text: #pragma once
  #include "rednose/helpers/common_ekf.h"
  extern "C" {
  void car_update_25(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
  void car_update_24(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
  void car_update_30(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
  void car_update_26(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
  void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
  void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
  void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
  void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
  void car_err_fun(double *nom_x, double *delta_x, double *out_8630385581293032121);
  void car_inv_err_fun(double *nom_x, double *true_x, double *out_5364052227580086950);
  void car_H_mod_fun(double *state, double *out_3721326140686278675);
  void car_f_fun(double *state, double dt, double *out_2513247323983440442);
  void car_F_fun(double *state, double dt, double *out_8813859408165857319);
  void car_h_25(double *state, double *unused, double *out_3661871911151410583);
  void car_H_25(double *state, double *unused, double *out_5591914919328050594);
  void car_h_24(double *state, double *unused, double *out_640950728645361483);
  void car_H_24(double *state, double *unused, double *out_9149840518130373730);
  void car_h_30(double *state, double *unused, double *out_4022920801271957044);
  void car_H_30(double *state, double *unused, double *out_5938138812889884267);
  void car_h_26(double *state, double *unused, double *out_1418515480463259393);
  void car_H_26(double *state, double *unused, double *out_8896440889088851195);
  void car_h_27(double *state, double *unused, double *out_8663545178812256228);
  void car_H_27(double *state, double *unused, double *out_8112902124690309178);
  void car_h_29(double *state, double *unused, double *out_1892709952461905292);
  void car_H_29(double *state, double *unused, double *out_8620479222149691405);
  void car_h_28(double *state, double *unused, double *out_2407720456853208974);
  void car_H_28(double *state, double *unused, double *out_3538080205080160831);
  void car_h_31(double *state, double *unused, double *out_199811565277091069);
  void car_H_31(double *state, double *unused, double *out_5778153903869683769);
  void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
  void car_set_mass(double x);
  void car_set_rotational_inertia(double x);
  void car_set_center_to_front(double x);
  void car_set_center_to_rear(double x);
  void car_set_stiffness_front(double x);
  void car_set_stiffness_rear(double x);
  }