#pragma once
#include "rednose/helpers/ekf.h"
extern "C" {
void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
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_1384224859777021071);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6553735098488367695);
void pose_H_mod_fun(double *state, double *out_7066952806100897033);
void pose_f_fun(double *state, double dt, double *out_5431061979149799049);
void pose_F_fun(double *state, double dt, double *out_7283706501583847587);
void pose_h_4(double *state, double *unused, double *out_1801795458370807617);
void pose_H_4(double *state, double *unused, double *out_1671243425982092105);
void pose_h_10(double *state, double *unused, double *out_296127658211319494);
void pose_H_10(double *state, double *unused, double *out_4354678574143084041);
void pose_h_13(double *state, double *unused, double *out_3294015468262232612);
void pose_H_13(double *state, double *unused, double *out_9164869439410758582);
void pose_h_14(double *state, double *unused, double *out_467053765268704623);
void pose_H_14(double *state, double *unused, double *out_1411545006313280191);
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
}