#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_7263283861877820451);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5554489381921509580);
void pose_H_mod_fun(double *state, double *out_8221733452837955123);
void pose_f_fun(double *state, double dt, double *out_6005799925322513099);
void pose_F_fun(double *state, double dt, double *out_8053498741610314229);
void pose_h_4(double *state, double *unused, double *out_8491036372839021910);
void pose_H_4(double *state, double *unused, double *out_4947511374047005870);
void pose_h_10(double *state, double *unused, double *out_5511963967555442025);
void pose_H_10(double *state, double *unused, double *out_4954425742172604258);
void pose_h_13(double *state, double *unused, double *out_2978335881196755829);
void pose_H_13(double *state, double *unused, double *out_8159785199379338671);
void pose_h_14(double *state, double *unused, double *out_3775673678134670228);
void pose_H_14(double *state, double *unused, double *out_8910752230386490399);
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
}