__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)
__global__ void project_ortho_vec_kernel(T *__restrict__ x, const T **xx, T *__restrict__ y, const T **yy, const T *__restrict__ alpha, const int p_cur, const int n)
__global__ void project_on_vec_kernel(T *__restrict__ x, const T **xx, T *__restrict__ y, const T **yy, const T *__restrict__ alpha, const int p_cur, const int n)