build

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-23b354d4-DEBUG";
+const uint8_t gitversion[19] = "DEV-12a984b2-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-23b354d4-DEBUG
+DEV-12a984b2-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_92735882134146519) {
-   out_92735882134146519[0] = delta_x[0] + nom_x[0];
-   out_92735882134146519[1] = delta_x[1] + nom_x[1];
-   out_92735882134146519[2] = delta_x[2] + nom_x[2];
-   out_92735882134146519[3] = delta_x[3] + nom_x[3];
-   out_92735882134146519[4] = delta_x[4] + nom_x[4];
-   out_92735882134146519[5] = delta_x[5] + nom_x[5];
-   out_92735882134146519[6] = delta_x[6] + nom_x[6];
-   out_92735882134146519[7] = delta_x[7] + nom_x[7];
-   out_92735882134146519[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_6125726627663246664) {
+   out_6125726627663246664[0] = delta_x[0] + nom_x[0];
+   out_6125726627663246664[1] = delta_x[1] + nom_x[1];
+   out_6125726627663246664[2] = delta_x[2] + nom_x[2];
+   out_6125726627663246664[3] = delta_x[3] + nom_x[3];
+   out_6125726627663246664[4] = delta_x[4] + nom_x[4];
+   out_6125726627663246664[5] = delta_x[5] + nom_x[5];
+   out_6125726627663246664[6] = delta_x[6] + nom_x[6];
+   out_6125726627663246664[7] = delta_x[7] + nom_x[7];
+   out_6125726627663246664[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_3460935513230882787) {
-   out_3460935513230882787[0] = -nom_x[0] + true_x[0];
-   out_3460935513230882787[1] = -nom_x[1] + true_x[1];
-   out_3460935513230882787[2] = -nom_x[2] + true_x[2];
-   out_3460935513230882787[3] = -nom_x[3] + true_x[3];
-   out_3460935513230882787[4] = -nom_x[4] + true_x[4];
-   out_3460935513230882787[5] = -nom_x[5] + true_x[5];
-   out_3460935513230882787[6] = -nom_x[6] + true_x[6];
-   out_3460935513230882787[7] = -nom_x[7] + true_x[7];
-   out_3460935513230882787[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_87606233557452672) {
+   out_87606233557452672[0] = -nom_x[0] + true_x[0];
+   out_87606233557452672[1] = -nom_x[1] + true_x[1];
+   out_87606233557452672[2] = -nom_x[2] + true_x[2];
+   out_87606233557452672[3] = -nom_x[3] + true_x[3];
+   out_87606233557452672[4] = -nom_x[4] + true_x[4];
+   out_87606233557452672[5] = -nom_x[5] + true_x[5];
+   out_87606233557452672[6] = -nom_x[6] + true_x[6];
+   out_87606233557452672[7] = -nom_x[7] + true_x[7];
+   out_87606233557452672[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_1422739628250006049) {
-   out_1422739628250006049[0] = 1.0;
-   out_1422739628250006049[1] = 0.0;
-   out_1422739628250006049[2] = 0.0;
-   out_1422739628250006049[3] = 0.0;
-   out_1422739628250006049[4] = 0.0;
-   out_1422739628250006049[5] = 0.0;
-   out_1422739628250006049[6] = 0.0;
-   out_1422739628250006049[7] = 0.0;
-   out_1422739628250006049[8] = 0.0;
-   out_1422739628250006049[9] = 0.0;
-   out_1422739628250006049[10] = 1.0;
-   out_1422739628250006049[11] = 0.0;
-   out_1422739628250006049[12] = 0.0;
-   out_1422739628250006049[13] = 0.0;
-   out_1422739628250006049[14] = 0.0;
-   out_1422739628250006049[15] = 0.0;
-   out_1422739628250006049[16] = 0.0;
-   out_1422739628250006049[17] = 0.0;
-   out_1422739628250006049[18] = 0.0;
-   out_1422739628250006049[19] = 0.0;
-   out_1422739628250006049[20] = 1.0;
-   out_1422739628250006049[21] = 0.0;
-   out_1422739628250006049[22] = 0.0;
-   out_1422739628250006049[23] = 0.0;
-   out_1422739628250006049[24] = 0.0;
-   out_1422739628250006049[25] = 0.0;
-   out_1422739628250006049[26] = 0.0;
-   out_1422739628250006049[27] = 0.0;
-   out_1422739628250006049[28] = 0.0;
-   out_1422739628250006049[29] = 0.0;
-   out_1422739628250006049[30] = 1.0;
-   out_1422739628250006049[31] = 0.0;
-   out_1422739628250006049[32] = 0.0;
-   out_1422739628250006049[33] = 0.0;
-   out_1422739628250006049[34] = 0.0;
-   out_1422739628250006049[35] = 0.0;
-   out_1422739628250006049[36] = 0.0;
-   out_1422739628250006049[37] = 0.0;
-   out_1422739628250006049[38] = 0.0;
-   out_1422739628250006049[39] = 0.0;
-   out_1422739628250006049[40] = 1.0;
-   out_1422739628250006049[41] = 0.0;
-   out_1422739628250006049[42] = 0.0;
-   out_1422739628250006049[43] = 0.0;
-   out_1422739628250006049[44] = 0.0;
-   out_1422739628250006049[45] = 0.0;
-   out_1422739628250006049[46] = 0.0;
-   out_1422739628250006049[47] = 0.0;
-   out_1422739628250006049[48] = 0.0;
-   out_1422739628250006049[49] = 0.0;
-   out_1422739628250006049[50] = 1.0;
-   out_1422739628250006049[51] = 0.0;
-   out_1422739628250006049[52] = 0.0;
-   out_1422739628250006049[53] = 0.0;
-   out_1422739628250006049[54] = 0.0;
-   out_1422739628250006049[55] = 0.0;
