* model pose more struct
* constexpr seems useful
* more concise
* fix order
* seems more readable
* plan struct
* attempt to fix compiling on device
* fix constexpr errors on device
* fix rotation rate in log
* maybe this fixes compiling constexpr on device
* exp() cannot be used in constexpr on c2
* only copy what we actually log
* simplify pivot()
* fix setting position std
* see if this works
* try lambda again
* giving up on the lambda to select member
* fix position std
* fix param order
old-commit-hash: a7f36c9daf
Greg Hogan
0e89533b19