build

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-0351e7d8-DEBUG";
+const uint8_t gitversion[19] = "DEV-ac064f17-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-0351e7d8-DEBUG
+DEV-ac064f17-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_3329877133651101623) {
-   out_3329877133651101623[0] = delta_x[0] + nom_x[0];
-   out_3329877133651101623[1] = delta_x[1] + nom_x[1];
-   out_3329877133651101623[2] = delta_x[2] + nom_x[2];
-   out_3329877133651101623[3] = delta_x[3] + nom_x[3];
-   out_3329877133651101623[4] = delta_x[4] + nom_x[4];
-   out_3329877133651101623[5] = delta_x[5] + nom_x[5];
-   out_3329877133651101623[6] = delta_x[6] + nom_x[6];
-   out_3329877133651101623[7] = delta_x[7] + nom_x[7];
-   out_3329877133651101623[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_5494238854185373569) {
+   out_5494238854185373569[0] = delta_x[0] + nom_x[0];
+   out_5494238854185373569[1] = delta_x[1] + nom_x[1];
+   out_5494238854185373569[2] = delta_x[2] + nom_x[2];
+   out_5494238854185373569[3] = delta_x[3] + nom_x[3];
+   out_5494238854185373569[4] = delta_x[4] + nom_x[4];
+   out_5494238854185373569[5] = delta_x[5] + nom_x[5];
+   out_5494238854185373569[6] = delta_x[6] + nom_x[6];
+   out_5494238854185373569[7] = delta_x[7] + nom_x[7];
+   out_5494238854185373569[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) {
-   out_7760882190653564987[0] = -nom_x[0] + true_x[0];
-   out_7760882190653564987[1] = -nom_x[1] + true_x[1];
-   out_7760882190653564987[2] = -nom_x[2] + true_x[2];
-   out_7760882190653564987[3] = -nom_x[3] + true_x[3];
-   out_7760882190653564987[4] = -nom_x[4] + true_x[4];
-   out_7760882190653564987[5] = -nom_x[5] + true_x[5];
-   out_7760882190653564987[6] = -nom_x[6] + true_x[6];
-   out_7760882190653564987[7] = -nom_x[7] + true_x[7];
-   out_7760882190653564987[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_8660781969277652972) {
+   out_8660781969277652972[0] = -nom_x[0] + true_x[0];
+   out_8660781969277652972[1] = -nom_x[1] + true_x[1];
+   out_8660781969277652972[2] = -nom_x[2] + true_x[2];
+   out_8660781969277652972[3] = -nom_x[3] + true_x[3];
+   out_8660781969277652972[4] = -nom_x[4] + true_x[4];
+   out_8660781969277652972[5] = -nom_x[5] + true_x[5];
+   out_8660781969277652972[6] = -nom_x[6] + true_x[6];
+   out_8660781969277652972[7] = -nom_x[7] + true_x[7];
+   out_8660781969277652972[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_1773647306661711299) {
-   out_1773647306661711299[0] = 1.0;
-   out_1773647306661711299[1] = 0.0;
-   out_1773647306661711299[2] = 0.0;
-   out_1773647306661711299[3] = 0.0;
-   out_1773647306661711299[4] = 0.0;
-   out_1773647306661711299[5] = 0.0;
-   out_1773647306661711299[6] = 0.0;
-   out_1773647306661711299[7] = 0.0;
-   out_1773647306661711299[8] = 0.0;
-   out_1773647306661711299[9] = 0.0;
-   out_1773647306661711299[10] = 1.0;
-   out_1773647306661711299[11] = 0.0;
-   out_1773647306661711299[12] = 0.0;
-   out_1773647306661711299[13] = 0.0;
-   out_1773647306661711299[14] = 0.0;
-   out_1773647306661711299[15] = 0.0;
-   out_1773647306661711299[16] = 0.0;
-   out_1773647306661711299[17] = 0.0;
-   out_1773647306661711299[18] = 0.0;
-   out_1773647306661711299[19] = 0.0;
-   out_1773647306661711299[20] = 1.0;
-   out_1773647306661711299[21] = 0.0;
-   out_1773647306661711299[22] = 0.0;
-   out_1773647306661711299[23] = 0.0;
-   out_1773647306661711299[24] = 0.0;
-   out_1773647306661711299[25] = 0.0;
-   out_1773647306661711299[26] = 0.0;
-   out_1773647306661711299[27] = 0.0;
-   out_1773647306661711299[28] = 0.0;
-   out_1773647306661711299[29] = 0.0;
-   out_1773647306661711299[30] = 1.0;
-   out_1773647306661711299[31] = 0.0;
-   out_1773647306661711299[32] = 0.0;
-   out_1773647306661711299[33] = 0.0;
-   out_1773647306661711299[34] = 0.0;
-   out_1773647306661711299[35] = 0.0;
-   out_1773647306661711299[36] = 0.0;
-   out_1773647306661711299[37] = 0.0;
-   out_1773647306661711299[38] = 0.0;
-   out_1773647306661711299[39] = 0.0;
-   out_1773647306661711299[40] = 1.0;
-   out_1773647306661711299[41] = 0.0;
-   out_1773647306661711299[42] = 0.0;
-   out_1773647306661711299[43] = 0.0;
-   out_1773647306661711299[44] = 0.0;
-   out_1773647306661711299[45] = 0.0;
-   out_1773647306661711299[46] = 0.0;
-   out_1773647306661711299[47] = 0.0;
-   out_1773647306661711299[48] = 0.0;
-   out_1773647306661711299[49] = 0.0;
-   out_1773647306661711299[50] = 1.0;
-   out_1773647306661711299[51] = 0.0;
-   out_1773647306661711299[52] = 0.0;
-   out_1773647306661711299[53] = 0.0;
-   out_1773647306661711299[54] = 0.0;
-   out_1773647306661711299[55] = 0.0;
-   out_1773647306661711299[56] = 0.0;
-   out_1773647306661711299[57] = 0.0;
-   out_1773647306661711299[58] = 0.0;
-   out_1773647306661711299[59] = 0.0;
-   out_1773647306661711299[60] = 1.0;
-   out_1773647306661711299[61] = 0.0;
-   out_1773647306661711299[62] = 0.0;
-   out_1773647306661711299[63] = 0.0;
-   out_1773647306661711299[64] = 0.0;
-   out_1773647306661711299[65] = 0.0;
-   out_1773647306661711299[66] = 0.0;
-   out_1773647306661711299[67] = 0.0;
-   out_1773647306661711299[68] = 0.0;
-   out_1773647306661711299[69] = 0.0;
-   out_1773647306661711299[70] = 1.0;
-   out_1773647306661711299[71] = 0.0;
-   out_1773647306661711299[72] = 0.0;
-   out_1773647306661711299[73] = 0.0;
-   out_1773647306661711299[74] = 0.0;
-   out_1773647306661711299[75] = 0.0;
-   out_1773647306661711299[76] = 0.0;
-   out_1773647306661711299[77] = 0.0;
-   out_1773647306661711299[78] = 0.0;
-   out_1773647306661711299[79] = 0.0;
-   out_1773647306661711299[80] = 1.0;
+void H_mod_fun(double *state, double *out_5257828152962553692) {
+   out_5257828152962553692[0] = 1.0;
+   out_5257828152962553692[1] = 0.0;
+   out_5257828152962553692[2] = 0.0;
+   out_5257828152962553692[3] = 0.0;
+   out_5257828152962553692[4] = 0.0;
+   out_5257828152962553692[5] = 0.0;
+   out_5257828152962553692[6] = 0.0;
+   out_5257828152962553692[7] = 0.0;
+   out_5257828152962553692[8] = 0.0;
+   out_5257828152962553692[9] = 0.0;
+   out_5257828152962553692[10] = 1.0;
+   out_5257828152962553692[11] = 0.0;
+   out_5257828152962553692[12] = 0.0;
+   out_5257828152962553692[13] = 0.0;
+   out_5257828152962553692[14] = 0.0;
+   out_5257828152962553692[15] = 0.0;
+   out_5257828152962553692[16] = 0.0;
+   out_5257828152962553692[17] = 0.0;
+   out_5257828152962553692[18] = 0.0;
+   out_5257828152962553692[19] = 0.0;
+   out_5257828152962553692[20] = 1.0;
+   out_5257828152962553692[21] = 0.0;
+   out_5257828152962553692[22] = 0.0;
+   out_5257828152962553692[23] = 0.0;
+   out_5257828152962553692[24] = 0.0;
+   out_5257828152962553692[25] = 0.0;
+   out_5257828152962553692[26] = 0.0;
+   out_5257828152962553692[27] = 0.0;
+   out_5257828152962553692[28] = 0.0;
+   out_5257828152962553692[29] = 0.0;
+   out_5257828152962553692[30] = 1.0;
+   out_5257828152962553692[31] = 0.0;
+   out_5257828152962553692[32] = 0.0;
+   out_5257828152962553692[33] = 0.0;
+   out_5257828152962553692[34] = 0.0;
+   out_5257828152962553692[35] = 0.0;
+   out_5257828152962553692[36] = 0.0;
+   out_5257828152962553692[37] = 0.0;
+   out_5257828152962553692[38] = 0.0;
+   out_5257828152962553692[39] = 0.0;
+   out_5257828152962553692[40] = 1.0;
+   out_5257828152962553692[41] = 0.0;
+   out_5257828152962553692[42] = 0.0;
+   out_5257828152962553692[43] = 0.0;
+   out_5257828152962553692[44] = 0.0;
+   out_5257828152962553692[45] = 0.0;
+   out_5257828152962553692[46] = 0.0;
+   out_5257828152962553692[47] = 0.0;
+   out_5257828152962553692[48] = 0.0;
+   out_5257828152962553692[49] = 0.0;
+   out_5257828152962553692[50] = 1.0;
+   out_5257828152962553692[51] = 0.0;
+   out_5257828152962553692[52] = 0.0;
+   out_5257828152962553692[53] = 0.0;
+   out_5257828152962553692[54] = 0.0;
+   out_5257828152962553692[55] = 0.0;
+   out_5257828152962553692[56] = 0.0;
+   out_5257828152962553692[57] = 0.0;
+   out_5257828152962553692[58] = 0.0;
+   out_5257828152962553692[59] = 0.0;
+   out_5257828152962553692[60] = 1.0;
+   out_5257828152962553692[61] = 0.0;
+   out_5257828152962553692[62] = 0.0;
+   out_5257828152962553692[63] = 0.0;
+   out_5257828152962553692[64] = 0.0;
+   out_5257828152962553692[65] = 0.0;
+   out_5257828152962553692[66] = 0.0;
+   out_5257828152962553692[67] = 0.0;
+   out_5257828152962553692[68] = 0.0;
+   out_5257828152962553692[69] = 0.0;
+   out_5257828152962553692[70] = 1.0;
+   out_5257828152962553692[71] = 0.0;
+   out_5257828152962553692[72] = 0.0;
+   out_5257828152962553692[73] = 0.0;
+   out_5257828152962553692[74] = 0.0;
+   out_5257828152962553692[75] = 0.0;
+   out_5257828152962553692[76] = 0.0;
+   out_5257828152962553692[77] = 0.0;
+   out_5257828152962553692[78] = 0.0;
+   out_5257828152962553692[79] = 0.0;
+   out_5257828152962553692[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_8265395554005205627) {
-   out_8265395554005205627[0] = state[0];
-   out_8265395554005205627[1] = state[1];
-   out_8265395554005205627[2] = state[2];
-   out_8265395554005205627[3] = state[3];
-   out_8265395554005205627[4] = state[4];
-   out_8265395554005205627[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_8265395554005205627[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_8265395554005205627[7] = state[7];
-   out_8265395554005205627[8] = state[8];
+void f_fun(double *state, double dt, double *out_2312093592856763162) {
+   out_2312093592856763162[0] = state[0];
+   out_2312093592856763162[1] = state[1];
+   out_2312093592856763162[2] = state[2];
+   out_2312093592856763162[3] = state[3];
+   out_2312093592856763162[4] = state[4];
+   out_2312093592856763162[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_2312093592856763162[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_2312093592856763162[7] = state[7];
+   out_2312093592856763162[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_5121501708015469294) {
-   out_5121501708015469294[0] = 1;
-   out_5121501708015469294[1] = 0;
-   out_5121501708015469294[2] = 0;
-   out_5121501708015469294[3] = 0;
-   out_5121501708015469294[4] = 0;
-   out_5121501708015469294[5] = 0;
-   out_5121501708015469294[6] = 0;
-   out_5121501708015469294[7] = 0;
-   out_5121501708015469294[8] = 0;
-   out_5121501708015469294[9] = 0;
-   out_5121501708015469294[10] = 1;
-   out_5121501708015469294[11] = 0;
-   out_5121501708015469294[12] = 0;
-   out_5121501708015469294[13] = 0;
-   out_5121501708015469294[14] = 0;
-   out_5121501708015469294[15] = 0;
-   out_5121501708015469294[16] = 0;
-   out_5121501708015469294[17] = 0;
-   out_5121501708015469294[18] = 0;
-   out_5121501708015469294[19] = 0;
-   out_5121501708015469294[20] = 1;
-   out_5121501708015469294[21] = 0;
-   out_5121501708015469294[22] = 0;
-   out_5121501708015469294[23] = 0;
-   out_5121501708015469294[24] = 0;
-   out_5121501708015469294[25] = 0;
-   out_5121501708015469294[26] = 0;
-   out_5121501708015469294[27] = 0;
-   out_5121501708015469294[28] = 0;
-   out_5121501708015469294[29] = 0;
-   out_5121501708015469294[30] = 1;
-   out_5121501708015469294[31] = 0;
-   out_5121501708015469294[32] = 0;
-   out_5121501708015469294[33] = 0;
-   out_5121501708015469294[34] = 0;
-   out_5121501708015469294[35] = 0;
-   out_5121501708015469294[36] = 0;
-   out_5121501708015469294[37] = 0;
-   out_5121501708015469294[38] = 0;
-   out_5121501708015469294[39] = 0;
-   out_5121501708015469294[40] = 1;
-   out_5121501708015469294[41] = 0;
-   out_5121501708015469294[42] = 0;
-   out_5121501708015469294[43] = 0;
-   out_5121501708015469294[44] = 0;
-   out_5121501708015469294[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_5121501708015469294[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_5121501708015469294[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_5121501708015469294[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_5121501708015469294[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_5121501708015469294[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_5121501708015469294[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_5121501708015469294[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_5121501708015469294[53] = -9.8100000000000005*dt;
-   out_5121501708015469294[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_5121501708015469294[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_5121501708015469294[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_5121501708015469294[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_5121501708015469294[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_5121501708015469294[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_5121501708015469294[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_5121501708015469294[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_5121501708015469294[62] = 0;
-   out_5121501708015469294[63] = 0;
-   out_5121501708015469294[64] = 0;
-   out_5121501708015469294[65] = 0;
-   out_5121501708015469294[66] = 0;
-   out_5121501708015469294[67] = 0;
-   out_5121501708015469294[68] = 0;
-   out_5121501708015469294[69] = 0;
-   out_5121501708015469294[70] = 1;
-   out_5121501708015469294[71] = 0;
-   out_5121501708015469294[72] = 0;
-   out_5121501708015469294[73] = 0;
-   out_5121501708015469294[74] = 0;
-   out_5121501708015469294[75] = 0;
-   out_5121501708015469294[76] = 0;
-   out_5121501708015469294[77] = 0;
-   out_5121501708015469294[78] = 0;
-   out_5121501708015469294[79] = 0;
-   out_5121501708015469294[80] = 1;
+void F_fun(double *state, double dt, double *out_3994997409879314525) {
+   out_3994997409879314525[0] = 1;
+   out_3994997409879314525[1] = 0;
+   out_3994997409879314525[2] = 0;
+   out_3994997409879314525[3] = 0;
+   out_3994997409879314525[4] = 0;
+   out_3994997409879314525[5] = 0;
+   out_3994997409879314525[6] = 0;
+   out_3994997409879314525[7] = 0;
+   out_3994997409879314525[8] = 0;
+   out_3994997409879314525[9] = 0;
+   out_3994997409879314525[10] = 1;
+   out_3994997409879314525[11] = 0;
+   out_3994997409879314525[12] = 0;
+   out_3994997409879314525[13] = 0;
+   out_3994997409879314525[14] = 0;
+   out_3994997409879314525[15] = 0;
+   out_3994997409879314525[16] = 0;
+   out_3994997409879314525[17] = 0;
+   out_3994997409879314525[18] = 0;
+   out_3994997409879314525[19] = 0;
+   out_3994997409879314525[20] = 1;
+   out_3994997409879314525[21] = 0;
+   out_3994997409879314525[22] = 0;
+   out_3994997409879314525[23] = 0;
+   out_3994997409879314525[24] = 0;
+   out_3994997409879314525[25] = 0;
+   out_3994997409879314525[26] = 0;
+   out_3994997409879314525[27] = 0;
+   out_3994997409879314525[28] = 0;
+   out_3994997409879314525[29] = 0;
+   out_3994997409879314525[30] = 1;
+   out_3994997409879314525[31] = 0;
+   out_3994997409879314525[32] = 0;
+   out_3994997409879314525[33] = 0;
+   out_3994997409879314525[34] = 0;
+   out_3994997409879314525[35] = 0;
+   out_3994997409879314525[36] = 0;
+   out_3994997409879314525[37] = 0;
+   out_3994997409879314525[38] = 0;
+   out_3994997409879314525[39] = 0;
+   out_3994997409879314525[40] = 1;
+   out_3994997409879314525[41] = 0;
+   out_3994997409879314525[42] = 0;
+   out_3994997409879314525[43] = 0;
+   out_3994997409879314525[44] = 0;
+   out_3994997409879314525[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_3994997409879314525[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_3994997409879314525[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3994997409879314525[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3994997409879314525[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_3994997409879314525[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_3994997409879314525[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_3994997409879314525[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3994997409879314525[53] = -9.8100000000000005*dt;
+   out_3994997409879314525[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_3994997409879314525[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_3994997409879314525[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3994997409879314525[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3994997409879314525[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_3994997409879314525[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_3994997409879314525[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_3994997409879314525[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3994997409879314525[62] = 0;
+   out_3994997409879314525[63] = 0;
+   out_3994997409879314525[64] = 0;
+   out_3994997409879314525[65] = 0;
+   out_3994997409879314525[66] = 0;
+   out_3994997409879314525[67] = 0;
+   out_3994997409879314525[68] = 0;
+   out_3994997409879314525[69] = 0;
+   out_3994997409879314525[70] = 1;
+   out_3994997409879314525[71] = 0;
+   out_3994997409879314525[72] = 0;
+   out_3994997409879314525[73] = 0;
+   out_3994997409879314525[74] = 0;
+   out_3994997409879314525[75] = 0;
+   out_3994997409879314525[76] = 0;
+   out_3994997409879314525[77] = 0;
+   out_3994997409879314525[78] = 0;
+   out_3994997409879314525[79] = 0;
+   out_3994997409879314525[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_1871114119926472838) {
-   out_1871114119926472838[0] = state[6];
+void h_25(double *state, double *unused, double *out_6179301137616625330) {
+   out_6179301137616625330[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_1749401331983653849) {
-   out_1749401331983653849[0] = 0;
-   out_1749401331983653849[1] = 0;
-   out_1749401331983653849[2] = 0;
-   out_1749401331983653849[3] = 0;
-   out_1749401331983653849[4] = 0;
-   out_1749401331983653849[5] = 0;
-   out_1749401331983653849[6] = 1;
-   out_1749401331983653849[7] = 0;
-   out_1749401331983653849[8] = 0;
+void H_25(double *state, double *unused, double *out_3189302867201840936) {
+   out_3189302867201840936[0] = 0;
+   out_3189302867201840936[1] = 0;
+   out_3189302867201840936[2] = 0;
+   out_3189302867201840936[3] = 0;
+   out_3189302867201840936[4] = 0;
+   out_3189302867201840936[5] = 0;
+   out_3189302867201840936[6] = 1;
+   out_3189302867201840936[7] = 0;
+   out_3189302867201840936[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_4177328874243606255) {
-   out_4177328874243606255[0] = state[4];
-   out_4177328874243606255[1] = state[5];
+void h_24(double *state, double *unused, double *out_6097895087817665416) {
+   out_6097895087817665416[0] = state[4];
+   out_6097895087817665416[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_1808524266818669287) {
-   out_1808524266818669287[0] = 0;
-   out_1808524266818669287[1] = 0;
-   out_1808524266818669287[2] = 0;
-   out_1808524266818669287[3] = 0;
-   out_1808524266818669287[4] = 1;
-   out_1808524266818669287[5] = 0;
-   out_1808524266818669287[6] = 0;
-   out_1808524266818669287[7] = 0;
-   out_1808524266818669287[8] = 0;
-   out_1808524266818669287[9] = 0;
-   out_1808524266818669287[10] = 0;
-   out_1808524266818669287[11] = 0;
-   out_1808524266818669287[12] = 0;
-   out_1808524266818669287[13] = 0;
-   out_1808524266818669287[14] = 1;
-   out_1808524266818669287[15] = 0;
-   out_1808524266818669287[16] = 0;
-   out_1808524266818669287[17] = 0;
+void H_24(double *state, double *unused, double *out_8681869399916192579) {
+   out_8681869399916192579[0] = 0;
+   out_8681869399916192579[1] = 0;
+   out_8681869399916192579[2] = 0;
+   out_8681869399916192579[3] = 0;
+   out_8681869399916192579[4] = 1;
+   out_8681869399916192579[5] = 0;
+   out_8681869399916192579[6] = 0;
+   out_8681869399916192579[7] = 0;
+   out_8681869399916192579[8] = 0;
+   out_8681869399916192579[9] = 0;
+   out_8681869399916192579[10] = 0;
+   out_8681869399916192579[11] = 0;
+   out_8681869399916192579[12] = 0;
+   out_8681869399916192579[13] = 0;
+   out_8681869399916192579[14] = 1;
+   out_8681869399916192579[15] = 0;
+   out_8681869399916192579[16] = 0;
+   out_8681869399916192579[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_6625546561337267154) {
-   out_6625546561337267154[0] = state[4];
+void h_30(double *state, double *unused, double *out_2541851609362602980) {
+   out_2541851609362602980[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_5167289009507962906) {
-   out_5167289009507962906[0] = 0;
-   out_5167289009507962906[1] = 0;
-   out_5167289009507962906[2] = 0;
-   out_5167289009507962906[3] = 0;
-   out_5167289009507962906[4] = 1;
-   out_5167289009507962906[5] = 0;
-   out_5167289009507962906[6] = 0;
-   out_5167289009507962906[7] = 0;
-   out_5167289009507962906[8] = 0;
+void H_30(double *state, double *unused, double *out_3059963920058600866) {
+   out_3059963920058600866[0] = 0;
+   out_3059963920058600866[1] = 0;
+   out_3059963920058600866[2] = 0;
+   out_3059963920058600866[3] = 0;
+   out_3059963920058600866[4] = 1;
+   out_3059963920058600866[5] = 0;
+   out_3059963920058600866[6] = 0;
+   out_3059963920058600866[7] = 0;
+   out_3059963920058600866[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_8545349699624827873) {
-   out_8545349699624827873[0] = state[7];
+void h_26(double *state, double *unused, double *out_1871947616251770541) {
+   out_1871947616251770541[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_5490904650857710073) {
-   out_5490904650857710073[0] = 0;
-   out_5490904650857710073[1] = 0;
-   out_5490904650857710073[2] = 0;
-   out_5490904650857710073[3] = 0;
-   out_5490904650857710073[4] = 0;
-   out_5490904650857710073[5] = 0;
-   out_5490904650857710073[6] = 0;
-   out_5490904650857710073[7] = 1;
-   out_5490904650857710073[8] = 0;
+void H_26(double *state, double *unused, double *out_3846156931312152840) {
+   out_3846156931312152840[0] = 0;
+   out_3846156931312152840[1] = 0;
+   out_3846156931312152840[2] = 0;
+   out_3846156931312152840[3] = 0;
+   out_3846156931312152840[4] = 0;
+   out_3846156931312152840[5] = 0;
+   out_3846156931312152840[6] = 0;
+   out_3846156931312152840[7] = 1;
+   out_3846156931312152840[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_3470753115959557725) {
-   out_3470753115959557725[0] = state[3];
+void h_27(double *state, double *unused, double *out_2040695974286757698) {
+   out_2040695974286757698[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_2992525697707537995) {
-   out_2992525697707537995[0] = 0;
-   out_2992525697707537995[1] = 0;
-   out_2992525697707537995[2] = 0;
-   out_2992525697707537995[3] = 1;
-   out_2992525697707537995[4] = 0;
-   out_2992525697707537995[5] = 0;
-   out_2992525697707537995[6] = 0;
-   out_2992525697707537995[7] = 0;
-   out_2992525697707537995[8] = 0;
+void H_27(double *state, double *unused, double *out_885200608258175955) {
+   out_885200608258175955[0] = 0;
+   out_885200608258175955[1] = 0;
+   out_885200608258175955[2] = 0;
+   out_885200608258175955[3] = 1;
+   out_885200608258175955[4] = 0;
+   out_885200608258175955[5] = 0;
+   out_885200608258175955[6] = 0;
+   out_885200608258175955[7] = 0;
+   out_885200608258175955[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_7569056414238929589) {
-   out_7569056414238929589[0] = state[1];
+void h_29(double *state, double *unused, double *out_8524775448668744733) {
+   out_8524775448668744733[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_1279162970837986962) {
-   out_1279162970837986962[0] = 0;
-   out_1279162970837986962[1] = 1;
-   out_1279162970837986962[2] = 0;
-   out_1279162970837986962[3] = 0;
-   out_1279162970837986962[4] = 0;
-   out_1279162970837986962[5] = 0;
-   out_1279162970837986962[6] = 0;
-   out_1279162970837986962[7] = 0;
-   out_1279162970837986962[8] = 0;
+void H_29(double *state, double *unused, double *out_3570195264372993050) {
+   out_3570195264372993050[0] = 0;
+   out_3570195264372993050[1] = 1;
+   out_3570195264372993050[2] = 0;
+   out_3570195264372993050[3] = 0;
+   out_3570195264372993050[4] = 0;
+   out_3570195264372993050[5] = 0;
+   out_3570195264372993050[6] = 0;
+   out_3570195264372993050[7] = 0;
+   out_3570195264372993050[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_6507539167403890410) {
-   out_6507539167403890410[0] = state[0];
+void h_28(double *state, double *unused, double *out_3888789648762563038) {
+   out_3888789648762563038[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_3803236046231543612) {
-   out_3803236046231543612[0] = 1;
-   out_3803236046231543612[1] = 0;
-   out_3803236046231543612[2] = 0;
-   out_3803236046231543612[3] = 0;
-   out_3803236046231543612[4] = 0;
-   out_3803236046231543612[5] = 0;
-   out_3803236046231543612[6] = 0;
-   out_3803236046231543612[7] = 0;
-   out_3803236046231543612[8] = 0;
+void H_28(double *state, double *unused, double *out_5533825535938319301) {
+   out_5533825535938319301[0] = 1;
+   out_5533825535938319301[1] = 0;
+   out_5533825535938319301[2] = 0;
+   out_5533825535938319301[3] = 0;
+   out_5533825535938319301[4] = 0;
+   out_5533825535938319301[5] = 0;
+   out_5533825535938319301[6] = 0;
+   out_5533825535938319301[7] = 0;
+   out_5533825535938319301[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_5594040852719868954) {
-   out_5594040852719868954[0] = state[8];
+void h_31(double *state, double *unused, double *out_4802287963446584494) {
+   out_4802287963446584494[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_1718755370106693421) {
-   out_1718755370106693421[0] = 0;
-   out_1718755370106693421[1] = 0;
-   out_1718755370106693421[2] = 0;
-   out_1718755370106693421[3] = 0;
-   out_1718755370106693421[4] = 0;
-   out_1718755370106693421[5] = 0;
-   out_1718755370106693421[6] = 0;
-   out_1718755370106693421[7] = 0;
-   out_1718755370106693421[8] = 1;
+void H_31(double *state, double *unused, double *out_3219948829078801364) {
+   out_3219948829078801364[0] = 0;
+   out_3219948829078801364[1] = 0;
+   out_3219948829078801364[2] = 0;
+   out_3219948829078801364[3] = 0;
+   out_3219948829078801364[4] = 0;
+   out_3219948829078801364[5] = 0;
+   out_3219948829078801364[6] = 0;
+   out_3219948829078801364[7] = 0;
+   out_3219948829078801364[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_3329877133651101623) {
-  err_fun(nom_x, delta_x, out_3329877133651101623);
+void car_err_fun(double *nom_x, double *delta_x, double *out_5494238854185373569) {
+  err_fun(nom_x, delta_x, out_5494238854185373569);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) {
-  inv_err_fun(nom_x, true_x, out_7760882190653564987);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8660781969277652972) {
+  inv_err_fun(nom_x, true_x, out_8660781969277652972);
 }
-void car_H_mod_fun(double *state, double *out_1773647306661711299) {
-  H_mod_fun(state, out_1773647306661711299);
+void car_H_mod_fun(double *state, double *out_5257828152962553692) {
+  H_mod_fun(state, out_5257828152962553692);
 }
-void car_f_fun(double *state, double dt, double *out_8265395554005205627) {
-  f_fun(state,  dt, out_8265395554005205627);
+void car_f_fun(double *state, double dt, double *out_2312093592856763162) {
+  f_fun(state,  dt, out_2312093592856763162);
 }
-void car_F_fun(double *state, double dt, double *out_5121501708015469294) {
-  F_fun(state,  dt, out_5121501708015469294);
+void car_F_fun(double *state, double dt, double *out_3994997409879314525) {
+  F_fun(state,  dt, out_3994997409879314525);
 }
-void car_h_25(double *state, double *unused, double *out_1871114119926472838) {
-  h_25(state, unused, out_1871114119926472838);
+void car_h_25(double *state, double *unused, double *out_6179301137616625330) {
+  h_25(state, unused, out_6179301137616625330);
 }
-void car_H_25(double *state, double *unused, double *out_1749401331983653849) {
-  H_25(state, unused, out_1749401331983653849);
+void car_H_25(double *state, double *unused, double *out_3189302867201840936) {
+  H_25(state, unused, out_3189302867201840936);
 }
-void car_h_24(double *state, double *unused, double *out_4177328874243606255) {
-  h_24(state, unused, out_4177328874243606255);
+void car_h_24(double *state, double *unused, double *out_6097895087817665416) {
+  h_24(state, unused, out_6097895087817665416);
 }
-void car_H_24(double *state, double *unused, double *out_1808524266818669287) {
-  H_24(state, unused, out_1808524266818669287);
+void car_H_24(double *state, double *unused, double *out_8681869399916192579) {
+  H_24(state, unused, out_8681869399916192579);
 }
-void car_h_30(double *state, double *unused, double *out_6625546561337267154) {
-  h_30(state, unused, out_6625546561337267154);
+void car_h_30(double *state, double *unused, double *out_2541851609362602980) {
+  h_30(state, unused, out_2541851609362602980);
 }
-void car_H_30(double *state, double *unused, double *out_5167289009507962906) {
-  H_30(state, unused, out_5167289009507962906);
+void car_H_30(double *state, double *unused, double *out_3059963920058600866) {
+  H_30(state, unused, out_3059963920058600866);
 }
-void car_h_26(double *state, double *unused, double *out_8545349699624827873) {
-  h_26(state, unused, out_8545349699624827873);
+void car_h_26(double *state, double *unused, double *out_1871947616251770541) {
+  h_26(state, unused, out_1871947616251770541);
 }
-void car_H_26(double *state, double *unused, double *out_5490904650857710073) {
-  H_26(state, unused, out_5490904650857710073);
+void car_H_26(double *state, double *unused, double *out_3846156931312152840) {
+  H_26(state, unused, out_3846156931312152840);
 }
-void car_h_27(double *state, double *unused, double *out_3470753115959557725) {
-  h_27(state, unused, out_3470753115959557725);
+void car_h_27(double *state, double *unused, double *out_2040695974286757698) {
+  h_27(state, unused, out_2040695974286757698);
 }
-void car_H_27(double *state, double *unused, double *out_2992525697707537995) {
-  H_27(state, unused, out_2992525697707537995);
+void car_H_27(double *state, double *unused, double *out_885200608258175955) {
+  H_27(state, unused, out_885200608258175955);
 }
-void car_h_29(double *state, double *unused, double *out_7569056414238929589) {
-  h_29(state, unused, out_7569056414238929589);
+void car_h_29(double *state, double *unused, double *out_8524775448668744733) {
+  h_29(state, unused, out_8524775448668744733);
 }
-void car_H_29(double *state, double *unused, double *out_1279162970837986962) {
-  H_29(state, unused, out_1279162970837986962);
+void car_H_29(double *state, double *unused, double *out_3570195264372993050) {
+  H_29(state, unused, out_3570195264372993050);
 }
-void car_h_28(double *state, double *unused, double *out_6507539167403890410) {
-  h_28(state, unused, out_6507539167403890410);
+void car_h_28(double *state, double *unused, double *out_3888789648762563038) {
+  h_28(state, unused, out_3888789648762563038);
 }
-void car_H_28(double *state, double *unused, double *out_3803236046231543612) {
-  H_28(state, unused, out_3803236046231543612);
+void car_H_28(double *state, double *unused, double *out_5533825535938319301) {
+  H_28(state, unused, out_5533825535938319301);
 }
-void car_h_31(double *state, double *unused, double *out_5594040852719868954) {
-  h_31(state, unused, out_5594040852719868954);
+void car_h_31(double *state, double *unused, double *out_4802287963446584494) {
+  h_31(state, unused, out_4802287963446584494);
 }
-void car_H_31(double *state, double *unused, double *out_1718755370106693421) {
-  H_31(state, unused, out_1718755370106693421);
+void car_H_31(double *state, double *unused, double *out_3219948829078801364) {
+  H_31(state, unused, out_3219948829078801364);
 }
 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_3329877133651101623);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987);
-void car_H_mod_fun(double *state, double *out_1773647306661711299);
-void car_f_fun(double *state, double dt, double *out_8265395554005205627);
-void car_F_fun(double *state, double dt, double *out_5121501708015469294);
-void car_h_25(double *state, double *unused, double *out_1871114119926472838);
-void car_H_25(double *state, double *unused, double *out_1749401331983653849);
-void car_h_24(double *state, double *unused, double *out_4177328874243606255);
-void car_H_24(double *state, double *unused, double *out_1808524266818669287);
-void car_h_30(double *state, double *unused, double *out_6625546561337267154);
-void car_H_30(double *state, double *unused, double *out_5167289009507962906);
-void car_h_26(double *state, double *unused, double *out_8545349699624827873);
-void car_H_26(double *state, double *unused, double *out_5490904650857710073);
-void car_h_27(double *state, double *unused, double *out_3470753115959557725);
-void car_H_27(double *state, double *unused, double *out_2992525697707537995);
-void car_h_29(double *state, double *unused, double *out_7569056414238929589);
-void car_H_29(double *state, double *unused, double *out_1279162970837986962);
-void car_h_28(double *state, double *unused, double *out_6507539167403890410);
-void car_H_28(double *state, double *unused, double *out_3803236046231543612);
-void car_h_31(double *state, double *unused, double *out_5594040852719868954);
-void car_H_31(double *state, double *unused, double *out_1718755370106693421);
+void car_err_fun(double *nom_x, double *delta_x, double *out_5494238854185373569);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8660781969277652972);
+void car_H_mod_fun(double *state, double *out_5257828152962553692);
+void car_f_fun(double *state, double dt, double *out_2312093592856763162);
+void car_F_fun(double *state, double dt, double *out_3994997409879314525);
+void car_h_25(double *state, double *unused, double *out_6179301137616625330);
+void car_H_25(double *state, double *unused, double *out_3189302867201840936);
+void car_h_24(double *state, double *unused, double *out_6097895087817665416);
+void car_H_24(double *state, double *unused, double *out_8681869399916192579);
+void car_h_30(double *state, double *unused, double *out_2541851609362602980);
+void car_H_30(double *state, double *unused, double *out_3059963920058600866);
+void car_h_26(double *state, double *unused, double *out_1871947616251770541);
+void car_H_26(double *state, double *unused, double *out_3846156931312152840);
+void car_h_27(double *state, double *unused, double *out_2040695974286757698);
+void car_H_27(double *state, double *unused, double *out_885200608258175955);
+void car_h_29(double *state, double *unused, double *out_8524775448668744733);
+void car_H_29(double *state, double *unused, double *out_3570195264372993050);
+void car_h_28(double *state, double *unused, double *out_3888789648762563038);
+void car_H_28(double *state, double *unused, double *out_5533825535938319301);
+void car_h_31(double *state, double *unused, double *out_4802287963446584494);
+void car_H_31(double *state, double *unused, double *out_3219948829078801364);
 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_2803054085873220166);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541);
-void pose_H_mod_fun(double *state, double *out_245560868528396178);
-void pose_f_fun(double *state, double dt, double *out_8465405656783528291);
-void pose_F_fun(double *state, double dt, double *out_5153518595662752782);
-void pose_h_4(double *state, double *unused, double *out_3441983837194168135);
-void pose_H_4(double *state, double *unused, double *out_3792847385831294211);
-void pose_h_10(double *state, double *unused, double *out_6864246601547225854);
-void pose_H_10(double *state, double *unused, double *out_5871577252215708993);
-void pose_h_13(double *state, double *unused, double *out_3325053226247216097);
-void pose_H_13(double *state, double *unused, double *out_580573560498961410);
-void pose_h_14(double *state, double *unused, double *out_7213076452181803827);
-void pose_H_14(double *state, double *unused, double *out_170393470508190318);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_6204265322024448268);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7620909383876452398);
+void pose_H_mod_fun(double *state, double *out_3437001863186675264);
+void pose_f_fun(double *state, double dt, double *out_1208130314599162523);
+void pose_F_fun(double *state, double dt, double *out_888053570443544205);
+void pose_h_4(double *state, double *unused, double *out_3889307846038025730);
+void pose_H_4(double *state, double *unused, double *out_334805346657232308);
+void pose_h_10(double *state, double *unused, double *out_5320238597424444442);
+void pose_H_10(double *state, double *unused, double *out_8600606660786823698);
+void pose_h_13(double *state, double *unused, double *out_7504001822943795330);
+void pose_H_13(double *state, double *unused, double *out_7945436554973933237);
+void pose_h_14(double *state, double *unused, double *out_4411244035311240013);
+void pose_H_14(double *state, double *unused, double *out_2747983085638139988);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }