__global__ void ale_add_kinematics_kernel(const int n, T *__restrict__ wx, T *__restrict__ wy, T *__restrict__ wz, const T *__restrict__ x_ref, const T *__restrict__ y_ref, const T *__restrict__ z_ref, const T *__restrict__ phi, const T *__restrict__ x, const T *__restrict__ y, const T *__restrict__ z, const kinematics_params_t kin_params)
void hip_project_ortho(void *alpha, void *b, void *xx, void *bb, void *w, void *xm, int *j, int *n, real *nrm)
void hip_project_on(void *alpha, void *b, void *xx, void *bb, void *mult, void *xbar, int *j, int *n)