build

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-eedd73e5-DEBUG";
+const uint8_t gitversion[19] = "DEV-244aa673-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-eedd73e5-DEBUG
+DEV-244aa673-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_789804740016769707) {
-   out_789804740016769707[0] = delta_x[0] + nom_x[0];
-   out_789804740016769707[1] = delta_x[1] + nom_x[1];
-   out_789804740016769707[2] = delta_x[2] + nom_x[2];
-   out_789804740016769707[3] = delta_x[3] + nom_x[3];
-   out_789804740016769707[4] = delta_x[4] + nom_x[4];
-   out_789804740016769707[5] = delta_x[5] + nom_x[5];
-   out_789804740016769707[6] = delta_x[6] + nom_x[6];
-   out_789804740016769707[7] = delta_x[7] + nom_x[7];
-   out_789804740016769707[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_1264104166079454940) {
+   out_1264104166079454940[0] = delta_x[0] + nom_x[0];
+   out_1264104166079454940[1] = delta_x[1] + nom_x[1];
+   out_1264104166079454940[2] = delta_x[2] + nom_x[2];
+   out_1264104166079454940[3] = delta_x[3] + nom_x[3];
+   out_1264104166079454940[4] = delta_x[4] + nom_x[4];
+   out_1264104166079454940[5] = delta_x[5] + nom_x[5];
+   out_1264104166079454940[6] = delta_x[6] + nom_x[6];
+   out_1264104166079454940[7] = delta_x[7] + nom_x[7];
+   out_1264104166079454940[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_385986033898548509) {
-   out_385986033898548509[0] = -nom_x[0] + true_x[0];
-   out_385986033898548509[1] = -nom_x[1] + true_x[1];
-   out_385986033898548509[2] = -nom_x[2] + true_x[2];
-   out_385986033898548509[3] = -nom_x[3] + true_x[3];
-   out_385986033898548509[4] = -nom_x[4] + true_x[4];
-   out_385986033898548509[5] = -nom_x[5] + true_x[5];
-   out_385986033898548509[6] = -nom_x[6] + true_x[6];
-   out_385986033898548509[7] = -nom_x[7] + true_x[7];
-   out_385986033898548509[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_3182169158929336617) {
+   out_3182169158929336617[0] = -nom_x[0] + true_x[0];
+   out_3182169158929336617[1] = -nom_x[1] + true_x[1];
+   out_3182169158929336617[2] = -nom_x[2] + true_x[2];
+   out_3182169158929336617[3] = -nom_x[3] + true_x[3];
+   out_3182169158929336617[4] = -nom_x[4] + true_x[4];
+   out_3182169158929336617[5] = -nom_x[5] + true_x[5];
+   out_3182169158929336617[6] = -nom_x[6] + true_x[6];
+   out_3182169158929336617[7] = -nom_x[7] + true_x[7];
+   out_3182169158929336617[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_4046004184415297016) {
-   out_4046004184415297016[0] = 1.0;
-   out_4046004184415297016[1] = 0.0;
-   out_4046004184415297016[2] = 0.0;
-   out_4046004184415297016[3] = 0.0;
-   out_4046004184415297016[4] = 0.0;
-   out_4046004184415297016[5] = 0.0;
-   out_4046004184415297016[6] = 0.0;
-   out_4046004184415297016[7] = 0.0;
-   out_4046004184415297016[8] = 0.0;
-   out_4046004184415297016[9] = 0.0;
-   out_4046004184415297016[10] = 1.0;
-   out_4046004184415297016[11] = 0.0;
-   out_4046004184415297016[12] = 0.0;
-   out_4046004184415297016[13] = 0.0;
-   out_4046004184415297016[14] = 0.0;
-   out_4046004184415297016[15] = 0.0;
-   out_4046004184415297016[16] = 0.0;
-   out_4046004184415297016[17] = 0.0;
-   out_4046004184415297016[18] = 0.0;
-   out_4046004184415297016[19] = 0.0;
-   out_4046004184415297016[20] = 1.0;
-   out_4046004184415297016[21] = 0.0;
-   out_4046004184415297016[22] = 0.0;
-   out_4046004184415297016[23] = 0.0;
-   out_4046004184415297016[24] = 0.0;
-   out_4046004184415297016[25] = 0.0;
-   out_4046004184415297016[26] = 0.0;
-   out_4046004184415297016[27] = 0.0;
-   out_4046004184415297016[28] = 0.0;
-   out_4046004184415297016[29] = 0.0;
-   out_4046004184415297016[30] = 1.0;
-   out_4046004184415297016[31] = 0.0;
-   out_4046004184415297016[32] = 0.0;
-   out_4046004184415297016[33] = 0.0;
-   out_4046004184415297016[34] = 0.0;
-   out_4046004184415297016[35] = 0.0;
-   out_4046004184415297016[36] = 0.0;
-   out_4046004184415297016[37] = 0.0;
-   out_4046004184415297016[38] = 0.0;
-   out_4046004184415297016[39] = 0.0;
-   out_4046004184415297016[40] = 1.0;
-   out_4046004184415297016[41] = 0.0;
-   out_4046004184415297016[42] = 0.0;
-   out_4046004184415297016[43] = 0.0;
-   out_4046004184415297016[44] = 0.0;
-   out_4046004184415297016[45] = 0.0;
-   out_4046004184415297016[46] = 0.0;
-   out_4046004184415297016[47] = 0.0;
-   out_4046004184415297016[48] = 0.0;
-   out_4046004184415297016[49] = 0.0;
-   out_4046004184415297016[50] = 1.0;
-   out_4046004184415297016[51] = 0.0;
-   out_4046004184415297016[52] = 0.0;
-   out_4046004184415297016[53] = 0.0;
-   out_4046004184415297016[54] = 0.0;
-   out_4046004184415297016[55] = 0.0;
-   out_4046004184415297016[56] = 0.0;
-   out_4046004184415297016[57] = 0.0;
-   out_4046004184415297016[58] = 0.0;
-   out_4046004184415297016[59] = 0.0;
-   out_4046004184415297016[60] = 1.0;
-   out_4046004184415297016[61] = 0.0;
-   out_4046004184415297016[62] = 0.0;
-   out_4046004184415297016[63] = 0.0;
-   out_4046004184415297016[64] = 0.0;
-   out_4046004184415297016[65] = 0.0;
-   out_4046004184415297016[66] = 0.0;
-   out_4046004184415297016[67] = 0.0;
-   out_4046004184415297016[68] = 0.0;
-   out_4046004184415297016[69] = 0.0;
-   out_4046004184415297016[70] = 1.0;
-   out_4046004184415297016[71] = 0.0;
-   out_4046004184415297016[72] = 0.0;
-   out_4046004184415297016[73] = 0.0;
-   out_4046004184415297016[74] = 0.0;
-   out_4046004184415297016[75] = 0.0;
-   out_4046004184415297016[76] = 0.0;
-   out_4046004184415297016[77] = 0.0;
-   out_4046004184415297016[78] = 0.0;
-   out_4046004184415297016[79] = 0.0;
-   out_4046004184415297016[80] = 1.0;
+void H_mod_fun(double *state, double *out_3410660055109284948) {
+   out_3410660055109284948[0] = 1.0;
+   out_3410660055109284948[1] = 0.0;
+   out_3410660055109284948[2] = 0.0;
+   out_3410660055109284948[3] = 0.0;
+   out_3410660055109284948[4] = 0.0;
+   out_3410660055109284948[5] = 0.0;
+   out_3410660055109284948[6] = 0.0;
+   out_3410660055109284948[7] = 0.0;
+   out_3410660055109284948[8] = 0.0;
+   out_3410660055109284948[9] = 0.0;
+   out_3410660055109284948[10] = 1.0;
+   out_3410660055109284948[11] = 0.0;
+   out_3410660055109284948[12] = 0.0;
+   out_3410660055109284948[13] = 0.0;
+   out_3410660055109284948[14] = 0.0;
+   out_3410660055109284948[15] = 0.0;
+   out_3410660055109284948[16] = 0.0;
+   out_3410660055109284948[17] = 0.0;
+   out_3410660055109284948[18] = 0.0;
+   out_3410660055109284948[19] = 0.0;
+   out_3410660055109284948[20] = 1.0;
+   out_3410660055109284948[21] = 0.0;
+   out_3410660055109284948[22] = 0.0;
+   out_3410660055109284948[23] = 0.0;
+   out_3410660055109284948[24] = 0.0;
+   out_3410660055109284948[25] = 0.0;
+   out_3410660055109284948[26] = 0.0;
+   out_3410660055109284948[27] = 0.0;
+   out_3410660055109284948[28] = 0.0;
+   out_3410660055109284948[29] = 0.0;
+   out_3410660055109284948[30] = 1.0;
+   out_3410660055109284948[31] = 0.0;
+   out_3410660055109284948[32] = 0.0;
+   out_3410660055109284948[33] = 0.0;
+   out_3410660055109284948[34] = 0.0;
+   out_3410660055109284948[35] = 0.0;
+   out_3410660055109284948[36] = 0.0;
+   out_3410660055109284948[37] = 0.0;
+   out_3410660055109284948[38] = 0.0;
+   out_3410660055109284948[39] = 0.0;
+   out_3410660055109284948[40] = 1.0;
+   out_3410660055109284948[41] = 0.0;
+   out_3410660055109284948[42] = 0.0;
+   out_3410660055109284948[43] = 0.0;
+   out_3410660055109284948[44] = 0.0;
+   out_3410660055109284948[45] = 0.0;
+   out_3410660055109284948[46] = 0.0;
+   out_3410660055109284948[47] = 0.0;
+   out_3410660055109284948[48] = 0.0;
+   out_3410660055109284948[49] = 0.0;
+   out_3410660055109284948[50] = 1.0;
+   out_3410660055109284948[51] = 0.0;
+   out_3410660055109284948[52] = 0.0;
+   out_3410660055109284948[53] = 0.0;
+   out_3410660055109284948[54] = 0.0;
+   out_3410660055109284948[55] = 0.0;
+   out_3410660055109284948[56] = 0.0;
+   out_3410660055109284948[57] = 0.0;
+   out_3410660055109284948[58] = 0.0;
+   out_3410660055109284948[59] = 0.0;
+   out_3410660055109284948[60] = 1.0;
+   out_3410660055109284948[61] = 0.0;
+   out_3410660055109284948[62] = 0.0;
+   out_3410660055109284948[63] = 0.0;
+   out_3410660055109284948[64] = 0.0;
+   out_3410660055109284948[65] = 0.0;
+   out_3410660055109284948[66] = 0.0;
+   out_3410660055109284948[67] = 0.0;
+   out_3410660055109284948[68] = 0.0;
+   out_3410660055109284948[69] = 0.0;
+   out_3410660055109284948[70] = 1.0;
+   out_3410660055109284948[71] = 0.0;
+   out_3410660055109284948[72] = 0.0;
+   out_3410660055109284948[73] = 0.0;
+   out_3410660055109284948[74] = 0.0;
+   out_3410660055109284948[75] = 0.0;
+   out_3410660055109284948[76] = 0.0;
+   out_3410660055109284948[77] = 0.0;
+   out_3410660055109284948[78] = 0.0;
+   out_3410660055109284948[79] = 0.0;
+   out_3410660055109284948[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_467921565295650481) {
-   out_467921565295650481[0] = state[0];
-   out_467921565295650481[1] = state[1];
-   out_467921565295650481[2] = state[2];
-   out_467921565295650481[3] = state[3];
-   out_467921565295650481[4] = state[4];
-   out_467921565295650481[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_467921565295650481[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_467921565295650481[7] = state[7];
