build

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-d773ad90-DEBUG";
+const uint8_t gitversion[19] = "DEV-713ce294-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-d773ad90-DEBUG
+DEV-713ce294-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_8449647197806450456) {
-   out_8449647197806450456[0] = delta_x[0] + nom_x[0];
-   out_8449647197806450456[1] = delta_x[1] + nom_x[1];
-   out_8449647197806450456[2] = delta_x[2] + nom_x[2];
-   out_8449647197806450456[3] = delta_x[3] + nom_x[3];
-   out_8449647197806450456[4] = delta_x[4] + nom_x[4];
-   out_8449647197806450456[5] = delta_x[5] + nom_x[5];
-   out_8449647197806450456[6] = delta_x[6] + nom_x[6];
-   out_8449647197806450456[7] = delta_x[7] + nom_x[7];
-   out_8449647197806450456[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104) {
+   out_2798728055434719104[0] = delta_x[0] + nom_x[0];
+   out_2798728055434719104[1] = delta_x[1] + nom_x[1];
+   out_2798728055434719104[2] = delta_x[2] + nom_x[2];
+   out_2798728055434719104[3] = delta_x[3] + nom_x[3];
+   out_2798728055434719104[4] = delta_x[4] + nom_x[4];
+   out_2798728055434719104[5] = delta_x[5] + nom_x[5];
+   out_2798728055434719104[6] = delta_x[6] + nom_x[6];
+   out_2798728055434719104[7] = delta_x[7] + nom_x[7];
+   out_2798728055434719104[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_5810954439872327790) {
-   out_5810954439872327790[0] = -nom_x[0] + true_x[0];
-   out_5810954439872327790[1] = -nom_x[1] + true_x[1];
-   out_5810954439872327790[2] = -nom_x[2] + true_x[2];
-   out_5810954439872327790[3] = -nom_x[3] + true_x[3];
-   out_5810954439872327790[4] = -nom_x[4] + true_x[4];
-   out_5810954439872327790[5] = -nom_x[5] + true_x[5];
-   out_5810954439872327790[6] = -nom_x[6] + true_x[6];
-   out_5810954439872327790[7] = -nom_x[7] + true_x[7];
-   out_5810954439872327790[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641) {
+   out_5158994837086933641[0] = -nom_x[0] + true_x[0];
+   out_5158994837086933641[1] = -nom_x[1] + true_x[1];
+   out_5158994837086933641[2] = -nom_x[2] + true_x[2];
+   out_5158994837086933641[3] = -nom_x[3] + true_x[3];
+   out_5158994837086933641[4] = -nom_x[4] + true_x[4];
+   out_5158994837086933641[5] = -nom_x[5] + true_x[5];
+   out_5158994837086933641[6] = -nom_x[6] + true_x[6];
+   out_5158994837086933641[7] = -nom_x[7] + true_x[7];
+   out_5158994837086933641[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_618486876633759422) {
-   out_618486876633759422[0] = 1.0;
-   out_618486876633759422[1] = 0.0;
-   out_618486876633759422[2] = 0.0;
-   out_618486876633759422[3] = 0.0;
-   out_618486876633759422[4] = 0.0;
-   out_618486876633759422[5] = 0.0;
-   out_618486876633759422[6] = 0.0;
-   out_618486876633759422[7] = 0.0;
-   out_618486876633759422[8] = 0.0;
-   out_618486876633759422[9] = 0.0;
-   out_618486876633759422[10] = 1.0;
-   out_618486876633759422[11] = 0.0;
-   out_618486876633759422[12] = 0.0;
-   out_618486876633759422[13] = 0.0;
-   out_618486876633759422[14] = 0.0;
-   out_618486876633759422[15] = 0.0;
-   out_618486876633759422[16] = 0.0;
-   out_618486876633759422[17] = 0.0;
-   out_618486876633759422[18] = 0.0;
-   out_618486876633759422[19] = 0.0;
-   out_618486876633759422[20] = 1.0;
-   out_618486876633759422[21] = 0.0;
-   out_618486876633759422[22] = 0.0;
-   out_618486876633759422[23] = 0.0;
-   out_618486876633759422[24] = 0.0;
-   out_618486876633759422[25] = 0.0;
-   out_618486876633759422[26] = 0.0;
-   out_618486876633759422[27] = 0.0;
-   out_618486876633759422[28] = 0.0;
-   out_618486876633759422[29] = 0.0;
-   out_618486876633759422[30] = 1.0;
-   out_618486876633759422[31] = 0.0;
-   out_618486876633759422[32] = 0.0;
-   out_618486876633759422[33] = 0.0;
-   out_618486876633759422[34] = 0.0;
-   out_618486876633759422[35] = 0.0;
-   out_618486876633759422[36] = 0.0;
-   out_618486876633759422[37] = 0.0;
-   out_618486876633759422[38] = 0.0;
-   out_618486876633759422[39] = 0.0;
-   out_618486876633759422[40] = 1.0;
-   out_618486876633759422[41] = 0.0;
-   out_618486876633759422[42] = 0.0;
-   out_618486876633759422[43] = 0.0;
-   out_618486876633759422[44] = 0.0;
-   out_618486876633759422[45] = 0.0;
-   out_618486876633759422[46] = 0.0;
-   out_618486876633759422[47] = 0.0;
-   out_618486876633759422[48] = 0.0;
-   out_618486876633759422[49] = 0.0;
-   out_618486876633759422[50] = 1.0;
-   out_618486876633759422[51] = 0.0;
-   out_618486876633759422[52] = 0.0;
-   out_618486876633759422[53] = 0.0;
-   out_618486876633759422[54] = 0.0;
-   out_618486876633759422[55] = 0.0;
-   out_618486876633759422[56] = 0.0;
-   out_618486876633759422[57] = 0.0;
-   out_618486876633759422[58] = 0.0;
-   out_618486876633759422[59] = 0.0;
-   out_618486876633759422[60] = 1.0;
-   out_618486876633759422[61] = 0.0;
-   out_618486876633759422[62] = 0.0;
-   out_618486876633759422[63] = 0.0;
-   out_618486876633759422[64] = 0.0;
-   out_618486876633759422[65] = 0.0;
-   out_618486876633759422[66] = 0.0;
-   out_618486876633759422[67] = 0.0;
-   out_618486876633759422[68] = 0.0;
-   out_618486876633759422[69] = 0.0;
-   out_618486876633759422[70] = 1.0;
-   out_618486876633759422[71] = 0.0;
-   out_618486876633759422[72] = 0.0;
-   out_618486876633759422[73] = 0.0;
-   out_618486876633759422[74] = 0.0;
-   out_618486876633759422[75] = 0.0;
-   out_618486876633759422[76] = 0.0;
-   out_618486876633759422[77] = 0.0;
-   out_618486876633759422[78] = 0.0;
-   out_618486876633759422[79] = 0.0;
-   out_618486876633759422[80] = 1.0;
+void H_mod_fun(double *state, double *out_8807292285450126459) {
+   out_8807292285450126459[0] = 1.0;
+   out_8807292285450126459[1] = 0.0;
+   out_8807292285450126459[2] = 0.0;
+   out_8807292285450126459[3] = 0.0;
+   out_8807292285450126459[4] = 0.0;
+   out_8807292285450126459[5] = 0.0;
+   out_8807292285450126459[6] = 0.0;
+   out_8807292285450126459[7] = 0.0;
+   out_8807292285450126459[8] = 0.0;
+   out_8807292285450126459[9] = 0.0;
+   out_8807292285450126459[10] = 1.0;
+   out_8807292285450126459[11] = 0.0;
+   out_8807292285450126459[12] = 0.0;
+   out_8807292285450126459[13] = 0.0;
+   out_8807292285450126459[14] = 0.0;
+   out_8807292285450126459[15] = 0.0;
+   out_8807292285450126459[16] = 0.0;
+   out_8807292285450126459[17] = 0.0;
+   out_8807292285450126459[18] = 0.0;
+   out_8807292285450126459[19] = 0.0;
+   out_8807292285450126459[20] = 1.0;
+   out_8807292285450126459[21] = 0.0;
+   out_8807292285450126459[22] = 0.0;
+   out_8807292285450126459[23] = 0.0;
+   out_8807292285450126459[24] = 0.0;
+   out_8807292285450126459[25] = 0.0;
+   out_8807292285450126459[26] = 0.0;
+   out_8807292285450126459[27] = 0.0;
+   out_8807292285450126459[28] = 0.0;
+   out_8807292285450126459[29] = 0.0;
+   out_8807292285450126459[30] = 1.0;
+   out_8807292285450126459[31] = 0.0;
+   out_8807292285450126459[32] = 0.0;
+   out_8807292285450126459[33] = 0.0;
+   out_8807292285450126459[34] = 0.0;
+   out_8807292285450126459[35] = 0.0;
+   out_8807292285450126459[36] = 0.0;
+   out_8807292285450126459[37] = 0.0;
+   out_8807292285450126459[38] = 0.0;
+   out_8807292285450126459[39] = 0.0;
+   out_8807292285450126459[40] = 1.0;
+   out_8807292285450126459[41] = 0.0;
+   out_8807292285450126459[42] = 0.0;
+   out_8807292285450126459[43] = 0.0;
+   out_8807292285450126459[44] = 0.0;
+   out_8807292285450126459[45] = 0.0;
+   out_8807292285450126459[46] = 0.0;
+   out_8807292285450126459[47] = 0.0;
+   out_8807292285450126459[48] = 0.0;
+   out_8807292285450126459[49] = 0.0;
+   out_8807292285450126459[50] = 1.0;
+   out_8807292285450126459[51] = 0.0;
+   out_8807292285450126459[52] = 0.0;
+   out_8807292285450126459[53] = 0.0;
+   out_8807292285450126459[54] = 0.0;
+   out_8807292285450126459[55] = 0.0;
+   out_8807292285450126459[56] = 0.0;
+   out_8807292285450126459[57] = 0.0;
+   out_8807292285450126459[58] = 0.0;
+   out_8807292285450126459[59] = 0.0;
+   out_8807292285450126459[60] = 1.0;
+   out_8807292285450126459[61] = 0.0;
+   out_8807292285450126459[62] = 0.0;
+   out_8807292285450126459[63] = 0.0;
+   out_8807292285450126459[64] = 0.0;
+   out_8807292285450126459[65] = 0.0;
+   out_8807292285450126459[66] = 0.0;
+   out_8807292285450126459[67] = 0.0;
+   out_8807292285450126459[68] = 0.0;
+   out_8807292285450126459[69] = 0.0;
+   out_8807292285450126459[70] = 1.0;
+   out_8807292285450126459[71] = 0.0;
+   out_8807292285450126459[72] = 0.0;
+   out_8807292285450126459[73] = 0.0;
+   out_8807292285450126459[74] = 0.0;
+   out_8807292285450126459[75] = 0.0;
+   out_8807292285450126459[76] = 0.0;
+   out_8807292285450126459[77] = 0.0;
+   out_8807292285450126459[78] = 0.0;
+   out_8807292285450126459[79] = 0.0;
+   out_8807292285450126459[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_8508843375909038975) {
-   out_8508843375909038975[0] = state[0];
-   out_8508843375909038975[1] = state[1];
-   out_8508843375909038975[2] = state[2];
-   out_8508843375909038975[3] = state[3];
-   out_8508843375909038975[4] = state[4];
-   out_8508843375909038975[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_8508843375909038975[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_8508843375909038975[7] = state[7];
-   out_8508843375909038975[8] = state[8];
+void f_fun(double *state, double dt, double *out_547624329025478730) {
+   out_547624329025478730[0] = state[0];
+   out_547624329025478730[1] = state[1];
+   out_547624329025478730[2] = state[2];
+   out_547624329025478730[3] = state[3];
+   out_547624329025478730[4] = state[4];
+   out_547624329025478730[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_547624329025478730[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_547624329025478730[7] = state[7];
+   out_547624329025478730[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_2668986513863288583) {
-   out_2668986513863288583[0] = 1;
-   out_2668986513863288583[1] = 0;
-   out_2668986513863288583[2] = 0;
-   out_2668986513863288583[3] = 0;
-   out_2668986513863288583[4] = 0;
-   out_2668986513863288583[5] = 0;
-   out_2668986513863288583[6] = 0;
-   out_2668986513863288583[7] = 0;
-   out_2668986513863288583[8] = 0;
-   out_2668986513863288583[9] = 0;
-   out_2668986513863288583[10] = 1;
-   out_2668986513863288583[11] = 0;
-   out_2668986513863288583[12] = 0;
-   out_2668986513863288583[13] = 0;
-   out_2668986513863288583[14] = 0;
-   out_2668986513863288583[15] = 0;
-   out_2668986513863288583[16] = 0;
-   out_2668986513863288583[17] = 0;
-   out_2668986513863288583[18] = 0;
-   out_2668986513863288583[19] = 0;
-   out_2668986513863288583[20] = 1;
-   out_2668986513863288583[21] = 0;
-   out_2668986513863288583[22] = 0;
-   out_2668986513863288583[23] = 0;
-   out_2668986513863288583[24] = 0;
-   out_2668986513863288583[25] = 0;
-   out_2668986513863288583[26] = 0;
-   out_2668986513863288583[27] = 0;
-   out_2668986513863288583[28] = 0;
-   out_2668986513863288583[29] = 0;
-   out_2668986513863288583[30] = 1;
-   out_2668986513863288583[31] = 0;
-   out_2668986513863288583[32] = 0;
-   out_2668986513863288583[33] = 0;
-   out_2668986513863288583[34] = 0;
-   out_2668986513863288583[35] = 0;
-   out_2668986513863288583[36] = 0;
-   out_2668986513863288583[37] = 0;
-   out_2668986513863288583[38] = 0;
-   out_2668986513863288583[39] = 0;
-   out_2668986513863288583[40] = 1;
-   out_2668986513863288583[41] = 0;
-   out_2668986513863288583[42] = 0;
-   out_2668986513863288583[43] = 0;
-   out_2668986513863288583[44] = 0;
-   out_2668986513863288583[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_2668986513863288583[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_2668986513863288583[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2668986513863288583[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2668986513863288583[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_2668986513863288583[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_2668986513863288583[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_2668986513863288583[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2668986513863288583[53] = -9.8100000000000005*dt;
-   out_2668986513863288583[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_2668986513863288583[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_2668986513863288583[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2668986513863288583[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2668986513863288583[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_2668986513863288583[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_2668986513863288583[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_2668986513863288583[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2668986513863288583[62] = 0;
-   out_2668986513863288583[63] = 0;
-   out_2668986513863288583[64] = 0;
-   out_2668986513863288583[65] = 0;
-   out_2668986513863288583[66] = 0;
-   out_2668986513863288583[67] = 0;
-   out_2668986513863288583[68] = 0;
-   out_2668986513863288583[69] = 0;
-   out_2668986513863288583[70] = 1;
-   out_2668986513863288583[71] = 0;
-   out_2668986513863288583[72] = 0;
-   out_2668986513863288583[73] = 0;
-   out_2668986513863288583[74] = 0;
-   out_2668986513863288583[75] = 0;
-   out_2668986513863288583[76] = 0;
-   out_2668986513863288583[77] = 0;
-   out_2668986513863288583[78] = 0;
-   out_2668986513863288583[79] = 0;
-   out_2668986513863288583[80] = 1;
+void F_fun(double *state, double dt, double *out_6298604141859123794) {
+   out_6298604141859123794[0] = 1;
+   out_6298604141859123794[1] = 0;
+   out_6298604141859123794[2] = 0;
+   out_6298604141859123794[3] = 0;
+   out_6298604141859123794[4] = 0;
+   out_6298604141859123794[5] = 0;
+   out_6298604141859123794[6] = 0;
+   out_6298604141859123794[7] = 0;
+   out_6298604141859123794[8] = 0;
+   out_6298604141859123794[9] = 0;
+   out_6298604141859123794[10] = 1;
+   out_6298604141859123794[11] = 0;
+   out_6298604141859123794[12] = 0;
+   out_6298604141859123794[13] = 0;
+   out_6298604141859123794[14] = 0;
+   out_6298604141859123794[15] = 0;
+   out_6298604141859123794[16] = 0;
+   out_6298604141859123794[17] = 0;
+   out_6298604141859123794[18] = 0;
+   out_6298604141859123794[19] = 0;
+   out_6298604141859123794[20] = 1;
+   out_6298604141859123794[21] = 0;
+   out_6298604141859123794[22] = 0;
+   out_6298604141859123794[23] = 0;
+   out_6298604141859123794[24] = 0;
+   out_6298604141859123794[25] = 0;
+   out_6298604141859123794[26] = 0;
+   out_6298604141859123794[27] = 0;
+   out_6298604141859123794[28] = 0;
+   out_6298604141859123794[29] = 0;
+   out_6298604141859123794[30] = 1;
+   out_6298604141859123794[31] = 0;
+   out_6298604141859123794[32] = 0;
+   out_6298604141859123794[33] = 0;
+   out_6298604141859123794[34] = 0;
+   out_6298604141859123794[35] = 0;
+   out_6298604141859123794[36] = 0;
+   out_6298604141859123794[37] = 0;
+   out_6298604141859123794[38] = 0;
+   out_6298604141859123794[39] = 0;
+   out_6298604141859123794[40] = 1;
+   out_6298604141859123794[41] = 0;
+   out_6298604141859123794[42] = 0;
+   out_6298604141859123794[43] = 0;
+   out_6298604141859123794[44] = 0;
+   out_6298604141859123794[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_6298604141859123794[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_6298604141859123794[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6298604141859123794[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6298604141859123794[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_6298604141859123794[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_6298604141859123794[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_6298604141859123794[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6298604141859123794[53] = -9.8100000000000005*dt;
+   out_6298604141859123794[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_6298604141859123794[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_6298604141859123794[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6298604141859123794[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6298604141859123794[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_6298604141859123794[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_6298604141859123794[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_6298604141859123794[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6298604141859123794[62] = 0;
+   out_6298604141859123794[63] = 0;
+   out_6298604141859123794[64] = 0;
+   out_6298604141859123794[65] = 0;
+   out_6298604141859123794[66] = 0;
+   out_6298604141859123794[67] = 0;
+   out_6298604141859123794[68] = 0;
+   out_6298604141859123794[69] = 0;
+   out_6298604141859123794[70] = 1;
+   out_6298604141859123794[71] = 0;
+   out_6298604141859123794[72] = 0;
+   out_6298604141859123794[73] = 0;
+   out_6298604141859123794[74] = 0;
+   out_6298604141859123794[75] = 0;
+   out_6298604141859123794[76] = 0;
+   out_6298604141859123794[77] = 0;
+   out_6298604141859123794[78] = 0;
+   out_6298604141859123794[79] = 0;
+   out_6298604141859123794[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_4860957648027245326) {
-   out_4860957648027245326[0] = state[6];
+void h_25(double *state, double *unused, double *out_5598542368802412337) {
+   out_5598542368802412337[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_6932876854201394115) {
-   out_6932876854201394115[0] = 0;
-   out_6932876854201394115[1] = 0;
-   out_6932876854201394115[2] = 0;
-   out_6932876854201394115[3] = 0;
-   out_6932876854201394115[4] = 0;
-   out_6932876854201394115[5] = 0;
-   out_6932876854201394115[6] = 1;
-   out_6932876854201394115[7] = 0;
-   out_6932876854201394115[8] = 0;
+void H_25(double *state, double *unused, double *out_446263562347187920) {
+   out_446263562347187920[0] = 0;
+   out_446263562347187920[1] = 0;
+   out_446263562347187920[2] = 0;
+   out_446263562347187920[3] = 0;
+   out_446263562347187920[4] = 0;
+   out_446263562347187920[5] = 0;
+   out_446263562347187920[6] = 1;
+   out_446263562347187920[7] = 0;
+   out_446263562347187920[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_8219518906691440912) {
-   out_8219518906691440912[0] = state[4];
-   out_8219518906691440912[1] = state[5];
+void h_24(double *state, double *unused, double *out_281619709901739940) {
+   out_281619709901739940[0] = state[4];
+   out_281619709901739940[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_6462419372158055391) {
-   out_6462419372158055391[0] = 0;
-   out_6462419372158055391[1] = 0;
-   out_6462419372158055391[2] = 0;
-   out_6462419372158055391[3] = 0;
-   out_6462419372158055391[4] = 1;
-   out_6462419372158055391[5] = 0;
-   out_6462419372158055391[6] = 0;
-   out_6462419372158055391[7] = 0;
-   out_6462419372158055391[8] = 0;
-   out_6462419372158055391[9] = 0;
-   out_6462419372158055391[10] = 0;
-   out_6462419372158055391[11] = 0;
-   out_6462419372158055391[12] = 0;
-   out_6462419372158055391[13] = 0;
-   out_6462419372158055391[14] = 1;
-   out_6462419372158055391[15] = 0;
-   out_6462419372158055391[16] = 0;
-   out_6462419372158055391[17] = 0;
+void H_24(double *state, double *unused, double *out_4300245764619321114) {
+   out_4300245764619321114[0] = 0;
+   out_4300245764619321114[1] = 0;
+   out_4300245764619321114[2] = 0;
+   out_4300245764619321114[3] = 0;
+   out_4300245764619321114[4] = 1;
+   out_4300245764619321114[5] = 0;
+   out_4300245764619321114[6] = 0;
+   out_4300245764619321114[7] = 0;
+   out_4300245764619321114[8] = 0;
+   out_4300245764619321114[9] = 0;
+   out_4300245764619321114[10] = 0;
+   out_4300245764619321114[11] = 0;
+   out_4300245764619321114[12] = 0;
+   out_4300245764619321114[13] = 0;
+   out_4300245764619321114[14] = 1;
+   out_4300245764619321114[15] = 0;
+   out_4300245764619321114[16] = 0;
+   out_4300245764619321114[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_1502636330274570535) {
-   out_1502636330274570535[0] = state[4];
+void h_30(double *state, double *unused, double *out_6077366478556788343) {
+   out_6077366478556788343[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_6803537907058154045) {
-   out_6803537907058154045[0] = 0;
-   out_6803537907058154045[1] = 0;
-   out_6803537907058154045[2] = 0;
-   out_6803537907058154045[3] = 0;
-   out_6803537907058154045[4] = 1;
-   out_6803537907058154045[5] = 0;
-   out_6803537907058154045[6] = 0;
-   out_6803537907058154045[7] = 0;
-   out_6803537907058154045[8] = 0;
+void H_30(double *state, double *unused, double *out_7362953903838804675) {
+   out_7362953903838804675[0] = 0;
+   out_7362953903838804675[1] = 0;
+   out_7362953903838804675[2] = 0;
+   out_7362953903838804675[3] = 0;
+   out_7362953903838804675[4] = 1;
+   out_7362953903838804675[5] = 0;
+   out_7362953903838804675[6] = 0;
+   out_7362953903838804675[7] = 0;
+   out_7362953903838804675[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_899320445598093018) {
-   out_899320445598093018[0] = state[7];
+void h_26(double *state, double *unused, double *out_714876495074943436) {
+   out_714876495074943436[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_3191373535327337891) {
-   out_3191373535327337891[0] = 0;
-   out_3191373535327337891[1] = 0;
-   out_3191373535327337891[2] = 0;
-   out_3191373535327337891[3] = 0;
-   out_3191373535327337891[4] = 0;
-   out_3191373535327337891[5] = 0;
-   out_3191373535327337891[6] = 0;
-   out_3191373535327337891[7] = 1;
-   out_3191373535327337891[8] = 0;
+void H_26(double *state, double *unused, double *out_3295239756526868304) {
+   out_3295239756526868304[0] = 0;
+   out_3295239756526868304[1] = 0;
+   out_3295239756526868304[2] = 0;
+   out_3295239756526868304[3] = 0;
+   out_3295239756526868304[4] = 0;
+   out_3295239756526868304[5] = 0;
+   out_3295239756526868304[6] = 0;
+   out_3295239756526868304[7] = 1;
+   out_3295239756526868304[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_6028701449103387063) {
-   out_6028701449103387063[0] = state[3];
+void h_27(double *state, double *unused, double *out_3197767095463584803) {
+   out_3197767095463584803[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_4628774595257729134) {
-   out_4628774595257729134[0] = 0;
-   out_4628774595257729134[1] = 0;
-   out_4628774595257729134[2] = 0;
-   out_4628774595257729134[3] = 1;
-   out_4628774595257729134[4] = 0;
-   out_4628774595257729134[5] = 0;
-   out_4628774595257729134[6] = 0;
-   out_4628774595257729134[7] = 0;
-   out_4628774595257729134[8] = 0;
+void H_27(double *state, double *unused, double *out_5188190592038379764) {
+   out_5188190592038379764[0] = 0;
+   out_5188190592038379764[1] = 0;
+   out_5188190592038379764[2] = 0;
+   out_5188190592038379764[3] = 1;
+   out_5188190592038379764[4] = 0;
+   out_5188190592038379764[5] = 0;
+   out_5188190592038379764[6] = 0;
+   out_5188190592038379764[7] = 0;
+   out_5188190592038379764[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_1056966285338217398) {
-   out_1056966285338217398[0] = state[1];
+void h_29(double *state, double *unused, double *out_9093529782405306684) {
+   out_9093529782405306684[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_7313769251372546229) {
-   out_7313769251372546229[0] = 0;
-   out_7313769251372546229[1] = 1;
-   out_7313769251372546229[2] = 0;
-   out_7313769251372546229[3] = 0;
-   out_7313769251372546229[4] = 0;
-   out_7313769251372546229[5] = 0;
-   out_7313769251372546229[6] = 0;
-   out_7313769251372546229[7] = 0;
-   out_7313769251372546229[8] = 0;
+void H_29(double *state, double *unused, double *out_7873185248153196859) {
+   out_7873185248153196859[0] = 0;
+   out_7873185248153196859[1] = 1;
+   out_7873185248153196859[2] = 0;
+   out_7873185248153196859[3] = 0;
+   out_7873185248153196859[4] = 0;
+   out_7873185248153196859[5] = 0;
+   out_7873185248153196859[6] = 0;
+   out_7873185248153196859[7] = 0;
+   out_7873185248153196859[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_1027028181442541418) {
-   out_1027028181442541418[0] = state[0];
+void h_28(double *state, double *unused, double *out_8199440363124430448) {
+   out_8199440363124430448[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_2166987148681352473) {
-   out_2166987148681352473[0] = 1;
-   out_2166987148681352473[1] = 0;
-   out_2166987148681352473[2] = 0;
-   out_2166987148681352473[3] = 0;
-   out_2166987148681352473[4] = 0;
-   out_2166987148681352473[5] = 0;
-   out_2166987148681352473[6] = 0;
-   out_2166987148681352473[7] = 0;
-   out_2166987148681352473[8] = 0;
+void H_28(double *state, double *unused, double *out_2790786231083666285) {
+   out_2790786231083666285[0] = 1;
+   out_2790786231083666285[1] = 0;
+   out_2790786231083666285[2] = 0;
+   out_2790786231083666285[3] = 0;
+   out_2790786231083666285[4] = 0;
+   out_2790786231083666285[5] = 0;
+   out_2790786231083666285[6] = 0;
+   out_2790786231083666285[7] = 0;
+   out_2790786231083666285[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_4928004927850595483) {
-   out_4928004927850595483[0] = state[8];
+void h_31(double *state, double *unused, double *out_5441355700451283192) {
+   out_5441355700451283192[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_6963522816078354543) {
-   out_6963522816078354543[0] = 0;
-   out_6963522816078354543[1] = 0;
-   out_6963522816078354543[2] = 0;
-   out_6963522816078354543[3] = 0;
-   out_6963522816078354543[4] = 0;
-   out_6963522816078354543[5] = 0;
-   out_6963522816078354543[6] = 0;
-   out_6963522816078354543[7] = 0;
-   out_6963522816078354543[8] = 1;
+void H_31(double *state, double *unused, double *out_476909524224148348) {
+   out_476909524224148348[0] = 0;
+   out_476909524224148348[1] = 0;
+   out_476909524224148348[2] = 0;
+   out_476909524224148348[3] = 0;
+   out_476909524224148348[4] = 0;
+   out_476909524224148348[5] = 0;
+   out_476909524224148348[6] = 0;
+   out_476909524224148348[7] = 0;
+   out_476909524224148348[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_8449647197806450456) {
-  err_fun(nom_x, delta_x, out_8449647197806450456);
+void car_err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104) {
+  err_fun(nom_x, delta_x, out_2798728055434719104);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_5810954439872327790) {
-  inv_err_fun(nom_x, true_x, out_5810954439872327790);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641) {
+  inv_err_fun(nom_x, true_x, out_5158994837086933641);
 }
-void car_H_mod_fun(double *state, double *out_618486876633759422) {
-  H_mod_fun(state, out_618486876633759422);
+void car_H_mod_fun(double *state, double *out_8807292285450126459) {
+  H_mod_fun(state, out_8807292285450126459);
 }
-void car_f_fun(double *state, double dt, double *out_8508843375909038975) {
-  f_fun(state,  dt, out_8508843375909038975);
+void car_f_fun(double *state, double dt, double *out_547624329025478730) {
+  f_fun(state,  dt, out_547624329025478730);
 }
-void car_F_fun(double *state, double dt, double *out_2668986513863288583) {
-  F_fun(state,  dt, out_2668986513863288583);
+void car_F_fun(double *state, double dt, double *out_6298604141859123794) {
+  F_fun(state,  dt, out_6298604141859123794);
 }
-void car_h_25(double *state, double *unused, double *out_4860957648027245326) {
-  h_25(state, unused, out_4860957648027245326);
+void car_h_25(double *state, double *unused, double *out_5598542368802412337) {
+  h_25(state, unused, out_5598542368802412337);
 }
-void car_H_25(double *state, double *unused, double *out_6932876854201394115) {
-  H_25(state, unused, out_6932876854201394115);
+void car_H_25(double *state, double *unused, double *out_446263562347187920) {
+  H_25(state, unused, out_446263562347187920);
 }
-void car_h_24(double *state, double *unused, double *out_8219518906691440912) {
-  h_24(state, unused, out_8219518906691440912);
+void car_h_24(double *state, double *unused, double *out_281619709901739940) {
+  h_24(state, unused, out_281619709901739940);
 }
-void car_H_24(double *state, double *unused, double *out_6462419372158055391) {
-  H_24(state, unused, out_6462419372158055391);
+void car_H_24(double *state, double *unused, double *out_4300245764619321114) {
+  H_24(state, unused, out_4300245764619321114);
 }
-void car_h_30(double *state, double *unused, double *out_1502636330274570535) {
-  h_30(state, unused, out_1502636330274570535);
+void car_h_30(double *state, double *unused, double *out_6077366478556788343) {
+  h_30(state, unused, out_6077366478556788343);
 }
-void car_H_30(double *state, double *unused, double *out_6803537907058154045) {
-  H_30(state, unused, out_6803537907058154045);
+void car_H_30(double *state, double *unused, double *out_7362953903838804675) {
+  H_30(state, unused, out_7362953903838804675);
 }
-void car_h_26(double *state, double *unused, double *out_899320445598093018) {
-  h_26(state, unused, out_899320445598093018);
+void car_h_26(double *state, double *unused, double *out_714876495074943436) {
+  h_26(state, unused, out_714876495074943436);
 }
-void car_H_26(double *state, double *unused, double *out_3191373535327337891) {
-  H_26(state, unused, out_3191373535327337891);
+void car_H_26(double *state, double *unused, double *out_3295239756526868304) {
+  H_26(state, unused, out_3295239756526868304);
 }
-void car_h_27(double *state, double *unused, double *out_6028701449103387063) {
-  h_27(state, unused, out_6028701449103387063);
+void car_h_27(double *state, double *unused, double *out_3197767095463584803) {
+  h_27(state, unused, out_3197767095463584803);
 }
-void car_H_27(double *state, double *unused, double *out_4628774595257729134) {
-  H_27(state, unused, out_4628774595257729134);
+void car_H_27(double *state, double *unused, double *out_5188190592038379764) {
+  H_27(state, unused, out_5188190592038379764);
 }
-void car_h_29(double *state, double *unused, double *out_1056966285338217398) {
-  h_29(state, unused, out_1056966285338217398);
+void car_h_29(double *state, double *unused, double *out_9093529782405306684) {
+  h_29(state, unused, out_9093529782405306684);
 }
-void car_H_29(double *state, double *unused, double *out_7313769251372546229) {
-  H_29(state, unused, out_7313769251372546229);
+void car_H_29(double *state, double *unused, double *out_7873185248153196859) {
+  H_29(state, unused, out_7873185248153196859);
 }
-void car_h_28(double *state, double *unused, double *out_1027028181442541418) {
-  h_28(state, unused, out_1027028181442541418);
+void car_h_28(double *state, double *unused, double *out_8199440363124430448) {
+  h_28(state, unused, out_8199440363124430448);
 }
-void car_H_28(double *state, double *unused, double *out_2166987148681352473) {
-  H_28(state, unused, out_2166987148681352473);
+void car_H_28(double *state, double *unused, double *out_2790786231083666285) {
+  H_28(state, unused, out_2790786231083666285);
 }
-void car_h_31(double *state, double *unused, double *out_4928004927850595483) {
-  h_31(state, unused, out_4928004927850595483);
+void car_h_31(double *state, double *unused, double *out_5441355700451283192) {
+  h_31(state, unused, out_5441355700451283192);
 }
-void car_H_31(double *state, double *unused, double *out_6963522816078354543) {
-  H_31(state, unused, out_6963522816078354543);
+void car_H_31(double *state, double *unused, double *out_476909524224148348) {
+  H_31(state, unused, out_476909524224148348);
 }
 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_8449647197806450456);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_5810954439872327790);
-void car_H_mod_fun(double *state, double *out_618486876633759422);
-void car_f_fun(double *state, double dt, double *out_8508843375909038975);
-void car_F_fun(double *state, double dt, double *out_2668986513863288583);
-void car_h_25(double *state, double *unused, double *out_4860957648027245326);
-void car_H_25(double *state, double *unused, double *out_6932876854201394115);
-void car_h_24(double *state, double *unused, double *out_8219518906691440912);
-void car_H_24(double *state, double *unused, double *out_6462419372158055391);
-void car_h_30(double *state, double *unused, double *out_1502636330274570535);
-void car_H_30(double *state, double *unused, double *out_6803537907058154045);
-void car_h_26(double *state, double *unused, double *out_899320445598093018);
-void car_H_26(double *state, double *unused, double *out_3191373535327337891);
-void car_h_27(double *state, double *unused, double *out_6028701449103387063);
-void car_H_27(double *state, double *unused, double *out_4628774595257729134);
-void car_h_29(double *state, double *unused, double *out_1056966285338217398);
-void car_H_29(double *state, double *unused, double *out_7313769251372546229);
-void car_h_28(double *state, double *unused, double *out_1027028181442541418);
-void car_H_28(double *state, double *unused, double *out_2166987148681352473);
-void car_h_31(double *state, double *unused, double *out_4928004927850595483);
-void car_H_31(double *state, double *unused, double *out_6963522816078354543);
+void car_err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641);
+void car_H_mod_fun(double *state, double *out_8807292285450126459);
+void car_f_fun(double *state, double dt, double *out_547624329025478730);
+void car_F_fun(double *state, double dt, double *out_6298604141859123794);
+void car_h_25(double *state, double *unused, double *out_5598542368802412337);
+void car_H_25(double *state, double *unused, double *out_446263562347187920);
+void car_h_24(double *state, double *unused, double *out_281619709901739940);
+void car_H_24(double *state, double *unused, double *out_4300245764619321114);
+void car_h_30(double *state, double *unused, double *out_6077366478556788343);
+void car_H_30(double *state, double *unused, double *out_7362953903838804675);
+void car_h_26(double *state, double *unused, double *out_714876495074943436);
+void car_H_26(double *state, double *unused, double *out_3295239756526868304);
+void car_h_27(double *state, double *unused, double *out_3197767095463584803);
+void car_H_27(double *state, double *unused, double *out_5188190592038379764);
+void car_h_29(double *state, double *unused, double *out_9093529782405306684);
+void car_H_29(double *state, double *unused, double *out_7873185248153196859);
+void car_h_28(double *state, double *unused, double *out_8199440363124430448);
+void car_H_28(double *state, double *unused, double *out_2790786231083666285);
+void car_h_31(double *state, double *unused, double *out_5441355700451283192);
+void car_H_31(double *state, double *unused, double *out_476909524224148348);
 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_5522943408677507622);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4295983432349839383);
-void pose_H_mod_fun(double *state, double *out_4346696932482416909);
-void pose_f_fun(double *state, double dt, double *out_6102158893978946471);
-void pose_F_fun(double *state, double dt, double *out_2499898042682651457);
-void pose_h_4(double *state, double *unused, double *out_3279047988568344132);
-void pose_H_4(double *state, double *unused, double *out_5899742257253909940);
-void pose_h_10(double *state, double *unused, double *out_9007933995216703840);
-void pose_H_10(double *state, double *unused, double *out_2326992144684427807);
-void pose_h_13(double *state, double *unused, double *out_8858214994014047499);
-void pose_H_13(double *state, double *unused, double *out_1710888951062790989);
-void pose_h_14(double *state, double *unused, double *out_7751194400543680936);
-void pose_H_14(double *state, double *unused, double *out_1936501400914425411);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_8123935570106658818);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670);
+void pose_H_mod_fun(double *state, double *out_1602815725505969341);
+void pose_f_fun(double *state, double dt, double *out_6941148323357631663);
+void pose_F_fun(double *state, double dt, double *out_8174317485626071951);
+void pose_h_4(double *state, double *unused, double *out_5523365294760256360);
+void pose_H_4(double *state, double *unused, double *out_848654723451256734);
+void pose_h_10(double *state, double *unused, double *out_1239079208898706284);
+void pose_H_10(double *state, double *unused, double *out_1001724707531765931);
+void pose_h_13(double *state, double *unused, double *out_7307670055393162069);
+void pose_H_13(double *state, double *unused, double *out_6761976484865444195);
+void pose_h_14(double *state, double *unused, double *out_7233663736752442507);
+void pose_H_14(double *state, double *unused, double *out_3114586132888227795);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }