Global generate_jacobian_femur (gsl_matrix *J, gsl_vector *state_vec, vector< vector< double > > wire_a_points, vector< double > thetas, vector< double > q): If possible, rewrite function to automate equations. ie. form equations based on fem structure & config file and use values on the fly to generate jacobian.

Global generate_jacobian_femur_theta (gsl_matrix *J, gsl_vector *state_vec): If possible, rewrite function to automate equations. ie. form equations based on fem structure & config file and use values on the fly to generate jacobian.

Global generate_jacobian_tib_low_theta (gsl_matrix *J, gsl_vector *state_vec): If possible, rewrite function to automate equations. ie. form equations based on fem structure & config file and use values on the fly to generate jacobian.

Global generate_mes_vec_femur (gsl_vector *mes_vector, femur &fem, int frame_count, int &wire_frame_count, gsl_vector *tot_wire_len, vector< double > &q): find first wire connected to collar from "left", check if it's active or passive. assign

Global load_all_measures (tibia &tib, femur &fem, vector< vector< double > > &frame_refs): Adjust loading data for correct timestamp alignment.. or write a separate function to achieve that