-   out_1422739628250006049[56] = 0.0;
-   out_1422739628250006049[57] = 0.0;
-   out_1422739628250006049[58] = 0.0;
-   out_1422739628250006049[59] = 0.0;
-   out_1422739628250006049[60] = 1.0;
-   out_1422739628250006049[61] = 0.0;
-   out_1422739628250006049[62] = 0.0;
-   out_1422739628250006049[63] = 0.0;
-   out_1422739628250006049[64] = 0.0;
-   out_1422739628250006049[65] = 0.0;
-   out_1422739628250006049[66] = 0.0;
-   out_1422739628250006049[67] = 0.0;
-   out_1422739628250006049[68] = 0.0;
-   out_1422739628250006049[69] = 0.0;
-   out_1422739628250006049[70] = 1.0;
-   out_1422739628250006049[71] = 0.0;
-   out_1422739628250006049[72] = 0.0;
-   out_1422739628250006049[73] = 0.0;
-   out_1422739628250006049[74] = 0.0;
-   out_1422739628250006049[75] = 0.0;
-   out_1422739628250006049[76] = 0.0;
-   out_1422739628250006049[77] = 0.0;
-   out_1422739628250006049[78] = 0.0;
-   out_1422739628250006049[79] = 0.0;
-   out_1422739628250006049[80] = 1.0;
+void H_mod_fun(double *state, double *out_1571740516032572076) {
+   out_1571740516032572076[0] = 1.0;
+   out_1571740516032572076[1] = 0.0;
+   out_1571740516032572076[2] = 0.0;
+   out_1571740516032572076[3] = 0.0;
+   out_1571740516032572076[4] = 0.0;
+   out_1571740516032572076[5] = 0.0;
+   out_1571740516032572076[6] = 0.0;
+   out_1571740516032572076[7] = 0.0;
+   out_1571740516032572076[8] = 0.0;
+   out_1571740516032572076[9] = 0.0;
+   out_1571740516032572076[10] = 1.0;
+   out_1571740516032572076[11] = 0.0;
+   out_1571740516032572076[12] = 0.0;
+   out_1571740516032572076[13] = 0.0;
+   out_1571740516032572076[14] = 0.0;
+   out_1571740516032572076[15] = 0.0;
+   out_1571740516032572076[16] = 0.0;
+   out_1571740516032572076[17] = 0.0;
+   out_1571740516032572076[18] = 0.0;
+   out_1571740516032572076[19] = 0.0;
+   out_1571740516032572076[20] = 1.0;
+   out_1571740516032572076[21] = 0.0;
+   out_1571740516032572076[22] = 0.0;
+   out_1571740516032572076[23] = 0.0;
+   out_1571740516032572076[24] = 0.0;
+   out_1571740516032572076[25] = 0.0;
+   out_1571740516032572076[26] = 0.0;
+   out_1571740516032572076[27] = 0.0;
+   out_1571740516032572076[28] = 0.0;
+   out_1571740516032572076[29] = 0.0;
+   out_1571740516032572076[30] = 1.0;
+   out_1571740516032572076[31] = 0.0;
+   out_1571740516032572076[32] = 0.0;
+   out_1571740516032572076[33] = 0.0;
+   out_1571740516032572076[34] = 0.0;
+   out_1571740516032572076[35] = 0.0;
+   out_1571740516032572076[36] = 0.0;
+   out_1571740516032572076[37] = 0.0;
+   out_1571740516032572076[38] = 0.0;
+   out_1571740516032572076[39] = 0.0;
+   out_1571740516032572076[40] = 1.0;
+   out_1571740516032572076[41] = 0.0;
+   out_1571740516032572076[42] = 0.0;
+   out_1571740516032572076[43] = 0.0;
+   out_1571740516032572076[44] = 0.0;
+   out_1571740516032572076[45] = 0.0;
+   out_1571740516032572076[46] = 0.0;
+   out_1571740516032572076[47] = 0.0;
+   out_1571740516032572076[48] = 0.0;
+   out_1571740516032572076[49] = 0.0;
+   out_1571740516032572076[50] = 1.0;
+   out_1571740516032572076[51] = 0.0;
+   out_1571740516032572076[52] = 0.0;
+   out_1571740516032572076[53] = 0.0;
+   out_1571740516032572076[54] = 0.0;
+   out_1571740516032572076[55] = 0.0;
+   out_1571740516032572076[56] = 0.0;
+   out_1571740516032572076[57] = 0.0;
+   out_1571740516032572076[58] = 0.0;
+   out_1571740516032572076[59] = 0.0;
+   out_1571740516032572076[60] = 1.0;
+   out_1571740516032572076[61] = 0.0;
+   out_1571740516032572076[62] = 0.0;
+   out_1571740516032572076[63] = 0.0;
+   out_1571740516032572076[64] = 0.0;
+   out_1571740516032572076[65] = 0.0;
+   out_1571740516032572076[66] = 0.0;
+   out_1571740516032572076[67] = 0.0;
+   out_1571740516032572076[68] = 0.0;
+   out_1571740516032572076[69] = 0.0;
+   out_1571740516032572076[70] = 1.0;
+   out_1571740516032572076[71] = 0.0;
+   out_1571740516032572076[72] = 0.0;
+   out_1571740516032572076[73] = 0.0;
+   out_1571740516032572076[74] = 0.0;
+   out_1571740516032572076[75] = 0.0;
+   out_1571740516032572076[76] = 0.0;
+   out_1571740516032572076[77] = 0.0;
+   out_1571740516032572076[78] = 0.0;
+   out_1571740516032572076[79] = 0.0;
+   out_1571740516032572076[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_1170289062789918948) {
-   out_1170289062789918948[0] = state[0];
-   out_1170289062789918948[1] = state[1];
-   out_1170289062789918948[2] = state[2];
-   out_1170289062789918948[3] = state[3];
-   out_1170289062789918948[4] = state[4];
-   out_1170289062789918948[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_1170289062789918948[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_1170289062789918948[7] = state[7];
-   out_1170289062789918948[8] = state[8];
+void f_fun(double *state, double dt, double *out_7904413896065989389) {
+   out_7904413896065989389[0] = state[0];
+   out_7904413896065989389[1] = state[1];
+   out_7904413896065989389[2] = state[2];
+   out_7904413896065989389[3] = state[3];
+   out_7904413896065989389[4] = state[4];
+   out_7904413896065989389[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_7904413896065989389[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_7904413896065989389[7] = state[7];
+   out_7904413896065989389[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_3493049086978441612) {
-   out_3493049086978441612[0] = 1;
-   out_3493049086978441612[1] = 0;
-   out_3493049086978441612[2] = 0;
-   out_3493049086978441612[3] = 0;
-   out_3493049086978441612[4] = 0;
-   out_3493049086978441612[5] = 0;
-   out_3493049086978441612[6] = 0;
-   out_3493049086978441612[7] = 0;
-   out_3493049086978441612[8] = 0;
-   out_3493049086978441612[9] = 0;
-   out_3493049086978441612[10] = 1;
-   out_3493049086978441612[11] = 0;
-   out_3493049086978441612[12] = 0;
-   out_3493049086978441612[13] = 0;
-   out_3493049086978441612[14] = 0;
-   out_3493049086978441612[15] = 0;
-   out_3493049086978441612[16] = 0;
-   out_3493049086978441612[17] = 0;
-   out_3493049086978441612[18] = 0;
-   out_3493049086978441612[19] = 0;
-   out_3493049086978441612[20] = 1;
-   out_3493049086978441612[21] = 0;
-   out_3493049086978441612[22] = 0;
-   out_3493049086978441612[23] = 0;
-   out_3493049086978441612[24] = 0;
-   out_3493049086978441612[25] = 0;
-   out_3493049086978441612[26] = 0;
-   out_3493049086978441612[27] = 0;
-   out_3493049086978441612[28] = 0;
-   out_3493049086978441612[29] = 0;
-   out_3493049086978441612[30] = 1;
-   out_3493049086978441612[31] = 0;
-   out_3493049086978441612[32] = 0;
-   out_3493049086978441612[33] = 0;
-   out_3493049086978441612[34] = 0;
-   out_3493049086978441612[35] = 0;
-   out_3493049086978441612[36] = 0;
-   out_3493049086978441612[37] = 0;
-   out_3493049086978441612[38] = 0;
-   out_3493049086978441612[39] = 0;
-   out_3493049086978441612[40] = 1;
-   out_3493049086978441612[41] = 0;
-   out_3493049086978441612[42] = 0;
-   out_3493049086978441612[43] = 0;
-   out_3493049086978441612[44] = 0;
-   out_3493049086978441612[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_3493049086978441612[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_3493049086978441612[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_3493049086978441612[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_3493049086978441612[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_3493049086978441612[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_3493049086978441612[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_3493049086978441612[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_3493049086978441612[53] = -9.8100000000000005*dt;
-   out_3493049086978441612[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_3493049086978441612[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_3493049086978441612[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_3493049086978441612[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_3493049086978441612[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_3493049086978441612[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_3493049086978441612[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_3493049086978441612[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_3493049086978441612[62] = 0;
-   out_3493049086978441612[63] = 0;
-   out_3493049086978441612[64] = 0;
-   out_3493049086978441612[65] = 0;
-   out_3493049086978441612[66] = 0;
-   out_3493049086978441612[67] = 0;
-   out_3493049086978441612[68] = 0;
-   out_3493049086978441612[69] = 0;
-   out_3493049086978441612[70] = 1;
-   out_3493049086978441612[71] = 0;
-   out_3493049086978441612[72] = 0;
-   out_3493049086978441612[73] = 0;
-   out_3493049086978441612[74] = 0;
-   out_3493049086978441612[75] = 0;
-   out_3493049086978441612[76] = 0;
-   out_3493049086978441612[77] = 0;
-   out_3493049086978441612[78] = 0;
-   out_3493049086978441612[79] = 0;
-   out_3493049086978441612[80] = 1;
+void F_fun(double *state, double dt, double *out_6516583174049416628) {
+   out_6516583174049416628[0] = 1;
+   out_6516583174049416628[1] = 0;
+   out_6516583174049416628[2] = 0;
+   out_6516583174049416628[3] = 0;
+   out_6516583174049416628[4] = 0;
+   out_6516583174049416628[5] = 0;
+   out_6516583174049416628[6] = 0;
+   out_6516583174049416628[7] = 0;
+   out_6516583174049416628[8] = 0;
+   out_6516583174049416628[9] = 0;
+   out_6516583174049416628[10] = 1;
+   out_6516583174049416628[11] = 0;
+   out_6516583174049416628[12] = 0;
+   out_6516583174049416628[13] = 0;
+   out_6516583174049416628[14] = 0;
+   out_6516583174049416628[15] = 0;
+   out_6516583174049416628[16] = 0;
+   out_6516583174049416628[17] = 0;
+   out_6516583174049416628[18] = 0;
+   out_6516583174049416628[19] = 0;
+   out_6516583174049416628[20] = 1;
+   out_6516583174049416628[21] = 0;
+   out_6516583174049416628[22] = 0;
+   out_6516583174049416628[23] = 0;
+   out_6516583174049416628[24] = 0;
+   out_6516583174049416628[25] = 0;
+   out_6516583174049416628[26] = 0;
+   out_6516583174049416628[27] = 0;
+   out_6516583174049416628[28] = 0;
+   out_6516583174049416628[29] = 0;
+   out_6516583174049416628[30] = 1;
+   out_6516583174049416628[31] = 0;
+   out_6516583174049416628[32] = 0;
+   out_6516583174049416628[33] = 0;
+   out_6516583174049416628[34] = 0;
+   out_6516583174049416628[35] = 0;
+   out_6516583174049416628[36] = 0;
+   out_6516583174049416628[37] = 0;
+   out_6516583174049416628[38] = 0;
+   out_6516583174049416628[39] = 0;
+   out_6516583174049416628[40] = 1;
+   out_6516583174049416628[41] = 0;
+   out_6516583174049416628[42] = 0;
+   out_6516583174049416628[43] = 0;
+   out_6516583174049416628[44] = 0;
+   out_6516583174049416628[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_6516583174049416628[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_6516583174049416628[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6516583174049416628[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6516583174049416628[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_6516583174049416628[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_6516583174049416628[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_6516583174049416628[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6516583174049416628[53] = -9.8100000000000005*dt;
+   out_6516583174049416628[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_6516583174049416628[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_6516583174049416628[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6516583174049416628[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6516583174049416628[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_6516583174049416628[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_6516583174049416628[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_6516583174049416628[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6516583174049416628[62] = 0;
+   out_6516583174049416628[63] = 0;
+   out_6516583174049416628[64] = 0;
+   out_6516583174049416628[65] = 0;
+   out_6516583174049416628[66] = 0;
+   out_6516583174049416628[67] = 0;
+   out_6516583174049416628[68] = 0;
+   out_6516583174049416628[69] = 0;
+   out_6516583174049416628[70] = 1;
+   out_6516583174049416628[71] = 0;
+   out_6516583174049416628[72] = 0;
+   out_6516583174049416628[73] = 0;
+   out_6516583174049416628[74] = 0;
+   out_6516583174049416628[75] = 0;
+   out_6516583174049416628[76] = 0;
+   out_6516583174049416628[77] = 0;
+   out_6516583174049416628[78] = 0;
+   out_6516583174049416628[79] = 0;
+   out_6516583174049416628[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_7013925099015375635) {
-   out_7013925099015375635[0] = state[6];
+void h_25(double *state, double *unused, double *out_6845996924949086281) {
+   out_6845996924949086281[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_4945720278239497726) {
-   out_4945720278239497726[0] = 0;
-   out_4945720278239497726[1] = 0;
-   out_4945720278239497726[2] = 0;
-   out_4945720278239497726[3] = 0;
-   out_4945720278239497726[4] = 0;
-   out_4945720278239497726[5] = 0;
-   out_4945720278239497726[6] = 1;
-   out_4945720278239497726[7] = 0;
-   out_4945720278239497726[8] = 0;
+void H_25(double *state, double *unused, double *out_4925282443857457875) {
+   out_4925282443857457875[0] = 0;
+   out_4925282443857457875[1] = 0;
+   out_4925282443857457875[2] = 0;
+   out_4925282443857457875[3] = 0;
+   out_4925282443857457875[4] = 0;
+   out_4925282443857457875[5] = 0;
+   out_4925282443857457875[6] = 1;
+   out_4925282443857457875[7] = 0;
+   out_4925282443857457875[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_1176701170289761958) {
-   out_1176701170289761958[0] = state[4];
-   out_1176701170289761958[1] = state[5];
+void h_24(double *state, double *unused, double *out_76787194833890602) {
+   out_76787194833890602[0] = state[4];
+   out_76787194833890602[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_199210951272988692) {
-   out_199210951272988692[0] = 0;
-   out_199210951272988692[1] = 0;
-   out_199210951272988692[2] = 0;
-   out_199210951272988692[3] = 0;
-   out_199210951272988692[4] = 1;
-   out_199210951272988692[5] = 0;
-   out_199210951272988692[6] = 0;
-   out_199210951272988692[7] = 0;
-   out_199210951272988692[8] = 0;
-   out_199210951272988692[9] = 0;
-   out_199210951272988692[10] = 0;
-   out_199210951272988692[11] = 0;
-   out_199210951272988692[12] = 0;
-   out_199210951272988692[13] = 0;
-   out_199210951272988692[14] = 1;
-   out_199210951272988692[15] = 0;
-   out_199210951272988692[16] = 0;
-   out_199210951272988692[17] = 0;
+void H_24(double *state, double *unused, double *out_2493109189819469018) {
+   out_2493109189819469018[0] = 0;
+   out_2493109189819469018[1] = 0;
+   out_2493109189819469018[2] = 0;
+   out_2493109189819469018[3] = 0;
+   out_2493109189819469018[4] = 1;
+   out_2493109189819469018[5] = 0;
+   out_2493109189819469018[6] = 0;
+   out_2493109189819469018[7] = 0;
+   out_2493109189819469018[8] = 0;
+   out_2493109189819469018[9] = 0;
+   out_2493109189819469018[10] = 0;
+   out_2493109189819469018[11] = 0;
+   out_2493109189819469018[12] = 0;
+   out_2493109189819469018[13] = 0;
+   out_2493109189819469018[14] = 1;
+   out_2493109189819469018[15] = 0;
+   out_2493109189819469018[16] = 0;
+   out_2493109189819469018[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_3376475570761353285) {
-   out_3376475570761353285[0] = state[4];
+void h_30(double *state, double *unused, double *out_7304198287107647943) {
+   out_7304198287107647943[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_6584333453978437135) {
-   out_6584333453978437135[0] = 0;
-   out_6584333453978437135[1] = 0;
-   out_6584333453978437135[2] = 0;
-   out_6584333453978437135[3] = 0;
-   out_6584333453978437135[4] = 1;
-   out_6584333453978437135[5] = 0;
-   out_6584333453978437135[6] = 0;
-   out_6584333453978437135[7] = 0;
-   out_6584333453978437135[8] = 0;
+void H_30(double *state, double *unused, double *out_8993765299724485543) {
+   out_8993765299724485543[0] = 0;
+   out_8993765299724485543[1] = 0;
+   out_8993765299724485543[2] = 0;
+   out_8993765299724485543[3] = 0;
+   out_8993765299724485543[4] = 1;
+   out_8993765299724485543[5] = 0;
+   out_8993765299724485543[6] = 0;
+   out_8993765299724485543[7] = 0;
+   out_8993765299724485543[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_6352431583079506005) {
-   out_6352431583079506005[0] = state[7];
+void h_26(double *state, double *unused, double *out_6360688434205985508) {
+   out_6360688434205985508[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_1204216959365441502) {
-   out_1204216959365441502[0] = 0;
-   out_1204216959365441502[1] = 0;
-   out_1204216959365441502[2] = 0;
-   out_1204216959365441502[3] = 0;
-   out_1204216959365441502[4] = 0;
-   out_1204216959365441502[5] = 0;
-   out_1204216959365441502[6] = 0;
-   out_1204216959365441502[7] = 1;
-   out_1204216959365441502[8] = 0;
+void H_26(double *state, double *unused, double *out_8666785762731514099) {
+   out_8666785762731514099[0] = 0;
+   out_8666785762731514099[1] = 0;
+   out_8666785762731514099[2] = 0;
+   out_8666785762731514099[3] = 0;
+   out_8666785762731514099[4] = 0;
+   out_8666785762731514099[5] = 0;
+   out_8666785762731514099[6] = 0;
+   out_8666785762731514099[7] = 1;
+   out_8666785762731514099[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_8181668900091517372) {
-   out_8181668900091517372[0] = state[3];
+void h_27(double *state, double *unused, double *out_2448044843667457269) {
+   out_2448044843667457269[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_8759096765778862046) {
-   out_8759096765778862046[0] = 0;
-   out_8759096765778862046[1] = 0;
-   out_8759096765778862046[2] = 0;
-   out_8759096765778862046[3] = 1;
-   out_8759096765778862046[4] = 0;
-   out_8759096765778862046[5] = 0;
-   out_8759096765778862046[6] = 0;
-   out_8759096765778862046[7] = 0;
-   out_8759096765778862046[8] = 0;
+void H_27(double *state, double *unused, double *out_6819001987924060632) {
+   out_6819001987924060632[0] = 0;
+   out_6819001987924060632[1] = 0;
+   out_6819001987924060632[2] = 0;
+   out_6819001987924060632[3] = 1;
+   out_6819001987924060632[4] = 0;
+   out_6819001987924060632[5] = 0;
+   out_6819001987924060632[6] = 0;
+   out_6819001987924060632[7] = 0;
+   out_6819001987924060632[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_1625197696899492360) {
-   out_1625197696899492360[0] = state[1];
+void h_29(double *state, double *unused, double *out_2302525019446802298) {
+   out_2302525019446802298[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_7974284581061138537) {
-   out_7974284581061138537[0] = 0;
-   out_7974284581061138537[1] = 1;
-   out_7974284581061138537[2] = 0;
-   out_7974284581061138537[3] = 0;
-   out_7974284581061138537[4] = 0;
-   out_7974284581061138537[5] = 0;
-   out_7974284581061138537[6] = 0;
-   out_7974284581061138537[7] = 0;
-   out_7974284581061138537[8] = 0;
+void H_29(double *state, double *unused, double *out_8942747429670673889) {
+   out_8942747429670673889[0] = 0;
+   out_8942747429670673889[1] = 1;
+   out_8942747429670673889[2] = 0;
+   out_8942747429670673889[3] = 0;
+   out_8942747429670673889[4] = 0;
+   out_8942747429670673889[5] = 0;
+   out_8942747429670673889[6] = 0;
+   out_8942747429670673889[7] = 0;
+   out_8942747429670673889[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_7452523070348180861) {
-   out_7452523070348180861[0] = state[0];
+void h_28(double *state, double *unused, double *out_2553628423993388376) {
+   out_2553628423993388376[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_2891885563991607963) {
-   out_2891885563991607963[0] = 1;
-   out_2891885563991607963[1] = 0;
-   out_2891885563991607963[2] = 0;
-   out_2891885563991607963[3] = 0;
-   out_2891885563991607963[4] = 0;
-   out_2891885563991607963[5] = 0;
-   out_2891885563991607963[6] = 0;
-   out_2891885563991607963[7] = 0;
-   out_2891885563991607963[8] = 0;
+void H_28(double *state, double *unused, double *out_4421597626969347153) {
+   out_4421597626969347153[0] = 1;
+   out_4421597626969347153[1] = 0;
+   out_4421597626969347153[2] = 0;
+   out_4421597626969347153[3] = 0;
+   out_4421597626969347153[4] = 0;
+   out_4421597626969347153[5] = 0;
+   out_4421597626969347153[6] = 0;
+   out_4421597626969347153[7] = 0;
+   out_4421597626969347153[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_5836194589039397969) {
-   out_5836194589039397969[0] = state[8];
+void h_31(double *state, double *unused, double *out_7359576434127226352) {
+   out_7359576434127226352[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_4976366240116458154) {
-   out_4976366240116458154[0] = 0;
-   out_4976366240116458154[1] = 0;
-   out_4976366240116458154[2] = 0;
-   out_4976366240116458154[3] = 0;
-   out_4976366240116458154[4] = 0;
-   out_4976366240116458154[5] = 0;
-   out_4976366240116458154[6] = 0;
-   out_4976366240116458154[7] = 0;
-   out_4976366240116458154[8] = 1;
+void H_31(double *state, double *unused, double *out_9153750208744686041) {
+   out_9153750208744686041[0] = 0;
+   out_9153750208744686041[1] = 0;
+   out_9153750208744686041[2] = 0;
+   out_9153750208744686041[3] = 0;
+   out_9153750208744686041[4] = 0;
+   out_9153750208744686041[5] = 0;
+   out_9153750208744686041[6] = 0;
+   out_9153750208744686041[7] = 0;
+   out_9153750208744686041[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_92735882134146519) {
-  err_fun(nom_x, delta_x, out_92735882134146519);
+void car_err_fun(double *nom_x, double *delta_x, double *out_6125726627663246664) {
+  err_fun(nom_x, delta_x, out_6125726627663246664);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_3460935513230882787) {
-  inv_err_fun(nom_x, true_x, out_3460935513230882787);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_87606233557452672) {
+  inv_err_fun(nom_x, true_x, out_87606233557452672);
 }
-void car_H_mod_fun(double *state, double *out_1422739628250006049) {
-  H_mod_fun(state, out_1422739628250006049);
+void car_H_mod_fun(double *state, double *out_1571740516032572076) {
+  H_mod_fun(state, out_1571740516032572076);
 }
-void car_f_fun(double *state, double dt, double *out_1170289062789918948) {
-  f_fun(state,  dt, out_1170289062789918948);
+void car_f_fun(double *state, double dt, double *out_7904413896065989389) {
+  f_fun(state,  dt, out_7904413896065989389);
 }
-void car_F_fun(double *state, double dt, double *out_3493049086978441612) {
-  F_fun(state,  dt, out_3493049086978441612);
+void car_F_fun(double *state, double dt, double *out_6516583174049416628) {
+  F_fun(state,  dt, out_6516583174049416628);
 }
-void car_h_25(double *state, double *unused, double *out_7013925099015375635) {
-  h_25(state, unused, out_7013925099015375635);
+void car_h_25(double *state, double *unused, double *out_6845996924949086281) {
+  h_25(state, unused, out_6845996924949086281);
 }
-void car_H_25(double *state, double *unused, double *out_4945720278239497726) {
-  H_25(state, unused, out_4945720278239497726);
+void car_H_25(double *state, double *unused, double *out_4925282443857457875) {
+  H_25(state, unused, out_4925282443857457875);
 }
-void car_h_24(double *state, double *unused, double *out_1176701170289761958) {
-  h_24(state, unused, out_1176701170289761958);
+void car_h_24(double *state, double *unused, double *out_76787194833890602) {
+  h_24(state, unused, out_76787194833890602);
 }
-void car_H_24(double *state, double *unused, double *out_199210951272988692) {
-  H_24(state, unused, out_199210951272988692);
+void car_H_24(double *state, double *unused, double *out_2493109189819469018) {
+  H_24(state, unused, out_2493109189819469018);
 }
-void car_h_30(double *state, double *unused, double *out_3376475570761353285) {
-  h_30(state, unused, out_3376475570761353285);
+void car_h_30(double *state, double *unused, double *out_7304198287107647943) {
+  h_30(state, unused, out_7304198287107647943);
 }
-void car_H_30(double *state, double *unused, double *out_6584333453978437135) {
-  H_30(state, unused, out_6584333453978437135);
+void car_H_30(double *state, double *unused, double *out_8993765299724485543) {
+  H_30(state, unused, out_8993765299724485543);
 }
-void car_h_26(double *state, double *unused, double *out_6352431583079506005) {
-  h_26(state, unused, out_6352431583079506005);
+void car_h_26(double *state, double *unused, double *out_6360688434205985508) {
+  h_26(state, unused, out_6360688434205985508);
 }
-void car_H_26(double *state, double *unused, double *out_1204216959365441502) {
-  H_26(state, unused, out_1204216959365441502);
+void car_H_26(double *state, double *unused, double *out_8666785762731514099) {
+  H_26(state, unused, out_8666785762731514099);
 }
-void car_h_27(double *state, double *unused, double *out_8181668900091517372) {
-  h_27(state, unused, out_8181668900091517372);
+void car_h_27(double *state, double *unused, double *out_2448044843667457269) {
+  h_27(state, unused, out_2448044843667457269);
 }
-void car_H_27(double *state, double *unused, double *out_8759096765778862046) {
-  H_27(state, unused, out_8759096765778862046);
+void car_H_27(double *state, double *unused, double *out_6819001987924060632) {
+  H_27(state, unused, out_6819001987924060632);
 }
-void car_h_29(double *state, double *unused, double *out_1625197696899492360) {
-  h_29(state, unused, out_1625197696899492360);
+void car_h_29(double *state, double *unused, double *out_2302525019446802298) {
+  h_29(state, unused, out_2302525019446802298);
 }
-void car_H_29(double *state, double *unused, double *out_7974284581061138537) {
-  H_29(state, unused, out_7974284581061138537);
+void car_H_29(double *state, double *unused, double *out_8942747429670673889) {
+  H_29(state, unused, out_8942747429670673889);
 }
-void car_h_28(double *state, double *unused, double *out_7452523070348180861) {
-  h_28(state, unused, out_7452523070348180861);
+void car_h_28(double *state, double *unused, double *out_2553628423993388376) {
+  h_28(state, unused, out_2553628423993388376);
 }
-void car_H_28(double *state, double *unused, double *out_2891885563991607963) {
-  H_28(state, unused, out_2891885563991607963);
+void car_H_28(double *state, double *unused, double *out_4421597626969347153) {
+  H_28(state, unused, out_4421597626969347153);
 }
-void car_h_31(double *state, double *unused, double *out_5836194589039397969) {
-  h_31(state, unused, out_5836194589039397969);
+void car_h_31(double *state, double *unused, double *out_7359576434127226352) {
+  h_31(state, unused, out_7359576434127226352);
 }
-void car_H_31(double *state, double *unused, double *out_4976366240116458154) {
-  H_31(state, unused, out_4976366240116458154);
+void car_H_31(double *state, double *unused, double *out_9153750208744686041) {
+  H_31(state, unused, out_9153750208744686041);
 }
 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_92735882134146519);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_3460935513230882787);
-void car_H_mod_fun(double *state, double *out_1422739628250006049);
-void car_f_fun(double *state, double dt, double *out_1170289062789918948);
-void car_F_fun(double *state, double dt, double *out_3493049086978441612);
-void car_h_25(double *state, double *unused, double *out_7013925099015375635);
-void car_H_25(double *state, double *unused, double *out_4945720278239497726);
-void car_h_24(double *state, double *unused, double *out_1176701170289761958);
-void car_H_24(double *state, double *unused, double *out_199210951272988692);
-void car_h_30(double *state, double *unused, double *out_3376475570761353285);
-void car_H_30(double *state, double *unused, double *out_6584333453978437135);
-void car_h_26(double *state, double *unused, double *out_6352431583079506005);
-void car_H_26(double *state, double *unused, double *out_1204216959365441502);
-void car_h_27(double *state, double *unused, double *out_8181668900091517372);
-void car_H_27(double *state, double *unused, double *out_8759096765778862046);
-void car_h_29(double *state, double *unused, double *out_1625197696899492360);
-void car_H_29(double *state, double *unused, double *out_7974284581061138537);
-void car_h_28(double *state, double *unused, double *out_7452523070348180861);
-void car_H_28(double *state, double *unused, double *out_2891885563991607963);
-void car_h_31(double *state, double *unused, double *out_5836194589039397969);
-void car_H_31(double *state, double *unused, double *out_4976366240116458154);
+void car_err_fun(double *nom_x, double *delta_x, double *out_6125726627663246664);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_87606233557452672);
+void car_H_mod_fun(double *state, double *out_1571740516032572076);
+void car_f_fun(double *state, double dt, double *out_7904413896065989389);
+void car_F_fun(double *state, double dt, double *out_6516583174049416628);
+void car_h_25(double *state, double *unused, double *out_6845996924949086281);
+void car_H_25(double *state, double *unused, double *out_4925282443857457875);
+void car_h_24(double *state, double *unused, double *out_76787194833890602);
+void car_H_24(double *state, double *unused, double *out_2493109189819469018);
+void car_h_30(double *state, double *unused, double *out_7304198287107647943);
+void car_H_30(double *state, double *unused, double *out_8993765299724485543);
+void car_h_26(double *state, double *unused, double *out_6360688434205985508);
+void car_H_26(double *state, double *unused, double *out_8666785762731514099);
+void car_h_27(double *state, double *unused, double *out_2448044843667457269);
+void car_H_27(double *state, double *unused, double *out_6819001987924060632);
+void car_h_29(double *state, double *unused, double *out_2302525019446802298);
+void car_H_29(double *state, double *unused, double *out_8942747429670673889);
+void car_h_28(double *state, double *unused, double *out_2553628423993388376);
+void car_H_28(double *state, double *unused, double *out_4421597626969347153);
+void car_h_31(double *state, double *unused, double *out_7359576434127226352);
+void car_H_31(double *state, double *unused, double *out_9153750208744686041);
 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_2550502777521953992);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2991013798952875835);
-void pose_H_mod_fun(double *state, double *out_3992538829710935120);
-void pose_f_fun(double *state, double dt, double *out_8224128290291442758);
-void pose_F_fun(double *state, double dt, double *out_4173313334813114557);
-void pose_h_4(double *state, double *unused, double *out_8461717180408587044);
-void pose_H_4(double *state, double *unused, double *out_2172840103804638259);
-void pose_h_10(double *state, double *unused, double *out_2633265206766799101);
-void pose_H_10(double *state, double *unused, double *out_3904041767468690216);
-void pose_h_13(double *state, double *unused, double *out_3680645971147336893);
-void pose_H_13(double *state, double *unused, double *out_5385113929136971060);
-void pose_h_14(double *state, double *unused, double *out_5848550976228580590);
-void pose_H_14(double *state, double *unused, double *out_909948328490734037);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_5340642756295943636);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6968876690248087810);
+void pose_H_mod_fun(double *state, double *out_3389862186663429553);
+void pose_f_fun(double *state, double dt, double *out_4802700997878092668);
+void pose_F_fun(double *state, double dt, double *out_8725044315227912670);
+void pose_h_4(double *state, double *unused, double *out_1359340648735360631);
+void pose_H_4(double *state, double *unused, double *out_4587809668546327657);
+void pose_h_10(double *state, double *unused, double *out_6036145492114111302);
+void pose_H_10(double *state, double *unused, double *out_7466880812702133914);
+void pose_h_13(double *state, double *unused, double *out_863073697323037062);
+void pose_H_13(double *state, double *unused, double *out_7800083493878660458);
+void pose_h_14(double *state, double *unused, double *out_1770197321873156194);
+void pose_H_14(double *state, double *unused, double *out_1505021236250955361);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }