#pragma once #include "rednose/helpers/common_ekf.h" extern "C" { void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_err_fun(double *nom_x, double *delta_x, double *out_80014774094776572); void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_9144507820461143592); void gnss_H_mod_fun(double *state, double *out_3038444346073204801); void gnss_f_fun(double *state, double dt, double *out_5331942404729498203); void gnss_F_fun(double *state, double dt, double *out_3160440324773884395); void gnss_h_6(double *state, double *sat_pos, double *out_4164777334676317660); void gnss_H_6(double *state, double *sat_pos, double *out_8721522254593615931); void gnss_h_20(double *state, double *sat_pos, double *out_1506605518158843733); void gnss_H_20(double *state, double *sat_pos, double *out_1146945854611411680); void gnss_h_7(double *state, double *sat_pos_vel, double *out_2838038345896688742); void gnss_H_7(double *state, double *sat_pos_vel, double *out_7683900239883798223); void gnss_h_21(double *state, double *sat_pos_vel, double *out_2838038345896688742); void gnss_H_21(double *state, double *sat_pos_vel, double *out_7683900239883798223); void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt); }