build

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-459d7c40-DEBUG";
+const uint8_t gitversion[19] = "DEV-e0d9e05f-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-459d7c40-DEBUG
+DEV-e0d9e05f-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_3745689373699638561) {
-   out_3745689373699638561[0] = delta_x[0] + nom_x[0];
-   out_3745689373699638561[1] = delta_x[1] + nom_x[1];
-   out_3745689373699638561[2] = delta_x[2] + nom_x[2];
-   out_3745689373699638561[3] = delta_x[3] + nom_x[3];
-   out_3745689373699638561[4] = delta_x[4] + nom_x[4];
-   out_3745689373699638561[5] = delta_x[5] + nom_x[5];
-   out_3745689373699638561[6] = delta_x[6] + nom_x[6];
-   out_3745689373699638561[7] = delta_x[7] + nom_x[7];
-   out_3745689373699638561[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_3970546799234288025) {
+   out_3970546799234288025[0] = delta_x[0] + nom_x[0];
+   out_3970546799234288025[1] = delta_x[1] + nom_x[1];
+   out_3970546799234288025[2] = delta_x[2] + nom_x[2];
+   out_3970546799234288025[3] = delta_x[3] + nom_x[3];
+   out_3970546799234288025[4] = delta_x[4] + nom_x[4];
+   out_3970546799234288025[5] = delta_x[5] + nom_x[5];
+   out_3970546799234288025[6] = delta_x[6] + nom_x[6];
+   out_3970546799234288025[7] = delta_x[7] + nom_x[7];
+   out_3970546799234288025[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_2400897459040094715) {
-   out_2400897459040094715[0] = -nom_x[0] + true_x[0];
-   out_2400897459040094715[1] = -nom_x[1] + true_x[1];
-   out_2400897459040094715[2] = -nom_x[2] + true_x[2];
-   out_2400897459040094715[3] = -nom_x[3] + true_x[3];
-   out_2400897459040094715[4] = -nom_x[4] + true_x[4];
-   out_2400897459040094715[5] = -nom_x[5] + true_x[5];
-   out_2400897459040094715[6] = -nom_x[6] + true_x[6];
-   out_2400897459040094715[7] = -nom_x[7] + true_x[7];
-   out_2400897459040094715[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550) {
+   out_2567718075778826550[0] = -nom_x[0] + true_x[0];
+   out_2567718075778826550[1] = -nom_x[1] + true_x[1];
+   out_2567718075778826550[2] = -nom_x[2] + true_x[2];
+   out_2567718075778826550[3] = -nom_x[3] + true_x[3];
+   out_2567718075778826550[4] = -nom_x[4] + true_x[4];
+   out_2567718075778826550[5] = -nom_x[5] + true_x[5];
+   out_2567718075778826550[6] = -nom_x[6] + true_x[6];
+   out_2567718075778826550[7] = -nom_x[7] + true_x[7];
+   out_2567718075778826550[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_7767655668809768572) {
-   out_7767655668809768572[0] = 1.0;
-   out_7767655668809768572[1] = 0.0;
-   out_7767655668809768572[2] = 0.0;
-   out_7767655668809768572[3] = 0.0;
-   out_7767655668809768572[4] = 0.0;
-   out_7767655668809768572[5] = 0.0;
-   out_7767655668809768572[6] = 0.0;
-   out_7767655668809768572[7] = 0.0;
-   out_7767655668809768572[8] = 0.0;
-   out_7767655668809768572[9] = 0.0;
-   out_7767655668809768572[10] = 1.0;
-   out_7767655668809768572[11] = 0.0;
-   out_7767655668809768572[12] = 0.0;
-   out_7767655668809768572[13] = 0.0;
-   out_7767655668809768572[14] = 0.0;
-   out_7767655668809768572[15] = 0.0;
-   out_7767655668809768572[16] = 0.0;
-   out_7767655668809768572[17] = 0.0;
-   out_7767655668809768572[18] = 0.0;
-   out_7767655668809768572[19] = 0.0;
-   out_7767655668809768572[20] = 1.0;
-   out_7767655668809768572[21] = 0.0;
-   out_7767655668809768572[22] = 0.0;
-   out_7767655668809768572[23] = 0.0;
-   out_7767655668809768572[24] = 0.0;
-   out_7767655668809768572[25] = 0.0;
-   out_7767655668809768572[26] = 0.0;
-   out_7767655668809768572[27] = 0.0;
-   out_7767655668809768572[28] = 0.0;
-   out_7767655668809768572[29] = 0.0;
-   out_7767655668809768572[30] = 1.0;
-   out_7767655668809768572[31] = 0.0;
-   out_7767655668809768572[32] = 0.0;
-   out_7767655668809768572[33] = 0.0;
-   out_7767655668809768572[34] = 0.0;
-   out_7767655668809768572[35] = 0.0;
-   out_7767655668809768572[36] = 0.0;
-   out_7767655668809768572[37] = 0.0;
-   out_7767655668809768572[38] = 0.0;
-   out_7767655668809768572[39] = 0.0;
-   out_7767655668809768572[40] = 1.0;
-   out_7767655668809768572[41] = 0.0;
-   out_7767655668809768572[42] = 0.0;
-   out_7767655668809768572[43] = 0.0;
-   out_7767655668809768572[44] = 0.0;
-   out_7767655668809768572[45] = 0.0;
-   out_7767655668809768572[46] = 0.0;
-   out_7767655668809768572[47] = 0.0;
-   out_7767655668809768572[48] = 0.0;
-   out_7767655668809768572[49] = 0.0;
-   out_7767655668809768572[50] = 1.0;
-   out_7767655668809768572[51] = 0.0;
-   out_7767655668809768572[52] = 0.0;
-   out_7767655668809768572[53] = 0.0;
-   out_7767655668809768572[54] = 0.0;
-   out_7767655668809768572[55] = 0.0;
-   out_7767655668809768572[56] = 0.0;
-   out_7767655668809768572[57] = 0.0;
-   out_7767655668809768572[58] = 0.0;
-   out_7767655668809768572[59] = 0.0;
-   out_7767655668809768572[60] = 1.0;
-   out_7767655668809768572[61] = 0.0;
-   out_7767655668809768572[62] = 0.0;
-   out_7767655668809768572[63] = 0.0;
-   out_7767655668809768572[64] = 0.0;
-   out_7767655668809768572[65] = 0.0;
-   out_7767655668809768572[66] = 0.0;
-   out_7767655668809768572[67] = 0.0;
-   out_7767655668809768572[68] = 0.0;
-   out_7767655668809768572[69] = 0.0;
-   out_7767655668809768572[70] = 1.0;
-   out_7767655668809768572[71] = 0.0;
-   out_7767655668809768572[72] = 0.0;
-   out_7767655668809768572[73] = 0.0;
-   out_7767655668809768572[74] = 0.0;
-   out_7767655668809768572[75] = 0.0;
-   out_7767655668809768572[76] = 0.0;
-   out_7767655668809768572[77] = 0.0;
-   out_7767655668809768572[78] = 0.0;
-   out_7767655668809768572[79] = 0.0;
-   out_7767655668809768572[80] = 1.0;
+void H_mod_fun(double *state, double *out_1717749627572306313) {
+   out_1717749627572306313[0] = 1.0;
+   out_1717749627572306313[1] = 0.0;
+   out_1717749627572306313[2] = 0.0;
+   out_1717749627572306313[3] = 0.0;
+   out_1717749627572306313[4] = 0.0;
+   out_1717749627572306313[5] = 0.0;
+   out_1717749627572306313[6] = 0.0;
+   out_1717749627572306313[7] = 0.0;
+   out_1717749627572306313[8] = 0.0;
+   out_1717749627572306313[9] = 0.0;
+   out_1717749627572306313[10] = 1.0;
+   out_1717749627572306313[11] = 0.0;
+   out_1717749627572306313[12] = 0.0;
+   out_1717749627572306313[13] = 0.0;
+   out_1717749627572306313[14] = 0.0;
+   out_1717749627572306313[15] = 0.0;
+   out_1717749627572306313[16] = 0.0;
+   out_1717749627572306313[17] = 0.0;
+   out_1717749627572306313[18] = 0.0;
+   out_1717749627572306313[19] = 0.0;
+   out_1717749627572306313[20] = 1.0;
+   out_1717749627572306313[21] = 0.0;
+   out_1717749627572306313[22] = 0.0;
+   out_1717749627572306313[23] = 0.0;
+   out_1717749627572306313[24] = 0.0;
+   out_1717749627572306313[25] = 0.0;
+   out_1717749627572306313[26] = 0.0;
+   out_1717749627572306313[27] = 0.0;
+   out_1717749627572306313[28] = 0.0;
+   out_1717749627572306313[29] = 0.0;
+   out_1717749627572306313[30] = 1.0;
+   out_1717749627572306313[31] = 0.0;
+   out_1717749627572306313[32] = 0.0;
+   out_1717749627572306313[33] = 0.0;
+   out_1717749627572306313[34] = 0.0;
+   out_1717749627572306313[35] = 0.0;
+   out_1717749627572306313[36] = 0.0;
+   out_1717749627572306313[37] = 0.0;
+   out_1717749627572306313[38] = 0.0;
+   out_1717749627572306313[39] = 0.0;
+   out_1717749627572306313[40] = 1.0;
+   out_1717749627572306313[41] = 0.0;
+   out_1717749627572306313[42] = 0.0;
+   out_1717749627572306313[43] = 0.0;
+   out_1717749627572306313[44] = 0.0;
+   out_1717749627572306313[45] = 0.0;
+   out_1717749627572306313[46] = 0.0;
+   out_1717749627572306313[47] = 0.0;
+   out_1717749627572306313[48] = 0.0;
+   out_1717749627572306313[49] = 0.0;
+   out_1717749627572306313[50] = 1.0;
+   out_1717749627572306313[51] = 0.0;
+   out_1717749627572306313[52] = 0.0;
+   out_1717749627572306313[53] = 0.0;
+   out_1717749627572306313[54] = 0.0;
+   out_1717749627572306313[55] = 0.0;
+   out_1717749627572306313[56] = 0.0;
+   out_1717749627572306313[57] = 0.0;
+   out_1717749627572306313[58] = 0.0;
+   out_1717749627572306313[59] = 0.0;
+   out_1717749627572306313[60] = 1.0;
+   out_1717749627572306313[61] = 0.0;
+   out_1717749627572306313[62] = 0.0;
+   out_1717749627572306313[63] = 0.0;
+   out_1717749627572306313[64] = 0.0;
+   out_1717749627572306313[65] = 0.0;
+   out_1717749627572306313[66] = 0.0;
+   out_1717749627572306313[67] = 0.0;
+   out_1717749627572306313[68] = 0.0;
+   out_1717749627572306313[69] = 0.0;
+   out_1717749627572306313[70] = 1.0;
+   out_1717749627572306313[71] = 0.0;
+   out_1717749627572306313[72] = 0.0;
+   out_1717749627572306313[73] = 0.0;
+   out_1717749627572306313[74] = 0.0;
+   out_1717749627572306313[75] = 0.0;
+   out_1717749627572306313[76] = 0.0;
+   out_1717749627572306313[77] = 0.0;
+   out_1717749627572306313[78] = 0.0;
+   out_1717749627572306313[79] = 0.0;
+   out_1717749627572306313[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_3612821593330881774) {
-   out_3612821593330881774[0] = state[0];
-   out_3612821593330881774[1] = state[1];
-   out_3612821593330881774[2] = state[2];
-   out_3612821593330881774[3] = state[3];
-   out_3612821593330881774[4] = state[4];
-   out_3612821593330881774[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_3612821593330881774[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_3612821593330881774[7] = state[7];
-   out_3612821593330881774[8] = state[8];
+void f_fun(double *state, double dt, double *out_4680969065089583930) {
+   out_4680969065089583930[0] = state[0];
+   out_4680969065089583930[1] = state[1];
+   out_4680969065089583930[2] = state[2];
+   out_4680969065089583930[3] = state[3];
+   out_4680969065089583930[4] = state[4];
+   out_4680969065089583930[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
+   out_4680969065089583930[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
+   out_4680969065089583930[7] = state[7];
+   out_4680969065089583930[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_2179834667538047746) {
-   out_2179834667538047746[0] = 1;
-   out_2179834667538047746[1] = 0;
-   out_2179834667538047746[2] = 0;
-   out_2179834667538047746[3] = 0;
-   out_2179834667538047746[4] = 0;
-   out_2179834667538047746[5] = 0;
-   out_2179834667538047746[6] = 0;
-   out_2179834667538047746[7] = 0;
-   out_2179834667538047746[8] = 0;
-   out_2179834667538047746[9] = 0;
-   out_2179834667538047746[10] = 1;
-   out_2179834667538047746[11] = 0;
-   out_2179834667538047746[12] = 0;
-   out_2179834667538047746[13] = 0;
-   out_2179834667538047746[14] = 0;
-   out_2179834667538047746[15] = 0;
-   out_2179834667538047746[16] = 0;
-   out_2179834667538047746[17] = 0;
-   out_2179834667538047746[18] = 0;
-   out_2179834667538047746[19] = 0;
-   out_2179834667538047746[20] = 1;
-   out_2179834667538047746[21] = 0;
-   out_2179834667538047746[22] = 0;
-   out_2179834667538047746[23] = 0;
-   out_2179834667538047746[24] = 0;
-   out_2179834667538047746[25] = 0;
-   out_2179834667538047746[26] = 0;
-   out_2179834667538047746[27] = 0;
-   out_2179834667538047746[28] = 0;
-   out_2179834667538047746[29] = 0;
-   out_2179834667538047746[30] = 1;
-   out_2179834667538047746[31] = 0;
-   out_2179834667538047746[32] = 0;
-   out_2179834667538047746[33] = 0;
-   out_2179834667538047746[34] = 0;
-   out_2179834667538047746[35] = 0;
-   out_2179834667538047746[36] = 0;
-   out_2179834667538047746[37] = 0;
-   out_2179834667538047746[38] = 0;
-   out_2179834667538047746[39] = 0;
-   out_2179834667538047746[40] = 1;
-   out_2179834667538047746[41] = 0;
-   out_2179834667538047746[42] = 0;
-   out_2179834667538047746[43] = 0;
-   out_2179834667538047746[44] = 0;
-   out_2179834667538047746[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_2179834667538047746[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_2179834667538047746[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2179834667538047746[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2179834667538047746[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_2179834667538047746[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_2179834667538047746[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_2179834667538047746[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2179834667538047746[53] = -9.8100000000000005*dt;
-   out_2179834667538047746[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_2179834667538047746[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_2179834667538047746[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2179834667538047746[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2179834667538047746[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_2179834667538047746[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_2179834667538047746[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_2179834667538047746[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2179834667538047746[62] = 0;
-   out_2179834667538047746[63] = 0;
-   out_2179834667538047746[64] = 0;
-   out_2179834667538047746[65] = 0;
-   out_2179834667538047746[66] = 0;
-   out_2179834667538047746[67] = 0;
-   out_2179834667538047746[68] = 0;
-   out_2179834667538047746[69] = 0;
-   out_2179834667538047746[70] = 1;
-   out_2179834667538047746[71] = 0;
-   out_2179834667538047746[72] = 0;
-   out_2179834667538047746[73] = 0;
-   out_2179834667538047746[74] = 0;
-   out_2179834667538047746[75] = 0;
-   out_2179834667538047746[76] = 0;
-   out_2179834667538047746[77] = 0;
-   out_2179834667538047746[78] = 0;
-   out_2179834667538047746[79] = 0;
-   out_2179834667538047746[80] = 1;
+void F_fun(double *state, double dt, double *out_6937343164270022068) {
+   out_6937343164270022068[0] = 1;
+   out_6937343164270022068[1] = 0;
+   out_6937343164270022068[2] = 0;
+   out_6937343164270022068[3] = 0;
+   out_6937343164270022068[4] = 0;
+   out_6937343164270022068[5] = 0;
+   out_6937343164270022068[6] = 0;
+   out_6937343164270022068[7] = 0;
+   out_6937343164270022068[8] = 0;
+   out_6937343164270022068[9] = 0;
+   out_6937343164270022068[10] = 1;
+   out_6937343164270022068[11] = 0;
+   out_6937343164270022068[12] = 0;
+   out_6937343164270022068[13] = 0;
+   out_6937343164270022068[14] = 0;
+   out_6937343164270022068[15] = 0;
+   out_6937343164270022068[16] = 0;
+   out_6937343164270022068[17] = 0;
+   out_6937343164270022068[18] = 0;
+   out_6937343164270022068[19] = 0;
+   out_6937343164270022068[20] = 1;
+   out_6937343164270022068[21] = 0;
+   out_6937343164270022068[22] = 0;
+   out_6937343164270022068[23] = 0;
+   out_6937343164270022068[24] = 0;
+   out_6937343164270022068[25] = 0;
+   out_6937343164270022068[26] = 0;
+   out_6937343164270022068[27] = 0;
+   out_6937343164270022068[28] = 0;
+   out_6937343164270022068[29] = 0;
+   out_6937343164270022068[30] = 1;
+   out_6937343164270022068[31] = 0;
+   out_6937343164270022068[32] = 0;
+   out_6937343164270022068[33] = 0;
+   out_6937343164270022068[34] = 0;
+   out_6937343164270022068[35] = 0;
+   out_6937343164270022068[36] = 0;
+   out_6937343164270022068[37] = 0;
+   out_6937343164270022068[38] = 0;
+   out_6937343164270022068[39] = 0;
+   out_6937343164270022068[40] = 1;
+   out_6937343164270022068[41] = 0;
+   out_6937343164270022068[42] = 0;
+   out_6937343164270022068[43] = 0;
+   out_6937343164270022068[44] = 0;
+   out_6937343164270022068[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
+   out_6937343164270022068[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_6937343164270022068[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6937343164270022068[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6937343164270022068[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
+   out_6937343164270022068[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_6937343164270022068[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_6937343164270022068[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6937343164270022068[53] = -9.8100000000000005*dt;
+   out_6937343164270022068[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
+   out_6937343164270022068[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_6937343164270022068[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6937343164270022068[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6937343164270022068[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
+   out_6937343164270022068[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_6937343164270022068[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
+   out_6937343164270022068[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6937343164270022068[62] = 0;
+   out_6937343164270022068[63] = 0;
+   out_6937343164270022068[64] = 0;
+   out_6937343164270022068[65] = 0;
+   out_6937343164270022068[66] = 0;
+   out_6937343164270022068[67] = 0;
+   out_6937343164270022068[68] = 0;
+   out_6937343164270022068[69] = 0;
+   out_6937343164270022068[70] = 1;
+   out_6937343164270022068[71] = 0;
+   out_6937343164270022068[72] = 0;
+   out_6937343164270022068[73] = 0;
+   out_6937343164270022068[74] = 0;
+   out_6937343164270022068[75] = 0;
+   out_6937343164270022068[76] = 0;
+   out_6937343164270022068[77] = 0;
+   out_6937343164270022068[78] = 0;
+   out_6937343164270022068[79] = 0;
+   out_6937343164270022068[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_6182136655387767236) {
-   out_6182136655387767236[0] = state[6];
+void h_25(double *state, double *unused, double *out_5928605043652166783) {
+   out_5928605043652166783[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_2863963843625103732) {
-   out_2863963843625103732[0] = 0;
-   out_2863963843625103732[1] = 0;
-   out_2863963843625103732[2] = 0;
-   out_2863963843625103732[3] = 0;
-   out_2863963843625103732[4] = 0;
-   out_2863963843625103732[5] = 0;
-   out_2863963843625103732[6] = 1;
-   out_2863963843625103732[7] = 0;
-   out_2863963843625103732[8] = 0;
+void H_25(double *state, double *unused, double *out_8807656413163385498) {
+   out_8807656413163385498[0] = 0;
+   out_8807656413163385498[1] = 0;
+   out_8807656413163385498[2] = 0;
+   out_8807656413163385498[3] = 0;
+   out_8807656413163385498[4] = 0;
+   out_8807656413163385498[5] = 0;
+   out_8807656413163385498[6] = 1;
+   out_8807656413163385498[7] = 0;
+   out_8807656413163385498[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_7699556082354746130) {
-   out_7699556082354746130[0] = state[4];
-   out_7699556082354746130[1] = state[5];
+void h_24(double *state, double *unused, double *out_226265923538190981) {
+   out_226265923538190981[0] = state[4];
+   out_226265923538190981[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_8991184345786785929) {
-   out_8991184345786785929[0] = 0;
-   out_8991184345786785929[1] = 0;
-   out_8991184345786785929[2] = 0;
-   out_8991184345786785929[3] = 0;
-   out_8991184345786785929[4] = 1;
-   out_8991184345786785929[5] = 0;
-   out_8991184345786785929[6] = 0;
-   out_8991184345786785929[7] = 0;
-   out_8991184345786785929[8] = 0;
-   out_8991184345786785929[9] = 0;
-   out_8991184345786785929[10] = 0;
-   out_8991184345786785929[11] = 0;
-   out_8991184345786785929[12] = 0;
-   out_8991184345786785929[13] = 0;
-   out_8991184345786785929[14] = 1;
-   out_8991184345786785929[15] = 0;
-   out_8991184345786785929[16] = 0;
-   out_8991184345786785929[17] = 0;
+void H_24(double *state, double *unused, double *out_5249730814361062362) {
+   out_5249730814361062362[0] = 0;
+   out_5249730814361062362[1] = 0;
+   out_5249730814361062362[2] = 0;
+   out_5249730814361062362[3] = 0;
+   out_5249730814361062362[4] = 1;
+   out_5249730814361062362[5] = 0;
+   out_5249730814361062362[6] = 0;
+   out_5249730814361062362[7] = 0;
+   out_5249730814361062362[8] = 0;
+   out_5249730814361062362[9] = 0;
+   out_5249730814361062362[10] = 0;
+   out_5249730814361062362[11] = 0;
+   out_5249730814361062362[12] = 0;
+   out_5249730814361062362[13] = 0;
+   out_5249730814361062362[14] = 1;
+   out_5249730814361062362[15] = 0;
+   out_5249730814361062362[16] = 0;
+   out_5249730814361062362[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_3234410665032282275) {
-   out_3234410665032282275[0] = state[4];
+void h_30(double *state, double *unused, double *out_8880689501803362483) {
+   out_8880689501803362483[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_345630885117855105) {
-   out_345630885117855105[0] = 0;
-   out_345630885117855105[1] = 0;
-   out_345630885117855105[2] = 0;
-   out_345630885117855105[3] = 0;
-   out_345630885117855105[4] = 1;
-   out_345630885117855105[5] = 0;
-   out_345630885117855105[6] = 0;
-   out_345630885117855105[7] = 0;
-   out_345630885117855105[8] = 0;
+void H_30(double *state, double *unused, double *out_6289323454656136871) {
+   out_6289323454656136871[0] = 0;
+   out_6289323454656136871[1] = 0;
+   out_6289323454656136871[2] = 0;
+   out_6289323454656136871[3] = 0;
+   out_6289323454656136871[4] = 1;
+   out_6289323454656136871[5] = 0;
+   out_6289323454656136871[6] = 0;
+   out_6289323454656136871[7] = 0;
+   out_6289323454656136871[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_8236083932693127920) {
-   out_8236083932693127920[0] = state[7];
+void h_26(double *state, double *unused, double *out_101279670203478282) {
+   out_101279670203478282[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_6605467162499159956) {
-   out_6605467162499159956[0] = 0;
-   out_6605467162499159956[1] = 0;
-   out_6605467162499159956[2] = 0;
-   out_6605467162499159956[3] = 0;
-   out_6605467162499159956[4] = 0;
-   out_6605467162499159956[5] = 0;
-   out_6605467162499159956[6] = 0;
-   out_6605467162499159956[7] = 1;
-   out_6605467162499159956[8] = 0;
+void H_26(double *state, double *unused, double *out_5897584341672109894) {
+   out_5897584341672109894[0] = 0;
+   out_5897584341672109894[1] = 0;
+   out_5897584341672109894[2] = 0;
+   out_5897584341672109894[3] = 0;
+   out_5897584341672109894[4] = 0;
+   out_5897584341672109894[5] = 0;
+   out_5897584341672109894[6] = 0;
+   out_5897584341672109894[7] = 1;
+   out_5897584341672109894[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_5200052562052469124) {
-   out_5200052562052469124[0] = state[3];
+void h_27(double *state, double *unused, double *out_3324199722843469132) {
+   out_3324199722843469132[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_1877963186066088112) {
-   out_1877963186066088112[0] = 0;
-   out_1877963186066088112[1] = 0;
-   out_1877963186066088112[2] = 0;
-   out_1877963186066088112[3] = 1;
-   out_1877963186066088112[4] = 0;
-   out_1877963186066088112[5] = 0;
-   out_1877963186066088112[6] = 0;
-   out_1877963186066088112[7] = 0;
-   out_1877963186066088112[8] = 0;
+void H_27(double *state, double *unused, double *out_8464086766456561782) {
+   out_8464086766456561782[0] = 0;
+   out_8464086766456561782[1] = 0;
+   out_8464086766456561782[2] = 0;
+   out_8464086766456561782[3] = 1;
+   out_8464086766456561782[4] = 0;
+   out_8464086766456561782[5] = 0;
+   out_8464086766456561782[6] = 0;
+   out_8464086766456561782[7] = 0;
+   out_8464086766456561782[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_1767262602628563370) {
-   out_1767262602628563370[0] = state[1];
+void h_29(double *state, double *unused, double *out_3167013054492339987) {
+   out_3167013054492339987[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_164600459196537079) {
-   out_164600459196537079[0] = 0;
-   out_164600459196537079[1] = 1;
-   out_164600459196537079[2] = 0;
-   out_164600459196537079[3] = 0;
-   out_164600459196537079[4] = 0;
-   out_164600459196537079[5] = 0;
-   out_164600459196537079[6] = 0;
-   out_164600459196537079[7] = 0;
-   out_164600459196537079[8] = 0;
+void H_29(double *state, double *unused, double *out_5779092110341744687) {
+   out_5779092110341744687[0] = 0;
+   out_5779092110341744687[1] = 1;
+   out_5779092110341744687[2] = 0;
+   out_5779092110341744687[3] = 0;
+   out_5779092110341744687[4] = 0;
+   out_5779092110341744687[5] = 0;
+   out_5779092110341744687[6] = 0;
+   out_5779092110341744687[7] = 0;
+   out_5779092110341744687[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_8284311513975789260) {
-   out_8284311513975789260[0] = state[0];
+void h_28(double *state, double *unused, double *out_287413671399136447) {
+   out_287413671399136447[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_4917798557872993495) {
-   out_4917798557872993495[0] = 1;
-   out_4917798557872993495[1] = 0;
-   out_4917798557872993495[2] = 0;
-   out_4917798557872993495[3] = 0;
-   out_4917798557872993495[4] = 0;
-   out_4917798557872993495[5] = 0;
-   out_4917798557872993495[6] = 0;
-   out_4917798557872993495[7] = 0;
-   out_4917798557872993495[8] = 0;
+void H_28(double *state, double *unused, double *out_7585252946298276355) {
+   out_7585252946298276355[0] = 1;
+   out_7585252946298276355[1] = 0;
+   out_7585252946298276355[2] = 0;
+   out_7585252946298276355[3] = 0;
+   out_7585252946298276355[4] = 0;
+   out_7585252946298276355[5] = 0;
+   out_7585252946298276355[6] = 0;
+   out_7585252946298276355[7] = 0;
+   out_7585252946298276355[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_588698570962583700) {
-   out_588698570962583700[0] = state[8];
+void h_31(double *state, double *unused, double *out_1952667607101882402) {
+   out_1952667607101882402[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_7231675264732511432) {
-   out_7231675264732511432[0] = 0;
-   out_7231675264732511432[1] = 0;
-   out_7231675264732511432[2] = 0;
-   out_7231675264732511432[3] = 0;
-   out_7231675264732511432[4] = 0;
-   out_7231675264732511432[5] = 0;
-   out_7231675264732511432[6] = 0;
-   out_7231675264732511432[7] = 0;
-   out_7231675264732511432[8] = 1;
+void H_31(double *state, double *unused, double *out_5271376239438758418) {
+   out_5271376239438758418[0] = 0;
+   out_5271376239438758418[1] = 0;
+   out_5271376239438758418[2] = 0;
+   out_5271376239438758418[3] = 0;
+   out_5271376239438758418[4] = 0;
+   out_5271376239438758418[5] = 0;
+   out_5271376239438758418[6] = 0;
+   out_5271376239438758418[7] = 0;
+   out_5271376239438758418[8] = 1;
 }
 #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_3745689373699638561) {
-  err_fun(nom_x, delta_x, out_3745689373699638561);
+void car_err_fun(double *nom_x, double *delta_x, double *out_3970546799234288025) {
+  err_fun(nom_x, delta_x, out_3970546799234288025);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_2400897459040094715) {
-  inv_err_fun(nom_x, true_x, out_2400897459040094715);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550) {
+  inv_err_fun(nom_x, true_x, out_2567718075778826550);
 }
-void car_H_mod_fun(double *state, double *out_7767655668809768572) {
-  H_mod_fun(state, out_7767655668809768572);
+void car_H_mod_fun(double *state, double *out_1717749627572306313) {
+  H_mod_fun(state, out_1717749627572306313);
 }
-void car_f_fun(double *state, double dt, double *out_3612821593330881774) {
-  f_fun(state,  dt, out_3612821593330881774);
+void car_f_fun(double *state, double dt, double *out_4680969065089583930) {
+  f_fun(state,  dt, out_4680969065089583930);
 }
-void car_F_fun(double *state, double dt, double *out_2179834667538047746) {
-  F_fun(state,  dt, out_2179834667538047746);
+void car_F_fun(double *state, double dt, double *out_6937343164270022068) {
+  F_fun(state,  dt, out_6937343164270022068);
 }
-void car_h_25(double *state, double *unused, double *out_6182136655387767236) {
-  h_25(state, unused, out_6182136655387767236);
+void car_h_25(double *state, double *unused, double *out_5928605043652166783) {
+  h_25(state, unused, out_5928605043652166783);
 }
-void car_H_25(double *state, double *unused, double *out_2863963843625103732) {
-  H_25(state, unused, out_2863963843625103732);
+void car_H_25(double *state, double *unused, double *out_8807656413163385498) {
+  H_25(state, unused, out_8807656413163385498);
 }
-void car_h_24(double *state, double *unused, double *out_7699556082354746130) {
-  h_24(state, unused, out_7699556082354746130);
+void car_h_24(double *state, double *unused, double *out_226265923538190981) {
+  h_24(state, unused, out_226265923538190981);
 }
-void car_H_24(double *state, double *unused, double *out_8991184345786785929) {
-  H_24(state, unused, out_8991184345786785929);
+void car_H_24(double *state, double *unused, double *out_5249730814361062362) {
+  H_24(state, unused, out_5249730814361062362);
 }
-void car_h_30(double *state, double *unused, double *out_3234410665032282275) {
-  h_30(state, unused, out_3234410665032282275);
+void car_h_30(double *state, double *unused, double *out_8880689501803362483) {
+  h_30(state, unused, out_8880689501803362483);
 }
-void car_H_30(double *state, double *unused, double *out_345630885117855105) {
-  H_30(state, unused, out_345630885117855105);
+void car_H_30(double *state, double *unused, double *out_6289323454656136871) {
+  H_30(state, unused, out_6289323454656136871);
 }
-void car_h_26(double *state, double *unused, double *out_8236083932693127920) {
-  h_26(state, unused, out_8236083932693127920);
+void car_h_26(double *state, double *unused, double *out_101279670203478282) {
+  h_26(state, unused, out_101279670203478282);
 }
-void car_H_26(double *state, double *unused, double *out_6605467162499159956) {
-  H_26(state, unused, out_6605467162499159956);
+void car_H_26(double *state, double *unused, double *out_5897584341672109894) {
+  H_26(state, unused, out_5897584341672109894);
 }
-void car_h_27(double *state, double *unused, double *out_5200052562052469124) {
-  h_27(state, unused, out_5200052562052469124);
+void car_h_27(double *state, double *unused, double *out_3324199722843469132) {
+  h_27(state, unused, out_3324199722843469132);
 }
-void car_H_27(double *state, double *unused, double *out_1877963186066088112) {
-  H_27(state, unused, out_1877963186066088112);
+void car_H_27(double *state, double *unused, double *out_8464086766456561782) {
+  H_27(state, unused, out_8464086766456561782);
 }
-void car_h_29(double *state, double *unused, double *out_1767262602628563370) {
-  h_29(state, unused, out_1767262602628563370);
+void car_h_29(double *state, double *unused, double *out_3167013054492339987) {
+  h_29(state, unused, out_3167013054492339987);
 }
-void car_H_29(double *state, double *unused, double *out_164600459196537079) {
-  H_29(state, unused, out_164600459196537079);
+void car_H_29(double *state, double *unused, double *out_5779092110341744687) {
+  H_29(state, unused, out_5779092110341744687);
 }
-void car_h_28(double *state, double *unused, double *out_8284311513975789260) {
-  h_28(state, unused, out_8284311513975789260);
+void car_h_28(double *state, double *unused, double *out_287413671399136447) {
+  h_28(state, unused, out_287413671399136447);
 }
-void car_H_28(double *state, double *unused, double *out_4917798557872993495) {
-  H_28(state, unused, out_4917798557872993495);
+void car_H_28(double *state, double *unused, double *out_7585252946298276355) {
+  H_28(state, unused, out_7585252946298276355);
 }
-void car_h_31(double *state, double *unused, double *out_588698570962583700) {
-  h_31(state, unused, out_588698570962583700);
+void car_h_31(double *state, double *unused, double *out_1952667607101882402) {
+  h_31(state, unused, out_1952667607101882402);
 }
-void car_H_31(double *state, double *unused, double *out_7231675264732511432) {
-  H_31(state, unused, out_7231675264732511432);
+void car_H_31(double *state, double *unused, double *out_5271376239438758418) {
+  H_31(state, unused, out_5271376239438758418);
 }
 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_3745689373699638561);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_2400897459040094715);
-void car_H_mod_fun(double *state, double *out_7767655668809768572);
-void car_f_fun(double *state, double dt, double *out_3612821593330881774);
-void car_F_fun(double *state, double dt, double *out_2179834667538047746);
-void car_h_25(double *state, double *unused, double *out_6182136655387767236);
-void car_H_25(double *state, double *unused, double *out_2863963843625103732);
-void car_h_24(double *state, double *unused, double *out_7699556082354746130);
-void car_H_24(double *state, double *unused, double *out_8991184345786785929);
-void car_h_30(double *state, double *unused, double *out_3234410665032282275);
-void car_H_30(double *state, double *unused, double *out_345630885117855105);
-void car_h_26(double *state, double *unused, double *out_8236083932693127920);
-void car_H_26(double *state, double *unused, double *out_6605467162499159956);
-void car_h_27(double *state, double *unused, double *out_5200052562052469124);
-void car_H_27(double *state, double *unused, double *out_1877963186066088112);
-void car_h_29(double *state, double *unused, double *out_1767262602628563370);
-void car_H_29(double *state, double *unused, double *out_164600459196537079);
-void car_h_28(double *state, double *unused, double *out_8284311513975789260);
-void car_H_28(double *state, double *unused, double *out_4917798557872993495);
-void car_h_31(double *state, double *unused, double *out_588698570962583700);
-void car_H_31(double *state, double *unused, double *out_7231675264732511432);
+void car_err_fun(double *nom_x, double *delta_x, double *out_3970546799234288025);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550);
+void car_H_mod_fun(double *state, double *out_1717749627572306313);
+void car_f_fun(double *state, double dt, double *out_4680969065089583930);
+void car_F_fun(double *state, double dt, double *out_6937343164270022068);
+void car_h_25(double *state, double *unused, double *out_5928605043652166783);
+void car_H_25(double *state, double *unused, double *out_8807656413163385498);
+void car_h_24(double *state, double *unused, double *out_226265923538190981);
+void car_H_24(double *state, double *unused, double *out_5249730814361062362);
+void car_h_30(double *state, double *unused, double *out_8880689501803362483);
+void car_H_30(double *state, double *unused, double *out_6289323454656136871);
+void car_h_26(double *state, double *unused, double *out_101279670203478282);
+void car_H_26(double *state, double *unused, double *out_5897584341672109894);
+void car_h_27(double *state, double *unused, double *out_3324199722843469132);
+void car_H_27(double *state, double *unused, double *out_8464086766456561782);
+void car_h_29(double *state, double *unused, double *out_3167013054492339987);
+void car_H_29(double *state, double *unused, double *out_5779092110341744687);
+void car_h_28(double *state, double *unused, double *out_287413671399136447);
+void car_H_28(double *state, double *unused, double *out_7585252946298276355);
+void car_h_31(double *state, double *unused, double *out_1952667607101882402);
+void car_H_31(double *state, double *unused, double *out_5271376239438758418);
 void car_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_5813097801788606117);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_265932847343752274);
-void pose_H_mod_fun(double *state, double *out_3782749078324294962);
-void pose_f_fun(double *state, double dt, double *out_2316687695349101514);
-void pose_F_fun(double *state, double dt, double *out_830203783768276833);
-void pose_h_4(double *state, double *unused, double *out_1652667498977980545);
-void pose_H_4(double *state, double *unused, double *out_2065332728427663759);
-void pose_h_10(double *state, double *unused, double *out_8803253396773735652);
-void pose_H_10(double *state, double *unused, double *out_1768777245936477788);
-void pose_h_13(double *state, double *unused, double *out_5388839778110327076);
-void pose_H_13(double *state, double *unused, double *out_1146941096904669042);
-void pose_h_14(double *state, double *unused, double *out_653899258242143155);
-void pose_H_14(double *state, double *unused, double *out_1897908127911820770);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_788519772333288428);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3476371721226452847);
+void pose_H_mod_fun(double *state, double *out_1856202857491626372);
+void pose_f_fun(double *state, double dt, double *out_7190390231498499682);
+void pose_F_fun(double *state, double dt, double *out_4238346152453461367);
+void pose_h_4(double *state, double *unused, double *out_7341523241853351564);
+void pose_H_4(double *state, double *unused, double *out_3675901583397923233);
+void pose_h_10(double *state, double *unused, double *out_7979280784138322600);
+void pose_H_10(double *state, double *unused, double *out_2717029967524110913);
+void pose_h_13(double *state, double *unused, double *out_2249980252911390508);
+void pose_H_13(double *state, double *unused, double *out_3934729624918777696);
+void pose_h_14(double *state, double *unused, double *out_6063115878095578816);
+void pose_H_14(double *state, double *unused, double *out_287339272941561296);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }