__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 vel_res_update_kernel(T *__restrict__ u_res, T *__restrict__ v_res, T *__restrict__ w_res, const T *__restrict__ ta1, const T *__restrict__ ta2, const T *__restrict__ ta3, const T *__restrict__ f_u, const T *__restrict__ f_v, const T *__restrict__ f_w, const int n)