  if __name__ == '__main__':  # Generating sympy
    import sympy as sp
    from rednose.helpers.ekf_sym import gen_code
  else:
    from rednose.helpers.ekf_sym_pyx import EKF_sym  # pylint: disable=no-name-in-module, import-error
  
  
  i = 0
  
  def _slice(n):
 
</s> remove import sympy as sp
 </s> add  </s> remove from rednose.helpers.ekf_sym import EKF_sym, gen_code
 </s> add  </s> remove     self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
 </s> add     self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) </s> remove     self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
                          self.dim_state, maha_test_kinds=self.maha_test_kinds)
 </s> add     filter_cls = EKF_sym_pyx if cython else EKF_sym
    self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
                             self.dim_state, maha_test_kinds=self.maha_test_kinds)
  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx  # pylint: disable=no-name-in-module, import-error
  if __name__ == '__main__':  # Generating sympy
    import sympy as sp
    from rednose.helpers.ekf_sym import gen_code
  else:
  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx  # pylint: disable=no-name-in-module, import-error
  
  
  i = 0
  
  def _slice(n):
keep keep keep keep replace keep keep keep keep keep
 Update rednose: use EKF_sym_pyx (#24978)

* Update rednose

* Update rednose

* cleanup 
selfdrive/locationd/models/car_kf.py