-   out_467921565295650481[8] = state[8];
+void f_fun(double *state, double dt, double *out_6946480961019455904) {
+   out_6946480961019455904[0] = state[0];
+   out_6946480961019455904[1] = state[1];
+   out_6946480961019455904[2] = state[2];
+   out_6946480961019455904[3] = state[3];
+   out_6946480961019455904[4] = state[4];
+   out_6946480961019455904[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_6946480961019455904[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_6946480961019455904[7] = state[7];
+   out_6946480961019455904[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_2429260194375294140) {
-   out_2429260194375294140[0] = 1;
-   out_2429260194375294140[1] = 0;
-   out_2429260194375294140[2] = 0;
-   out_2429260194375294140[3] = 0;
-   out_2429260194375294140[4] = 0;
-   out_2429260194375294140[5] = 0;
-   out_2429260194375294140[6] = 0;
-   out_2429260194375294140[7] = 0;
-   out_2429260194375294140[8] = 0;
-   out_2429260194375294140[9] = 0;
-   out_2429260194375294140[10] = 1;
-   out_2429260194375294140[11] = 0;
-   out_2429260194375294140[12] = 0;
-   out_2429260194375294140[13] = 0;
-   out_2429260194375294140[14] = 0;
-   out_2429260194375294140[15] = 0;
-   out_2429260194375294140[16] = 0;
-   out_2429260194375294140[17] = 0;
-   out_2429260194375294140[18] = 0;
-   out_2429260194375294140[19] = 0;
-   out_2429260194375294140[20] = 1;
-   out_2429260194375294140[21] = 0;
-   out_2429260194375294140[22] = 0;
-   out_2429260194375294140[23] = 0;
-   out_2429260194375294140[24] = 0;
-   out_2429260194375294140[25] = 0;
-   out_2429260194375294140[26] = 0;
-   out_2429260194375294140[27] = 0;
-   out_2429260194375294140[28] = 0;
-   out_2429260194375294140[29] = 0;
-   out_2429260194375294140[30] = 1;
-   out_2429260194375294140[31] = 0;
-   out_2429260194375294140[32] = 0;
-   out_2429260194375294140[33] = 0;
-   out_2429260194375294140[34] = 0;
-   out_2429260194375294140[35] = 0;
-   out_2429260194375294140[36] = 0;
-   out_2429260194375294140[37] = 0;
-   out_2429260194375294140[38] = 0;
-   out_2429260194375294140[39] = 0;
-   out_2429260194375294140[40] = 1;
-   out_2429260194375294140[41] = 0;
-   out_2429260194375294140[42] = 0;
-   out_2429260194375294140[43] = 0;
-   out_2429260194375294140[44] = 0;
-   out_2429260194375294140[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_2429260194375294140[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_2429260194375294140[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2429260194375294140[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2429260194375294140[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_2429260194375294140[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_2429260194375294140[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_2429260194375294140[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2429260194375294140[53] = -9.8100000000000005*dt;
-   out_2429260194375294140[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_2429260194375294140[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_2429260194375294140[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2429260194375294140[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2429260194375294140[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_2429260194375294140[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_2429260194375294140[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_2429260194375294140[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2429260194375294140[62] = 0;
-   out_2429260194375294140[63] = 0;
-   out_2429260194375294140[64] = 0;
-   out_2429260194375294140[65] = 0;
-   out_2429260194375294140[66] = 0;
-   out_2429260194375294140[67] = 0;
-   out_2429260194375294140[68] = 0;
-   out_2429260194375294140[69] = 0;
-   out_2429260194375294140[70] = 1;
-   out_2429260194375294140[71] = 0;
-   out_2429260194375294140[72] = 0;
-   out_2429260194375294140[73] = 0;
-   out_2429260194375294140[74] = 0;
-   out_2429260194375294140[75] = 0;
-   out_2429260194375294140[76] = 0;
-   out_2429260194375294140[77] = 0;
-   out_2429260194375294140[78] = 0;
-   out_2429260194375294140[79] = 0;
-   out_2429260194375294140[80] = 1;
+void F_fun(double *state, double dt, double *out_2425315094814185050) {
+   out_2425315094814185050[0] = 1;
+   out_2425315094814185050[1] = 0;
+   out_2425315094814185050[2] = 0;
+   out_2425315094814185050[3] = 0;
+   out_2425315094814185050[4] = 0;
+   out_2425315094814185050[5] = 0;
+   out_2425315094814185050[6] = 0;
+   out_2425315094814185050[7] = 0;
+   out_2425315094814185050[8] = 0;
+   out_2425315094814185050[9] = 0;
+   out_2425315094814185050[10] = 1;
+   out_2425315094814185050[11] = 0;
+   out_2425315094814185050[12] = 0;
+   out_2425315094814185050[13] = 0;
+   out_2425315094814185050[14] = 0;
+   out_2425315094814185050[15] = 0;
+   out_2425315094814185050[16] = 0;
+   out_2425315094814185050[17] = 0;
+   out_2425315094814185050[18] = 0;
+   out_2425315094814185050[19] = 0;
+   out_2425315094814185050[20] = 1;
+   out_2425315094814185050[21] = 0;
+   out_2425315094814185050[22] = 0;
+   out_2425315094814185050[23] = 0;
+   out_2425315094814185050[24] = 0;
+   out_2425315094814185050[25] = 0;
+   out_2425315094814185050[26] = 0;
+   out_2425315094814185050[27] = 0;
+   out_2425315094814185050[28] = 0;
+   out_2425315094814185050[29] = 0;
+   out_2425315094814185050[30] = 1;
+   out_2425315094814185050[31] = 0;
+   out_2425315094814185050[32] = 0;
+   out_2425315094814185050[33] = 0;
+   out_2425315094814185050[34] = 0;
+   out_2425315094814185050[35] = 0;
+   out_2425315094814185050[36] = 0;
+   out_2425315094814185050[37] = 0;
+   out_2425315094814185050[38] = 0;
+   out_2425315094814185050[39] = 0;
+   out_2425315094814185050[40] = 1;
+   out_2425315094814185050[41] = 0;
+   out_2425315094814185050[42] = 0;
+   out_2425315094814185050[43] = 0;
+   out_2425315094814185050[44] = 0;
+   out_2425315094814185050[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_2425315094814185050[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_2425315094814185050[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2425315094814185050[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2425315094814185050[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_2425315094814185050[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_2425315094814185050[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_2425315094814185050[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2425315094814185050[53] = -9.8100000000000005*dt;
+   out_2425315094814185050[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_2425315094814185050[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_2425315094814185050[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2425315094814185050[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2425315094814185050[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_2425315094814185050[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_2425315094814185050[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_2425315094814185050[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2425315094814185050[62] = 0;
+   out_2425315094814185050[63] = 0;
+   out_2425315094814185050[64] = 0;
+   out_2425315094814185050[65] = 0;
+   out_2425315094814185050[66] = 0;
+   out_2425315094814185050[67] = 0;
+   out_2425315094814185050[68] = 0;
+   out_2425315094814185050[69] = 0;
+   out_2425315094814185050[70] = 1;
+   out_2425315094814185050[71] = 0;
+   out_2425315094814185050[72] = 0;
+   out_2425315094814185050[73] = 0;
+   out_2425315094814185050[74] = 0;
+   out_2425315094814185050[75] = 0;
+   out_2425315094814185050[76] = 0;
+   out_2425315094814185050[77] = 0;
+   out_2425315094814185050[78] = 0;
+   out_2425315094814185050[79] = 0;
+   out_2425315094814185050[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_4530459753918271082) {
-   out_4530459753918271082[0] = state[6];
+void h_25(double *state, double *unused, double *out_3083351420745802205) {
+   out_3083351420745802205[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_4551338626615593728) {
-   out_4551338626615593728[0] = 0;
-   out_4551338626615593728[1] = 0;
-   out_4551338626615593728[2] = 0;
-   out_4551338626615593728[3] = 0;
-   out_4551338626615593728[4] = 0;
-   out_4551338626615593728[5] = 0;
-   out_4551338626615593728[6] = 1;
-   out_4551338626615593728[7] = 0;
-   out_4551338626615593728[8] = 0;
+void H_25(double *state, double *unused, double *out_1342134769348572192) {
+   out_1342134769348572192[0] = 0;
+   out_1342134769348572192[1] = 0;
+   out_1342134769348572192[2] = 0;
+   out_1342134769348572192[3] = 0;
+   out_1342134769348572192[4] = 0;
+   out_1342134769348572192[5] = 0;
+   out_1342134769348572192[6] = 1;
+   out_1342134769348572192[7] = 0;
+   out_1342134769348572192[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_211848015086222289) {
-   out_211848015086222289[0] = state[4];
-   out_211848015086222289[1] = state[5];
+void h_24(double *state, double *unused, double *out_7968288456028556638) {
+   out_7968288456028556638[0] = state[4];
+   out_7968288456028556638[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_7319833640502439787) {
-   out_7319833640502439787[0] = 0;
-   out_7319833640502439787[1] = 0;
-   out_7319833640502439787[2] = 0;
-   out_7319833640502439787[3] = 0;
-   out_7319833640502439787[4] = 1;
-   out_7319833640502439787[5] = 0;
-   out_7319833640502439787[6] = 0;
-   out_7319833640502439787[7] = 0;
-   out_7319833640502439787[8] = 0;
-   out_7319833640502439787[9] = 0;
-   out_7319833640502439787[10] = 0;
-   out_7319833640502439787[11] = 0;
-   out_7319833640502439787[12] = 0;
-   out_7319833640502439787[13] = 0;
-   out_7319833640502439787[14] = 1;
-   out_7319833640502439787[15] = 0;
-   out_7319833640502439787[16] = 0;
-   out_7319833640502439787[17] = 0;
+void H_24(double *state, double *unused, double *out_7917706575940090293) {
+   out_7917706575940090293[0] = 0;
+   out_7917706575940090293[1] = 0;
+   out_7917706575940090293[2] = 0;
+   out_7917706575940090293[3] = 0;
+   out_7917706575940090293[4] = 1;
+   out_7917706575940090293[5] = 0;
+   out_7917706575940090293[6] = 0;
+   out_7917706575940090293[7] = 0;
+   out_7917706575940090293[8] = 0;
+   out_7917706575940090293[9] = 0;
+   out_7917706575940090293[10] = 0;
+   out_7917706575940090293[11] = 0;
+   out_7917706575940090293[12] = 0;
+   out_7917706575940090293[13] = 0;
+   out_7917706575940090293[14] = 1;
+   out_7917706575940090293[15] = 0;
+   out_7917706575940090293[16] = 0;
+   out_7917706575940090293[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_4687646422269400227) {
-   out_4687646422269400227[0] = state[4];
+void h_30(double *state, double *unused, double *out_8592557426613398475) {
+   out_8592557426613398475[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_4421999679472353658) {
-   out_4421999679472353658[0] = 0;
-   out_4421999679472353658[1] = 0;
-   out_4421999679472353658[2] = 0;
-   out_4421999679472353658[3] = 0;
-   out_4421999679472353658[4] = 1;
-   out_4421999679472353658[5] = 0;
-   out_4421999679472353658[6] = 0;
-   out_4421999679472353658[7] = 0;
-   out_4421999679472353658[8] = 0;
+void H_30(double *state, double *unused, double *out_8258825110840188947) {
+   out_8258825110840188947[0] = 0;
+   out_8258825110840188947[1] = 0;
+   out_8258825110840188947[2] = 0;
+   out_8258825110840188947[3] = 0;
+   out_8258825110840188947[4] = 1;
+   out_8258825110840188947[5] = 0;
+   out_8258825110840188947[6] = 0;
+   out_8258825110840188947[7] = 0;
+   out_8258825110840188947[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_1875094318999546844) {
-   out_1875094318999546844[0] = state[7];
+void h_26(double *state, double *unused, double *out_3590884158952552830) {
+   out_3590884158952552830[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_809835307741537504) {
-   out_809835307741537504[0] = 0;
-   out_809835307741537504[1] = 0;
-   out_809835307741537504[2] = 0;
-   out_809835307741537504[3] = 0;
-   out_809835307741537504[4] = 0;
-   out_809835307741537504[5] = 0;
-   out_809835307741537504[6] = 0;
-   out_809835307741537504[7] = 1;
-   out_809835307741537504[8] = 0;
+void H_26(double *state, double *unused, double *out_2399368549525484032) {
+   out_2399368549525484032[0] = 0;
+   out_2399368549525484032[1] = 0;
+   out_2399368549525484032[2] = 0;
+   out_2399368549525484032[3] = 0;
+   out_2399368549525484032[4] = 0;
+   out_2399368549525484032[5] = 0;
+   out_2399368549525484032[6] = 0;
+   out_2399368549525484032[7] = 1;
+   out_2399368549525484032[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_8953904322109987302) {
-   out_8953904322109987302[0] = state[3];
+void h_27(double *state, double *unused, double *out_5937191991694674237) {
+   out_5937191991694674237[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_2247236367671928747) {
-   out_2247236367671928747[0] = 0;
-   out_2247236367671928747[1] = 0;
-   out_2247236367671928747[2] = 0;
-   out_2247236367671928747[3] = 1;
-   out_2247236367671928747[4] = 0;
-   out_2247236367671928747[5] = 0;
-   out_2247236367671928747[6] = 0;
-   out_2247236367671928747[7] = 0;
-   out_2247236367671928747[8] = 0;
+void H_27(double *state, double *unused, double *out_961967489595092789) {
+   out_961967489595092789[0] = 0;
+   out_961967489595092789[1] = 0;
+   out_961967489595092789[2] = 0;
+   out_961967489595092789[3] = 1;
+   out_961967489595092789[4] = 0;
+   out_961967489595092789[5] = 0;
+   out_961967489595092789[6] = 0;
+   out_961967489595092789[7] = 0;
+   out_961967489595092789[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_5855390223345541964) {
-   out_5855390223345541964[0] = state[1];
+void h_29(double *state, double *unused, double *out_5780005323343545092) {
+   out_5780005323343545092[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_4932231023786745842) {
-   out_4932231023786745842[0] = 0;
-   out_4932231023786745842[1] = 1;
-   out_4932231023786745842[2] = 0;
-   out_4932231023786745842[3] = 0;
-   out_4932231023786745842[4] = 0;
-   out_4932231023786745842[5] = 0;
-   out_4932231023786745842[6] = 0;
-   out_4932231023786745842[7] = 0;
-   out_4932231023786745842[8] = 0;
+void H_29(double *state, double *unused, double *out_1723027166519724306) {
+   out_1723027166519724306[0] = 0;
+   out_1723027166519724306[1] = 1;
+   out_1723027166519724306[2] = 0;
+   out_1723027166519724306[3] = 0;
+   out_1723027166519724306[4] = 0;
+   out_1723027166519724306[5] = 0;
+   out_1723027166519724306[6] = 0;
+   out_1723027166519724306[7] = 0;
+   out_1723027166519724306[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_8510755658264266202) {
-   out_8510755658264266202[0] = state[0];
+void h_28(double *state, double *unused, double *out_974811994013381005) {
+   out_974811994013381005[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_6895861295352072093) {
-   out_6895861295352072093[0] = 1;
-   out_6895861295352072093[1] = 0;
-   out_6895861295352072093[2] = 0;
-   out_6895861295352072093[3] = 0;
-   out_6895861295352072093[4] = 0;
-   out_6895861295352072093[5] = 0;
-   out_6895861295352072093[6] = 0;
-   out_6895861295352072093[7] = 0;
-   out_6895861295352072093[8] = 0;
+void H_28(double *state, double *unused, double *out_3686657438085050557) {
+   out_3686657438085050557[0] = 1;
+   out_3686657438085050557[1] = 0;
+   out_3686657438085050557[2] = 0;
+   out_3686657438085050557[3] = 0;
+   out_3686657438085050557[4] = 0;
+   out_3686657438085050557[5] = 0;
+   out_3686657438085050557[6] = 0;
+   out_3686657438085050557[7] = 0;
+   out_3686657438085050557[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_3677036992164635768) {
-   out_3677036992164635768[0] = state[8];
+void h_31(double *state, double *unused, double *out_2926164752394673060) {
+   out_2926164752394673060[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_4581984588492554156) {
-   out_4581984588492554156[0] = 0;
-   out_4581984588492554156[1] = 0;
-   out_4581984588492554156[2] = 0;
-   out_4581984588492554156[3] = 0;
-   out_4581984588492554156[4] = 0;
-   out_4581984588492554156[5] = 0;
-   out_4581984588492554156[6] = 0;
-   out_4581984588492554156[7] = 0;
-   out_4581984588492554156[8] = 1;
+void H_31(double *state, double *unused, double *out_1372780731225532620) {
+   out_1372780731225532620[0] = 0;
+   out_1372780731225532620[1] = 0;
+   out_1372780731225532620[2] = 0;
+   out_1372780731225532620[3] = 0;
+   out_1372780731225532620[4] = 0;
+   out_1372780731225532620[5] = 0;
+   out_1372780731225532620[6] = 0;
+   out_1372780731225532620[7] = 0;
+   out_1372780731225532620[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_789804740016769707) {
-  err_fun(nom_x, delta_x, out_789804740016769707);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1264104166079454940) {
+  err_fun(nom_x, delta_x, out_1264104166079454940);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_385986033898548509) {
-  inv_err_fun(nom_x, true_x, out_385986033898548509);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_3182169158929336617) {
+  inv_err_fun(nom_x, true_x, out_3182169158929336617);
 }
-void car_H_mod_fun(double *state, double *out_4046004184415297016) {
-  H_mod_fun(state, out_4046004184415297016);
+void car_H_mod_fun(double *state, double *out_3410660055109284948) {
+  H_mod_fun(state, out_3410660055109284948);
 }
-void car_f_fun(double *state, double dt, double *out_467921565295650481) {
-  f_fun(state,  dt, out_467921565295650481);
+void car_f_fun(double *state, double dt, double *out_6946480961019455904) {
+  f_fun(state,  dt, out_6946480961019455904);
 }
-void car_F_fun(double *state, double dt, double *out_2429260194375294140) {
-  F_fun(state,  dt, out_2429260194375294140);
+void car_F_fun(double *state, double dt, double *out_2425315094814185050) {
+  F_fun(state,  dt, out_2425315094814185050);
 }
-void car_h_25(double *state, double *unused, double *out_4530459753918271082) {
-  h_25(state, unused, out_4530459753918271082);
+void car_h_25(double *state, double *unused, double *out_3083351420745802205) {
+  h_25(state, unused, out_3083351420745802205);
 }
-void car_H_25(double *state, double *unused, double *out_4551338626615593728) {
-  H_25(state, unused, out_4551338626615593728);
+void car_H_25(double *state, double *unused, double *out_1342134769348572192) {
+  H_25(state, unused, out_1342134769348572192);
 }
-void car_h_24(double *state, double *unused, double *out_211848015086222289) {
-  h_24(state, unused, out_211848015086222289);
+void car_h_24(double *state, double *unused, double *out_7968288456028556638) {
+  h_24(state, unused, out_7968288456028556638);
 }
-void car_H_24(double *state, double *unused, double *out_7319833640502439787) {
-  H_24(state, unused, out_7319833640502439787);
+void car_H_24(double *state, double *unused, double *out_7917706575940090293) {
+  H_24(state, unused, out_7917706575940090293);
 }
-void car_h_30(double *state, double *unused, double *out_4687646422269400227) {
-  h_30(state, unused, out_4687646422269400227);
+void car_h_30(double *state, double *unused, double *out_8592557426613398475) {
+  h_30(state, unused, out_8592557426613398475);
 }
-void car_H_30(double *state, double *unused, double *out_4421999679472353658) {
-  H_30(state, unused, out_4421999679472353658);
+void car_H_30(double *state, double *unused, double *out_8258825110840188947) {
+  H_30(state, unused, out_8258825110840188947);
 }
-void car_h_26(double *state, double *unused, double *out_1875094318999546844) {
-  h_26(state, unused, out_1875094318999546844);
+void car_h_26(double *state, double *unused, double *out_3590884158952552830) {
+  h_26(state, unused, out_3590884158952552830);
 }
-void car_H_26(double *state, double *unused, double *out_809835307741537504) {
-  H_26(state, unused, out_809835307741537504);
+void car_H_26(double *state, double *unused, double *out_2399368549525484032) {
+  H_26(state, unused, out_2399368549525484032);
 }
-void car_h_27(double *state, double *unused, double *out_8953904322109987302) {
-  h_27(state, unused, out_8953904322109987302);
+void car_h_27(double *state, double *unused, double *out_5937191991694674237) {
+  h_27(state, unused, out_5937191991694674237);
 }
-void car_H_27(double *state, double *unused, double *out_2247236367671928747) {
-  H_27(state, unused, out_2247236367671928747);
+void car_H_27(double *state, double *unused, double *out_961967489595092789) {
+  H_27(state, unused, out_961967489595092789);
 }
-void car_h_29(double *state, double *unused, double *out_5855390223345541964) {
-  h_29(state, unused, out_5855390223345541964);
+void car_h_29(double *state, double *unused, double *out_5780005323343545092) {
+  h_29(state, unused, out_5780005323343545092);
 }
-void car_H_29(double *state, double *unused, double *out_4932231023786745842) {
-  H_29(state, unused, out_4932231023786745842);
+void car_H_29(double *state, double *unused, double *out_1723027166519724306) {
+  H_29(state, unused, out_1723027166519724306);
 }
-void car_h_28(double *state, double *unused, double *out_8510755658264266202) {
-  h_28(state, unused, out_8510755658264266202);
+void car_h_28(double *state, double *unused, double *out_974811994013381005) {
+  h_28(state, unused, out_974811994013381005);
 }
-void car_H_28(double *state, double *unused, double *out_6895861295352072093) {
-  H_28(state, unused, out_6895861295352072093);
+void car_H_28(double *state, double *unused, double *out_3686657438085050557) {
+  H_28(state, unused, out_3686657438085050557);
 }
-void car_h_31(double *state, double *unused, double *out_3677036992164635768) {
-  h_31(state, unused, out_3677036992164635768);
+void car_h_31(double *state, double *unused, double *out_2926164752394673060) {
+  h_31(state, unused, out_2926164752394673060);
 }
-void car_H_31(double *state, double *unused, double *out_4581984588492554156) {
-  H_31(state, unused, out_4581984588492554156);
+void car_H_31(double *state, double *unused, double *out_1372780731225532620) {
+  H_31(state, unused, out_1372780731225532620);
 }
 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_789804740016769707);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_385986033898548509);
-void car_H_mod_fun(double *state, double *out_4046004184415297016);
-void car_f_fun(double *state, double dt, double *out_467921565295650481);
-void car_F_fun(double *state, double dt, double *out_2429260194375294140);
-void car_h_25(double *state, double *unused, double *out_4530459753918271082);
-void car_H_25(double *state, double *unused, double *out_4551338626615593728);
-void car_h_24(double *state, double *unused, double *out_211848015086222289);
-void car_H_24(double *state, double *unused, double *out_7319833640502439787);
-void car_h_30(double *state, double *unused, double *out_4687646422269400227);
-void car_H_30(double *state, double *unused, double *out_4421999679472353658);
-void car_h_26(double *state, double *unused, double *out_1875094318999546844);
-void car_H_26(double *state, double *unused, double *out_809835307741537504);
-void car_h_27(double *state, double *unused, double *out_8953904322109987302);
-void car_H_27(double *state, double *unused, double *out_2247236367671928747);
-void car_h_29(double *state, double *unused, double *out_5855390223345541964);
-void car_H_29(double *state, double *unused, double *out_4932231023786745842);
-void car_h_28(double *state, double *unused, double *out_8510755658264266202);
-void car_H_28(double *state, double *unused, double *out_6895861295352072093);
-void car_h_31(double *state, double *unused, double *out_3677036992164635768);
-void car_H_31(double *state, double *unused, double *out_4581984588492554156);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1264104166079454940);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_3182169158929336617);
+void car_H_mod_fun(double *state, double *out_3410660055109284948);
+void car_f_fun(double *state, double dt, double *out_6946480961019455904);
+void car_F_fun(double *state, double dt, double *out_2425315094814185050);
+void car_h_25(double *state, double *unused, double *out_3083351420745802205);
+void car_H_25(double *state, double *unused, double *out_1342134769348572192);
+void car_h_24(double *state, double *unused, double *out_7968288456028556638);
+void car_H_24(double *state, double *unused, double *out_7917706575940090293);
+void car_h_30(double *state, double *unused, double *out_8592557426613398475);
+void car_H_30(double *state, double *unused, double *out_8258825110840188947);
+void car_h_26(double *state, double *unused, double *out_3590884158952552830);
+void car_H_26(double *state, double *unused, double *out_2399368549525484032);
+void car_h_27(double *state, double *unused, double *out_5937191991694674237);
+void car_H_27(double *state, double *unused, double *out_961967489595092789);
+void car_h_29(double *state, double *unused, double *out_5780005323343545092);
+void car_H_29(double *state, double *unused, double *out_1723027166519724306);
+void car_h_28(double *state, double *unused, double *out_974811994013381005);
+void car_H_28(double *state, double *unused, double *out_3686657438085050557);
+void car_h_31(double *state, double *unused, double *out_2926164752394673060);
+void car_H_31(double *state, double *unused, double *out_1372780731225532620);
 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_7754318151462489406);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5172808168415891616);
-void pose_H_mod_fun(double *state, double *out_2254475305049299983);
-void pose_f_fun(double *state, double dt, double *out_9187930556967356165);
-void pose_F_fun(double *state, double dt, double *out_1250378920670806697);
-void pose_h_4(double *state, double *unused, double *out_3431796064752050994);
-void pose_H_4(double *state, double *unused, double *out_1019746773741649270);
-void pose_h_10(double *state, double *unused, double *out_4742817048768310237);
-void pose_H_10(double *state, double *unused, double *out_7482829619336622044);
-void pose_h_13(double *state, double *unused, double *out_3124060736866225144);
-void pose_H_13(double *state, double *unused, double *out_2192527051590683531);
-void pose_h_14(double *state, double *unused, double *out_3873502266244196496);
-void pose_H_14(double *state, double *unused, double *out_2943494082597835259);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_908811316603708218);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6097135032344727242);
+void pose_H_mod_fun(double *state, double *out_5840907614347766849);
+void pose_f_fun(double *state, double dt, double *out_6742419823108127014);
+void pose_F_fun(double *state, double dt, double *out_7663122633241286867);
+void pose_h_4(double *state, double *unused, double *out_7389052167092190980);
+void pose_H_4(double *state, double *unused, double *out_7038855096230664953);
+void pose_h_10(double *state, double *unused, double *out_8071536081821918077);
+void pose_H_10(double *state, double *unused, double *out_4101630430643064156);
+void pose_h_13(double *state, double *unused, double *out_4611633119501949975);
+void pose_H_13(double *state, double *unused, double *out_8195615152146553862);
+void pose_h_14(double *state, double *unused, double *out_519391538095944063);
+void pose_H_14(double *state, double *unused, double *out_3956066663935292657);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }