build

2026-09-18 13:33:53 +08:00 · 2026-09-13 17:58:26 -05:00
parent c51b96879a
commit 6b8bb279d4
96 changed files with 1347 additions and 1347 deletions
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-f6664f54-DEBUG";
+const uint8_t gitversion[19] = "DEV-c51b9687-DEBUG";
@@ -1 +1 @@
-DEV-f6664f54-DEBUG
+DEV-c51b9687-DEBUG
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
 *                                                                            *
 *                         This file is part of 'ekf'                         *
 ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_781655183145825394) {
-   out_781655183145825394[0] = delta_x[0] + nom_x[0];
-   out_781655183145825394[1] = delta_x[1] + nom_x[1];
-   out_781655183145825394[2] = delta_x[2] + nom_x[2];
-   out_781655183145825394[3] = delta_x[3] + nom_x[3];
-   out_781655183145825394[4] = delta_x[4] + nom_x[4];
-   out_781655183145825394[5] = delta_x[5] + nom_x[5];
-   out_781655183145825394[6] = delta_x[6] + nom_x[6];
-   out_781655183145825394[7] = delta_x[7] + nom_x[7];
-   out_781655183145825394[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_6543135761510689107) {
+   out_6543135761510689107[0] = delta_x[0] + nom_x[0];
+   out_6543135761510689107[1] = delta_x[1] + nom_x[1];
+   out_6543135761510689107[2] = delta_x[2] + nom_x[2];
+   out_6543135761510689107[3] = delta_x[3] + nom_x[3];
+   out_6543135761510689107[4] = delta_x[4] + nom_x[4];
+   out_6543135761510689107[5] = delta_x[5] + nom_x[5];
+   out_6543135761510689107[6] = delta_x[6] + nom_x[6];
+   out_6543135761510689107[7] = delta_x[7] + nom_x[7];
+   out_6543135761510689107[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_2912836612698073811) {
-   out_2912836612698073811[0] = -nom_x[0] + true_x[0];
-   out_2912836612698073811[1] = -nom_x[1] + true_x[1];
-   out_2912836612698073811[2] = -nom_x[2] + true_x[2];
-   out_2912836612698073811[3] = -nom_x[3] + true_x[3];
-   out_2912836612698073811[4] = -nom_x[4] + true_x[4];
-   out_2912836612698073811[5] = -nom_x[5] + true_x[5];
-   out_2912836612698073811[6] = -nom_x[6] + true_x[6];
-   out_2912836612698073811[7] = -nom_x[7] + true_x[7];
-   out_2912836612698073811[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_2331655545426529005) {
+   out_2331655545426529005[0] = -nom_x[0] + true_x[0];
+   out_2331655545426529005[1] = -nom_x[1] + true_x[1];
+   out_2331655545426529005[2] = -nom_x[2] + true_x[2];
+   out_2331655545426529005[3] = -nom_x[3] + true_x[3];
+   out_2331655545426529005[4] = -nom_x[4] + true_x[4];
+   out_2331655545426529005[5] = -nom_x[5] + true_x[5];
+   out_2331655545426529005[6] = -nom_x[6] + true_x[6];
+   out_2331655545426529005[7] = -nom_x[7] + true_x[7];
+   out_2331655545426529005[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_6456005511861377664) {
-   out_6456005511861377664[0] = 1.0;
-   out_6456005511861377664[1] = 0.0;
-   out_6456005511861377664[2] = 0.0;
-   out_6456005511861377664[3] = 0.0;
-   out_6456005511861377664[4] = 0.0;
-   out_6456005511861377664[5] = 0.0;
-   out_6456005511861377664[6] = 0.0;
-   out_6456005511861377664[7] = 0.0;
-   out_6456005511861377664[8] = 0.0;
-   out_6456005511861377664[9] = 0.0;
-   out_6456005511861377664[10] = 1.0;
-   out_6456005511861377664[11] = 0.0;
-   out_6456005511861377664[12] = 0.0;
-   out_6456005511861377664[13] = 0.0;
-   out_6456005511861377664[14] = 0.0;
-   out_6456005511861377664[15] = 0.0;
-   out_6456005511861377664[16] = 0.0;
-   out_6456005511861377664[17] = 0.0;
-   out_6456005511861377664[18] = 0.0;
-   out_6456005511861377664[19] = 0.0;
-   out_6456005511861377664[20] = 1.0;
-   out_6456005511861377664[21] = 0.0;
-   out_6456005511861377664[22] = 0.0;
-   out_6456005511861377664[23] = 0.0;
-   out_6456005511861377664[24] = 0.0;
-   out_6456005511861377664[25] = 0.0;
-   out_6456005511861377664[26] = 0.0;
-   out_6456005511861377664[27] = 0.0;
-   out_6456005511861377664[28] = 0.0;
-   out_6456005511861377664[29] = 0.0;
-   out_6456005511861377664[30] = 1.0;
-   out_6456005511861377664[31] = 0.0;
-   out_6456005511861377664[32] = 0.0;
-   out_6456005511861377664[33] = 0.0;
-   out_6456005511861377664[34] = 0.0;
-   out_6456005511861377664[35] = 0.0;
-   out_6456005511861377664[36] = 0.0;
-   out_6456005511861377664[37] = 0.0;
-   out_6456005511861377664[38] = 0.0;
-   out_6456005511861377664[39] = 0.0;
-   out_6456005511861377664[40] = 1.0;
-   out_6456005511861377664[41] = 0.0;
-   out_6456005511861377664[42] = 0.0;
-   out_6456005511861377664[43] = 0.0;
-   out_6456005511861377664[44] = 0.0;
-   out_6456005511861377664[45] = 0.0;
-   out_6456005511861377664[46] = 0.0;
-   out_6456005511861377664[47] = 0.0;
-   out_6456005511861377664[48] = 0.0;
-   out_6456005511861377664[49] = 0.0;
-   out_6456005511861377664[50] = 1.0;
-   out_6456005511861377664[51] = 0.0;
-   out_6456005511861377664[52] = 0.0;
-   out_6456005511861377664[53] = 0.0;
-   out_6456005511861377664[54] = 0.0;
-   out_6456005511861377664[55] = 0.0;
-   out_6456005511861377664[56] = 0.0;
-   out_6456005511861377664[57] = 0.0;
-   out_6456005511861377664[58] = 0.0;
-   out_6456005511861377664[59] = 0.0;
-   out_6456005511861377664[60] = 1.0;
-   out_6456005511861377664[61] = 0.0;
-   out_6456005511861377664[62] = 0.0;
-   out_6456005511861377664[63] = 0.0;
-   out_6456005511861377664[64] = 0.0;
-   out_6456005511861377664[65] = 0.0;
-   out_6456005511861377664[66] = 0.0;
-   out_6456005511861377664[67] = 0.0;
-   out_6456005511861377664[68] = 0.0;
-   out_6456005511861377664[69] = 0.0;
-   out_6456005511861377664[70] = 1.0;
-   out_6456005511861377664[71] = 0.0;
-   out_6456005511861377664[72] = 0.0;
-   out_6456005511861377664[73] = 0.0;
-   out_6456005511861377664[74] = 0.0;
-   out_6456005511861377664[75] = 0.0;
-   out_6456005511861377664[76] = 0.0;
-   out_6456005511861377664[77] = 0.0;
-   out_6456005511861377664[78] = 0.0;
-   out_6456005511861377664[79] = 0.0;
-   out_6456005511861377664[80] = 1.0;
+void H_mod_fun(double *state, double *out_6389313126975023722) {
+   out_6389313126975023722[0] = 1.0;
+   out_6389313126975023722[1] = 0.0;
+   out_6389313126975023722[2] = 0.0;
+   out_6389313126975023722[3] = 0.0;
+   out_6389313126975023722[4] = 0.0;
+   out_6389313126975023722[5] = 0.0;
+   out_6389313126975023722[6] = 0.0;
+   out_6389313126975023722[7] = 0.0;
+   out_6389313126975023722[8] = 0.0;
+   out_6389313126975023722[9] = 0.0;
+   out_6389313126975023722[10] = 1.0;
+   out_6389313126975023722[11] = 0.0;
+   out_6389313126975023722[12] = 0.0;
+   out_6389313126975023722[13] = 0.0;
+   out_6389313126975023722[14] = 0.0;
+   out_6389313126975023722[15] = 0.0;
+   out_6389313126975023722[16] = 0.0;
+   out_6389313126975023722[17] = 0.0;
+   out_6389313126975023722[18] = 0.0;
+   out_6389313126975023722[19] = 0.0;
+   out_6389313126975023722[20] = 1.0;
+   out_6389313126975023722[21] = 0.0;
+   out_6389313126975023722[22] = 0.0;
+   out_6389313126975023722[23] = 0.0;
+   out_6389313126975023722[24] = 0.0;
+   out_6389313126975023722[25] = 0.0;
+   out_6389313126975023722[26] = 0.0;
+   out_6389313126975023722[27] = 0.0;
+   out_6389313126975023722[28] = 0.0;
+   out_6389313126975023722[29] = 0.0;
+   out_6389313126975023722[30] = 1.0;
+   out_6389313126975023722[31] = 0.0;
+   out_6389313126975023722[32] = 0.0;
+   out_6389313126975023722[33] = 0.0;
+   out_6389313126975023722[34] = 0.0;
+   out_6389313126975023722[35] = 0.0;
+   out_6389313126975023722[36] = 0.0;
+   out_6389313126975023722[37] = 0.0;
+   out_6389313126975023722[38] = 0.0;
+   out_6389313126975023722[39] = 0.0;
+   out_6389313126975023722[40] = 1.0;
+   out_6389313126975023722[41] = 0.0;
+   out_6389313126975023722[42] = 0.0;
+   out_6389313126975023722[43] = 0.0;
+   out_6389313126975023722[44] = 0.0;
+   out_6389313126975023722[45] = 0.0;
+   out_6389313126975023722[46] = 0.0;
+   out_6389313126975023722[47] = 0.0;
+   out_6389313126975023722[48] = 0.0;
+   out_6389313126975023722[49] = 0.0;
+   out_6389313126975023722[50] = 1.0;
+   out_6389313126975023722[51] = 0.0;
+   out_6389313126975023722[52] = 0.0;
+   out_6389313126975023722[53] = 0.0;
+   out_6389313126975023722[54] = 0.0;
+   out_6389313126975023722[55] = 0.0;
+   out_6389313126975023722[56] = 0.0;
+   out_6389313126975023722[57] = 0.0;
+   out_6389313126975023722[58] = 0.0;
+   out_6389313126975023722[59] = 0.0;
+   out_6389313126975023722[60] = 1.0;
+   out_6389313126975023722[61] = 0.0;
+   out_6389313126975023722[62] = 0.0;
+   out_6389313126975023722[63] = 0.0;
+   out_6389313126975023722[64] = 0.0;
+   out_6389313126975023722[65] = 0.0;
+   out_6389313126975023722[66] = 0.0;
+   out_6389313126975023722[67] = 0.0;
+   out_6389313126975023722[68] = 0.0;
+   out_6389313126975023722[69] = 0.0;
+   out_6389313126975023722[70] = 1.0;
+   out_6389313126975023722[71] = 0.0;
+   out_6389313126975023722[72] = 0.0;
+   out_6389313126975023722[73] = 0.0;
+   out_6389313126975023722[74] = 0.0;
+   out_6389313126975023722[75] = 0.0;
+   out_6389313126975023722[76] = 0.0;
+   out_6389313126975023722[77] = 0.0;
+   out_6389313126975023722[78] = 0.0;
+   out_6389313126975023722[79] = 0.0;
+   out_6389313126975023722[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_6006881912496167916) {
-   out_6006881912496167916[0] = state[0];
-   out_6006881912496167916[1] = state[1];
-   out_6006881912496167916[2] = state[2];
-   out_6006881912496167916[3] = state[3];
-   out_6006881912496167916[4] = state[4];
-   out_6006881912496167916[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_6006881912496167916[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_6006881912496167916[7] = state[7];
-   out_6006881912496167916[8] = state[8];
+void f_fun(double *state, double dt, double *out_4897785971793930733) {
+   out_4897785971793930733[0] = state[0];
+   out_4897785971793930733[1] = state[1];
+   out_4897785971793930733[2] = state[2];
+   out_4897785971793930733[3] = state[3];
+   out_4897785971793930733[4] = state[4];
+   out_4897785971793930733[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_4897785971793930733[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_4897785971793930733[7] = state[7];
+   out_4897785971793930733[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_1756382049312448223) {
-   out_1756382049312448223[0] = 1;
-   out_1756382049312448223[1] = 0;
-   out_1756382049312448223[2] = 0;
-   out_1756382049312448223[3] = 0;
-   out_1756382049312448223[4] = 0;
-   out_1756382049312448223[5] = 0;
-   out_1756382049312448223[6] = 0;
-   out_1756382049312448223[7] = 0;
-   out_1756382049312448223[8] = 0;
-   out_1756382049312448223[9] = 0;
-   out_1756382049312448223[10] = 1;
-   out_1756382049312448223[11] = 0;
-   out_1756382049312448223[12] = 0;
-   out_1756382049312448223[13] = 0;
-   out_1756382049312448223[14] = 0;
-   out_1756382049312448223[15] = 0;
-   out_1756382049312448223[16] = 0;
-   out_1756382049312448223[17] = 0;
-   out_1756382049312448223[18] = 0;
-   out_1756382049312448223[19] = 0;
-   out_1756382049312448223[20] = 1;
-   out_1756382049312448223[21] = 0;
-   out_1756382049312448223[22] = 0;
-   out_1756382049312448223[23] = 0;
-   out_1756382049312448223[24] = 0;
-   out_1756382049312448223[25] = 0;
-   out_1756382049312448223[26] = 0;
-   out_1756382049312448223[27] = 0;
-   out_1756382049312448223[28] = 0;
-   out_1756382049312448223[29] = 0;
-   out_1756382049312448223[30] = 1;
-   out_1756382049312448223[31] = 0;
-   out_1756382049312448223[32] = 0;
-   out_1756382049312448223[33] = 0;
-   out_1756382049312448223[34] = 0;
-   out_1756382049312448223[35] = 0;
-   out_1756382049312448223[36] = 0;
-   out_1756382049312448223[37] = 0;
-   out_1756382049312448223[38] = 0;
-   out_1756382049312448223[39] = 0;
-   out_1756382049312448223[40] = 1;
-   out_1756382049312448223[41] = 0;
-   out_1756382049312448223[42] = 0;
-   out_1756382049312448223[43] = 0;
-   out_1756382049312448223[44] = 0;
-   out_1756382049312448223[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_1756382049312448223[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_1756382049312448223[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_1756382049312448223[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_1756382049312448223[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_1756382049312448223[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_1756382049312448223[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_1756382049312448223[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_1756382049312448223[53] = -9.8100000000000005*dt;
-   out_1756382049312448223[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_1756382049312448223[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_1756382049312448223[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_1756382049312448223[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_1756382049312448223[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_1756382049312448223[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_1756382049312448223[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_1756382049312448223[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_1756382049312448223[62] = 0;
-   out_1756382049312448223[63] = 0;
-   out_1756382049312448223[64] = 0;
-   out_1756382049312448223[65] = 0;
-   out_1756382049312448223[66] = 0;
-   out_1756382049312448223[67] = 0;
-   out_1756382049312448223[68] = 0;
-   out_1756382049312448223[69] = 0;
-   out_1756382049312448223[70] = 1;
-   out_1756382049312448223[71] = 0;
-   out_1756382049312448223[72] = 0;
-   out_1756382049312448223[73] = 0;
-   out_1756382049312448223[74] = 0;
-   out_1756382049312448223[75] = 0;
-   out_1756382049312448223[76] = 0;
-   out_1756382049312448223[77] = 0;
-   out_1756382049312448223[78] = 0;
-   out_1756382049312448223[79] = 0;
-   out_1756382049312448223[80] = 1;
+void F_fun(double *state, double dt, double *out_1120359963151235251) {
+   out_1120359963151235251[0] = 1;
+   out_1120359963151235251[1] = 0;
+   out_1120359963151235251[2] = 0;
+   out_1120359963151235251[3] = 0;
+   out_1120359963151235251[4] = 0;
+   out_1120359963151235251[5] = 0;
+   out_1120359963151235251[6] = 0;
+   out_1120359963151235251[7] = 0;
+   out_1120359963151235251[8] = 0;
+   out_1120359963151235251[9] = 0;
+   out_1120359963151235251[10] = 1;
+   out_1120359963151235251[11] = 0;
+   out_1120359963151235251[12] = 0;
+   out_1120359963151235251[13] = 0;
+   out_1120359963151235251[14] = 0;
+   out_1120359963151235251[15] = 0;
+   out_1120359963151235251[16] = 0;
+   out_1120359963151235251[17] = 0;
+   out_1120359963151235251[18] = 0;
+   out_1120359963151235251[19] = 0;
+   out_1120359963151235251[20] = 1;
+   out_1120359963151235251[21] = 0;
+   out_1120359963151235251[22] = 0;
+   out_1120359963151235251[23] = 0;
+   out_1120359963151235251[24] = 0;
+   out_1120359963151235251[25] = 0;
+   out_1120359963151235251[26] = 0;
+   out_1120359963151235251[27] = 0;
+   out_1120359963151235251[28] = 0;
+   out_1120359963151235251[29] = 0;
+   out_1120359963151235251[30] = 1;
+   out_1120359963151235251[31] = 0;
+   out_1120359963151235251[32] = 0;
+   out_1120359963151235251[33] = 0;
+   out_1120359963151235251[34] = 0;
+   out_1120359963151235251[35] = 0;
+   out_1120359963151235251[36] = 0;
+   out_1120359963151235251[37] = 0;
+   out_1120359963151235251[38] = 0;
+   out_1120359963151235251[39] = 0;
+   out_1120359963151235251[40] = 1;
+   out_1120359963151235251[41] = 0;
+   out_1120359963151235251[42] = 0;
+   out_1120359963151235251[43] = 0;
+   out_1120359963151235251[44] = 0;
+   out_1120359963151235251[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_1120359963151235251[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_1120359963151235251[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_1120359963151235251[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_1120359963151235251[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_1120359963151235251[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_1120359963151235251[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_1120359963151235251[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_1120359963151235251[53] = -9.8100000000000005*dt;
+   out_1120359963151235251[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_1120359963151235251[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_1120359963151235251[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_1120359963151235251[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_1120359963151235251[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_1120359963151235251[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_1120359963151235251[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_1120359963151235251[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_1120359963151235251[62] = 0;
+   out_1120359963151235251[63] = 0;
+   out_1120359963151235251[64] = 0;
+   out_1120359963151235251[65] = 0;
+   out_1120359963151235251[66] = 0;
+   out_1120359963151235251[67] = 0;
+   out_1120359963151235251[68] = 0;
+   out_1120359963151235251[69] = 0;
+   out_1120359963151235251[70] = 1;
+   out_1120359963151235251[71] = 0;
+   out_1120359963151235251[72] = 0;
+   out_1120359963151235251[73] = 0;
+   out_1120359963151235251[74] = 0;
+   out_1120359963151235251[75] = 0;
+   out_1120359963151235251[76] = 0;
+   out_1120359963151235251[77] = 0;
+   out_1120359963151235251[78] = 0;
+   out_1120359963151235251[79] = 0;
+   out_1120359963151235251[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_2827928331020362404) {
-   out_2827928331020362404[0] = state[6];
+void h_25(double *state, double *unused, double *out_2169501381777287353) {
+   out_2169501381777287353[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_7087046736663509112) {
-   out_7087046736663509112[0] = 0;
-   out_7087046736663509112[1] = 0;
-   out_7087046736663509112[2] = 0;
-   out_7087046736663509112[3] = 0;
-   out_7087046736663509112[4] = 0;
-   out_7087046736663509112[5] = 0;
-   out_7087046736663509112[6] = 1;
-   out_7087046736663509112[7] = 0;
-   out_7087046736663509112[8] = 0;
+void H_25(double *state, double *unused, double *out_1485621301790358882) {
+   out_1485621301790358882[0] = 0;
+   out_1485621301790358882[1] = 0;
+   out_1485621301790358882[2] = 0;
+   out_1485621301790358882[3] = 0;
+   out_1485621301790358882[4] = 0;
+   out_1485621301790358882[5] = 0;
+   out_1485621301790358882[6] = 1;
+   out_1485621301790358882[7] = 0;
+   out_1485621301790358882[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_668554717831057533) {
-   out_668554717831057533[0] = state[4];
-   out_668554717831057533[1] = state[5];
+void h_24(double *state, double *unused, double *out_8386299954951130399) {
+   out_8386299954951130399[0] = state[4];
+   out_8386299954951130399[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_4909832313056359139) {
-   out_4909832313056359139[0] = 0;
-   out_4909832313056359139[1] = 0;
-   out_4909832313056359139[2] = 0;
-   out_4909832313056359139[3] = 0;
-   out_4909832313056359139[4] = 1;
-   out_4909832313056359139[5] = 0;
-   out_4909832313056359139[6] = 0;
-   out_4909832313056359139[7] = 0;
-   out_4909832313056359139[8] = 0;
-   out_4909832313056359139[9] = 0;
-   out_4909832313056359139[10] = 0;
-   out_4909832313056359139[11] = 0;
-   out_4909832313056359139[12] = 0;
-   out_4909832313056359139[13] = 0;
-   out_4909832313056359139[14] = 1;
-   out_4909832313056359139[15] = 0;
-   out_4909832313056359139[16] = 0;
-   out_4909832313056359139[17] = 0;
+void H_24(double *state, double *unused, double *out_1956078783833697606) {
+   out_1956078783833697606[0] = 0;
+   out_1956078783833697606[1] = 0;
+   out_1956078783833697606[2] = 0;
+   out_1956078783833697606[3] = 0;
+   out_1956078783833697606[4] = 1;
+   out_1956078783833697606[5] = 0;
+   out_1956078783833697606[6] = 0;
+   out_1956078783833697606[7] = 0;
+   out_1956078783833697606[8] = 0;
+   out_1956078783833697606[9] = 0;
+   out_1956078783833697606[10] = 0;
+   out_1956078783833697606[11] = 0;
+   out_1956078783833697606[12] = 0;
+   out_1956078783833697606[13] = 0;
+   out_1956078783833697606[14] = 1;
+   out_1956078783833697606[15] = 0;
+   out_1956078783833697606[16] = 0;
+   out_1956078783833697606[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_4139386833660670090) {
-   out_4139386833660670090[0] = state[4];
+void h_30(double *state, double *unused, double *out_2444695444061793242) {
+   out_2444695444061793242[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_6832001006918434306) {
-   out_6832001006918434306[0] = 0;
-   out_6832001006918434306[1] = 0;
-   out_6832001006918434306[2] = 0;
-   out_6832001006918434306[3] = 0;
-   out_6832001006918434306[4] = 1;
-   out_6832001006918434306[5] = 0;
-   out_6832001006918434306[6] = 0;
-   out_6832001006918434306[7] = 0;
-   out_6832001006918434306[8] = 0;
+void H_30(double *state, double *unused, double *out_6013317631917967080) {
+   out_6013317631917967080[0] = 0;
+   out_6013317631917967080[1] = 0;
+   out_6013317631917967080[2] = 0;
+   out_6013317631917967080[3] = 0;
+   out_6013317631917967080[4] = 1;
+   out_6013317631917967080[5] = 0;
+   out_6013317631917967080[6] = 0;
+   out_6013317631917967080[7] = 0;
+   out_6013317631917967080[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_9101766831341963322) {
-   out_9101766831341963322[0] = state[7];
+void h_26(double *state, double *unused, double *out_2413046201872073325) {
+   out_2413046201872073325[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_7618194018171986280) {
-   out_7618194018171986280[0] = 0;
-   out_7618194018171986280[1] = 0;
-   out_7618194018171986280[2] = 0;
-   out_7618194018171986280[3] = 0;
-   out_7618194018171986280[4] = 0;
-   out_7618194018171986280[5] = 0;
-   out_7618194018171986280[6] = 0;
-   out_7618194018171986280[7] = 1;
-   out_7618194018171986280[8] = 0;
+void H_26(double *state, double *unused, double *out_5227124620664415106) {
+   out_5227124620664415106[0] = 0;
+   out_5227124620664415106[1] = 0;
+   out_5227124620664415106[2] = 0;
+   out_5227124620664415106[3] = 0;
+   out_5227124620664415106[4] = 0;
+   out_5227124620664415106[5] = 0;
+   out_5227124620664415106[6] = 0;
+   out_5227124620664415106[7] = 1;
+   out_5227124620664415106[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_2173744936640483241) {
-   out_2173744936640483241[0] = state[3];
+void h_27(double *state, double *unused, double *out_6236155437866939300) {
+   out_6236155437866939300[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_4657237695118009395) {
-   out_4657237695118009395[0] = 0;
-   out_4657237695118009395[1] = 0;
-   out_4657237695118009395[2] = 0;
-   out_4657237695118009395[3] = 1;
-   out_4657237695118009395[4] = 0;
-   out_4657237695118009395[5] = 0;
-   out_4657237695118009395[6] = 0;
-   out_4657237695118009395[7] = 0;
-   out_4657237695118009395[8] = 0;
+void H_27(double *state, double *unused, double *out_3789723560734023863) {
+   out_3789723560734023863[0] = 0;
+   out_3789723560734023863[1] = 0;
+   out_3789723560734023863[2] = 0;
+   out_3789723560734023863[3] = 1;
+   out_3789723560734023863[4] = 0;
+   out_3789723560734023863[5] = 0;
+   out_3789723560734023863[6] = 0;
+   out_3789723560734023863[7] = 0;
+   out_3789723560734023863[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_8761572863116778404) {
-   out_8761572863116778404[0] = state[1];
+void h_29(double *state, double *unused, double *out_1645117212887109885) {
+   out_1645117212887109885[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_7342232351232826490) {
-   out_7342232351232826490[0] = 0;
-   out_7342232351232826490[1] = 1;
-   out_7342232351232826490[2] = 0;
-   out_7342232351232826490[3] = 0;
-   out_7342232351232826490[4] = 0;
-   out_7342232351232826490[5] = 0;
-   out_7342232351232826490[6] = 0;
-   out_7342232351232826490[7] = 0;
-   out_7342232351232826490[8] = 0;
+void H_29(double *state, double *unused, double *out_5503086287603574896) {
+   out_5503086287603574896[0] = 0;
+   out_5503086287603574896[1] = 1;
+   out_5503086287603574896[2] = 0;
+   out_5503086287603574896[3] = 0;
+   out_5503086287603574896[4] = 0;
+   out_5503086287603574896[5] = 0;
+   out_5503086287603574896[6] = 0;
+   out_5503086287603574896[7] = 0;
+   out_5503086287603574896[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_7175418204301328886) {
-   out_7175418204301328886[0] = state[0];
+void h_28(double *state, double *unused, double *out_5811547118428763170) {
+   out_5811547118428763170[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_9140881450911398875) {
-   out_9140881450911398875[0] = 1;
-   out_9140881450911398875[1] = 0;
-   out_9140881450911398875[2] = 0;
-   out_9140881450911398875[3] = 0;
-   out_9140881450911398875[4] = 0;
-   out_9140881450911398875[5] = 0;
-   out_9140881450911398875[6] = 0;
-   out_9140881450911398875[7] = 0;
-   out_9140881450911398875[8] = 0;
+void H_28(double *state, double *unused, double *out_3539456016038248645) {
+   out_3539456016038248645[0] = 1;
+   out_3539456016038248645[1] = 0;
+   out_3539456016038248645[2] = 0;
+   out_3539456016038248645[3] = 0;
+   out_3539456016038248645[4] = 0;
+   out_3539456016038248645[5] = 0;
+   out_3539456016038248645[6] = 0;
+   out_3539456016038248645[7] = 0;
+   out_3539456016038248645[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_6465377859274384754) {
-   out_6465377859274384754[0] = state[8];
+void h_31(double *state, double *unused, double *out_2741168024264044953) {
+   out_2741168024264044953[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_6991985915938634804) {
-   out_6991985915938634804[0] = 0;
-   out_6991985915938634804[1] = 0;
-   out_6991985915938634804[2] = 0;
-   out_6991985915938634804[3] = 0;
-   out_6991985915938634804[4] = 0;
-   out_6991985915938634804[5] = 0;
-   out_6991985915938634804[6] = 0;
-   out_6991985915938634804[7] = 0;
-   out_6991985915938634804[8] = 1;
+void H_31(double *state, double *unused, double *out_1454975339913398454) {
+   out_1454975339913398454[0] = 0;
+   out_1454975339913398454[1] = 0;
+   out_1454975339913398454[2] = 0;
+   out_1454975339913398454[3] = 0;
+   out_1454975339913398454[4] = 0;
+   out_1454975339913398454[5] = 0;
+   out_1454975339913398454[6] = 0;
+   out_1454975339913398454[7] = 0;
+   out_1454975339913398454[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_781655183145825394) {
-  err_fun(nom_x, delta_x, out_781655183145825394);
+void car_err_fun(double *nom_x, double *delta_x, double *out_6543135761510689107) {
+  err_fun(nom_x, delta_x, out_6543135761510689107);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_2912836612698073811) {
-  inv_err_fun(nom_x, true_x, out_2912836612698073811);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_2331655545426529005) {
+  inv_err_fun(nom_x, true_x, out_2331655545426529005);
 }
-void car_H_mod_fun(double *state, double *out_6456005511861377664) {
-  H_mod_fun(state, out_6456005511861377664);
+void car_H_mod_fun(double *state, double *out_6389313126975023722) {
+  H_mod_fun(state, out_6389313126975023722);
 }
-void car_f_fun(double *state, double dt, double *out_6006881912496167916) {
-  f_fun(state,  dt, out_6006881912496167916);
+void car_f_fun(double *state, double dt, double *out_4897785971793930733) {
+  f_fun(state,  dt, out_4897785971793930733);
 }
-void car_F_fun(double *state, double dt, double *out_1756382049312448223) {
-  F_fun(state,  dt, out_1756382049312448223);
+void car_F_fun(double *state, double dt, double *out_1120359963151235251) {
+  F_fun(state,  dt, out_1120359963151235251);
 }
-void car_h_25(double *state, double *unused, double *out_2827928331020362404) {
-  h_25(state, unused, out_2827928331020362404);
+void car_h_25(double *state, double *unused, double *out_2169501381777287353) {
+  h_25(state, unused, out_2169501381777287353);
 }
-void car_H_25(double *state, double *unused, double *out_7087046736663509112) {
-  H_25(state, unused, out_7087046736663509112);
+void car_H_25(double *state, double *unused, double *out_1485621301790358882) {
+  H_25(state, unused, out_1485621301790358882);
 }
-void car_h_24(double *state, double *unused, double *out_668554717831057533) {
-  h_24(state, unused, out_668554717831057533);
+void car_h_24(double *state, double *unused, double *out_8386299954951130399) {
+  h_24(state, unused, out_8386299954951130399);
 }
-void car_H_24(double *state, double *unused, double *out_4909832313056359139) {
-  H_24(state, unused, out_4909832313056359139);
+void car_H_24(double *state, double *unused, double *out_1956078783833697606) {
+  H_24(state, unused, out_1956078783833697606);
 }
-void car_h_30(double *state, double *unused, double *out_4139386833660670090) {
-  h_30(state, unused, out_4139386833660670090);
+void car_h_30(double *state, double *unused, double *out_2444695444061793242) {
+  h_30(state, unused, out_2444695444061793242);
 }
-void car_H_30(double *state, double *unused, double *out_6832001006918434306) {
-  H_30(state, unused, out_6832001006918434306);
+void car_H_30(double *state, double *unused, double *out_6013317631917967080) {
+  H_30(state, unused, out_6013317631917967080);
 }
-void car_h_26(double *state, double *unused, double *out_9101766831341963322) {
-  h_26(state, unused, out_9101766831341963322);
+void car_h_26(double *state, double *unused, double *out_2413046201872073325) {
+  h_26(state, unused, out_2413046201872073325);
 }
-void car_H_26(double *state, double *unused, double *out_7618194018171986280) {
-  H_26(state, unused, out_7618194018171986280);
+void car_H_26(double *state, double *unused, double *out_5227124620664415106) {
+  H_26(state, unused, out_5227124620664415106);
 }
-void car_h_27(double *state, double *unused, double *out_2173744936640483241) {
-  h_27(state, unused, out_2173744936640483241);
+void car_h_27(double *state, double *unused, double *out_6236155437866939300) {
+  h_27(state, unused, out_6236155437866939300);
 }
-void car_H_27(double *state, double *unused, double *out_4657237695118009395) {
-  H_27(state, unused, out_4657237695118009395);
+void car_H_27(double *state, double *unused, double *out_3789723560734023863) {
+  H_27(state, unused, out_3789723560734023863);
 }
-void car_h_29(double *state, double *unused, double *out_8761572863116778404) {
-  h_29(state, unused, out_8761572863116778404);
+void car_h_29(double *state, double *unused, double *out_1645117212887109885) {
+  h_29(state, unused, out_1645117212887109885);
 }
-void car_H_29(double *state, double *unused, double *out_7342232351232826490) {
-  H_29(state, unused, out_7342232351232826490);
+void car_H_29(double *state, double *unused, double *out_5503086287603574896) {
+  H_29(state, unused, out_5503086287603574896);
 }
-void car_h_28(double *state, double *unused, double *out_7175418204301328886) {
-  h_28(state, unused, out_7175418204301328886);
+void car_h_28(double *state, double *unused, double *out_5811547118428763170) {
+  h_28(state, unused, out_5811547118428763170);
 }
-void car_H_28(double *state, double *unused, double *out_9140881450911398875) {
-  H_28(state, unused, out_9140881450911398875);
+void car_H_28(double *state, double *unused, double *out_3539456016038248645) {
+  H_28(state, unused, out_3539456016038248645);
 }
-void car_h_31(double *state, double *unused, double *out_6465377859274384754) {
-  h_31(state, unused, out_6465377859274384754);
+void car_h_31(double *state, double *unused, double *out_2741168024264044953) {
+  h_31(state, unused, out_2741168024264044953);
 }
-void car_H_31(double *state, double *unused, double *out_6991985915938634804) {
-  H_31(state, unused, out_6991985915938634804);
+void car_H_31(double *state, double *unused, double *out_1454975339913398454) {
+  H_31(state, unused, out_1454975339913398454);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
  predict(in_x, in_P, in_Q, dt);
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_781655183145825394);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_2912836612698073811);
-void car_H_mod_fun(double *state, double *out_6456005511861377664);
-void car_f_fun(double *state, double dt, double *out_6006881912496167916);
-void car_F_fun(double *state, double dt, double *out_1756382049312448223);
-void car_h_25(double *state, double *unused, double *out_2827928331020362404);
-void car_H_25(double *state, double *unused, double *out_7087046736663509112);
-void car_h_24(double *state, double *unused, double *out_668554717831057533);
-void car_H_24(double *state, double *unused, double *out_4909832313056359139);
-void car_h_30(double *state, double *unused, double *out_4139386833660670090);
-void car_H_30(double *state, double *unused, double *out_6832001006918434306);
-void car_h_26(double *state, double *unused, double *out_9101766831341963322);
-void car_H_26(double *state, double *unused, double *out_7618194018171986280);
-void car_h_27(double *state, double *unused, double *out_2173744936640483241);
-void car_H_27(double *state, double *unused, double *out_4657237695118009395);
-void car_h_29(double *state, double *unused, double *out_8761572863116778404);
-void car_H_29(double *state, double *unused, double *out_7342232351232826490);
-void car_h_28(double *state, double *unused, double *out_7175418204301328886);
-void car_H_28(double *state, double *unused, double *out_9140881450911398875);
-void car_h_31(double *state, double *unused, double *out_6465377859274384754);
-void car_H_31(double *state, double *unused, double *out_6991985915938634804);
+void car_err_fun(double *nom_x, double *delta_x, double *out_6543135761510689107);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_2331655545426529005);
+void car_H_mod_fun(double *state, double *out_6389313126975023722);
+void car_f_fun(double *state, double dt, double *out_4897785971793930733);
+void car_F_fun(double *state, double dt, double *out_1120359963151235251);
+void car_h_25(double *state, double *unused, double *out_2169501381777287353);
+void car_H_25(double *state, double *unused, double *out_1485621301790358882);
+void car_h_24(double *state, double *unused, double *out_8386299954951130399);
+void car_H_24(double *state, double *unused, double *out_1956078783833697606);
+void car_h_30(double *state, double *unused, double *out_2444695444061793242);
+void car_H_30(double *state, double *unused, double *out_6013317631917967080);
+void car_h_26(double *state, double *unused, double *out_2413046201872073325);
+void car_H_26(double *state, double *unused, double *out_5227124620664415106);
+void car_h_27(double *state, double *unused, double *out_6236155437866939300);
+void car_H_27(double *state, double *unused, double *out_3789723560734023863);
+void car_h_29(double *state, double *unused, double *out_1645117212887109885);
+void car_H_29(double *state, double *unused, double *out_5503086287603574896);
+void car_h_28(double *state, double *unused, double *out_5811547118428763170);
+void car_H_28(double *state, double *unused, double *out_3539456016038248645);
+void car_h_31(double *state, double *unused, double *out_2741168024264044953);
+void car_H_31(double *state, double *unused, double *out_1454975339913398454);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_7437794640769795433);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2037082783356591262);
-void pose_H_mod_fun(double *state, double *out_6997830721327979188);
-void pose_f_fun(double *state, double dt, double *out_2524658316881090159);
-void pose_F_fun(double *state, double dt, double *out_1493803281019954497);
-void pose_h_4(double *state, double *unused, double *out_9199116239139928597);
-void pose_H_4(double *state, double *unused, double *out_5055826457360484509);
-void pose_h_10(double *state, double *unused, double *out_6229114816113941890);
-void pose_H_10(double *state, double *unused, double *out_4767454895579609867);
-void pose_h_13(double *state, double *unused, double *out_8087901312810249753);
-void pose_H_13(double *state, double *unused, double *out_5780286408032366178);
-void pose_h_14(double *state, double *unused, double *out_8155013269706044892);
-void pose_H_14(double *state, double *unused, double *out_9019067313699969038);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_9222670015265418032);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6734711869955682828);
+void pose_H_mod_fun(double *state, double *out_3054834377026573453);
+void pose_f_fun(double *state, double dt, double *out_6521868085604382140);
+void pose_F_fun(double *state, double dt, double *out_7891921077140001268);
+void pose_h_4(double *state, double *unused, double *out_6238203153530464174);
+void pose_H_4(double *state, double *unused, double *out_8902916183778532174);
+void pose_h_10(double *state, double *unused, double *out_479264188908505210);
+void pose_H_10(double *state, double *unused, double *out_5035106138755480521);
+void pose_h_13(double *state, double *unused, double *out_2296929327731223213);
+void pose_H_13(double *state, double *unused, double *out_5690642358446199373);
+void pose_h_14(double *state, double *unused, double *out_8770212541449767783);
+void pose_H_14(double *state, double *unused, double *out_4939675327439047645);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }