#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_5813097801788606117);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_265932847343752274);
void pose_H_mod_fun(double *state, double *out_3782749078324294962);
void pose_f_fun(double *state, double dt, double *out_2316687695349101514);
void pose_F_fun(double *state, double dt, double *out_830203783768276833);
void pose_h_4(double *state, double *unused, double *out_1652667498977980545);
void pose_H_4(double *state, double *unused, double *out_2065332728427663759);
void pose_h_10(double *state, double *unused, double *out_8803253396773735652);
void pose_H_10(double *state, double *unused, double *out_1768777245936477788);
void pose_h_13(double *state, double *unused, double *out_5388839778110327076);
void pose_H_13(double *state, double *unused, double *out_1146941096904669042);
void pose_h_14(double *state, double *unused, double *out_653899258242143155);
void pose_H_14(double *state, double *unused, double *out_1897908127911820770);
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
}