done

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-730ba6e1-DEBUG";
+const uint8_t gitversion[19] = "DEV-f6ab7849-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-730ba6e1-DEBUG
+DEV-f6ab7849-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_3975331509919415286) {
-   out_3975331509919415286[0] = delta_x[0] + nom_x[0];
-   out_3975331509919415286[1] = delta_x[1] + nom_x[1];
-   out_3975331509919415286[2] = delta_x[2] + nom_x[2];
-   out_3975331509919415286[3] = delta_x[3] + nom_x[3];
-   out_3975331509919415286[4] = delta_x[4] + nom_x[4];
-   out_3975331509919415286[5] = delta_x[5] + nom_x[5];
-   out_3975331509919415286[6] = delta_x[6] + nom_x[6];
-   out_3975331509919415286[7] = delta_x[7] + nom_x[7];
-   out_3975331509919415286[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_3350045275544931453) {
+   out_3350045275544931453[0] = delta_x[0] + nom_x[0];
+   out_3350045275544931453[1] = delta_x[1] + nom_x[1];
+   out_3350045275544931453[2] = delta_x[2] + nom_x[2];
+   out_3350045275544931453[3] = delta_x[3] + nom_x[3];
+   out_3350045275544931453[4] = delta_x[4] + nom_x[4];
+   out_3350045275544931453[5] = delta_x[5] + nom_x[5];
+   out_3350045275544931453[6] = delta_x[6] + nom_x[6];
+   out_3350045275544931453[7] = delta_x[7] + nom_x[7];
+   out_3350045275544931453[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_7634853030167298340) {
-   out_7634853030167298340[0] = -nom_x[0] + true_x[0];
-   out_7634853030167298340[1] = -nom_x[1] + true_x[1];
-   out_7634853030167298340[2] = -nom_x[2] + true_x[2];
-   out_7634853030167298340[3] = -nom_x[3] + true_x[3];
-   out_7634853030167298340[4] = -nom_x[4] + true_x[4];
-   out_7634853030167298340[5] = -nom_x[5] + true_x[5];
-   out_7634853030167298340[6] = -nom_x[6] + true_x[6];
-   out_7634853030167298340[7] = -nom_x[7] + true_x[7];
-   out_7634853030167298340[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_537147974555085981) {
+   out_537147974555085981[0] = -nom_x[0] + true_x[0];
+   out_537147974555085981[1] = -nom_x[1] + true_x[1];
+   out_537147974555085981[2] = -nom_x[2] + true_x[2];
+   out_537147974555085981[3] = -nom_x[3] + true_x[3];
+   out_537147974555085981[4] = -nom_x[4] + true_x[4];
+   out_537147974555085981[5] = -nom_x[5] + true_x[5];
+   out_537147974555085981[6] = -nom_x[6] + true_x[6];
+   out_537147974555085981[7] = -nom_x[7] + true_x[7];
+   out_537147974555085981[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_5558041618437033789) {
-   out_5558041618437033789[0] = 1.0;
-   out_5558041618437033789[1] = 0.0;
-   out_5558041618437033789[2] = 0.0;
-   out_5558041618437033789[3] = 0.0;
-   out_5558041618437033789[4] = 0.0;
-   out_5558041618437033789[5] = 0.0;
-   out_5558041618437033789[6] = 0.0;
-   out_5558041618437033789[7] = 0.0;
-   out_5558041618437033789[8] = 0.0;
-   out_5558041618437033789[9] = 0.0;
-   out_5558041618437033789[10] = 1.0;
-   out_5558041618437033789[11] = 0.0;
-   out_5558041618437033789[12] = 0.0;
-   out_5558041618437033789[13] = 0.0;
-   out_5558041618437033789[14] = 0.0;
-   out_5558041618437033789[15] = 0.0;
-   out_5558041618437033789[16] = 0.0;
-   out_5558041618437033789[17] = 0.0;
-   out_5558041618437033789[18] = 0.0;
-   out_5558041618437033789[19] = 0.0;
-   out_5558041618437033789[20] = 1.0;
-   out_5558041618437033789[21] = 0.0;
-   out_5558041618437033789[22] = 0.0;
-   out_5558041618437033789[23] = 0.0;
-   out_5558041618437033789[24] = 0.0;
-   out_5558041618437033789[25] = 0.0;
-   out_5558041618437033789[26] = 0.0;
-   out_5558041618437033789[27] = 0.0;
-   out_5558041618437033789[28] = 0.0;
-   out_5558041618437033789[29] = 0.0;
-   out_5558041618437033789[30] = 1.0;
-   out_5558041618437033789[31] = 0.0;
-   out_5558041618437033789[32] = 0.0;
-   out_5558041618437033789[33] = 0.0;
-   out_5558041618437033789[34] = 0.0;
-   out_5558041618437033789[35] = 0.0;
-   out_5558041618437033789[36] = 0.0;
-   out_5558041618437033789[37] = 0.0;
-   out_5558041618437033789[38] = 0.0;
-   out_5558041618437033789[39] = 0.0;
-   out_5558041618437033789[40] = 1.0;
-   out_5558041618437033789[41] = 0.0;
-   out_5558041618437033789[42] = 0.0;
-   out_5558041618437033789[43] = 0.0;
-   out_5558041618437033789[44] = 0.0;
-   out_5558041618437033789[45] = 0.0;
-   out_5558041618437033789[46] = 0.0;
-   out_5558041618437033789[47] = 0.0;
-   out_5558041618437033789[48] = 0.0;
-   out_5558041618437033789[49] = 0.0;
-   out_5558041618437033789[50] = 1.0;
-   out_5558041618437033789[51] = 0.0;
-   out_5558041618437033789[52] = 0.0;
-   out_5558041618437033789[53] = 0.0;
-   out_5558041618437033789[54] = 0.0;
-   out_5558041618437033789[55] = 0.0;
-   out_5558041618437033789[56] = 0.0;
-   out_5558041618437033789[57] = 0.0;
-   out_5558041618437033789[58] = 0.0;
-   out_5558041618437033789[59] = 0.0;
-   out_5558041618437033789[60] = 1.0;
-   out_5558041618437033789[61] = 0.0;
-   out_5558041618437033789[62] = 0.0;
-   out_5558041618437033789[63] = 0.0;
-   out_5558041618437033789[64] = 0.0;
-   out_5558041618437033789[65] = 0.0;
-   out_5558041618437033789[66] = 0.0;
-   out_5558041618437033789[67] = 0.0;
-   out_5558041618437033789[68] = 0.0;
-   out_5558041618437033789[69] = 0.0;
-   out_5558041618437033789[70] = 1.0;
-   out_5558041618437033789[71] = 0.0;
-   out_5558041618437033789[72] = 0.0;
-   out_5558041618437033789[73] = 0.0;
-   out_5558041618437033789[74] = 0.0;
-   out_5558041618437033789[75] = 0.0;
-   out_5558041618437033789[76] = 0.0;
-   out_5558041618437033789[77] = 0.0;
-   out_5558041618437033789[78] = 0.0;
-   out_5558041618437033789[79] = 0.0;
-   out_5558041618437033789[80] = 1.0;
+void H_mod_fun(double *state, double *out_7775026745617319605) {
+   out_7775026745617319605[0] = 1.0;
+   out_7775026745617319605[1] = 0.0;
+   out_7775026745617319605[2] = 0.0;
+   out_7775026745617319605[3] = 0.0;
+   out_7775026745617319605[4] = 0.0;
+   out_7775026745617319605[5] = 0.0;
+   out_7775026745617319605[6] = 0.0;
+   out_7775026745617319605[7] = 0.0;
+   out_7775026745617319605[8] = 0.0;
+   out_7775026745617319605[9] = 0.0;
+   out_7775026745617319605[10] = 1.0;
+   out_7775026745617319605[11] = 0.0;
+   out_7775026745617319605[12] = 0.0;
+   out_7775026745617319605[13] = 0.0;
+   out_7775026745617319605[14] = 0.0;
+   out_7775026745617319605[15] = 0.0;
+   out_7775026745617319605[16] = 0.0;
+   out_7775026745617319605[17] = 0.0;
+   out_7775026745617319605[18] = 0.0;
+   out_7775026745617319605[19] = 0.0;
+   out_7775026745617319605[20] = 1.0;
+   out_7775026745617319605[21] = 0.0;
+   out_7775026745617319605[22] = 0.0;
+   out_7775026745617319605[23] = 0.0;
+   out_7775026745617319605[24] = 0.0;
+   out_7775026745617319605[25] = 0.0;
+   out_7775026745617319605[26] = 0.0;
+   out_7775026745617319605[27] = 0.0;
+   out_7775026745617319605[28] = 0.0;
+   out_7775026745617319605[29] = 0.0;
+   out_7775026745617319605[30] = 1.0;
+   out_7775026745617319605[31] = 0.0;
+   out_7775026745617319605[32] = 0.0;
+   out_7775026745617319605[33] = 0.0;
+   out_7775026745617319605[34] = 0.0;
+   out_7775026745617319605[35] = 0.0;
+   out_7775026745617319605[36] = 0.0;
+   out_7775026745617319605[37] = 0.0;
+   out_7775026745617319605[38] = 0.0;
+   out_7775026745617319605[39] = 0.0;
+   out_7775026745617319605[40] = 1.0;
+   out_7775026745617319605[41] = 0.0;
+   out_7775026745617319605[42] = 0.0;
+   out_7775026745617319605[43] = 0.0;
+   out_7775026745617319605[44] = 0.0;
+   out_7775026745617319605[45] = 0.0;
+   out_7775026745617319605[46] = 0.0;
+   out_7775026745617319605[47] = 0.0;
+   out_7775026745617319605[48] = 0.0;
+   out_7775026745617319605[49] = 0.0;
+   out_7775026745617319605[50] = 1.0;
+   out_7775026745617319605[51] = 0.0;
+   out_7775026745617319605[52] = 0.0;
+   out_7775026745617319605[53] = 0.0;
+   out_7775026745617319605[54] = 0.0;
+   out_7775026745617319605[55] = 0.0;
+   out_7775026745617319605[56] = 0.0;
+   out_7775026745617319605[57] = 0.0;
+   out_7775026745617319605[58] = 0.0;
+   out_7775026745617319605[59] = 0.0;
+   out_7775026745617319605[60] = 1.0;
+   out_7775026745617319605[61] = 0.0;
+   out_7775026745617319605[62] = 0.0;
+   out_7775026745617319605[63] = 0.0;
+   out_7775026745617319605[64] = 0.0;
+   out_7775026745617319605[65] = 0.0;
+   out_7775026745617319605[66] = 0.0;
+   out_7775026745617319605[67] = 0.0;
+   out_7775026745617319605[68] = 0.0;
+   out_7775026745617319605[69] = 0.0;
+   out_7775026745617319605[70] = 1.0;
+   out_7775026745617319605[71] = 0.0;
+   out_7775026745617319605[72] = 0.0;
+   out_7775026745617319605[73] = 0.0;
+   out_7775026745617319605[74] = 0.0;
+   out_7775026745617319605[75] = 0.0;
+   out_7775026745617319605[76] = 0.0;
+   out_7775026745617319605[77] = 0.0;
+   out_7775026745617319605[78] = 0.0;
+   out_7775026745617319605[79] = 0.0;
+   out_7775026745617319605[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_8628820520711137836) {
-   out_8628820520711137836[0] = state[0];
-   out_8628820520711137836[1] = state[1];
-   out_8628820520711137836[2] = state[2];
-   out_8628820520711137836[3] = state[3];
-   out_8628820520711137836[4] = state[4];
-   out_8628820520711137836[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_8628820520711137836[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_8628820520711137836[7] = state[7];
-   out_8628820520711137836[8] = state[8];
+void f_fun(double *state, double dt, double *out_4198835588916233412) {
+   out_4198835588916233412[0] = state[0];
+   out_4198835588916233412[1] = state[1];
+   out_4198835588916233412[2] = state[2];
+   out_4198835588916233412[3] = state[3];
+   out_4198835588916233412[4] = state[4];
+   out_4198835588916233412[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_4198835588916233412[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_4198835588916233412[7] = state[7];
+   out_4198835588916233412[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_937688393817481927) {
-   out_937688393817481927[0] = 1;
-   out_937688393817481927[1] = 0;
-   out_937688393817481927[2] = 0;
-   out_937688393817481927[3] = 0;
-   out_937688393817481927[4] = 0;
-   out_937688393817481927[5] = 0;
-   out_937688393817481927[6] = 0;
-   out_937688393817481927[7] = 0;
-   out_937688393817481927[8] = 0;
-   out_937688393817481927[9] = 0;
-   out_937688393817481927[10] = 1;
-   out_937688393817481927[11] = 0;
-   out_937688393817481927[12] = 0;
-   out_937688393817481927[13] = 0;
-   out_937688393817481927[14] = 0;
-   out_937688393817481927[15] = 0;
-   out_937688393817481927[16] = 0;
-   out_937688393817481927[17] = 0;
-   out_937688393817481927[18] = 0;
-   out_937688393817481927[19] = 0;
-   out_937688393817481927[20] = 1;
-   out_937688393817481927[21] = 0;
-   out_937688393817481927[22] = 0;
-   out_937688393817481927[23] = 0;
-   out_937688393817481927[24] = 0;
-   out_937688393817481927[25] = 0;
-   out_937688393817481927[26] = 0;
-   out_937688393817481927[27] = 0;
-   out_937688393817481927[28] = 0;
-   out_937688393817481927[29] = 0;
-   out_937688393817481927[30] = 1;
-   out_937688393817481927[31] = 0;
-   out_937688393817481927[32] = 0;
-   out_937688393817481927[33] = 0;
-   out_937688393817481927[34] = 0;
-   out_937688393817481927[35] = 0;
-   out_937688393817481927[36] = 0;
-   out_937688393817481927[37] = 0;
-   out_937688393817481927[38] = 0;
-   out_937688393817481927[39] = 0;
-   out_937688393817481927[40] = 1;
-   out_937688393817481927[41] = 0;
-   out_937688393817481927[42] = 0;
-   out_937688393817481927[43] = 0;
-   out_937688393817481927[44] = 0;
-   out_937688393817481927[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_937688393817481927[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_937688393817481927[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_937688393817481927[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_937688393817481927[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_937688393817481927[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_937688393817481927[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_937688393817481927[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_937688393817481927[53] = -9.8100000000000005*dt;
-   out_937688393817481927[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_937688393817481927[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_937688393817481927[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_937688393817481927[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_937688393817481927[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_937688393817481927[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_937688393817481927[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_937688393817481927[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_937688393817481927[62] = 0;
-   out_937688393817481927[63] = 0;
-   out_937688393817481927[64] = 0;
-   out_937688393817481927[65] = 0;
-   out_937688393817481927[66] = 0;
-   out_937688393817481927[67] = 0;
-   out_937688393817481927[68] = 0;
-   out_937688393817481927[69] = 0;
-   out_937688393817481927[70] = 1;
-   out_937688393817481927[71] = 0;
-   out_937688393817481927[72] = 0;
-   out_937688393817481927[73] = 0;
-   out_937688393817481927[74] = 0;
-   out_937688393817481927[75] = 0;
-   out_937688393817481927[76] = 0;
-   out_937688393817481927[77] = 0;
-   out_937688393817481927[78] = 0;
-   out_937688393817481927[79] = 0;
-   out_937688393817481927[80] = 1;
+void F_fun(double *state, double dt, double *out_4444349682340675673) {
+   out_4444349682340675673[0] = 1;
+   out_4444349682340675673[1] = 0;
+   out_4444349682340675673[2] = 0;
+   out_4444349682340675673[3] = 0;
+   out_4444349682340675673[4] = 0;
+   out_4444349682340675673[5] = 0;
+   out_4444349682340675673[6] = 0;
+   out_4444349682340675673[7] = 0;
+   out_4444349682340675673[8] = 0;
+   out_4444349682340675673[9] = 0;
+   out_4444349682340675673[10] = 1;
+   out_4444349682340675673[11] = 0;
+   out_4444349682340675673[12] = 0;
+   out_4444349682340675673[13] = 0;
+   out_4444349682340675673[14] = 0;
+   out_4444349682340675673[15] = 0;
+   out_4444349682340675673[16] = 0;
+   out_4444349682340675673[17] = 0;
+   out_4444349682340675673[18] = 0;
+   out_4444349682340675673[19] = 0;
+   out_4444349682340675673[20] = 1;
+   out_4444349682340675673[21] = 0;
+   out_4444349682340675673[22] = 0;
+   out_4444349682340675673[23] = 0;
+   out_4444349682340675673[24] = 0;
+   out_4444349682340675673[25] = 0;
+   out_4444349682340675673[26] = 0;
+   out_4444349682340675673[27] = 0;
+   out_4444349682340675673[28] = 0;
+   out_4444349682340675673[29] = 0;
+   out_4444349682340675673[30] = 1;
+   out_4444349682340675673[31] = 0;
+   out_4444349682340675673[32] = 0;
+   out_4444349682340675673[33] = 0;
+   out_4444349682340675673[34] = 0;
+   out_4444349682340675673[35] = 0;
+   out_4444349682340675673[36] = 0;
+   out_4444349682340675673[37] = 0;
+   out_4444349682340675673[38] = 0;
+   out_4444349682340675673[39] = 0;
+   out_4444349682340675673[40] = 1;
+   out_4444349682340675673[41] = 0;
+   out_4444349682340675673[42] = 0;
+   out_4444349682340675673[43] = 0;
+   out_4444349682340675673[44] = 0;
+   out_4444349682340675673[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_4444349682340675673[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_4444349682340675673[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_4444349682340675673[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_4444349682340675673[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_4444349682340675673[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_4444349682340675673[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_4444349682340675673[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_4444349682340675673[53] = -9.8100000000000005*dt;
+   out_4444349682340675673[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_4444349682340675673[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_4444349682340675673[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_4444349682340675673[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_4444349682340675673[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_4444349682340675673[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_4444349682340675673[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_4444349682340675673[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_4444349682340675673[62] = 0;
+   out_4444349682340675673[63] = 0;
+   out_4444349682340675673[64] = 0;
+   out_4444349682340675673[65] = 0;
+   out_4444349682340675673[66] = 0;
+   out_4444349682340675673[67] = 0;
+   out_4444349682340675673[68] = 0;
+   out_4444349682340675673[69] = 0;
+   out_4444349682340675673[70] = 1;
+   out_4444349682340675673[71] = 0;
+   out_4444349682340675673[72] = 0;
+   out_4444349682340675673[73] = 0;
+   out_4444349682340675673[74] = 0;
+   out_4444349682340675673[75] = 0;
+   out_4444349682340675673[76] = 0;
+   out_4444349682340675673[77] = 0;
+   out_4444349682340675673[78] = 0;
+   out_4444349682340675673[79] = 0;
+   out_4444349682340675673[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_4714258583115160121) {
-   out_4714258583115160121[0] = state[6];
+void h_25(double *state, double *unused, double *out_6936843442256047922) {
+   out_6936843442256047922[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_3228209521213378417) {
-   out_3228209521213378417[0] = 0;
-   out_3228209521213378417[1] = 0;
-   out_3228209521213378417[2] = 0;
-   out_3228209521213378417[3] = 0;
-   out_3228209521213378417[4] = 0;
-   out_3228209521213378417[5] = 0;
-   out_3228209521213378417[6] = 1;
-   out_3228209521213378417[7] = 0;
-   out_3228209521213378417[8] = 0;
+void H_25(double *state, double *unused, double *out_1418161480294917632) {
+   out_1418161480294917632[0] = 0;
+   out_1418161480294917632[1] = 0;
+   out_1418161480294917632[2] = 0;
+   out_1418161480294917632[3] = 0;
+   out_1418161480294917632[4] = 0;
+   out_1418161480294917632[5] = 0;
+   out_1418161480294917632[6] = 1;
+   out_1418161480294917632[7] = 0;
+   out_1418161480294917632[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_8700237868881615564) {
-   out_8700237868881615564[0] = state[4];
-   out_8700237868881615564[1] = state[5];
+void h_24(double *state, double *unused, double *out_5320826123735066091) {
+   out_5320826123735066091[0] = state[4];
+   out_5320826123735066091[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_8097024386241085269) {
-   out_8097024386241085269[0] = 0;
-   out_8097024386241085269[1] = 0;
-   out_8097024386241085269[2] = 0;
-   out_8097024386241085269[3] = 0;
-   out_8097024386241085269[4] = 1;
-   out_8097024386241085269[5] = 0;
-   out_8097024386241085269[6] = 0;
-   out_8097024386241085269[7] = 0;
-   out_8097024386241085269[8] = 0;
-   out_8097024386241085269[9] = 0;
-   out_8097024386241085269[10] = 0;
-   out_8097024386241085269[11] = 0;
-   out_8097024386241085269[12] = 0;
-   out_8097024386241085269[13] = 0;
-   out_8097024386241085269[14] = 1;
-   out_8097024386241085269[15] = 0;
-   out_8097024386241085269[16] = 0;
-   out_8097024386241085269[17] = 0;
+void H_24(double *state, double *unused, double *out_6164670807261426666) {
+   out_6164670807261426666[0] = 0;
+   out_6164670807261426666[1] = 0;
+   out_6164670807261426666[2] = 0;
+   out_6164670807261426666[3] = 0;
+   out_6164670807261426666[4] = 1;
+   out_6164670807261426666[5] = 0;
+   out_6164670807261426666[6] = 0;
+   out_6164670807261426666[7] = 0;
+   out_6164670807261426666[8] = 0;
+   out_6164670807261426666[9] = 0;
+   out_6164670807261426666[10] = 0;
+   out_6164670807261426666[11] = 0;
+   out_6164670807261426666[12] = 0;
+   out_6164670807261426666[13] = 0;
+   out_6164670807261426666[14] = 1;
+   out_6164670807261426666[15] = 0;
+   out_6164670807261426666[16] = 0;
+   out_6164670807261426666[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_4557071914764030976) {
-   out_4557071914764030976[0] = state[4];
+void h_30(double *state, double *unused, double *out_956096052628475437) {
+   out_956096052628475437[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_7755905851340986615) {
-   out_7755905851340986615[0] = 0;
-   out_7755905851340986615[1] = 0;
-   out_7755905851340986615[2] = 0;
-   out_7755905851340986615[3] = 0;
-   out_7755905851340986615[4] = 1;
-   out_7755905851340986615[5] = 0;
-   out_7755905851340986615[6] = 0;
-   out_7755905851340986615[7] = 0;
-   out_7755905851340986615[8] = 0;
+void H_30(double *state, double *unused, double *out_1100171478212330995) {
+   out_1100171478212330995[0] = 0;
+   out_1100171478212330995[1] = 0;
+   out_1100171478212330995[2] = 0;
+   out_1100171478212330995[3] = 0;
+   out_1100171478212330995[4] = 1;
+   out_1100171478212330995[5] = 0;
+   out_1100171478212330995[6] = 0;
+   out_1100171478212330995[7] = 0;
+   out_1100171478212330995[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_7593857966208363661) {
-   out_7593857966208363661[0] = state[7];
+void h_26(double *state, double *unused, double *out_1856456050641377946) {
+   out_1856456050641377946[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_6969712840087434641) {
-   out_6969712840087434641[0] = 0;
-   out_6969712840087434641[1] = 0;
-   out_6969712840087434641[2] = 0;
-   out_6969712840087434641[3] = 0;
-   out_6969712840087434641[4] = 0;
-   out_6969712840087434641[5] = 0;
-   out_6969712840087434641[6] = 0;
-   out_6969712840087434641[7] = 1;
-   out_6969712840087434641[8] = 0;
+void H_26(double *state, double *unused, double *out_1886364489465882969) {
+   out_1886364489465882969[0] = 0;
+   out_1886364489465882969[1] = 0;
+   out_1886364489465882969[2] = 0;
+   out_1886364489465882969[3] = 0;
+   out_1886364489465882969[4] = 0;
+   out_1886364489465882969[5] = 0;
+   out_1886364489465882969[6] = 0;
+   out_1886364489465882969[7] = 1;
+   out_1886364489465882969[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_8506578274759066548) {
-   out_8506578274759066548[0] = state[3];
+void h_27(double *state, double *unused, double *out_6508227363792658049) {
+   out_6508227363792658049[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_5532311780157043398) {
-   out_5532311780157043398[0] = 0;
-   out_5532311780157043398[1] = 0;
-   out_5532311780157043398[2] = 0;
-   out_5532311780157043398[3] = 1;
-   out_5532311780157043398[4] = 0;
-   out_5532311780157043398[5] = 0;
-   out_5532311780157043398[6] = 0;
-   out_5532311780157043398[7] = 0;
-   out_5532311780157043398[8] = 0;
+void H_27(double *state, double *unused, double *out_3323765549396274212) {
+   out_3323765549396274212[0] = 0;
+   out_3323765549396274212[1] = 0;
+   out_3323765549396274212[2] = 0;
+   out_3323765549396274212[3] = 1;
+   out_3323765549396274212[4] = 0;
+   out_3323765549396274212[5] = 0;
+   out_3323765549396274212[6] = 0;
+   out_3323765549396274212[7] = 0;
+   out_3323765549396274212[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_4869128746505044198) {
-   out_4869128746505044198[0] = state[1];
+void h_29(double *state, double *unused, double *out_3441856028653153575) {
+   out_3441856028653153575[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_7245674507026594431) {
-   out_7245674507026594431[0] = 0;
-   out_7245674507026594431[1] = 1;
-   out_7245674507026594431[2] = 0;
-   out_7245674507026594431[3] = 0;
-   out_7245674507026594431[4] = 0;
-   out_7245674507026594431[5] = 0;
-   out_7245674507026594431[6] = 0;
-   out_7245674507026594431[7] = 0;
-   out_7245674507026594431[8] = 0;
+void H_29(double *state, double *unused, double *out_1610402822526723179) {
+   out_1610402822526723179[0] = 0;
+   out_1610402822526723179[1] = 1;
+   out_1610402822526723179[2] = 0;
+   out_1610402822526723179[3] = 0;
+   out_1610402822526723179[4] = 0;
+   out_1610402822526723179[5] = 0;
+   out_1610402822526723179[6] = 0;
+   out_1610402822526723179[7] = 0;
+   out_1610402822526723179[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_3664394704215203127) {
-   out_3664394704215203127[0] = state[0];
+void h_28(double *state, double *unused, double *out_8901730658472560882) {
+   out_8901730658472560882[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_5282044235461268180) {
-   out_5282044235461268180[0] = 1;
-   out_5282044235461268180[1] = 0;
-   out_5282044235461268180[2] = 0;
-   out_5282044235461268180[3] = 0;
-   out_5282044235461268180[4] = 0;
-   out_5282044235461268180[5] = 0;
-   out_5282044235461268180[6] = 0;
-   out_5282044235461268180[7] = 0;
-   out_5282044235461268180[8] = 0;
+void H_28(double *state, double *unused, double *out_3471996194542807395) {
+   out_3471996194542807395[0] = 1;
+   out_3471996194542807395[1] = 0;
+   out_3471996194542807395[2] = 0;
+   out_3471996194542807395[3] = 0;
+   out_3471996194542807395[4] = 0;
+   out_3471996194542807395[5] = 0;
+   out_3471996194542807395[6] = 0;
+   out_3471996194542807395[7] = 0;
+   out_3471996194542807395[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_6047692778171023868) {
-   out_6047692778171023868[0] = state[8];
+void h_31(double *state, double *unused, double *out_6661649379971542033) {
+   out_6661649379971542033[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_7595920942320786117) {
-   out_7595920942320786117[0] = 0;
-   out_7595920942320786117[1] = 0;
-   out_7595920942320786117[2] = 0;
-   out_7595920942320786117[3] = 0;
-   out_7595920942320786117[4] = 0;
-   out_7595920942320786117[5] = 0;
-   out_7595920942320786117[6] = 0;
-   out_7595920942320786117[7] = 0;
-   out_7595920942320786117[8] = 1;
+void H_31(double *state, double *unused, double *out_1260156387232531493) {
+   out_1260156387232531493[0] = 0;
+   out_1260156387232531493[1] = 0;
+   out_1260156387232531493[2] = 0;
+   out_1260156387232531493[3] = 0;
+   out_1260156387232531493[4] = 0;
+   out_1260156387232531493[5] = 0;
+   out_1260156387232531493[6] = 0;
+   out_1260156387232531493[7] = 0;
+   out_1260156387232531493[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_3975331509919415286) {
-  err_fun(nom_x, delta_x, out_3975331509919415286);
+void car_err_fun(double *nom_x, double *delta_x, double *out_3350045275544931453) {
+  err_fun(nom_x, delta_x, out_3350045275544931453);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_7634853030167298340) {
-  inv_err_fun(nom_x, true_x, out_7634853030167298340);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_537147974555085981) {
+  inv_err_fun(nom_x, true_x, out_537147974555085981);
 }
-void car_H_mod_fun(double *state, double *out_5558041618437033789) {
-  H_mod_fun(state, out_5558041618437033789);
+void car_H_mod_fun(double *state, double *out_7775026745617319605) {
+  H_mod_fun(state, out_7775026745617319605);
 }
-void car_f_fun(double *state, double dt, double *out_8628820520711137836) {
-  f_fun(state,  dt, out_8628820520711137836);
+void car_f_fun(double *state, double dt, double *out_4198835588916233412) {
+  f_fun(state,  dt, out_4198835588916233412);
 }
-void car_F_fun(double *state, double dt, double *out_937688393817481927) {
-  F_fun(state,  dt, out_937688393817481927);
+void car_F_fun(double *state, double dt, double *out_4444349682340675673) {
+  F_fun(state,  dt, out_4444349682340675673);
 }
-void car_h_25(double *state, double *unused, double *out_4714258583115160121) {
-  h_25(state, unused, out_4714258583115160121);
+void car_h_25(double *state, double *unused, double *out_6936843442256047922) {
+  h_25(state, unused, out_6936843442256047922);
 }
-void car_H_25(double *state, double *unused, double *out_3228209521213378417) {
-  H_25(state, unused, out_3228209521213378417);
+void car_H_25(double *state, double *unused, double *out_1418161480294917632) {
+  H_25(state, unused, out_1418161480294917632);
 }
-void car_h_24(double *state, double *unused, double *out_8700237868881615564) {
-  h_24(state, unused, out_8700237868881615564);
+void car_h_24(double *state, double *unused, double *out_5320826123735066091) {
+  h_24(state, unused, out_5320826123735066091);
 }
-void car_H_24(double *state, double *unused, double *out_8097024386241085269) {
-  H_24(state, unused, out_8097024386241085269);
+void car_H_24(double *state, double *unused, double *out_6164670807261426666) {
+  H_24(state, unused, out_6164670807261426666);
 }
-void car_h_30(double *state, double *unused, double *out_4557071914764030976) {
-  h_30(state, unused, out_4557071914764030976);
+void car_h_30(double *state, double *unused, double *out_956096052628475437) {
+  h_30(state, unused, out_956096052628475437);
 }
-void car_H_30(double *state, double *unused, double *out_7755905851340986615) {
-  H_30(state, unused, out_7755905851340986615);
+void car_H_30(double *state, double *unused, double *out_1100171478212330995) {
+  H_30(state, unused, out_1100171478212330995);
 }
-void car_h_26(double *state, double *unused, double *out_7593857966208363661) {
-  h_26(state, unused, out_7593857966208363661);
+void car_h_26(double *state, double *unused, double *out_1856456050641377946) {
+  h_26(state, unused, out_1856456050641377946);
 }
-void car_H_26(double *state, double *unused, double *out_6969712840087434641) {
-  H_26(state, unused, out_6969712840087434641);
+void car_H_26(double *state, double *unused, double *out_1886364489465882969) {
+  H_26(state, unused, out_1886364489465882969);
 }
-void car_h_27(double *state, double *unused, double *out_8506578274759066548) {
-  h_27(state, unused, out_8506578274759066548);
+void car_h_27(double *state, double *unused, double *out_6508227363792658049) {
+  h_27(state, unused, out_6508227363792658049);
 }
-void car_H_27(double *state, double *unused, double *out_5532311780157043398) {
-  H_27(state, unused, out_5532311780157043398);
+void car_H_27(double *state, double *unused, double *out_3323765549396274212) {
+  H_27(state, unused, out_3323765549396274212);
 }
-void car_h_29(double *state, double *unused, double *out_4869128746505044198) {
-  h_29(state, unused, out_4869128746505044198);
+void car_h_29(double *state, double *unused, double *out_3441856028653153575) {
+  h_29(state, unused, out_3441856028653153575);
 }
-void car_H_29(double *state, double *unused, double *out_7245674507026594431) {
-  H_29(state, unused, out_7245674507026594431);
+void car_H_29(double *state, double *unused, double *out_1610402822526723179) {
+  H_29(state, unused, out_1610402822526723179);
 }
-void car_h_28(double *state, double *unused, double *out_3664394704215203127) {
-  h_28(state, unused, out_3664394704215203127);
+void car_h_28(double *state, double *unused, double *out_8901730658472560882) {
+  h_28(state, unused, out_8901730658472560882);
 }
-void car_H_28(double *state, double *unused, double *out_5282044235461268180) {
-  H_28(state, unused, out_5282044235461268180);
+void car_H_28(double *state, double *unused, double *out_3471996194542807395) {
+  H_28(state, unused, out_3471996194542807395);
 }
-void car_h_31(double *state, double *unused, double *out_6047692778171023868) {
-  h_31(state, unused, out_6047692778171023868);
+void car_h_31(double *state, double *unused, double *out_6661649379971542033) {
+  h_31(state, unused, out_6661649379971542033);
 }
-void car_H_31(double *state, double *unused, double *out_7595920942320786117) {
-  H_31(state, unused, out_7595920942320786117);
+void car_H_31(double *state, double *unused, double *out_1260156387232531493) {
+  H_31(state, unused, out_1260156387232531493);
 }
 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_3975331509919415286);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_7634853030167298340);
-void car_H_mod_fun(double *state, double *out_5558041618437033789);
-void car_f_fun(double *state, double dt, double *out_8628820520711137836);
-void car_F_fun(double *state, double dt, double *out_937688393817481927);
-void car_h_25(double *state, double *unused, double *out_4714258583115160121);
-void car_H_25(double *state, double *unused, double *out_3228209521213378417);
-void car_h_24(double *state, double *unused, double *out_8700237868881615564);
-void car_H_24(double *state, double *unused, double *out_8097024386241085269);
-void car_h_30(double *state, double *unused, double *out_4557071914764030976);
-void car_H_30(double *state, double *unused, double *out_7755905851340986615);
-void car_h_26(double *state, double *unused, double *out_7593857966208363661);
-void car_H_26(double *state, double *unused, double *out_6969712840087434641);
-void car_h_27(double *state, double *unused, double *out_8506578274759066548);
-void car_H_27(double *state, double *unused, double *out_5532311780157043398);
-void car_h_29(double *state, double *unused, double *out_4869128746505044198);
-void car_H_29(double *state, double *unused, double *out_7245674507026594431);
-void car_h_28(double *state, double *unused, double *out_3664394704215203127);
-void car_H_28(double *state, double *unused, double *out_5282044235461268180);
-void car_h_31(double *state, double *unused, double *out_6047692778171023868);
-void car_H_31(double *state, double *unused, double *out_7595920942320786117);
+void car_err_fun(double *nom_x, double *delta_x, double *out_3350045275544931453);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_537147974555085981);
+void car_H_mod_fun(double *state, double *out_7775026745617319605);
+void car_f_fun(double *state, double dt, double *out_4198835588916233412);
+void car_F_fun(double *state, double dt, double *out_4444349682340675673);
+void car_h_25(double *state, double *unused, double *out_6936843442256047922);
+void car_H_25(double *state, double *unused, double *out_1418161480294917632);
+void car_h_24(double *state, double *unused, double *out_5320826123735066091);
+void car_H_24(double *state, double *unused, double *out_6164670807261426666);
+void car_h_30(double *state, double *unused, double *out_956096052628475437);
+void car_H_30(double *state, double *unused, double *out_1100171478212330995);
+void car_h_26(double *state, double *unused, double *out_1856456050641377946);
+void car_H_26(double *state, double *unused, double *out_1886364489465882969);
+void car_h_27(double *state, double *unused, double *out_6508227363792658049);
+void car_H_27(double *state, double *unused, double *out_3323765549396274212);
+void car_h_29(double *state, double *unused, double *out_3441856028653153575);
+void car_H_29(double *state, double *unused, double *out_1610402822526723179);
+void car_h_28(double *state, double *unused, double *out_8901730658472560882);
+void car_H_28(double *state, double *unused, double *out_3471996194542807395);
+void car_h_31(double *state, double *unused, double *out_6661649379971542033);
+void car_H_31(double *state, double *unused, double *out_1260156387232531493);
 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_3576801538095390920);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3629669491519681211);
-void pose_H_mod_fun(double *state, double *out_128220774054724087);
-void pose_f_fun(double *state, double dt, double *out_8022018128441912094);
-void pose_F_fun(double *state, double dt, double *out_4440336535941280195);
-void pose_h_4(double *state, double *unused, double *out_1055205231970937411);
-void pose_H_4(double *state, double *unused, double *out_5232245798722086233);
-void pose_h_10(double *state, double *unused, double *out_4616527314461451432);
-void pose_H_10(double *state, double *unused, double *out_5353452105284919759);
-void pose_h_13(double *state, double *unused, double *out_35896446347085605);
-void pose_H_13(double *state, double *unused, double *out_5603867066670764454);
-void pose_h_14(double *state, double *unused, double *out_631141063206634270);
-void pose_H_14(double *state, double *unused, double *out_9195486655061570762);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_5836812006117722374);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_368701023819567149);
+void pose_H_mod_fun(double *state, double *out_5720830998239473631);
+void pose_f_fun(double *state, double dt, double *out_3302434187336556995);
+void pose_F_fun(double *state, double dt, double *out_2147733219597398466);
+void pose_h_4(double *state, double *unused, double *out_390661508853925842);
+void pose_H_4(double *state, double *unused, double *out_3712928655556393493);
+void pose_h_10(double *state, double *unused, double *out_4622668875416301287);
+void pose_H_10(double *state, double *unused, double *out_9222803918002037771);
+void pose_h_13(double *state, double *unused, double *out_7573083638476335875);
+void pose_H_13(double *state, double *unused, double *out_500654830224060692);
+void pose_h_14(double *state, double *unused, double *out_4512296191106361905);
+void pose_H_14(double *state, double *unused, double *out_250312200783091036);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }