -nom_x[2] + true_x[2];
-   out_5455437002668972894[3] = -nom_x[3] + true_x[3];
-   out_5455437002668972894[4] = -nom_x[4] + true_x[4];
-   out_5455437002668972894[5] = -nom_x[5] + true_x[5];
-   out_5455437002668972894[6] = -nom_x[6] + true_x[6];
-   out_5455437002668972894[7] = -nom_x[7] + true_x[7];
-   out_5455437002668972894[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_2201885575610208115) {
+   out_2201885575610208115[0] = -nom_x[0] + true_x[0];
+   out_2201885575610208115[1] = -nom_x[1] + true_x[1];
+   out_2201885575610208115[2] = -nom_x[2] + true_x[2];
+   out_2201885575610208115[3] = -nom_x[3] + true_x[3];
+   out_2201885575610208115[4] = -nom_x[4] + true_x[4];
+   out_2201885575610208115[5] = -nom_x[5] + true_x[5];
+   out_2201885575610208115[6] = -nom_x[6] + true_x[6];
+   out_2201885575610208115[7] = -nom_x[7] + true_x[7];
+   out_2201885575610208115[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_210375879520347438) {
-   out_210375879520347438[0] = 1.0;
-   out_210375879520347438[1] = 0.0;
-   out_210375879520347438[2] = 0.0;
-   out_210375879520347438[3] = 0.0;
-   out_210375879520347438[4] = 0.0;
-   out_210375879520347438[5] = 0.0;
-   out_210375879520347438[6] = 0.0;
-   out_210375879520347438[7] = 0.0;
-   out_210375879520347438[8] = 0.0;
-   out_210375879520347438[9] = 0.0;
-   out_210375879520347438[10] = 1.0;
-   out_210375879520347438[11] = 0.0;
-   out_210375879520347438[12] = 0.0;
-   out_210375879520347438[13] = 0.0;
-   out_210375879520347438[14] = 0.0;
-   out_210375879520347438[15] = 0.0;
-   out_210375879520347438[16] = 0.0;
-   out_210375879520347438[17] = 0.0;
-   out_210375879520347438[18] = 0.0;
-   out_210375879520347438[19] = 0.0;
-   out_210375879520347438[20] = 1.0;
-   out_210375879520347438[21] = 0.0;
-   out_210375879520347438[22] = 0.0;
-   out_210375879520347438[23] = 0.0;
-   out_210375879520347438[24] = 0.0;
-   out_210375879520347438[25] = 0.0;
-   out_210375879520347438[26] = 0.0;
-   out_210375879520347438[27] = 0.0;
-   out_210375879520347438[28] = 0.0;
-   out_210375879520347438[29] = 0.0;
-   out_210375879520347438[30] = 1.0;
-   out_210375879520347438[31] = 0.0;
-   out_210375879520347438[32] = 0.0;
-   out_210375879520347438[33] = 0.0;
-   out_210375879520347438[34] = 0.0;
-   out_210375879520347438[35] = 0.0;
-   out_210375879520347438[36] = 0.0;
-   out_210375879520347438[37] = 0.0;
-   out_210375879520347438[38] = 0.0;
-   out_210375879520347438[39] = 0.0;
-   out_210375879520347438[40] = 1.0;
-   out_210375879520347438[41] = 0.0;
-   out_210375879520347438[42] = 0.0;
-   out_210375879520347438[43] = 0.0;
-   out_210375879520347438[44] = 0.0;
-   out_210375879520347438[45] = 0.0;
-   out_210375879520347438[46] = 0.0;
-   out_210375879520347438[47] = 0.0;
-   out_210375879520347438[48] = 0.0;
-   out_210375879520347438[49] = 0.0;
-   out_210375879520347438[50] = 1.0;
-   out_210375879520347438[51] = 0.0;
-   out_210375879520347438[52] = 0.0;
-   out_210375879520347438[53] = 0.0;
-   out_210375879520347438[54] = 0.0;
-   out_210375879520347438[55] = 0.0;
-   out_210375879520347438[56] = 0.0;
-   out_210375879520347438[57] = 0.0;
-   out_210375879520347438[58] = 0.0;
-   out_210375879520347438[59] = 0.0;
-   out_210375879520347438[60] = 1.0;
-   out_210375879520347438[61] = 0.0;
-   out_210375879520347438[62] = 0.0;
-   out_210375879520347438[63] = 0.0;
-   out_210375879520347438[64] = 0.0;
-   out_210375879520347438[65] = 0.0;
-   out_210375879520347438[66] = 0.0;
-   out_210375879520347438[67] = 0.0;
-   out_210375879520347438[68] = 0.0;
-   out_210375879520347438[69] = 0.0;
-   out_210375879520347438[70] = 1.0;
-   out_210375879520347438[71] = 0.0;
-   out_210375879520347438[72] = 0.0;
-   out_210375879520347438[73] = 0.0;
-   out_210375879520347438[74] = 0.0;
-   out_210375879520347438[75] = 0.0;
-   out_210375879520347438[76] = 0.0;
-   out_210375879520347438[77] = 0.0;
-   out_210375879520347438[78] = 0.0;
-   out_210375879520347438[79] = 0.0;
-   out_210375879520347438[80] = 1.0;
+void H_mod_fun(double *state, double *out_8823093076762317206) {
+   out_8823093076762317206[0] = 1.0;
+   out_8823093076762317206[1] = 0.0;
+   out_8823093076762317206[2] = 0.0;
+   out_8823093076762317206[3] = 0.0;
+   out_8823093076762317206[4] = 0.0;
+   out_8823093076762317206[5] = 0.0;
+   out_8823093076762317206[6] = 0.0;
+   out_8823093076762317206[7] = 0.0;
+   out_8823093076762317206[8] = 0.0;
+   out_8823093076762317206[9] = 0.0;
+   out_8823093076762317206[10] = 1.0;
+   out_8823093076762317206[11] = 0.0;
+   out_8823093076762317206[12] = 0.0;
+   out_8823093076762317206[13] = 0.0;
+   out_8823093076762317206[14] = 0.0;
+   out_8823093076762317206[15] = 0.0;
+   out_8823093076762317206[16] = 0.0;
+   out_8823093076762317206[17] = 0.0;
+   out_8823093076762317206[18] = 0.0;
+   out_8823093076762317206[19] = 0.0;
+   out_8823093076762317206[20] = 1.0;
+   out_8823093076762317206[21] = 0.0;
+   out_8823093076762317206[22] = 0.0;
+   out_8823093076762317206[23] = 0.0;
+   out_8823093076762317206[24] = 0.0;
+   out_8823093076762317206[25] = 0.0;
+   out_8823093076762317206[26] = 0.0;
+   out_8823093076762317206[27] = 0.0;
+   out_8823093076762317206[28] = 0.0;
+   out_8823093076762317206[29] = 0.0;
+   out_8823093076762317206[30] = 1.0;
+   out_8823093076762317206[31] = 0.0;
+   out_8823093076762317206[32] = 0.0;
+   out_8823093076762317206[33] = 0.0;
+   out_8823093076762317206[34] = 0.0;
+   out_8823093076762317206[35] = 0.0;
+   out_8823093076762317206[36] = 0.0;
+   out_8823093076762317206[37] = 0.0;
+   out_8823093076762317206[38] = 0.0;
+   out_8823093076762317206[39] = 0.0;
+   out_8823093076762317206[40] = 1.0;
+   out_8823093076762317206[41] = 0.0;
+   out_8823093076762317206[42] = 0.0;
+   out_8823093076762317206[43] = 0.0;
+   out_8823093076762317206[44] = 0.0;
+   out_8823093076762317206[45] = 0.0;
+   out_8823093076762317206[46] = 0.0;
+   out_8823093076762317206[47] = 0.0;
+   out_8823093076762317206[48] = 0.0;
+   out_8823093076762317206[49] = 0.0;
+   out_8823093076762317206[50] = 1.0;
+   out_8823093076762317206[51] = 0.0;
+   out_8823093076762317206[52] = 0.0;
+   out_8823093076762317206[53] = 0.0;
+   out_8823093076762317206[54] = 0.0;
+   out_8823093076762317206[55] = 0.0;
+   out_8823093076762317206[56] = 0.0;
+   out_8823093076762317206[57] = 0.0;
+   out_8823093076762317206[58] = 0.0;
+   out_8823093076762317206[59] = 0.0;
+   out_8823093076762317206[60] = 1.0;
+   out_8823093076762317206[61] = 0.0;
+   out_8823093076762317206[62] = 0.0;
+   out_8823093076762317206[63] = 0.0;
+   out_8823093076762317206[64] = 0.0;
+   out_8823093076762317206[65] = 0.0;
+   out_8823093076762317206[66] = 0.0;
+   out_8823093076762317206[67] = 0.0;
+   out_8823093076762317206[68] = 0.0;
+   out_8823093076762317206[69] = 0.0;
+   out_8823093076762317206[70] = 1.0;
+   out_8823093076762317206[71] = 0.0;
+   out_8823093076762317206[72] = 0.0;
+   out_8823093076762317206[73] = 0.0;
+   out_8823093076762317206[74] = 0.0;
+   out_8823093076762317206[75] = 0.0;
+   out_8823093076762317206[76] = 0.0;
+   out_8823093076762317206[77] = 0.0;
+   out_8823093076762317206[78] = 0.0;
+   out_8823093076762317206[79] = 0.0;
+   out_8823093076762317206[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_467846126367206141) {
-   out_467846126367206141[0] = state[0];
-   out_467846126367206141[1] = state[1];
-   out_467846126367206141[2] = state[2];
-   out_467846126367206141[3] = state[3];
-   out_467846126367206141[4] = state[4];
-   out_467846126367206141[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_467846126367206141[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_467846126367206141[7] = state[7];
-   out_467846126367206141[8] = state[8];
+void f_fun(double *state, double dt, double *out_8757684582265239992) {
+   out_8757684582265239992[0] = state[0];
+   out_8757684582265239992[1] = state[1];
+   out_8757684582265239992[2] = state[2];
+   out_8757684582265239992[3] = state[3];
+   out_8757684582265239992[4] = state[4];
+   out_8757684582265239992[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_8757684582265239992[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_8757684582265239992[7] = state[7];
+   out_8757684582265239992[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_3146439140780538523) {
-   out_3146439140780538523[0] = 1;
-   out_3146439140780538523[1] = 0;
-   out_3146439140780538523[2] = 0;
-   out_3146439140780538523[3] = 0;
-   out_3146439140780538523[4] = 0;
-   out_3146439140780538523[5] = 0;
-   out_3146439140780538523[6] = 0;
-   out_3146439140780538523[7] = 0;
-   out_3146439140780538523[8] = 0;
-   out_3146439140780538523[9] = 0;
-   out_3146439140780538523[10] = 1;
-   out_3146439140780538523[11] = 0;
-   out_3146439140780538523[12] = 0;
-   out_3146439140780538523[13] = 0;
-   out_3146439140780538523[14] = 0;
-   out_3146439140780538523[15] = 0;
-   out_3146439140780538523[16] = 0;
-   out_3146439140780538523[17] = 0;
-   out_3146439140780538523[18] = 0;
-   out_3146439140780538523[19] = 0;
-   out_3146439140780538523[20] = 1;
-   out_3146439140780538523[21] = 0;
-   out_3146439140780538523[22] = 0;
-   out_3146439140780538523[23] = 0;
-   out_3146439140780538523[24] = 0;
-   out_3146439140780538523[25] = 0;
-   out_3146439140780538523[26] = 0;
-   out_3146439140780538523[27] = 0;
-   out_3146439140780538523[28] = 0;
-   out_3146439140780538523[29] = 0;
-   out_3146439140780538523[30] = 1;
-   out_3146439140780538523[31] = 0;
-   out_3146439140780538523[32] = 0;
-   out_3146439140780538523[33] = 0;
-   out_3146439140780538523[34] = 0;
-   out_3146439140780538523[35] = 0;
-   out_3146439140780538523[36] = 0;
-   out_3146439140780538523[37] = 0;
-   out_3146439140780538523[38] = 0;
-   out_3146439140780538523[39] = 0;
-   out_3146439140780538523[40] = 1;
-   out_3146439140780538523[41] = 0;
-   out_3146439140780538523[42] = 0;
-   out_3146439140780538523[43] = 0;
-   out_3146439140780538523[44] = 0;
-   out_3146439140780538523[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_3146439140780538523[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_3146439140780538523[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_3146439140780538523[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_3146439140780538523[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_3146439140780538523[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_3146439140780538523[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_3146439140780538523[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_3146439140780538523[53] = -9.8100000000000005*dt;
-   out_3146439140780538523[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_3146439140780538523[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_3146439140780538523[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_3146439140780538523[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_3146439140780538523[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_3146439140780538523[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_3146439140780538523[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_3146439140780538523[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_3146439140780538523[62] = 0;
-   out_3146439140780538523[63] = 0;
-   out_3146439140780538523[64] = 0;
-   out_3146439140780538523[65] = 0;
-   out_3146439140780538523[66] = 0;
-   out_3146439140780538523[67] = 0;
-   out_3146439140780538523[68] = 0;
-   out_3146439140780538523[69] = 0;
-   out_3146439140780538523[70] = 1;
-   out_3146439140780538523[71] = 0;
-   out_3146439140780538523[72] = 0;
-   out_3146439140780538523[73] = 0;
-   out_3146439140780538523[74] = 0;
-   out_3146439140780538523[75] = 0;
-   out_3146439140780538523[76] = 0;
-   out_3146439140780538523[77] = 0;
-   out_3146439140780538523[78] = 0;
-   out_3146439140780538523[79] = 0;
-   out_3146439140780538523[80] = 1;
+void F_fun(double *state, double dt, double *out_2903520854157127208) {
+   out_2903520854157127208[0] = 1;
+   out_2903520854157127208[1] = 0;
+   out_2903520854157127208[2] = 0;
+   out_2903520854157127208[3] = 0;
+   out_2903520854157127208[4] = 0;
+   out_2903520854157127208[5] = 0;
+   out_2903520854157127208[6] = 0;
+   out_2903520854157127208[7] = 0;
+   out_2903520854157127208[8] = 0;
+   out_2903520854157127208[9] = 0;
+   out_2903520854157127208[10] = 1;
+   out_2903520854157127208[11] = 0;
+   out_2903520854157127208[12] = 0;
+   out_2903520854157127208[13] = 0;
+   out_2903520854157127208[14] = 0;
+   out_2903520854157127208[15] = 0;
+   out_2903520854157127208[16] = 0;
+   out_2903520854157127208[17] = 0;
+   out_2903520854157127208[18] = 0;
+   out_2903520854157127208[19] = 0;
+   out_2903520854157127208[20] = 1;
+   out_2903520854157127208[21] = 0;
+   out_2903520854157127208[22] = 0;
+   out_2903520854157127208[23] = 0;
+   out_2903520854157127208[24] = 0;
+   out_2903520854157127208[25] = 0;
+   out_2903520854157127208[26] = 0;
+   out_2903520854157127208[27] = 0;
+   out_2903520854157127208[28] = 0;
+   out_2903520854157127208[29] = 0;
+   out_2903520854157127208[30] = 1;
+   out_2903520854157127208[31] = 0;
+   out_2903520854157127208[32] = 0;
+   out_2903520854157127208[33] = 0;
+   out_2903520854157127208[34] = 0;
+   out_2903520854157127208[35] = 0;
+   out_2903520854157127208[36] = 0;
+   out_2903520854157127208[37] = 0;
+   out_2903520854157127208[38] = 0;
+   out_2903520854157127208[39] = 0;
+   out_2903520854157127208[40] = 1;
+   out_2903520854157127208[41] = 0;
+   out_2903520854157127208[42] = 0;
+   out_2903520854157127208[43] = 0;
+   out_2903520854157127208[44] = 0;
+   out_2903520854157127208[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_2903520854157127208[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_2903520854157127208[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2903520854157127208[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2903520854157127208[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_2903520854157127208[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_2903520854157127208[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_2903520854157127208[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2903520854157127208[53] = -9.8100000000000005*dt;
+   out_2903520854157127208[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_2903520854157127208[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_2903520854157127208[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2903520854157127208[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2903520854157127208[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_2903520854157127208[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_2903520854157127208[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_2903520854157127208[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2903520854157127208[62] = 0;
+   out_2903520854157127208[63] = 0;
+   out_2903520854157127208[64] = 0;
+   out_2903520854157127208[65] = 0;
+   out_2903520854157127208[66] = 0;
+   out_2903520854157127208[67] = 0;
+   out_2903520854157127208[68] = 0;
+   out_2903520854157127208[69] = 0;
+   out_2903520854157127208[70] = 1;
+   out_2903520854157127208[71] = 0;
+   out_2903520854157127208[72] = 0;
+   out_2903520854157127208[73] = 0;
+   out_2903520854157127208[74] = 0;
+   out_2903520854157127208[75] = 0;
+   out_2903520854157127208[76] = 0;
+   out_2903520854157127208[77] = 0;
+   out_2903520854157127208[78] = 0;
+   out_2903520854157127208[79] = 0;
+   out_2903520854157127208[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_3524127915259881655) {
-   out_3524127915259881655[0] = state[6];
+void h_25(double *state, double *unused, double *out_6353487808218647336) {
+   out_6353487808218647336[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_3733424518165712586) {
-   out_3733424518165712586[0] = 0;
-   out_3733424518165712586[1] = 0;
-   out_3733424518165712586[2] = 0;
-   out_3733424518165712586[3] = 0;
-   out_3733424518165712586[4] = 0;
-   out_3733424518165712586[5] = 0;
-   out_3733424518165712586[6] = 1;
-   out_3733424518165712586[7] = 0;
-   out_3733424518165712586[8] = 0;
+void H_25(double *state, double *unused, double *out_430462771034997173) {
+   out_430462771034997173[0] = 0;
+   out_430462771034997173[1] = 0;
+   out_430462771034997173[2] = 0;
+   out_430462771034997173[3] = 0;
+   out_430462771034997173[4] = 0;
+   out_430462771034997173[5] = 0;
+   out_430462771034997173[6] = 1;
+   out_430462771034997173[7] = 0;
+   out_430462771034997173[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_5258226883159248845) {
-   out_5258226883159248845[0] = state[4];
-   out_5258226883159248845[1] = state[5];
+void h_24(double *state, double *unused, double *out_276973526775545327) {
+   out_276973526775545327[0] = state[4];
+   out_276973526775545327[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_2842147288425805515) {
-   out_2842147288425805515[0] = 0;
-   out_2842147288425805515[1] = 0;
-   out_2842147288425805515[2] = 0;
-   out_2842147288425805515[3] = 0;
-   out_2842147288425805515[4] = 1;
-   out_2842147288425805515[5] = 0;
-   out_2842147288425805515[6] = 0;
-   out_2842147288425805515[7] = 0;
-   out_2842147288425805515[8] = 0;
-   out_2842147288425805515[9] = 0;
-   out_2842147288425805515[10] = 0;
-   out_2842147288425805515[11] = 0;
-   out_2842147288425805515[12] = 0;
-   out_2842147288425805515[13] = 0;
-   out_2842147288425805515[14] = 1;
-   out_2842147288425805515[15] = 0;
-   out_2842147288425805515[16] = 0;
-   out_2842147288425805515[17] = 0;
+void H_24(double *state, double *unused, double *out_1742186827970502393) {
+   out_1742186827970502393[0] = 0;
+   out_1742186827970502393[1] = 0;
+   out_1742186827970502393[2] = 0;
+   out_1742186827970502393[3] = 0;
+   out_1742186827970502393[4] = 1;
+   out_1742186827970502393[5] = 0;
+   out_1742186827970502393[6] = 0;
+   out_1742186827970502393[7] = 0;
+   out_1742186827970502393[8] = 0;
+   out_1742186827970502393[9] = 0;
+   out_1742186827970502393[10] = 0;
+   out_1742186827970502393[11] = 0;
+   out_1742186827970502393[12] = 0;
+   out_1742186827970502393[13] = 0;
+   out_1742186827970502393[14] = 1;
+   out_1742186827970502393[15] = 0;
+   out_1742186827970502393[16] = 0;
+   out_1742186827970502393[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_2922709757646518101) {
-   out_2922709757646518101[0] = state[4];
+void h_30(double *state, double *unused, double *out_2255184509939275472) {
+   out_2255184509939275472[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_3183265823325904169) {
-   out_3183265823325904169[0] = 0;
-   out_3183265823325904169[1] = 0;
-   out_3183265823325904169[2] = 0;
-   out_3183265823325904169[3] = 0;
-   out_3183265823325904169[4] = 1;
-   out_3183265823325904169[5] = 0;
-   out_3183265823325904169[6] = 0;
-   out_3183265823325904169[7] = 0;
-   out_3183265823325904169[8] = 0;
+void H_30(double *state, double *unused, double *out_2948795729542245800) {
+   out_2948795729542245800[0] = 0;
+   out_2948795729542245800[1] = 0;
+   out_2948795729542245800[2] = 0;
+   out_2948795729542245800[3] = 0;
+   out_2948795729542245800[4] = 1;
+   out_2948795729542245800[5] = 0;
+   out_2948795729542245800[6] = 0;
+   out_2948795729542245800[7] = 0;
+   out_2948795729542245800[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_2078963510014327544) {
-   out_2078963510014327544[0] = state[7];
+void h_26(double *state, double *unused, double *out_1273100416603977360) {
+   out_1273100416603977360[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_7474927837039768810) {
-   out_7474927837039768810[0] = 0;
-   out_7474927837039768810[1] = 0;
-   out_7474927837039768810[2] = 0;
-   out_7474927837039768810[3] = 0;
-   out_7474927837039768810[4] = 0;
-   out_7474927837039768810[5] = 0;
-   out_7474927837039768810[6] = 0;
-   out_7474927837039768810[7] = 1;
-   out_7474927837039768810[8] = 0;
+void H_26(double *state, double *unused, double *out_3734988740795797774) {
+   out_3734988740795797774[0] = 0;
+   out_3734988740795797774[1] = 0;
+   out_3734988740795797774[2] = 0;
+   out_3734988740795797774[3] = 0;
+   out_3734988740795797774[4] = 0;
+   out_3734988740795797774[5] = 0;
+   out_3734988740795797774[6] = 0;
+   out_3734988740795797774[7] = 1;
+   out_3734988740795797774[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_9006985404715807625) {
-   out_9006985404715807625[0] = state[3];
+void h_27(double *state, double *unused, double *out_2052169011425579317) {
+   out_2052169011425579317[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_1008502511525479258) {
-   out_1008502511525479258[0] = 0;
-   out_1008502511525479258[1] = 0;
-   out_1008502511525479258[2] = 0;
-   out_1008502511525479258[3] = 1;
-   out_1008502511525479258[4] = 0;
-   out_1008502511525479258[5] = 0;
-   out_1008502511525479258[6] = 0;
-   out_1008502511525479258[7] = 0;
-   out_1008502511525479258[8] = 0;
+void H_27(double *state, double *unused, double *out_774032417741820889) {
+   out_774032417741820889[0] = 0;
+   out_774032417741820889[1] = 0;
+   out_774032417741820889[2] = 0;
+   out_774032417741820889[3] = 1;
+   out_774032417741820889[4] = 0;
+   out_774032417741820889[5] = 0;
+   out_774032417741820889[6] = 0;
+   out_774032417741820889[7] = 0;
+   out_774032417741820889[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_1979199904744855666) {
-   out_1979199904744855666[0] = state[1];
+void h_29(double *state, double *unused, double *out_7256857777600121117) {
+   out_7256857777600121117[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_704860215344071775) {
-   out_704860215344071775[0] = 0;
-   out_704860215344071775[1] = 1;
-   out_704860215344071775[2] = 0;
-   out_704860215344071775[3] = 0;
-   out_704860215344071775[4] = 0;
-   out_704860215344071775[5] = 0;
-   out_704860215344071775[6] = 0;
-   out_704860215344071775[7] = 0;
-   out_704860215344071775[8] = 0;
+void H_29(double *state, double *unused, double *out_3459027073856637984) {
+   out_3459027073856637984[0] = 0;
+   out_3459027073856637984[1] = 1;
+   out_3459027073856637984[2] = 0;
+   out_3459027073856637984[3] = 0;
+   out_3459027073856637984[4] = 0;
+   out_3459027073856637984[5] = 0;
+   out_3459027073856637984[6] = 0;
+   out_3459027073856637984[7] = 0;
+   out_3459027073856637984[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_6835353348185046340) {
-   out_6835353348185046340[0] = state[0];
+void h_28(double *state, double *unused, double *out_2373191903872652216) {
+   out_2373191903872652216[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_5787259232413602349) {
-   out_5787259232413602349[0] = 1;
-   out_5787259232413602349[1] = 0;
-   out_5787259232413602349[2] = 0;
-   out_5787259232413602349[3] = 0;
-   out_5787259232413602349[4] = 0;
-   out_5787259232413602349[5] = 0;
-   out_5787259232413602349[6] = 0;
-   out_5787259232413602349[7] = 0;
-   out_5787259232413602349[8] = 0;
+void H_28(double *state, double *unused, double *out_1623371943212892590) {
+   out_1623371943212892590[0] = 1;
+   out_1623371943212892590[1] = 0;
+   out_1623371943212892590[2] = 0;
+   out_1623371943212892590[3] = 0;
+   out_1623371943212892590[4] = 0;
+   out_1623371943212892590[5] = 0;
+   out_1623371943212892590[6] = 0;
+   out_1623371943212892590[7] = 0;
+   out_1623371943212892590[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_4974759307888764822) {
-   out_4974759307888764822[0] = state[8];
+void h_31(double *state, double *unused, double *out_6078293745934141447) {
+   out_6078293745934141447[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_3702778556288752158) {
-   out_3702778556288752158[0] = 0;
-   out_3702778556288752158[1] = 0;
-   out_3702778556288752158[2] = 0;
-   out_3702778556288752158[3] = 0;
-   out_3702778556288752158[4] = 0;
-   out_3702778556288752158[5] = 0;
-   out_3702778556288752158[6] = 0;
-   out_3702778556288752158[7] = 0;
-   out_3702778556288752158[8] = 1;
+void H_31(double *state, double *unused, double *out_3108780638562446298) {
+   out_3108780638562446298[0] = 0;
+   out_3108780638562446298[1] = 0;
+   out_3108780638562446298[2] = 0;
+   out_3108780638562446298[3] = 0;
+   out_3108780638562446298[4] = 0;
+   out_3108780638562446298[5] = 0;
+   out_3108780638562446298[6] = 0;
+   out_3108780638562446298[7] = 0;
+   out_3108780638562446298[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_4436222918597397805) {
-  err_fun(nom_x, delta_x, out_4436222918597397805);
+void car_err_fun(double *nom_x, double *delta_x, double *out_9105893539066631470) {
+  err_fun(nom_x, delta_x, out_9105893539066631470);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_5455437002668972894) {
-  inv_err_fun(nom_x, true_x, out_5455437002668972894);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_2201885575610208115) {
+  inv_err_fun(nom_x, true_x, out_2201885575610208115);
 }
-void car_H_mod_fun(double *state, double *out_210375879520347438) {
-  H_mod_fun(state, out_210375879520347438);
+void car_H_mod_fun(double *state, double *out_8823093076762317206) {
+  H_mod_fun(state, out_8823093076762317206);
 }
-void car_f_fun(double *state, double dt, double *out_467846126367206141) {
-  f_fun(state,  dt, out_467846126367206141);
+void car_f_fun(double *state, double dt, double *out_8757684582265239992) {
+  f_fun(state,  dt, out_8757684582265239992);
 }
-void car_F_fun(double *state, double dt, double *out_3146439140780538523) {
-  F_fun(state,  dt, out_3146439140780538523);
+void car_F_fun(double *state, double dt, double *out_2903520854157127208) {
+  F_fun(state,  dt, out_2903520854157127208);
 }
-void car_h_25(double *state, double *unused, double *out_3524127915259881655) {
-  h_25(state, unused, out_3524127915259881655);
+void car_h_25(double *state, double *unused, double *out_6353487808218647336) {
+  h_25(state, unused, out_6353487808218647336);
 }
-void car_H_25(double *state, double *unused, double *out_3733424518165712586) {
-  H_25(state, unused, out_3733424518165712586);
+void car_H_25(double *state, double *unused, double *out_430462771034997173) {
+  H_25(state, unused, out_430462771034997173);
 }
-void car_h_24(double *state, double *unused, double *out_5258226883159248845) {
-  h_24(state, unused, out_5258226883159248845);
+void car_h_24(double *state, double *unused, double *out_276973526775545327) {
+  h_24(state, unused, out_276973526775545327);
 }
-void car_H_24(double *state, double *unused, double *out_2842147288425805515) {
-  H_24(state, unused, out_2842147288425805515);
+void car_H_24(double *state, double *unused, double *out_1742186827970502393) {
+  H_24(state, unused, out_1742186827970502393);
 }
-void car_h_30(double *state, double *unused, double *out_2922709757646518101) {
-  h_30(state, unused, out_2922709757646518101);
+void car_h_30(double *state, double *unused, double *out_2255184509939275472) {
+  h_30(state, unused, out_2255184509939275472);
 }
-void car_H_30(double *state, double *unused, double *out_3183265823325904169) {
-  H_30(state, unused, out_3183265823325904169);
+void car_H_30(double *state, double *unused, double *out_2948795729542245800) {
+  H_30(state, unused, out_2948795729542245800);
 }
-void car_h_26(double *state, double *unused, double *out_2078963510014327544) {
-  h_26(state, unused, out_2078963510014327544);
+void car_h_26(double *state, double *unused, double *out_1273100416603977360) {
+  h_26(state, unused, out_1273100416603977360);
 }
-void car_H_26(double *state, double *unused, double *out_7474927837039768810) {
-  H_26(state, unused, out_7474927837039768810);
+void car_H_26(double *state, double *unused, double *out_3734988740795797774) {
+  H_26(state, unused, out_3734988740795797774);
 }
-void car_h_27(double *state, double *unused, double *out_9006985404715807625) {
-  h_27(state, unused, out_9006985404715807625);
+void car_h_27(double *state, double *unused, double *out_2052169011425579317) {
+  h_27(state, unused, out_2052169011425579317);
 }
-void car_H_27(double *state, double *unused, double *out_1008502511525479258) {
-  H_27(state, unused, out_1008502511525479258);
+void car_H_27(double *state, double *unused, double *out_774032417741820889) {
+  H_27(state, unused, out_774032417741820889);
 }
-void car_h_29(double *state, double *unused, double *out_1979199904744855666) {
-  h_29(state, unused, out_1979199904744855666);
+void car_h_29(double *state, double *unused, double *out_7256857777600121117) {
+  h_29(state, unused, out_7256857777600121117);
 }
-void car_H_29(double *state, double *unused, double *out_704860215344071775) {
-  H_29(state, unused, out_704860215344071775);
+void car_H_29(double *state, double *unused, double *out_3459027073856637984) {
+  H_29(state, unused, out_3459027073856637984);
 }
-void car_h_28(double *state, double *unused, double *out_6835353348185046340) {
-  h_28(state, unused, out_6835353348185046340);
+void car_h_28(double *state, double *unused, double *out_2373191903872652216) {
+  h_28(state, unused, out_2373191903872652216);
 }
-void car_H_28(double *state, double *unused, double *out_5787259232413602349) {
-  H_28(state, unused, out_5787259232413602349);
+void car_H_28(double *state, double *unused, double *out_1623371943212892590) {
+  H_28(state, unused, out_1623371943212892590);
 }
-void car_h_31(double *state, double *unused, double *out_4974759307888764822) {
-  h_31(state, unused, out_4974759307888764822);
+void car_h_31(double *state, double *unused, double *out_6078293745934141447) {
+  h_31(state, unused, out_6078293745934141447);
 }
-void car_H_31(double *state, double *unused, double *out_3702778556288752158) {
-  H_31(state, unused, out_3702778556288752158);
+void car_H_31(double *state, double *unused, double *out_3108780638562446298) {
+  H_31(state, unused, out_3108780638562446298);
 }
 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_4436222918597397805);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_5455437002668972894);
-void car_H_mod_fun(double *state, double *out_210375879520347438);
-void car_f_fun(double *state, double dt, double *out_467846126367206141);
-void car_F_fun(double *state, double dt, double *out_3146439140780538523);
-void car_h_25(double *state, double *unused, double *out_3524127915259881655);
-void car_H_25(double *state, double *unused, double *out_3733424518165712586);
-void car_h_24(double *state, double *unused, double *out_5258226883159248845);
-void car_H_24(double *state, double *unused, double *out_2842147288425805515);
-void car_h_30(double *state, double *unused, double *out_2922709757646518101);
-void car_H_30(double *state, double *unused, double *out_3183265823325904169);
-void car_h_26(double *state, double *unused, double *out_2078963510014327544);
-void car_H_26(double *state, double *unused, double *out_7474927837039768810);
-void car_h_27(double *state, double *unused, double *out_9006985404715807625);
-void car_H_27(double *state, double *unused, double *out_1008502511525479258);
-void car_h_29(double *state, double *unused, double *out_1979199904744855666);
-void car_H_29(double *state, double *unused, double *out_704860215344071775);
-void car_h_28(double *state, double *unused, double *out_6835353348185046340);
-void car_H_28(double *state, double *unused, double *out_5787259232413602349);
-void car_h_31(double *state, double *unused, double *out_4974759307888764822);
-void car_H_31(double *state, double *unused, double *out_3702778556288752158);
+void car_err_fun(double *nom_x, double *delta_x, double *out_9105893539066631470);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_2201885575610208115);
+void car_H_mod_fun(double *state, double *out_8823093076762317206);
+void car_f_fun(double *state, double dt, double *out_8757684582265239992);
+void car_F_fun(double *state, double dt, double *out_2903520854157127208);
+void car_h_25(double *state, double *unused, double *out_6353487808218647336);
+void car_H_25(double *state, double *unused, double *out_430462771034997173);
+void car_h_24(double *state, double *unused, double *out_276973526775545327);
+void car_H_24(double *state, double *unused, double *out_1742186827970502393);
+void car_h_30(double *state, double *unused, double *out_2255184509939275472);
+void car_H_30(double *state, double *unused, double *out_2948795729542245800);
+void car_h_26(double *state, double *unused, double *out_1273100416603977360);
+void car_H_26(double *state, double *unused, double *out_3734988740795797774);
+void car_h_27(double *state, double *unused, double *out_2052169011425579317);
+void car_H_27(double *state, double *unused, double *out_774032417741820889);
+void car_h_29(double *state, double *unused, double *out_7256857777600121117);
+void car_H_29(double *state, double *unused, double *out_3459027073856637984);
+void car_h_28(double *state, double *unused, double *out_2373191903872652216);
+void car_H_28(double *state, double *unused, double *out_1623371943212892590);
+void car_h_31(double *state, double *unused, double *out_6078293745934141447);
+void car_H_31(double *state, double *unused, double *out_3108780638562446298);
 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_4409321269442810496);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3789556254182165506);
-void pose_H_mod_fun(double *state, double *out_3068405914716205428);
-void pose_f_fun(double *state, double dt, double *out_5515990809264108996);
-void pose_F_fun(double *state, double dt, double *out_1412435369220653896);
-void pose_h_4(double *state, double *unused, double *out_7211674724064901455);
-void pose_H_4(double *state, double *unused, double *out_8220924299755286163);
-void pose_h_10(double *state, double *unused, double *out_7091555343827122853);
-void pose_H_10(double *state, double *unused, double *out_3357399461201359920);
-void pose_h_13(double *state, double *unused, double *out_4463366606757688719);
-void pose_H_13(double *state, double *unused, double *out_7013545948621932652);
-void pose_h_14(double *state, double *unused, double *out_2594435200759890716);
-void pose_H_14(double *state, double *unused, double *out_6262578917614780924);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_7992688260990922493);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5809721741941332225);
+void pose_H_mod_fun(double *state, double *out_653094641834631323);
+void pose_f_fun(double *state, double dt, double *out_5955110383788875610);
+void pose_F_fun(double *state, double dt, double *out_3374367099061520939);
+void pose_h_4(double *state, double *unused, double *out_583201360619966174);
+void pose_H_4(double *state, double *unused, double *out_402417908502924402);
+void pose_h_10(double *state, double *unused, double *out_356753245810915962);
+void pose_H_10(double *state, double *unused, double *out_7727584574864679993);
+void pose_h_13(double *state, double *unused, double *out_1340717926179505345);
+void pose_H_13(double *state, double *unused, double *out_7208213299813776527);
+void pose_h_14(double *state, double *unused, double *out_4852912044053324854);
+void pose_H_14(double *state, double *unused, double *out_3560822947836560127);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }