From 1fca65977d90cdbe1054183bd70c4fe01d733cba Mon Sep 17 00:00:00 2001 From: Vehicle Researcher Date: Tue, 26 Mar 2019 01:09:18 -0700 Subject: [PATCH] openpilot v0.5.10 release --- .gitignore | 3 +- .travis.yml | 4 +- README.md | 5 +- RELEASES.md | 14 +- SAFETY.md | 33 +- cereal/car.capnp | 2 + cereal/log.capnp | 14 +- common/ffi_wrapper.py | 13 +- common/params.py | 52 +- common/sympy_helpers.py | 81 + common/transformations/camera.py | 34 + common/transformations/model.py | 29 + models/monitoring_model.dlc | Bin 428100 -> 427951 bytes requirements_openpilot.txt | 6 +- selfdrive/athena/__init__.py | 0 selfdrive/athena/athenad.py | 128 + selfdrive/boardd/boardd.cc | 9 + selfdrive/can/common.h | 3 + selfdrive/can/dbc_template.cc | 4 + selfdrive/can/libdbc_py.py | 2 + selfdrive/can/parser.cc | 41 +- selfdrive/can/parser.py | 6 +- selfdrive/can/process_dbc.py | 6 +- selfdrive/car/__init__.py | 36 + selfdrive/car/chrysler/carstate.py | 12 +- selfdrive/car/chrysler/chryslercan_test.py | 1 - selfdrive/car/chrysler/values.py | 2 +- selfdrive/car/ford/carstate.py | 12 +- selfdrive/car/gm/carstate.py | 9 +- selfdrive/car/honda/carcontroller.py | 5 +- selfdrive/car/honda/carstate.py | 8 +- selfdrive/car/honda/hondacan.py | 12 - selfdrive/car/hyundai/carstate.py | 14 +- selfdrive/car/hyundai/interface.py | 4 - selfdrive/car/subaru/__init__.py | 1 + selfdrive/car/subaru/carstate.py | 104 + selfdrive/car/subaru/interface.py | 205 + selfdrive/car/subaru/radar_interface.py | 24 + selfdrive/car/subaru/values.py | 18 + selfdrive/car/toyota/carcontroller.py | 7 +- selfdrive/car/toyota/carstate.py | 14 +- selfdrive/car/toyota/toyotacan.py | 12 - selfdrive/car/toyota/values.py | 19 +- selfdrive/common/version.h | 2 +- selfdrive/controls/controlsd.py | 33 +- selfdrive/controls/lib/alerts.py | 7 + selfdrive/controls/lib/drive_helpers.py | 8 +- selfdrive/controls/lib/fcw.py | 71 + selfdrive/controls/lib/latcontrol.py | 2 + .../controls/lib/lateral_mpc/lateral_mpc.c | 4 +- .../controls/lib/lateral_mpc/lateral_mpc.o | Bin 2328 -> 2456 bytes selfdrive/controls/lib/lateral_mpc/libmpc.so | Bin 532192 -> 532192 bytes .../controls/lib/lateral_mpc/libmpc_py.py | 1 + selfdrive/controls/lib/long_mpc.py | 120 + .../lib/longitudinal_mpc/generator.cpp | 15 +- .../acado_auxiliary_functions.o | Bin 5480 -> 5376 bytes .../lib_mpc_export/acado_common.h | 131 +- .../lib_mpc_export/acado_integrator.c | 385 +- .../lib_mpc_export/acado_integrator.o | Bin 8584 -> 3560 bytes .../acado_qpoases_interface.cpp | 2 +- .../acado_qpoases_interface.hpp | 2 +- .../lib_mpc_export/acado_qpoases_interface.o | Bin 2992 -> 2992 bytes .../lib_mpc_export/acado_solver.c | 7652 ++++++++--------- .../lib_mpc_export/acado_solver.o | Bin 307280 -> 274768 bytes .../lib/longitudinal_mpc/lib_qp/Bounds.o | Bin 8048 -> 8048 bytes .../lib/longitudinal_mpc/lib_qp/Constraints.o | Bin 8112 -> 8112 bytes .../longitudinal_mpc/lib_qp/CyclingManager.o | Bin 2944 -> 2944 bytes .../lib_qp/EXTRAS/SolutionAnalysis.o | Bin 4488 -> 4488 bytes .../lib/longitudinal_mpc/lib_qp/Indexlist.o | Bin 4496 -> 4496 bytes .../lib/longitudinal_mpc/lib_qp/QProblem.o | Bin 72928 -> 72200 bytes .../lib/longitudinal_mpc/lib_qp/QProblemB.o | Bin 37832 -> 37592 bytes .../lib/longitudinal_mpc/lib_qp/SubjectTo.o | Bin 3856 -> 3856 bytes .../controls/lib/longitudinal_mpc/libmpc1.so | Bin 446096 -> 405136 bytes .../lib/longitudinal_mpc/libmpc_py.py | 1 + .../lib/longitudinal_mpc/longitudinal_mpc.c | 72 +- .../lib/longitudinal_mpc/longitudinal_mpc.o | Bin 3976 -> 3136 bytes selfdrive/controls/lib/pathplanner.py | 21 +- selfdrive/controls/lib/planner.py | 256 +- selfdrive/controls/lib/vehicle_model.py | 13 +- selfdrive/controls/plannerd.py | 11 +- selfdrive/controls/radard.py | 26 +- selfdrive/crash.py | 23 + selfdrive/locationd/kalman/__init__.py | 0 selfdrive/locationd/kalman/ekf_c.c | 124 + selfdrive/locationd/kalman/ekf_sym.py | 564 ++ selfdrive/locationd/kalman/kalman_helpers.py | 165 + selfdrive/locationd/kalman/loc_local_kf.py | 128 + selfdrive/locationd/kalman/loc_local_model.py | 80 + selfdrive/locationd/locationd_local.py | 274 + selfdrive/locationd/ublox.py | 9 +- selfdrive/loggerd/loggerd | Bin 1630952 -> 1630952 bytes selfdrive/manager.py | 4 + selfdrive/mapd/default_speeds.json | 1 + selfdrive/mapd/default_speeds_by_region.json | 454 - selfdrive/mapd/default_speeds_generator.py | 18 +- selfdrive/mapd/mapd.py | 33 +- selfdrive/sensord/gpsd | Bin 1171544 -> 1171544 bytes selfdrive/sensord/sensord | Bin 1159016 -> 1159016 bytes selfdrive/test/plant/plant.py | 8 + selfdrive/test/test_fingerprints.py | 68 + .../test/tests/plant/test_longitudinal.py | 31 +- 101 files changed, 6394 insertions(+), 5433 deletions(-) create mode 100644 common/sympy_helpers.py create mode 100644 selfdrive/athena/__init__.py create mode 100755 selfdrive/athena/athenad.py create mode 100644 selfdrive/car/subaru/__init__.py create mode 100644 selfdrive/car/subaru/carstate.py create mode 100644 selfdrive/car/subaru/interface.py create mode 100644 selfdrive/car/subaru/radar_interface.py create mode 100644 selfdrive/car/subaru/values.py create mode 100644 selfdrive/controls/lib/fcw.py create mode 100644 selfdrive/controls/lib/long_mpc.py create mode 100644 selfdrive/locationd/kalman/__init__.py create mode 100644 selfdrive/locationd/kalman/ekf_c.c create mode 100644 selfdrive/locationd/kalman/ekf_sym.py create mode 100644 selfdrive/locationd/kalman/kalman_helpers.py create mode 100755 selfdrive/locationd/kalman/loc_local_kf.py create mode 100644 selfdrive/locationd/kalman/loc_local_model.py create mode 100755 selfdrive/locationd/locationd_local.py delete mode 100644 selfdrive/mapd/default_speeds_by_region.json create mode 100755 selfdrive/test/test_fingerprints.py diff --git a/.gitignore b/.gitignore index ca50a2365..623c45d79 100644 --- a/.gitignore +++ b/.gitignore @@ -25,11 +25,12 @@ clcache board/obj/ selfdrive/boardd/boardd -selfdrive/visiond/visiond selfdrive/logcatd/logcatd +selfdrive/mapd/default_speeds_by_region.json selfdrive/proclogd/proclogd selfdrive/ui/ui selfdrive/test/tests/plant/out +selfdrive/visiond/visiond /src/ one diff --git a/.travis.yml b/.travis.yml index 74411b5de..3dfe33823 100644 --- a/.travis.yml +++ b/.travis.yml @@ -7,6 +7,8 @@ install: - docker build -t tmppilot -f Dockerfile.openpilot . script: - - docker run --rm + - docker run -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py' + - docker run + tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py' diff --git a/README.md b/README.md index b1ed6a1a6..f8052b285 100644 --- a/README.md +++ b/README.md @@ -114,12 +114,11 @@ Community Maintained Cars | Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe | | ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------| | Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Inverted Nidec | -| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph | Custom9| -| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph | Custom9| +| Tesla | Model S 2012-13 | All | Yes | Not yet | Not applicable | 0mph | Custom8| [[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246)
-9Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla)
+8Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla)
Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them. diff --git a/RELEASES.md b/RELEASES.md index ae4c8f14a..ef96e09e5 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,15 @@ +Version 0.5.10 (2019-03-19) +======================== + * Self-tuning vehicle parameters: steering offset, tires stiffness and steering ratio + * Improve longitudinal control at low speed when lead vehicle harshly decelerates + * Fix panda bug going unexpectedly in DCP mode when EON is connected + * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI + * New Driver Monitoring Model + * Support QR codes for login using comma connect + * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required. + Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal. + * Additional speed limit rules for Germany thanks to arne182 + Version 0.5.9 (2019-02-10) ======================== * Improve calibration using a dedicated neural network @@ -8,7 +20,7 @@ Version 0.5.9 (2019-02-10) * Kia Optima support thanks to emmertex! * Buick Regal 2018 support thanks to HOYS! * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma - * Chrysler Pacifica and Jeep Grand Cherokee suppor thanks to adhintz! + * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz! Version 0.5.8 (2019-01-17) ======================== diff --git a/SAFETY.md b/SAFETY.md index a2f77a550..b5800a0d5 100644 --- a/SAFETY.md +++ b/SAFETY.md @@ -89,7 +89,7 @@ GM/Chevrolet and openpilot to 350. This is approximately 0.3g of braking. - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by - openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when + openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by openpilot, so that the commanded steering torque must rise from 0 to max value no faster than 0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's @@ -105,5 +105,34 @@ GM/Chevrolet - GM CAN uses both a counter and a checksum to ensure integrity and prevent replay of the same message. -**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or +Hyundai/Kia (Lateral only) +------ + + - While the system is engaged, steer commands are subject to the same limits used by + the stock system. + + - Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by + openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for + commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by + openpilot, so that the commanded steering torque must rise from 0 to max value no faster than + 0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's + torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the + driver's will. + +Chrysler/Jeep/Fiat (Lateral only) +------ + + - While the system is engaged, steer commands are subject to the same limits used by + the stock system. + + - Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by + openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for + commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by + openpilot, so that the commanded steering torque must rise from 0 to max value no faster than + 0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80 + units above the actual EPS generated motor torque to ensure limited differences between + commanded and actual torques. + + +**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements. diff --git a/cereal/car.capnp b/cereal/car.capnp index fbcbb1065..8fb312867 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -72,6 +72,7 @@ struct CarEvent @0x9b1657f34caf3ad3 { calibrationProgress @47; lowBattery @48; invalidGiraffeHonda @49; + vehicleModelInvalid @50; } } @@ -317,6 +318,7 @@ struct CarParams { hyundai @8; chrysler @9; tesla @10; + subaru @11; } # things about the car in the manual diff --git a/cereal/log.capnp b/cereal/log.capnp index eb6ea7632..3f79deefe 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -419,7 +419,7 @@ struct Live100Data { alertType @44 :Text; alertSound @45 :Text; awarenessStatus @26 :Float32; - angleOffset @27 :Float32; + angleModelBias @27 :Float32; gpsPlannerActive @40 :Bool; engageable @41 :Bool; # can OP be engaged? driverMonitoringOn @43 :Bool; @@ -582,6 +582,9 @@ struct Plan { vCurvature @21 :Float32; decelForTurn @22 :Bool; mapValid @25 :Bool; + radarValid @28 :Bool; + + processingDelay @29 :Float32; struct GpsTrajectory { @@ -608,8 +611,12 @@ struct PathPlan { rPoly @6 :List(Float32); rProb @7 :Float32; - angleSteers @8 :Float32; + angleSteers @8 :Float32; # deg + rateSteers @13 :Float32; # deg/s valid @9 :Bool; + paramsValid @10 :Bool; + modelValid @12 :Bool; + angleOffset @11 :Float32; } struct LiveLocationData { @@ -1602,6 +1609,9 @@ struct LiveParametersData { valid @0 :Bool; gyroBias @1 :Float32; angleOffset @2 :Float32; + angleOffsetAverage @3 :Float32; + stiffnessFactor @4 :Float32; + steerRatio @5 :Float32; } struct LiveMapData { diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py index 65b790a80..fd6b2bf7b 100644 --- a/common/ffi_wrapper.py +++ b/common/ffi_wrapper.py @@ -6,7 +6,11 @@ from cffi import FFI TMPDIR = "/tmp/ccache" -def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]): + +def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=None): + if libraries is None: + libraries = [] + cache = name + "_" + hashlib.sha1(c_code).hexdigest() try: os.mkdir(tmpdir) @@ -28,7 +32,11 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]): return mod.ffi, mod.lib -def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]): + +def compile_code(name, c_code, c_header, directory, cflags="", libraries=None): + if libraries is None: + libraries = [] + ffibuilder = FFI() ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries) ffibuilder.cdef(c_header) @@ -36,6 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]): os.environ['CFLAGS'] = cflags ffibuilder.compile(verbose=True, debug=False, tmpdir=directory) + def wrap_compiled(name, directory): sys.path.append(directory) mod = __import__(name) diff --git a/common/params.py b/common/params.py index de0e7a141..30ebaa060 100755 --- a/common/params.py +++ b/common/params.py @@ -29,6 +29,7 @@ import fcntl import tempfile from enum import Enum + def mkdirs_exists_ok(path): try: os.makedirs(path) @@ -36,52 +37,47 @@ def mkdirs_exists_ok(path): if not os.path.isdir(path): raise + class TxType(Enum): PERSISTENT = 1 CLEAR_ON_MANAGER_START = 2 CLEAR_ON_CAR_START = 3 + class UnknownKeyName(Exception): pass + keys = { -# written: manager -# read: loggerd, uploaderd, offroad - "DongleId": TxType.PERSISTENT, "AccessToken": TxType.PERSISTENT, - "Version": TxType.PERSISTENT, - "TrainingVersion": TxType.PERSISTENT, - "GitCommit": TxType.PERSISTENT, - "GitBranch": TxType.PERSISTENT, - "GitRemote": TxType.PERSISTENT, -# written: baseui -# read: ui, controls - "IsMetric": TxType.PERSISTENT, - "IsFcwEnabled": TxType.PERSISTENT, - "HasAcceptedTerms": TxType.PERSISTENT, - "CompletedTrainingVersion": TxType.PERSISTENT, - "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT, - "IsDriverMonitoringEnabled": TxType.PERSISTENT, - "IsGeofenceEnabled": TxType.PERSISTENT, - "SpeedLimitOffset": TxType.PERSISTENT, -# written: visiond -# read: visiond, controlsd "CalibrationParams": TxType.PERSISTENT, - "ControlsParams": TxType.PERSISTENT, -# written: controlsd -# read: radard "CarParams": TxType.CLEAR_ON_CAR_START, - - "Passive": TxType.PERSISTENT, + "CompletedTrainingVersion": TxType.PERSISTENT, + "ControlsParams": TxType.PERSISTENT, "DoUninstall": TxType.CLEAR_ON_MANAGER_START, - "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START, + "DongleId": TxType.PERSISTENT, + "GitBranch": TxType.PERSISTENT, + "GitCommit": TxType.PERSISTENT, + "GitRemote": TxType.PERSISTENT, + "HasAcceptedTerms": TxType.PERSISTENT, + "IsDriverMonitoringEnabled": TxType.PERSISTENT, + "IsFcwEnabled": TxType.PERSISTENT, + "IsGeofenceEnabled": TxType.PERSISTENT, + "IsMetric": TxType.PERSISTENT, "IsUpdateAvailable": TxType.PERSISTENT, - "LongitudinalControl": TxType.PERSISTENT, + "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT, "LimitSetSpeed": TxType.PERSISTENT, - + "LiveParameters": TxType.PERSISTENT, + "LongitudinalControl": TxType.PERSISTENT, + "Passive": TxType.PERSISTENT, "RecordFront": TxType.PERSISTENT, + "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START, + "SpeedLimitOffset": TxType.PERSISTENT, + "TrainingVersion": TxType.PERSISTENT, + "Version": TxType.PERSISTENT, } + def fsync_dir(path): fd = os.open(path, os.O_RDONLY) try: diff --git a/common/sympy_helpers.py b/common/sympy_helpers.py new file mode 100644 index 000000000..879eb71bb --- /dev/null +++ b/common/sympy_helpers.py @@ -0,0 +1,81 @@ +#!/usr/bin/env python +import sympy as sp +import numpy as np + +def cross(x): + ret = sp.Matrix(np.zeros((3,3))) + ret[0,1], ret[0,2] = -x[2], x[1] + ret[1,0], ret[1,2] = x[2], -x[0] + ret[2,0], ret[2,1] = -x[1], x[0] + return ret + +def euler_rotate(roll, pitch, yaw): + # make symbolic rotation matrix from eulers + matrix_roll = sp.Matrix([[1, 0, 0], + [0, sp.cos(roll), -sp.sin(roll)], + [0, sp.sin(roll), sp.cos(roll)]]) + matrix_pitch = sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)], + [0, 1, 0], + [-sp.sin(pitch), 0, sp.cos(pitch)]]) + matrix_yaw = sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0], + [sp.sin(yaw), sp.cos(yaw), 0], + [0, 0, 1]]) + return matrix_yaw*matrix_pitch*matrix_roll + +def quat_rotate(q0, q1, q2, q3): + # make symbolic rotation matrix from quat + return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 + q0*q3), 2*(q1*q3 - q0*q2)], + [2*(q1*q2 - q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 + q0*q1)], + [2*(q1*q3 + q0*q2), 2*(q2*q3 - q0*q1), q0**2 - q1**2 - q2**2 + q3**2]]).T + +def quat_matrix_l(p): + return sp.Matrix([[p[0], -p[1], -p[2], -p[3]], + [p[1], p[0], -p[3], p[2]], + [p[2], p[3], p[0], -p[1]], + [p[3], -p[2], p[1], p[0]]]) + +def quat_matrix_r(p): + return sp.Matrix([[p[0], -p[1], -p[2], -p[3]], + [p[1], p[0], p[3], -p[2]], + [p[2], -p[3], p[0], p[1]], + [p[3], p[2], -p[1], p[0]]]) + + +def sympy_into_c(sympy_functions): + from sympy.utilities import codegen + routines = [] + for name, expr, args in sympy_functions: + r = codegen.make_routine(name, expr, language="C99") + + # argument ordering input to sympy is broken with function with output arguments + nargs = [] + # reorder the input arguments + for aa in args: + if aa is None: + nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1,1])) + continue + found = False + for a in r.arguments: + if str(aa.name) == str(a.name): + nargs.append(a) + found = True + break + if not found: + # [1,1] is a hack for Matrices + nargs.append(codegen.InputArgument(aa, dimensions=[1,1])) + # add the output arguments + for a in r.arguments: + if type(a) == codegen.OutputArgument: + nargs.append(a) + + #assert len(r.arguments) == len(args)+1 + r.arguments = nargs + + # add routine to list + routines.append(r) + + [(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf") + c_code = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_code.split("\n"))) + c_header = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_header.split("\n"))) + + return c_header, c_code diff --git a/common/transformations/camera.py b/common/transformations/camera.py index 348152d79..42432a7bb 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -112,6 +112,7 @@ def img_from_device(pt_device): return pt_img.reshape(input_shape)[:,:2] +#TODO please use generic img transform below def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics): size = img.shape[:2] rot = orient.rot_from_euler(eulers) @@ -138,3 +139,36 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics): img_warped = cv2.warpPerspective(img, M, size[::-1]) return img_warped[H_border: size[0] - H_border, W_border: size[1] - W_border] + + +def transform_img(base_img, + augment_trans=np.array([0,0,0]), + augment_eulers=np.array([0,0,0]), + from_intr=eon_intrinsics, + to_intr=eon_intrinsics, + calib_rot_view=None, + output_size=None): + cy = from_intr[1,2] + size = base_img.shape[:2] + if not output_size: + output_size = size[::-1] + h = 1.22 + quadrangle = np.array([[0, cy + 20], + [size[1]-1, cy + 20], + [0, size[0]-1], + [size[1]-1, size[0]-1]], dtype=np.float32) + quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1)))) + quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1], + h*np.ones(4), + h/quadrangle_norm[:,1])) + rot = orient.rot_from_euler(augment_eulers) + if calib_rot_view is not None: + rot = calib_rot_view.dot(rot) + to_extrinsics = np.hstack((rot.T, -augment_trans[:,None])) + to_KE = to_intr.dot(to_extrinsics) + warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1))))) + warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2], + warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32) + M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32)) + augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE) + return augmented_rgb diff --git a/common/transformations/model.py b/common/transformations/model.py index 424bd6158..2d41d9ceb 100644 --- a/common/transformations/model.py +++ b/common/transformations/model.py @@ -31,6 +31,18 @@ model_intrinsics = np.array( [ 0. , 0. , 1.]]) +# MED model +MEDMODEL_INPUT_SIZE = (640, 240) +MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2) +MEDMODEL_CY = 47.6 + +medmodel_zoom = 1. +medmodel_intrinsics = np.array( + [[ eon_focal_length / medmodel_zoom, 0. , 0.5 * MEDMODEL_INPUT_SIZE[0]], + [ 0. , eon_focal_length / medmodel_zoom, MEDMODEL_CY], + [ 0. , 0. , 1.]]) + + # BIG model BIGMODEL_INPUT_SIZE = (864, 288) @@ -57,6 +69,9 @@ model_frame_from_road_frame = np.dot(model_intrinsics, bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) +medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics, + get_view_frame_from_road_frame(0, 0, 0, model_height)) + model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics)) # 'camera from model camera' @@ -110,3 +125,17 @@ def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame): camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame) return camera_frame_from_bigmodel_frame + + +def get_model_frame(snu_full, camera_frame_from_model_frame, size): + idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]), + np.tile(np.arange(size[1]), (size[0],1)).T.flatten(), + np.ones(size[0] * size[1])]).T).T.astype(int) + calib_flat = snu_full[idxs[:,1], idxs[:,0]] + if len(snu_full.shape) == 3: + calib = calib_flat.reshape((size[1], size[0], 3)) + elif len(snu_full.shape) == 2: + calib = calib_flat.reshape((size[1], size[0])) + else: + raise ValueError("shape of input img is weird") + return calib diff --git a/models/monitoring_model.dlc b/models/monitoring_model.dlc index de5bdbb1fc97ee51cecd82fdc858340a8fcbcc16..0b9f8060d93d92366e3b1a1b9d3a9aac2e04baed 100644 GIT binary patch literal 427951 zcmZ^K2Ut`~(l$||WCa8SL<}H`Bw?njLBWV9Vn#_4R76m~oX7}D5(9z~6tjXP1*WS} z6hTx_R1}44K*b!u9PppJcfb91?|%Q8=giDG-BtC@bEdA@DE$Q+%Gf$ zri~h__`i3>jS)-3LSghsE31)~BdtbTDJ~BS2n@0KpN0UxG1fNzL4kobcGiBj_KPeX z#st{gIoMeS2HIMU_6rKMw)3|Ze^+$>54;A3Wt(La`bhla6yyDe(m#RzdE?LHe?E`? z6YXt9DG6Eecf|pU${~Ks7X|o@3Rt>YV5t@-sUxY=N5@?!UsBOnQFBFL`0`befukbB z{X!#Fghd4YPnSPC==4z>sHpbmud@mmHEyY2#Mpp<|7cfJ)K*jo3|Td5e8{T5H5e&s z{3Yl!`u`(3SW$bq-&&s)VPPRlLl=uJxcRMh7hn93qM%XIu(NXvhboPHY@mGg`qO6m?fG{WA`If&%>_SA_>gjPeMK 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zsHT~bYt$iwZbhnJ$Chf3;;K7y-^d(p))Hr@xl>NsX@s|Jf$Y9+Ja$Ma^3(GJZAMAkL&}mOv)>Y8K^o!xaDFS=mrO--=d+7^ae1_-K4}>rDs8PMSbm97N zQglv8%GbLx*|$572-FUijePmOsY4{MLPCVJ^L_2j@Pe=gtkY_@W$;Y+45pb zX<5%a)<>xHy*P$3F(rA>GJ*$1ms#s0CXxu%`;xxs7i_Sj8jdKv$Y$tpT?upwSW!v|n=*|r zO?VqCIn;iQrEAvVL05f=iH5S&QKw8QSWwLN5LQx;vD?zS)m+CYAKsR7PHQM^=y!vNRnUB!-6n5t3G>*KwbBJk`A@j9e`g?-=%h~ ze9edyw1`a)v_ag@s?ycYllW%;+l#sF*pNp?kB$U$qX|{v>2mg42?+N$j|klE8{oU$ zcM?zQD{8_&f&Nzh8C4p~8!R}e#G6pX|BG71Jr=PoATWF)+=P2V{<@ZYo$+|9ofW@2 P_&h$Zn7fynJTd(*<6_Me diff --git a/requirements_openpilot.txt b/requirements_openpilot.txt index 8cadf936e..48b2ddb31 100644 --- a/requirements_openpilot.txt +++ b/requirements_openpilot.txt @@ -15,7 +15,7 @@ cffi==1.11.5 contextlib2==0.5.4 crc16==0.1.1 crcmod==1.7 -cryptography==2.1.4 +cryptography==1.4 cycler==0.10.0 decorator==4.0.10 docopt==0.6.2 @@ -24,6 +24,7 @@ evdev==0.6.1 fastcluster==1.1.20 filterpy==1.2.4 ipaddress==1.0.16 +json-rpc==1.12.1 libusb1==1.5.0 lmdb==0.92 mpmath==1.0.0 @@ -31,7 +32,7 @@ nose==1.3.7 numpy==1.11.1 pause==0.1.2 py==1.4.31 -pyOpenSSL==17.5.0 +pyOpenSSL==16.0.0 pyasn1-modules==0.0.8 pyasn1==0.1.9 pycapnp==0.6.3 @@ -64,3 +65,4 @@ sympy==1.1.1 tqdm==4.23.1 ujson==1.35 v4l2==0.2 +websocket_client==0.55.0 diff --git a/selfdrive/athena/__init__.py b/selfdrive/athena/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py new file mode 100755 index 000000000..f6f9ef231 --- /dev/null +++ b/selfdrive/athena/athenad.py @@ -0,0 +1,128 @@ +#!/usr/bin/env python2.7 +import json +import os +import random +import time +import threading +import traceback +import zmq +import Queue +from jsonrpc import JSONRPCResponseManager, dispatcher +from websocket import create_connection, WebSocketTimeoutException + +import selfdrive.crash as crash +import selfdrive.messaging as messaging +from common.params import Params +from selfdrive.services import service_list +from selfdrive.swaglog import cloudlog +from selfdrive.version import version, dirty + +ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') +HANDLER_THREADS = os.getenv('HANDLER_THREADS', 4) + +dispatcher["echo"] = lambda s: s +payload_queue = Queue.Queue() +response_queue = Queue.Queue() + +def handle_long_poll(ws): + end_event = threading.Event() + + threads = [ + threading.Thread(target=ws_recv, args=(ws, end_event)), + threading.Thread(target=ws_send, args=(ws, end_event)) + ] + [ + threading.Thread(target=jsonrpc_handler, args=(end_event,)) + for x in xrange(HANDLER_THREADS) + ] + + map(lambda thread: thread.start(), threads) + try: + while not end_event.is_set(): + time.sleep(0.1) + except (KeyboardInterrupt, SystemExit): + end_event.set() + raise + finally: + for i, thread in enumerate(threads): + thread.join() + +def jsonrpc_handler(end_event): + while not end_event.is_set(): + try: + data = payload_queue.get(timeout=1) + response = JSONRPCResponseManager.handle(data, dispatcher) + response_queue.put_nowait(response) + except Queue.Empty: + pass + except Exception as e: + cloudlog.exception("athena jsonrpc handler failed") + traceback.print_exc() + response_queue.put_nowait(json.dumps({"error": str(e)})) + +# security: user should be able to request any message from their car +# TODO: add service to, for example, start visiond and take a picture +@dispatcher.add_method +def getMessage(service=None, timeout=1000): + context = zmq.Context() + if service is None or service not in service_list: + raise Exception("invalid service") + socket = messaging.sub_sock(context, service_list[service].port) + socket.setsockopt(zmq.RCVTIMEO, timeout) + ret = messaging.recv_one(socket) + return ret.to_dict() + +def ws_recv(ws, end_event): + while not end_event.is_set(): + try: + data = ws.recv() + payload_queue.put_nowait(data) + except WebSocketTimeoutException: + pass + except Exception: + traceback.print_exc() + end_event.set() + +def ws_send(ws, end_event): + while not end_event.is_set(): + try: + response = response_queue.get(timeout=1) + ws.send(response.json) + except Queue.Empty: + pass + except Exception: + traceback.print_exc() + end_event.set() + +def backoff(retries): + return random.randrange(0, min(128, int(2 ** retries))) + +def main(gctx=None): + params = Params() + dongle_id = params.get("DongleId") + access_token = params.get("AccessToken") + ws_uri = ATHENA_HOST + "/ws/" + dongle_id + + crash.bind_user(id=dongle_id) + crash.bind_extra(version=version, dirty=dirty, is_eon=True) + crash.install() + + conn_retries = 0 + while 1: + try: + print("connecting to %s" % ws_uri) + ws = create_connection(ws_uri, + cookie="jwt=" + access_token, + enable_multithread=True) + ws.settimeout(1) + conn_retries = 0 + handle_long_poll(ws) + except (KeyboardInterrupt, SystemExit): + break + except Exception: + conn_retries += 1 + traceback.print_exc() + + time.sleep(backoff(conn_retries)) + +if __name__ == "__main__": + main() diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 74b1f4c5d..dd89d4d6d 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -42,6 +42,7 @@ #define SAFETY_HYUNDAI 7 #define SAFETY_TESLA 8 #define SAFETY_CHRYSLER 9 +#define SAFETY_SUBARU 10 #define SAFETY_TOYOTA_IPAS 0x1335 #define SAFETY_TOYOTA_NOLIMITS 0x1336 #define SAFETY_ALLOUTPUT 0x1337 @@ -124,6 +125,9 @@ void *safety_setter_thread(void *s) { case (int)cereal::CarParams::SafetyModels::CHRYSLER: safety_setting = SAFETY_CHRYSLER; break; + case (int)cereal::CarParams::SafetyModels::SUBARU: + safety_setting = SAFETY_SUBARU; + break; default: LOGE("unknown safety model: %d", safety_model); } @@ -331,6 +335,11 @@ void can_send(void *s) { capnp::FlatArrayMessageReader cmsg(amsg); cereal::Event::Reader event = cmsg.getRoot(); + if (nanos_since_boot() - event.getLogMonoTime() > 1e9) { + //Older than 1 second. Dont send. + zmq_msg_close(&msg); + return; + } int msg_count = event.getCan().size(); uint32_t *send = (uint32_t*)malloc(msg_count*0x10); diff --git a/selfdrive/can/common.h b/selfdrive/can/common.h index f8d07ae68..4f0972284 100644 --- a/selfdrive/can/common.h +++ b/selfdrive/can/common.h @@ -10,6 +10,7 @@ unsigned int honda_checksum(unsigned int address, uint64_t d, int l); unsigned int toyota_checksum(unsigned int address, uint64_t d, int l); +unsigned int pedal_checksum(unsigned int address, uint64_t d, int l); struct SignalPackValue { const char* name; @@ -41,6 +42,8 @@ enum SignalType { HONDA_CHECKSUM, HONDA_COUNTER, TOYOTA_CHECKSUM, + PEDAL_CHECKSUM, + PEDAL_COUNTER, }; struct Signal { diff --git a/selfdrive/can/dbc_template.cc b/selfdrive/can/dbc_template.cc index 2d4fb9570..776403b22 100644 --- a/selfdrive/can/dbc_template.cc +++ b/selfdrive/can/dbc_template.cc @@ -27,6 +27,10 @@ const Signal sigs_{{address}}[] = { .type = SignalType::HONDA_COUNTER, {% elif checksum_type == "toyota" and sig.name == "CHECKSUM" %} .type = SignalType::TOYOTA_CHECKSUM, + {% elif address in [512, 513] and sig.name == "CHECKSUM_PEDAL" %} + .type = SignalType::PEDAL_CHECKSUM, + {% elif address in [512, 513] and sig.name == "COUNTER_PEDAL" %} + .type = SignalType::PEDAL_COUNTER, {% else %} .type = SignalType::DEFAULT, {% endif %} diff --git a/selfdrive/can/libdbc_py.py b/selfdrive/can/libdbc_py.py index 09f5e5121..cf712cf63 100644 --- a/selfdrive/can/libdbc_py.py +++ b/selfdrive/can/libdbc_py.py @@ -39,6 +39,8 @@ typedef enum { HONDA_CHECKSUM, HONDA_COUNTER, TOYOTA_CHECKSUM, + PEDAL_CHECKSUM, + PEDAL_COUNTER, } SignalType; typedef struct { diff --git a/selfdrive/can/parser.cc b/selfdrive/can/parser.cc index 7bb4ef26f..b6845b47d 100644 --- a/selfdrive/can/parser.cc +++ b/selfdrive/can/parser.cc @@ -51,6 +51,30 @@ unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) { return s & 0xFF; } +unsigned int pedal_checksum(unsigned int address, uint64_t d, int l) { + uint8_t crc = 0xFF; + uint8_t poly = 0xD5; // standard crc8 + + d >>= ((8-l)*8); // remove padding + d >>= 8; // remove checksum + + uint8_t *dat = (uint8_t *)&d; + + int i, j; + for (i = 0; i < l - 1; i++) { + crc ^= dat[i]; + for (j = 0; j < 8; j++) { + if ((crc & 0x80) != 0) { + crc = (uint8_t)((crc << 1) ^ poly); + } + else { + crc <<= 1; + } + } + } + return crc; +} + namespace { uint64_t read_u64_be(const uint8_t* v) { @@ -113,16 +137,23 @@ struct MessageState { return false; } } else if (sig.type == SignalType::HONDA_COUNTER) { - if (!honda_update_counter(tmp)) { + if (!update_counter_generic(tmp, sig.b2)) { return false; } } else if (sig.type == SignalType::TOYOTA_CHECKSUM) { - // INFO("CHECKSUM %d %d %018llX - %lld vs %d\n", address, size, dat, tmp, toyota_checksum(address, dat, size)); - if (toyota_checksum(address, dat, size) != tmp) { INFO("%X CHECKSUM FAIL\n", address); return false; } + } else if (sig.type == SignalType::PEDAL_CHECKSUM) { + if (pedal_checksum(address, dat, size) != tmp) { + INFO("%X PEDAL CHECKSUM FAIL\n", address); + return false; + } + } else if (sig.type == SignalType::PEDAL_COUNTER) { + if (!update_counter_generic(tmp, sig.b2)) { + return false; + } } vals[i] = tmp * sig.factor + sig.offset; @@ -134,10 +165,10 @@ struct MessageState { } - bool honda_update_counter(int64_t v) { + bool update_counter_generic(int64_t v, int cnt_size) { uint8_t old_counter = counter; counter = v; - if (((old_counter+1) & 3) != v) { + if (((old_counter+1) & ((1 << cnt_size) -1)) != v) { counter_fail += 1; if (counter_fail > 1) { INFO("%X COUNTER FAIL %d -- %d vs %d\n", address, counter_fail, old_counter, (int)v); diff --git a/selfdrive/can/parser.py b/selfdrive/can/parser.py index 165673cea..8960953ed 100644 --- a/selfdrive/can/parser.py +++ b/selfdrive/can/parser.py @@ -4,8 +4,12 @@ import numbers from selfdrive.can.libdbc_py import libdbc, ffi + class CANParser(object): - def __init__(self, dbc_name, signals, checks=[], bus=0, sendcan=False, tcp_addr="127.0.0.1"): + def __init__(self, dbc_name, signals, checks=None, bus=0, sendcan=False, tcp_addr="127.0.0.1"): + if checks is None: + checks = [] + self.can_valid = True self.vl = defaultdict(dict) self.ts = defaultdict(dict) diff --git a/selfdrive/can/process_dbc.py b/selfdrive/can/process_dbc.py index 331e0a313..810947c8e 100755 --- a/selfdrive/can/process_dbc.py +++ b/selfdrive/can/process_dbc.py @@ -50,7 +50,11 @@ for address, msg_name, msg_size, sigs in msgs: sys.exit("COUNTER is not 2 bits longs %s" % msg_name) if sig.start_bit % 8 != 5: sys.exit("COUNTER starts at wrong bit %s" % msg_name) - + if address in [0x200, 0x201]: + if sig.name == "COUNTER_PEDAL" and sig.size != 4: + sys.exit("PEDAL COUNTER is not 4 bits longs %s" % msg_name) + if sig.name == "CHECKSUM_PEDAL" and sig.size != 8: + sys.exit("PEDAL CHECKSUM is not 8 bits longs %s" % msg_name) # Fail on duplicate message names c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs]) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index f5c30921a..255b20806 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -45,3 +45,39 @@ def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torq min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP)) return int(round(apply_torque)) + + +def crc8_pedal(data): + crc = 0xFF # standard init value + poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 + size = len(data) + for i in range(size-1, -1, -1): + crc ^= data[i] + for j in range(8): + if ((crc & 0x80) != 0): + crc = ((crc << 1) ^ poly) & 0xFF + else: + crc <<= 1 + return crc + + +def create_gas_command(packer, gas_amount, idx): + # Common gas pedal msg generator + enable = gas_amount > 0.001 + + values = { + "ENABLE": enable, + "COUNTER_PEDAL": idx & 0xF, + } + + if enable: + values["GAS_COMMAND"] = gas_amount * 255. + values["GAS_COMMAND2"] = gas_amount * 255. + + dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2] + + dat = [ord(i) for i in dat] + checksum = crc8_pedal(dat[:-1]) + values["CHECKSUM_PEDAL"] = checksum + + return packer.make_can_msg("GAS_COMMAND", 0, values) diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 72f602d9a..a6344027d 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -111,17 +111,17 @@ class CarState(object): self.v_wheel_rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR'] self.v_wheel_rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL'] self.v_wheel_fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR'] - self.v_wheel = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2. + v_wheel = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2. # Kalman filter - if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_x = np.matrix([[self.v_wheel], [0.0]]) + if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed + self.v_ego_kf.x = np.matrix([[v_wheel], [0.0]]) - self.v_ego_raw = self.v_wheel - v_ego_x = self.v_ego_kf.update(self.v_wheel) + self.v_ego_raw = v_wheel + v_ego_x = self.v_ego_kf.update(v_wheel) self.v_ego = float(v_ego_x[0]) self.a_ego = float(v_ego_x[1]) - self.standstill = not self.v_wheel > 0.001 + self.standstill = not v_wheel > 0.001 self.angle_steers = cp.vl["STEERING"]['STEER_ANGLE'] self.angle_steers_rate = cp.vl["STEERING"]['STEERING_RATE'] diff --git a/selfdrive/car/chrysler/chryslercan_test.py b/selfdrive/car/chrysler/chryslercan_test.py index 85a849661..2edfff9f2 100644 --- a/selfdrive/car/chrysler/chryslercan_test.py +++ b/selfdrive/car/chrysler/chryslercan_test.py @@ -1,6 +1,5 @@ import chryslercan from values import CAR -from carcontroller import CarController from selfdrive.can.packer import CANPacker from cereal import car diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 703ba6a51..6e3a24b8f 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -34,7 +34,7 @@ FINGERPRINTS = { {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770:8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8}, # Based on 0607d2516fc2148f|2019-02-13--23-03-16 { - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8 + 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1537: 8 } ], CAR.JEEP_CHEROKEE: [ diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index c860cfdee..5a8f1f142 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -65,17 +65,17 @@ class CarState(object): self.v_wheel_fr = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS self.v_wheel_rl = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS self.v_wheel_rr = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS - self.v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])) + v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])) # Kalman filter - if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_x = np.matrix([[self.v_wheel], [0.0]]) + if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed + self.v_ego_kf.x = np.matrix([[v_wheel], [0.0]]) - self.v_ego_raw = self.v_wheel - v_ego_x = self.v_ego_kf.update(self.v_wheel) + self.v_ego_raw = v_wheel + v_ego_x = self.v_ego_kf.update(v_wheel) self.v_ego = float(v_ego_x[0]) self.a_ego = float(v_ego_x[1]) - self.standstill = not self.v_wheel > 0.001 + self.standstill = not v_wheel > 0.001 self.angle_steers = cp.vl["Steering_Wheel_Data_CG1"]['SteWhlRelInit_An_Sns'] self.v_cruise_pcm = cp.vl["Cruise_Status"]['Set_Speed'] * CV.MPH_TO_MS diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index d5fa975de..ae97a38b9 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -79,10 +79,13 @@ class CarState(object): self.v_wheel_fr = pt_cp.vl["EBCMWheelSpdFront"]['FRWheelSpd'] * CV.KPH_TO_MS self.v_wheel_rl = pt_cp.vl["EBCMWheelSpdRear"]['RLWheelSpd'] * CV.KPH_TO_MS self.v_wheel_rr = pt_cp.vl["EBCMWheelSpdRear"]['RRWheelSpd'] * CV.KPH_TO_MS - speed_estimate = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])) + v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])) - self.v_ego_raw = speed_estimate - v_ego_x = self.v_ego_kf.update(speed_estimate) + if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed + self.v_ego_kf.x = [[v_wheel], [0.0]] + + self.v_ego_raw = v_wheel + v_ego_x = self.v_ego_kf.update(v_wheel) self.v_ego = float(v_ego_x[0]) self.a_ego = float(v_ego_x[1]) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index f87f56e49..08c0235fd 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -3,6 +3,7 @@ from common.realtime import sec_since_boot from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.controls.lib.drive_helpers import rate_limit from common.numpy_fast import clip +from selfdrive.car import create_gas_command from selfdrive.car.honda import hondacan from selfdrive.car.honda.values import AH, CruiseButtons, CAR from selfdrive.can.packer import CANPacker @@ -170,7 +171,7 @@ class CarController(object): else: # Send gas and brake commands. if (frame % 2) == 0: - idx = (frame / 2) % 4 + idx = frame / 2 pump_on, self.last_pump_ts = brake_pump_hysteresys(apply_brake, self.apply_brake_last, self.last_pump_ts) can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx)) @@ -179,6 +180,6 @@ class CarController(object): if CS.CP.enableGasInterceptor: # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas. # This prevents unexpected pedal range rescaling - can_sends.append(hondacan.create_gas_command(self.packer, apply_gas, idx)) + can_sends.append(create_gas_command(self.packer, apply_gas, idx)) sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes()) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 00aa358d8..f4c7cade8 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -215,15 +215,15 @@ class CarState(object): self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS * speed_factor self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS * speed_factor self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS * speed_factor - self.v_wheel = (self.v_wheel_fl+self.v_wheel_fr+self.v_wheel_rl+self.v_wheel_rr)/4. + v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr)/4. # blend in transmission speed at low speed, since it has more low speed accuracy - self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v) + self.v_weight = interp(v_wheel, v_weight_bp, v_weight_v) speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS * speed_factor + \ - self.v_weight * self.v_wheel + self.v_weight * v_wheel if abs(speed - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_x = [[speed], [0.0]] + self.v_ego_kf.x = [[speed], [0.0]] self.v_ego_raw = speed v_ego_x = self.v_ego_kf.update(speed) diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 3d92d24a7..435360d65 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -41,18 +41,6 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_ return packer.make_can_msg("BRAKE_COMMAND", 0, values, idx) -def create_gas_command(packer, gas_amount, idx): - enable = gas_amount > 0.001 - - values = {"ENABLE": enable} - - if enable: - values["GAS_COMMAND"] = gas_amount * 255. - values["GAS_COMMAND2"] = gas_amount * 255. - - return packer.make_can_msg("GAS_COMMAND", 0, values, idx) - - def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx): values = { "STEER_TORQUE": apply_steer if lkas_active else 0, diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 3b423ae04..bd3e63740 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -167,22 +167,22 @@ class CarState(object): self.v_wheel_fr = cp.vl["WHL_SPD11"]['WHL_SPD_FR'] * CV.KPH_TO_MS self.v_wheel_rl = cp.vl["WHL_SPD11"]['WHL_SPD_RL'] * CV.KPH_TO_MS self.v_wheel_rr = cp.vl["WHL_SPD11"]['WHL_SPD_RR'] * CV.KPH_TO_MS - self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4. + v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4. - self.low_speed_lockout = self.v_wheel < 1.0 + self.low_speed_lockout = v_wheel < 1.0 # Kalman filter, even though Hyundai raw wheel speed is heaviliy filtered by default - if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_x = np.matrix([[self.v_wheel], [0.0]]) + if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed + self.v_ego_kf.x = np.matrix([[v_wheel], [0.0]]) - self.v_ego_raw = self.v_wheel - v_ego_x = self.v_ego_kf.update(self.v_wheel) + self.v_ego_raw = v_wheel + v_ego_x = self.v_ego_kf.update(v_wheel) self.v_ego = float(v_ego_x[0]) self.a_ego = float(v_ego_x[1]) is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"]) speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS self.cruise_set_speed = cp.vl["SCC11"]['VSetDis'] * speed_conv - self.standstill = not self.v_wheel > 0.1 + self.standstill = not v_wheel > 0.1 self.angle_steers = cp.vl["SAS11"]['SAS_Angle'] self.angle_steers_rate = cp.vl["SAS11"]['SAS_Speed'] diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index a854eebbc..d7fc2bd39 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -87,7 +87,6 @@ class CarInterface(object): ret.minSteerSpeed = 0. elif candidate == CAR.KIA_SORENTO: ret.steerKf = 0.00005 - ret.steerRateCost = 0.5 ret.mass = 1985 + std_cargo ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable @@ -96,7 +95,6 @@ class CarInterface(object): ret.minSteerSpeed = 0. elif candidate == CAR.ELANTRA: ret.steerKf = 0.00006 - ret.steerRateCost = 0.5 ret.mass = 1275 + std_cargo ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec @@ -106,7 +104,6 @@ class CarInterface(object): ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.GENESIS: ret.steerKf = 0.00005 - ret.steerRateCost = 0.5 ret.mass = 2060 + std_cargo ret.wheelbase = 3.01 ret.steerRatio = 16.5 @@ -123,7 +120,6 @@ class CarInterface(object): ret.steerKpV, ret.steerKiV = [[0.25], [0.05]] elif candidate == CAR.KIA_STINGER: ret.steerKf = 0.00005 - ret.steerRateCost = 0.5 ret.mass = 1825 + std_cargo ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable diff --git a/selfdrive/car/subaru/__init__.py b/selfdrive/car/subaru/__init__.py new file mode 100644 index 000000000..8b1378917 --- /dev/null +++ b/selfdrive/car/subaru/__init__.py @@ -0,0 +1 @@ + diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py new file mode 100644 index 000000000..e12f5f957 --- /dev/null +++ b/selfdrive/car/subaru/carstate.py @@ -0,0 +1,104 @@ +import numpy as np +from common.kalman.simple_kalman import KF1D +from selfdrive.config import Conversions as CV +from selfdrive.can.parser import CANParser +from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD + +def get_powertrain_can_parser(CP): + # this function generates lists for signal, messages and initial values + signals = [ + # sig_name, sig_address, default + ("Steer_Torque_Sensor", "Steering_Torque", 0), + ("Steering_Angle", "Steering_Torque", 0), + ("Cruise_On", "CruiseControl", 0), + ("Cruise_Activated", "CruiseControl", 0), + ("Brake_Pedal", "Brake_Pedal", 0), + ("Throttle_Pedal", "Throttle", 0), + ("LEFT_BLINKER", "Dashlights", 0), + ("RIGHT_BLINKER", "Dashlights", 0), + ("SEATBELT_FL", "Dashlights", 0), + ("FL", "Wheel_Speeds", 0), + ("FR", "Wheel_Speeds", 0), + ("RL", "Wheel_Speeds", 0), + ("RR", "Wheel_Speeds", 0), + ("DOOR_OPEN_FR", "BodyInfo", 1), + ("DOOR_OPEN_FL", "BodyInfo", 1), + ("DOOR_OPEN_RR", "BodyInfo", 1), + ("DOOR_OPEN_RL", "BodyInfo", 1), + ] + + checks = [ + # sig_address, frequency + ("Dashlights", 10), + ("CruiseControl", 20), + ("Wheel_Speeds", 50), + ("Steering_Torque", 100), + ("BodyInfo", 10), + ] + + return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0) + +class CarState(object): + def __init__(self, CP): + # initialize can parser + self.CP = CP + + self.car_fingerprint = CP.carFingerprint + self.left_blinker_on = False + self.prev_left_blinker_on = False + self.right_blinker_on = False + self.prev_right_blinker_on = False + self.steer_torque_driver = 0 + self.steer_not_allowed = False + self.main_on = False + + # vEgo kalman filter + dt = 0.01 + self.v_ego_kf = KF1D(x0=np.matrix([[0.], [0.]]), + A=np.matrix([[1., dt], [0., 1.]]), + C=np.matrix([1., 0.]), + K=np.matrix([[0.12287673], [0.29666309]])) + self.v_ego = 0. + + def update(self, cp): + + self.can_valid = True + self.pedal_gas = cp.vl["Throttle"]['Throttle_Pedal'] + self.brake_pressure = cp.vl["Brake_Pedal"]['Brake_Pedal'] + self.user_gas_pressed = self.pedal_gas > 0 + self.brake_pressed = self.brake_pressure > 0 + self.brake_lights = bool(self.brake_pressed) + + self.v_wheel_fl = cp.vl["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS + self.v_wheel_fr = cp.vl["Wheel_Speeds"]['FR'] * CV.KPH_TO_MS + self.v_wheel_rl = cp.vl["Wheel_Speeds"]['RL'] * CV.KPH_TO_MS + self.v_wheel_rr = cp.vl["Wheel_Speeds"]['RR'] * CV.KPH_TO_MS + + v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4. + # Kalman filter, even though Hyundai raw wheel speed is heaviliy filtered by default + if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed + self.v_ego_kf.x = np.matrix([[v_wheel], [0.0]]) + + self.v_ego_raw = v_wheel + v_ego_x = self.v_ego_kf.update(v_wheel) + + self.v_ego = float(v_ego_x[0]) + self.a_ego = float(v_ego_x[1]) + self.standstill = self.v_ego_raw < 0.01 + + self.prev_left_blinker_on = self.left_blinker_on + self.prev_right_blinker_on = self.right_blinker_on + self.left_blinker_on = cp.vl["Dashlights"]['LEFT_BLINKER'] == 1 + self.right_blinker_on = cp.vl["Dashlights"]['RIGHT_BLINKER'] == 1 + self.seatbelt_unlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1 + self.steer_torque_driver = cp.vl["Steering_Torque"]['Steer_Torque_Sensor'] + self.acc_active = cp.vl["CruiseControl"]['Cruise_Activated'] + self.main_on = cp.vl["CruiseControl"]['Cruise_On'] + self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.car_fingerprint] + self.angle_steers = cp.vl["Steering_Torque"]['Steering_Angle'] + self.door_open = any([cp.vl["BodyInfo"]['DOOR_OPEN_RR'], + cp.vl["BodyInfo"]['DOOR_OPEN_RL'], + cp.vl["BodyInfo"]['DOOR_OPEN_FR'], + cp.vl["BodyInfo"]['DOOR_OPEN_FL']]) + + diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py new file mode 100644 index 000000000..93a1ac62b --- /dev/null +++ b/selfdrive/car/subaru/interface.py @@ -0,0 +1,205 @@ +#!/usr/bin/env python +from cereal import car +from common.realtime import sec_since_boot +from selfdrive.config import Conversions as CV +from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET +from selfdrive.controls.lib.vehicle_model import VehicleModel +from selfdrive.car.subaru.values import CAR +from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser + +try: + from selfdrive.car.subaru.carcontroller import CarController +except ImportError: + CarController = None + + +class CarInterface(object): + def __init__(self, CP, sendcan=None): + self.CP = CP + + self.frame = 0 + self.can_invalid_count = 0 + self.acc_active_prev = 0 + + # *** init the major players *** + self.CS = CarState(CP) + self.VM = VehicleModel(CP) + self.pt_cp = get_powertrain_can_parser(CP) + + # sending if read only is False + if sendcan is not None: + self.sendcan = sendcan + self.CC = CarController(CP.carFingerprint) + + @staticmethod + def compute_gb(accel, speed): + return float(accel) / 4.0 + + @staticmethod + def calc_accel_override(a_ego, a_target, v_ego, v_target): + return 1.0 + + @staticmethod + def get_params(candidate, fingerprint): + ret = car.CarParams.new_message() + + ret.carName = "subaru" + ret.carFingerprint = candidate + ret.safetyModel = car.CarParams.SafetyModels.subaru + + ret.enableCruise = False + ret.steerLimitAlert = True + ret.enableCamera = True + + std_cargo = 136 + ret.steerRateCost = 0.7 + + if candidate in [CAR.IMPREZA]: + ret.mass = 1568 + std_cargo + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 15 + tire_stiffness_factor = 1.0 + ret.steerActuatorDelay = 0.4 # end-to-end angle controller + ret.steerKf = 0.00005 + ret.steerKiBP, ret.steerKpBP = [[0., 20.], [0., 20.]] + ret.steerKpV, ret.steerKiV = [[0.2, 0.3], [0.02, 0.03]] + ret.steerMaxBP = [0.] # m/s + ret.steerMaxV = [1.] + + ret.steerControlType = car.CarParams.SteerControlType.torque + ret.steerRatioRear = 0. + # testing tuning + + # No long control in subaru + ret.gasMaxBP = [0.] + ret.gasMaxV = [0.] + ret.brakeMaxBP = [0.] + ret.brakeMaxV = [0.] + ret.longPidDeadzoneBP = [0.] + ret.longPidDeadzoneV = [0.] + ret.longitudinalKpBP = [0.] + ret.longitudinalKpV = [0.] + ret.longitudinalKiBP = [0.] + ret.longitudinalKiV = [0.] + + # end from gm + + # hardcoding honda civic 2016 touring params so they can be used to + # scale unknown params for other cars + mass_civic = 2923./2.205 + std_cargo + wheelbase_civic = 2.70 + centerToFront_civic = wheelbase_civic * 0.4 + centerToRear_civic = wheelbase_civic - centerToFront_civic + rotationalInertia_civic = 2500 + tireStiffnessFront_civic = 192150 + tireStiffnessRear_civic = 202500 + centerToRear = ret.wheelbase - ret.centerToFront + + # TODO: get actual value, for now starting with reasonable value for + # civic and scaling by mass and wheelbase + ret.rotationalInertia = rotationalInertia_civic * \ + ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) + + # TODO: start from empirically derived lateral slip stiffness for the civic and scale by + # mass and CG position, so all cars will have approximately similar dyn behaviors + ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \ + ret.mass / mass_civic * \ + (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) + ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \ + ret.mass / mass_civic * \ + (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) + + return ret + + # returns a car.CarState + def update(self, c): + + self.pt_cp.update(int(sec_since_boot() * 1e9), False) + self.CS.update(self.pt_cp) + + # create message + ret = car.CarState.new_message() + + # speeds + ret.vEgo = self.CS.v_ego + ret.aEgo = self.CS.a_ego + ret.vEgoRaw = self.CS.v_ego_raw + ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego) + ret.standstill = self.CS.standstill + ret.wheelSpeeds.fl = self.CS.v_wheel_fl + ret.wheelSpeeds.fr = self.CS.v_wheel_fr + ret.wheelSpeeds.rl = self.CS.v_wheel_rl + ret.wheelSpeeds.rr = self.CS.v_wheel_rr + + # steering wheel + ret.steeringAngle = self.CS.angle_steers + + # torque and user override. Driver awareness + # timer resets when the user uses the steering wheel. + ret.steeringPressed = self.CS.steer_override + ret.steeringTorque = self.CS.steer_torque_driver + + # cruise state + ret.cruiseState.available = bool(self.CS.main_on) + ret.leftBlinker = self.CS.left_blinker_on + ret.rightBlinker = self.CS.right_blinker_on + ret.seatbeltUnlatched = self.CS.seatbelt_unlatched + + buttonEvents = [] + + # blinkers + if self.CS.left_blinker_on != self.CS.prev_left_blinker_on: + be = car.CarState.ButtonEvent.new_message() + be.type = 'leftBlinker' + be.pressed = self.CS.left_blinker_on + buttonEvents.append(be) + + if self.CS.right_blinker_on != self.CS.prev_right_blinker_on: + be = car.CarState.ButtonEvent.new_message() + be.type = 'rightBlinker' + be.pressed = self.CS.right_blinker_on + buttonEvents.append(be) + + be = car.CarState.ButtonEvent.new_message() + be.type = 'accelCruise' + buttonEvents.append(be) + + + events = [] + if not self.CS.can_valid: + self.can_invalid_count += 1 + if self.can_invalid_count >= 5: + events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) + else: + self.can_invalid_count = 0 + + if ret.seatbeltUnlatched: + events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE])) + + if self.CS.acc_active and not self.acc_active_prev: + events.append(create_event('pcmEnable', [ET.ENABLE])) + if not self.CS.acc_active: + events.append(create_event('pcmDisable', [ET.USER_DISABLE])) + + ## handle button presses + #for b in ret.buttonEvents: + # # do enable on both accel and decel buttons + # if b.type in ["accelCruise", "decelCruise"] and not b.pressed: + # events.append(create_event('buttonEnable', [ET.ENABLE])) + # # do disable on button down + # if b.type == "cancel" and b.pressed: + # events.append(create_event('buttonCancel', [ET.USER_DISABLE])) + + ret.events = events + + # update previous brake/gas pressed + self.acc_active_prev = self.CS.acc_active + + + # cast to reader so it can't be modified + return ret.as_reader() + + def apply(self, c): + self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators) + self.frame += 1 diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py new file mode 100644 index 000000000..96159fd87 --- /dev/null +++ b/selfdrive/car/subaru/radar_interface.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python +from cereal import car +import time + + +class RadarInterface(object): + def __init__(self, CP): + # radar + self.pts = {} + self.delay = 0.1 + + def update(self): + + ret = car.RadarState.new_message() + time.sleep(0.05) # radard runs on RI updates + + return ret + +if __name__ == "__main__": + RI = RadarInterface(None) + while 1: + ret = RI.update() + print(chr(27) + "[2J") + print ret diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py new file mode 100644 index 000000000..18b892956 --- /dev/null +++ b/selfdrive/car/subaru/values.py @@ -0,0 +1,18 @@ +from selfdrive.car import dbc_dict + +class CAR: + IMPREZA = "SUBARU IMPREZA LIMITED 2019" + +FINGERPRINTS = { + CAR.IMPREZA: [{ + 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8 + }], +} + +STEER_THRESHOLD = { + CAR.IMPREZA: 80, +} + +DBC = { + CAR.IMPREZA: dbc_dict('subaru_global_2017', None), +} diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 8c1ed1192..cdd1bde51 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -2,10 +2,11 @@ from cereal import car from common.numpy_fast import clip, interp from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.car import apply_toyota_steer_torque_limits +from selfdrive.car import create_gas_command from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\ create_steer_command, create_ui_command, \ create_ipas_steer_command, create_accel_command, \ - create_fcw_command, create_gas_command + create_fcw_command from selfdrive.car.toyota.values import ECU, STATIC_MSGS from selfdrive.can.packer import CANPacker @@ -222,10 +223,10 @@ class CarController(object): else: can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead)) - if CS.CP.enableGasInterceptor: + if (frame % 2 == 0) and (CS.CP.enableGasInterceptor): # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas. # This prevents unexpected pedal range rescaling - can_sends.append(create_gas_command(self.packer, apply_gas)) + can_sends.append(create_gas_command(self.packer, apply_gas, frame/2)) if frame % 10 == 0 and ECU.CAM in self.fake_ecus and not forwarding_camera: for addr in TARGET_IDS: diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index bb3b3f052..02debc47b 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -62,7 +62,7 @@ def get_can_parser(CP): if CP.carFingerprint == CAR.PRIUS: signals += [("STATE", "AUTOPARK_STATUS", 0)] - + # add gas interceptor reading if we are using it if CP.enableGasInterceptor: signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0)) @@ -129,17 +129,17 @@ class CarState(object): self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS - self.v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])) + v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])) # Kalman filter - if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_x = np.matrix([[self.v_wheel], [0.0]]) + if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed + self.v_ego_kf.x = np.matrix([[v_wheel], [0.0]]) - self.v_ego_raw = self.v_wheel - v_ego_x = self.v_ego_kf.update(self.v_wheel) + self.v_ego_raw = v_wheel + v_ego_x = self.v_ego_kf.update(v_wheel) self.v_ego = float(v_ego_x[0]) self.a_ego = float(v_ego_x[1]) - self.standstill = not self.v_wheel > 0.001 + self.standstill = not v_wheel > 0.001 self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION'] self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE'] diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index ae257940a..720c0ef60 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -78,18 +78,6 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead): } return packer.make_can_msg("ACC_CONTROL", 0, values) -def create_gas_command(packer, gas_amount): - """Creates a CAN message for the Pedal DBC GAS_COMMAND.""" - enable = gas_amount > 0.001 - - values = {"ENABLE": enable} - - if enable: - values["GAS_COMMAND"] = gas_amount * 255. - values["GAS_COMMAND2"] = gas_amount * 255. - - return packer.make_can_msg("GAS_COMMAND", 0, values) - def create_fcw_command(packer, fcw): values = { diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index ec127c941..2f3f44448 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -89,23 +89,12 @@ FINGERPRINTS = { 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 742: 8, 743: 8, 800: 8, 830: 7, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1207: 8, 1227: 8, 1235: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8 }], CAR.PRIUS: [{ - 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 - }, - # Prius Prime - { - 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 - }, - # Taiwanese Prius Prime - { + # with ipas 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 }], #Corolla w/ added Pedal Support (512L and 513L) CAR.COROLLA: [{ - 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 - }, - # Corolla LE 2017 w/ added Pedal Support (512L and 513L) - { - 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2021: 8, 2022: 8, 2023: 8, 2024: 8 + 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2021: 8, 2022: 8, 2023: 8, 2024: 8 }], CAR.LEXUS_RXH: [{ 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8 @@ -133,6 +122,10 @@ FINGERPRINTS = { #LE and LE with Blindspot Monitor { 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 + }, + #SL + { + 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 }], CAR.HIGHLANDER: [{ 36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h index b1deb2116..b1cb55d12 100644 --- a/selfdrive/common/version.h +++ b/selfdrive/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.5.9-release" +#define COMMA_VERSION "0.5.10-release" diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 7a17556ec..b5d699bda 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -11,7 +11,7 @@ import selfdrive.messaging as messaging from selfdrive.config import Conversions as CV from selfdrive.services import service_list from selfdrive.car.car_helpers import get_car -from selfdrive.controls.lib.drive_helpers import learn_angle_offset, \ +from selfdrive.controls.lib.drive_helpers import learn_angle_model_bias, \ get_events, \ create_event, \ EventTypes as ET, \ @@ -202,7 +202,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM def state_control(plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk, - driver_status, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc): + driver_status, LaC, LoC, VM, angle_model_bias, passive, is_metric, cal_perc): """Given the state, this function returns an actuators packet""" actuators = car.CarControl.Actuators.new_message() @@ -241,7 +241,7 @@ def state_control(plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise # Run angle offset learner at 20 Hz if rk.frame % 5 == 2: - angle_offset = learn_angle_offset(active, CS.vEgo, angle_offset, + angle_model_bias = learn_angle_model_bias(active, CS.vEgo, angle_model_bias, path_plan.cPoly, path_plan.cProb, CS.steeringAngle, CS.steeringPressed) @@ -277,12 +277,12 @@ def state_control(plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise AM.process_alerts(sec_since_boot()) - return actuators, v_cruise_kph, driver_status, angle_offset, v_acc_sol, a_acc_sol + return actuators, v_cruise_kph, driver_status, angle_model_bias, v_acc_sol, a_acc_sol def data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol, live100, AM, driver_status, - LaC, LoC, angle_offset, passive, start_time, params, v_acc, a_acc): + LaC, LoC, angle_model_bias, passive, start_time, params, v_acc, a_acc): """Send actuators and hud commands to the car, send live100 and MPC logging""" plan_ts = plan.logMonoTime plan = plan.plan @@ -353,7 +353,7 @@ def data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruis "vTargetLead": float(v_acc), "aTarget": float(a_acc), "jerkFactor": float(plan.jerkFactor), - "angleOffset": float(angle_offset), + "angleModelBias": float(angle_model_bias), "gpsPlannerActive": plan.gpsPlannerActive, "vCurvature": plan.vCurvature, "decelForTurn": plan.decelForTurn, @@ -378,7 +378,7 @@ def data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruis carcontrol.send(cc_send.to_bytes()) if (rk.frame % 36000) == 0: # update angle offset every 6 minutes - params.put("ControlsParams", json.dumps({'angle_offset': angle_offset})) + params.put("ControlsParams", json.dumps({'angle_model_bias': angle_model_bias})) return CC @@ -461,12 +461,15 @@ def controlsd_thread(gctx=None, rate=100): rk = Ratekeeper(rate, print_delay_threshold=2. / 1000) controls_params = params.get("ControlsParams") + # Read angle offset from previous drive + angle_model_bias = 0. if controls_params is not None: - controls_params = json.loads(controls_params) - angle_offset = controls_params['angle_offset'] - else: - angle_offset = 0. + try: + controls_params = json.loads(controls_params) + angle_model_bias = controls_params['angle_model_bias'] + except (ValueError, KeyError): + pass prof = Profiler(False) # off by default @@ -485,6 +488,8 @@ def controlsd_thread(gctx=None, rate=100): plan_age = (start_time - plan.logMonoTime) / 1e9 if not path_plan.pathPlan.valid or plan_age > 0.5 or path_plan_age > 0.5: events.append(create_event('plannerError', [ET.NO_ENTRY, ET.SOFT_DISABLE])) + if not path_plan.pathPlan.paramsValid: + events.append(create_event('vehicleModelInvalid', [ET.WARNING])) events += list(plan.plan.events) # Only allow engagement with brake pressed when stopped behind another stopped car @@ -498,16 +503,16 @@ def controlsd_thread(gctx=None, rate=100): prof.checkpoint("State transition") # Compute actuators (runs PID loops and lateral MPC) - actuators, v_cruise_kph, driver_status, angle_offset, v_acc, a_acc = \ + actuators, v_cruise_kph, driver_status, angle_model_bias, v_acc, a_acc = \ state_control(plan.plan, path_plan.pathPlan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk, driver_status, - LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc) + LaC, LoC, VM, angle_model_bias, passive, is_metric, cal_perc) prof.checkpoint("State Control") # Publish data CC = data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol, - live100, AM, driver_status, LaC, LoC, angle_offset, passive, start_time, params, v_acc, a_acc) + live100, AM, driver_status, LaC, LoC, angle_model_bias, passive, start_time, params, v_acc, a_acc) prof.checkpoint("Sent") rk.keep_time() # Run at 100Hz diff --git a/selfdrive/controls/lib/alerts.py b/selfdrive/controls/lib/alerts.py index cc9b19d5d..17caf7fbf 100644 --- a/selfdrive/controls/lib/alerts.py +++ b/selfdrive/controls/lib/alerts.py @@ -624,4 +624,11 @@ ALERTS = [ "Set 0111 for openpilot. 1011 for stock", AlertStatus.normal, AlertSize.mid, Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2), + + Alert( + "vehicleModelInvalid", + "Vehicle Parameter Identification Failed", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1), ] diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 9d78c9667..15d5a202f 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -55,7 +55,7 @@ def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) -def learn_angle_offset(lateral_control, v_ego, angle_offset, c_poly, c_prob, angle_steers, steer_override): +def learn_angle_model_bias(lateral_control, v_ego, angle_model_bias, c_poly, c_prob, angle_steers, steer_override): # simple integral controller that learns how much steering offset to put to have the car going straight # while being in the middle of the lane min_offset = -5. # deg @@ -69,10 +69,10 @@ def learn_angle_offset(lateral_control, v_ego, angle_offset, c_poly, c_prob, ang # only learn if lateral control is active and if driver is not overriding: if lateral_control and not steer_override: - angle_offset += c_poly[3] * alpha_v - angle_offset = clip(angle_offset, min_offset, max_offset) + angle_model_bias += c_poly[3] * alpha_v + angle_model_bias = clip(angle_model_bias, min_offset, max_offset) - return angle_offset + return angle_model_bias def update_v_cruise(v_cruise_kph, buttonEvents, enabled): diff --git a/selfdrive/controls/lib/fcw.py b/selfdrive/controls/lib/fcw.py new file mode 100644 index 000000000..f93a72cfc --- /dev/null +++ b/selfdrive/controls/lib/fcw.py @@ -0,0 +1,71 @@ +import numpy as np +from collections import defaultdict + +from common.numpy_fast import interp + +_FCW_A_ACT_V = [-3., -2.] +_FCW_A_ACT_BP = [0., 30.] + + +class FCWChecker(object): + def __init__(self): + self.reset_lead(0.0) + + def reset_lead(self, cur_time): + self.last_fcw_a = 0.0 + self.v_lead_max = 0.0 + self.lead_seen_t = cur_time + self.last_fcw_time = 0.0 + self.last_min_a = 0.0 + + self.counters = defaultdict(lambda: 0) + + @staticmethod + def calc_ttc(v_ego, a_ego, x_lead, v_lead, a_lead): + max_ttc = 5.0 + + v_rel = v_ego - v_lead + a_rel = a_ego - a_lead + + # assuming that closing gap ARel comes from lead vehicle decel, + # then limit ARel so that v_lead will get to zero in no sooner than t_decel. + # This helps underweighting ARel when v_lead is close to zero. + t_decel = 2. + a_rel = np.minimum(a_rel, v_lead / t_decel) + + # delta of the quadratic equation to solve for ttc + delta = v_rel**2 + 2 * x_lead * a_rel + + # assign an arbitrary high ttc value if there is no solution to ttc + if delta < 0.1 or (np.sqrt(delta) + v_rel < 0.1): + ttc = max_ttc + else: + ttc = np.minimum(2 * x_lead / (np.sqrt(delta) + v_rel), max_ttc) + return ttc + + def update(self, mpc_solution, cur_time, v_ego, a_ego, x_lead, v_lead, a_lead, y_lead, vlat_lead, fcw_lead, blinkers): + mpc_solution_a = list(mpc_solution[0].a_ego) + self.last_min_a = min(mpc_solution_a) + self.v_lead_max = max(self.v_lead_max, v_lead) + + if (fcw_lead > 0.99): + ttc = self.calc_ttc(v_ego, a_ego, x_lead, v_lead, a_lead) + self.counters['v_ego'] = self.counters['v_ego'] + 1 if v_ego > 5.0 else 0 + self.counters['ttc'] = self.counters['ttc'] + 1 if ttc < 2.5 else 0 + self.counters['v_lead_max'] = self.counters['v_lead_max'] + 1 if self.v_lead_max > 2.5 else 0 + self.counters['v_ego_lead'] = self.counters['v_ego_lead'] + 1 if v_ego > v_lead else 0 + self.counters['lead_seen'] = self.counters['lead_seen'] + 0.33 + self.counters['y_lead'] = self.counters['y_lead'] + 1 if abs(y_lead) < 1.0 else 0 + self.counters['vlat_lead'] = self.counters['vlat_lead'] + 1 if abs(vlat_lead) < 0.4 else 0 + self.counters['blinkers'] = self.counters['blinkers'] + 10.0 / (20 * 3.0) if not blinkers else 0 + + a_thr = interp(v_lead, _FCW_A_ACT_BP, _FCW_A_ACT_V) + a_delta = min(mpc_solution_a[:15]) - min(0.0, a_ego) + + fcw_allowed = all(c >= 10 for c in self.counters.values()) + if (self.last_min_a < -3.0 or a_delta < a_thr) and fcw_allowed and self.last_fcw_time + 5.0 < cur_time: + self.last_fcw_time = cur_time + self.last_fcw_a = self.last_min_a + return True + + return False diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index cc06fd40d..694943870 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -37,6 +37,8 @@ class LatControl(object): self.pid.neg_limit = -steers_max steer_feedforward = self.angle_steers_des # feedforward desired angle if CP.steerControlType == car.CarParams.SteerControlType.torque: + # TODO: feedforward something based on path_plan.rateSteers + steer_feedforward -= path_plan.angleOffset # subtract the offset, since it does not contribute to resistive torque steer_feedforward *= v_ego**2 # proportional to realigning tire momentum (~ lateral accel) deadzone = 0.0 output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override, diff --git a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c index f4cee7f2d..e5adf02cf 100644 --- a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c +++ b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c @@ -26,6 +26,7 @@ typedef struct { double y[N+1]; double psi[N+1]; double delta[N+1]; + double rate[N+1]; double cost; } log_t; @@ -103,7 +104,7 @@ int run_mpc(state_t * x0, log_t * solution, acado_preparationStep(); acado_feedbackStep(); - + /* printf("lat its: %d\n", acado_getNWSR()); // n iterations printf("Objective: %.6f\n", acado_getObjective()); // solution cost */ @@ -112,6 +113,7 @@ int run_mpc(state_t * x0, log_t * solution, solution->y[i] = acadoVariables.x[i*NX+1]; solution->psi[i] = acadoVariables.x[i*NX+2]; solution->delta[i] = acadoVariables.x[i*NX+3]; + solution->rate[i] = acadoVariables.u[i]; } solution->cost = acado_getObjective(); diff --git 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self.prev_lead_x) > 2.5: + self.libmpc.init_with_simulation(self.v_mpc, x_lead, v_lead, a_lead, self.a_lead_tau) + self.new_lead = True + + self.prev_lead_status = True + self.prev_lead_x = x_lead + self.cur_state[0].x_l = x_lead + self.cur_state[0].v_l = v_lead + else: + self.prev_lead_status = False + # Fake a fast lead car, so mpc keeps running + self.cur_state[0].x_l = 50.0 + self.cur_state[0].v_l = v_ego + 10.0 + a_lead = 0.0 + self.a_lead_tau = _LEAD_ACCEL_TAU + + # Calculate mpc + t = sec_since_boot() + n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead) + duration = int((sec_since_boot() - t) * 1e9) + self.send_mpc_solution(n_its, duration) + + # Get solution. MPC timestep is 0.2 s, so interpolation to 0.05 s is needed + self.v_mpc = self.mpc_solution[0].v_ego[1] + self.a_mpc = self.mpc_solution[0].a_ego[1] + self.v_mpc_future = self.mpc_solution[0].v_ego[10] + + # Reset if NaN or goes through lead car + dls = np.array(list(self.mpc_solution[0].x_l)) - np.array(list(self.mpc_solution[0].x_ego)) + crashing = min(dls) < -50.0 + nans = np.any(np.isnan(list(self.mpc_solution[0].v_ego))) + backwards = min(list(self.mpc_solution[0].v_ego)) < -0.01 + + if ((backwards or crashing) and self.prev_lead_status) or nans: + if t > self.last_cloudlog_t + 5.0: + self.last_cloudlog_t = t + cloudlog.warning("Longitudinal mpc %d reset - backwards: %s crashing: %s nan: %s" % ( + self.mpc_id, backwards, crashing, nans)) + + self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE, + MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK) + self.cur_state[0].v_ego = v_ego + self.cur_state[0].a_ego = 0.0 + self.v_mpc = v_ego + self.a_mpc = CS.carState.aEgo + self.prev_lead_status = False diff --git a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp index f5c95394d..1f0e28d00 100644 --- a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp +++ b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp @@ -18,30 +18,21 @@ int main( ) DifferentialEquation f; DifferentialState x_ego, v_ego, a_ego; - DifferentialState x_l, v_l, t; - - OnlineData lambda, a_l_0; + OnlineData x_l, v_l; Control j_ego; auto desired = 4.0 + RW(v_ego, v_l); auto d_l = x_l - x_ego; - // Directly calculate a_l to prevent instabilites due to discretization - auto a_l = a_l_0 * exp(-lambda * t * t / 2); - // Equations of motion f << dot(x_ego) == v_ego; f << dot(v_ego) == a_ego; f << dot(a_ego) == j_ego; - f << dot(x_l) == v_l; - f << dot(v_l) == a_l; - f << dot(t) == 1; - // Running cost Function h; - h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired)); + h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)); h << (d_l - desired) / (0.05 * v_ego + 0.5); h << a_ego * (0.1 * v_ego + 1.0); h << j_ego * (0.1 * v_ego + 1.0); @@ -51,7 +42,7 @@ int main( ) // Terminal cost Function hN; - hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired)); + hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)); hN << (d_l - desired) / (0.05 * v_ego + 0.5); hN << a_ego * (0.1 * v_ego + 1.0); diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.o b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.o index 65182c5bb1ee556c590df0205f806c984ec71d46..5466ca143bdeea2f5ed9336a912871395ef5cee7 100644 GIT binary patch delta 1480 zcmZ{kO=uHA6oBV#if(@FZn90M8^yGxXc~(&9;}L(U6G0+QpJOwtfJt-gGCPog>1ot zf`^2cLxqAKdI%mQkc&tU4fN1M4+rax|H9_+lC@0*!j9*=G3 zgM2v$US)W65X{PA0vYqxU$X3B%$A|a$&y-q66zU=(r|HWQ7T{8SN zPSRL*(&gHvp07Y-z-Yct1#-`3Zeim^}FA&ngo_K3!M!k*LE 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ze_^@%E+fmYl`~AgK9x+bZT^yBj5AL3MZfO)>?vRW@^#W+dWn-&EQbHlB4fxV=XgTdd2i5)8ALtCSjGIz2w|o SdR3ZDK@a^qm%n%U{QVakJWaU( diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.cpp b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.cpp index a4d9f8cde..36e675e03 100644 --- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.cpp +++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.cpp @@ -40,7 +40,7 @@ int acado_solve( void ) { acado_nWSR = QPOASES_NWSRMAX; - QProblem qp(26, 20); + QProblem qp(23, 20); returnValue retVal = qp.init(acadoWorkspace.H, acadoWorkspace.g, acadoWorkspace.A, acadoWorkspace.lb, acadoWorkspace.ub, acadoWorkspace.lbA, acadoWorkspace.ubA, acado_nWSR, acadoWorkspace.y); diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.hpp b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.hpp index 3b3c75aa1..8a58805f8 100644 --- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.hpp +++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.hpp @@ -37,7 +37,7 @@ */ /** Maximum number of optimization variables. */ -#define QPOASES_NVMAX 26 +#define QPOASES_NVMAX 23 /** Maximum number of constraints. */ #define QPOASES_NCMAX 20 /** Maximum number of working set recalculations. */ diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o index ce919eb77f5fa8600f029507b194a498570eb5bf..21293576928754ed5f9b883d4937f486aa2fdfe0 100644 GIT binary patch delta 174 zcmdlWzCnCKV5qXg#s7zSE($X+OekhznAl<05cD9KVd6ukhM*=O&R}BL$-uxcMFc26 zg~{P3hjM=q=b^43uK9gI+?RWTc((Ng@t*Aq;(O8;#Q&o&sDp{4`$6)=W%`~x{Xvaj z4#Px{0U(XYe2^s|@dwPpTK|R|#o8=fM GaRC6o;z8s9 delta 174 zcmdlWzCnCKV5qvo#sADY7lj!ZCKNLJAfuj+pqj+G*t%f5(-7*qwhIV2;1`nVDhLgXYb0 HjFY$k?N&gZ diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c index 676787bbf..e4bf392f9 100644 --- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c +++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c @@ -37,69 +37,33 @@ int lRun1; ret = 0; for (lRun1 = 0; lRun1 < 20; ++lRun1) { -acadoWorkspace.state[0] = acadoVariables.x[lRun1 * 6]; -acadoWorkspace.state[1] = acadoVariables.x[lRun1 * 6 + 1]; -acadoWorkspace.state[2] = acadoVariables.x[lRun1 * 6 + 2]; -acadoWorkspace.state[3] = acadoVariables.x[lRun1 * 6 + 3]; -acadoWorkspace.state[4] = acadoVariables.x[lRun1 * 6 + 4]; -acadoWorkspace.state[5] = acadoVariables.x[lRun1 * 6 + 5]; +acadoWorkspace.state[0] = acadoVariables.x[lRun1 * 3]; +acadoWorkspace.state[1] = acadoVariables.x[lRun1 * 3 + 1]; +acadoWorkspace.state[2] = acadoVariables.x[lRun1 * 3 + 2]; -acadoWorkspace.state[48] = acadoVariables.u[lRun1]; -acadoWorkspace.state[49] = acadoVariables.od[lRun1 * 2]; -acadoWorkspace.state[50] = acadoVariables.od[lRun1 * 2 + 1]; +acadoWorkspace.state[15] = acadoVariables.u[lRun1]; +acadoWorkspace.state[16] = acadoVariables.od[lRun1 * 2]; +acadoWorkspace.state[17] = acadoVariables.od[lRun1 * 2 + 1]; ret = acado_integrate(acadoWorkspace.state, 1, lRun1); -acadoWorkspace.d[lRun1 * 6] = acadoWorkspace.state[0] - acadoVariables.x[lRun1 * 6 + 6]; -acadoWorkspace.d[lRun1 * 6 + 1] = acadoWorkspace.state[1] - acadoVariables.x[lRun1 * 6 + 7]; -acadoWorkspace.d[lRun1 * 6 + 2] = acadoWorkspace.state[2] - acadoVariables.x[lRun1 * 6 + 8]; -acadoWorkspace.d[lRun1 * 6 + 3] = acadoWorkspace.state[3] - acadoVariables.x[lRun1 * 6 + 9]; -acadoWorkspace.d[lRun1 * 6 + 4] = acadoWorkspace.state[4] - acadoVariables.x[lRun1 * 6 + 10]; -acadoWorkspace.d[lRun1 * 6 + 5] = acadoWorkspace.state[5] - acadoVariables.x[lRun1 * 6 + 11]; +acadoWorkspace.d[lRun1 * 3] = acadoWorkspace.state[0] - acadoVariables.x[lRun1 * 3 + 3]; +acadoWorkspace.d[lRun1 * 3 + 1] = acadoWorkspace.state[1] - acadoVariables.x[lRun1 * 3 + 4]; +acadoWorkspace.d[lRun1 * 3 + 2] = acadoWorkspace.state[2] - acadoVariables.x[lRun1 * 3 + 5]; -acadoWorkspace.evGx[lRun1 * 36] = acadoWorkspace.state[6]; -acadoWorkspace.evGx[lRun1 * 36 + 1] = acadoWorkspace.state[7]; -acadoWorkspace.evGx[lRun1 * 36 + 2] = acadoWorkspace.state[8]; -acadoWorkspace.evGx[lRun1 * 36 + 3] = acadoWorkspace.state[9]; -acadoWorkspace.evGx[lRun1 * 36 + 4] = acadoWorkspace.state[10]; -acadoWorkspace.evGx[lRun1 * 36 + 5] = acadoWorkspace.state[11]; -acadoWorkspace.evGx[lRun1 * 36 + 6] = acadoWorkspace.state[12]; -acadoWorkspace.evGx[lRun1 * 36 + 7] = acadoWorkspace.state[13]; -acadoWorkspace.evGx[lRun1 * 36 + 8] = acadoWorkspace.state[14]; -acadoWorkspace.evGx[lRun1 * 36 + 9] = acadoWorkspace.state[15]; -acadoWorkspace.evGx[lRun1 * 36 + 10] = acadoWorkspace.state[16]; -acadoWorkspace.evGx[lRun1 * 36 + 11] = acadoWorkspace.state[17]; -acadoWorkspace.evGx[lRun1 * 36 + 12] = acadoWorkspace.state[18]; -acadoWorkspace.evGx[lRun1 * 36 + 13] = acadoWorkspace.state[19]; -acadoWorkspace.evGx[lRun1 * 36 + 14] = acadoWorkspace.state[20]; -acadoWorkspace.evGx[lRun1 * 36 + 15] = acadoWorkspace.state[21]; -acadoWorkspace.evGx[lRun1 * 36 + 16] = acadoWorkspace.state[22]; -acadoWorkspace.evGx[lRun1 * 36 + 17] = acadoWorkspace.state[23]; -acadoWorkspace.evGx[lRun1 * 36 + 18] = acadoWorkspace.state[24]; -acadoWorkspace.evGx[lRun1 * 36 + 19] = acadoWorkspace.state[25]; -acadoWorkspace.evGx[lRun1 * 36 + 20] = acadoWorkspace.state[26]; -acadoWorkspace.evGx[lRun1 * 36 + 21] = acadoWorkspace.state[27]; -acadoWorkspace.evGx[lRun1 * 36 + 22] = acadoWorkspace.state[28]; -acadoWorkspace.evGx[lRun1 * 36 + 23] = acadoWorkspace.state[29]; -acadoWorkspace.evGx[lRun1 * 36 + 24] = acadoWorkspace.state[30]; -acadoWorkspace.evGx[lRun1 * 36 + 25] = acadoWorkspace.state[31]; -acadoWorkspace.evGx[lRun1 * 36 + 26] = acadoWorkspace.state[32]; -acadoWorkspace.evGx[lRun1 * 36 + 27] = acadoWorkspace.state[33]; -acadoWorkspace.evGx[lRun1 * 36 + 28] = acadoWorkspace.state[34]; -acadoWorkspace.evGx[lRun1 * 36 + 29] = acadoWorkspace.state[35]; -acadoWorkspace.evGx[lRun1 * 36 + 30] = acadoWorkspace.state[36]; -acadoWorkspace.evGx[lRun1 * 36 + 31] = acadoWorkspace.state[37]; -acadoWorkspace.evGx[lRun1 * 36 + 32] = acadoWorkspace.state[38]; -acadoWorkspace.evGx[lRun1 * 36 + 33] = acadoWorkspace.state[39]; -acadoWorkspace.evGx[lRun1 * 36 + 34] = acadoWorkspace.state[40]; -acadoWorkspace.evGx[lRun1 * 36 + 35] = acadoWorkspace.state[41]; +acadoWorkspace.evGx[lRun1 * 9] = acadoWorkspace.state[3]; +acadoWorkspace.evGx[lRun1 * 9 + 1] = acadoWorkspace.state[4]; +acadoWorkspace.evGx[lRun1 * 9 + 2] = acadoWorkspace.state[5]; +acadoWorkspace.evGx[lRun1 * 9 + 3] = acadoWorkspace.state[6]; +acadoWorkspace.evGx[lRun1 * 9 + 4] = acadoWorkspace.state[7]; +acadoWorkspace.evGx[lRun1 * 9 + 5] = acadoWorkspace.state[8]; +acadoWorkspace.evGx[lRun1 * 9 + 6] = acadoWorkspace.state[9]; +acadoWorkspace.evGx[lRun1 * 9 + 7] = acadoWorkspace.state[10]; +acadoWorkspace.evGx[lRun1 * 9 + 8] = acadoWorkspace.state[11]; -acadoWorkspace.evGu[lRun1 * 6] = acadoWorkspace.state[42]; -acadoWorkspace.evGu[lRun1 * 6 + 1] = acadoWorkspace.state[43]; -acadoWorkspace.evGu[lRun1 * 6 + 2] = acadoWorkspace.state[44]; -acadoWorkspace.evGu[lRun1 * 6 + 3] = acadoWorkspace.state[45]; -acadoWorkspace.evGu[lRun1 * 6 + 4] = acadoWorkspace.state[46]; -acadoWorkspace.evGu[lRun1 * 6 + 5] = acadoWorkspace.state[47]; +acadoWorkspace.evGu[lRun1 * 3] = acadoWorkspace.state[12]; +acadoWorkspace.evGu[lRun1 * 3 + 1] = acadoWorkspace.state[13]; +acadoWorkspace.evGu[lRun1 * 3 + 2] = acadoWorkspace.state[14]; } return ret; } @@ -107,201 +71,112 @@ return ret; void acado_evaluateLSQ(const real_t* in, real_t* out) { const real_t* xd = in; -const real_t* u = in + 6; -/* Vector of auxiliary variables; number of elements: 30. */ +const real_t* u = in + 3; +const real_t* od = in + 4; +/* Vector of auxiliary variables; number of elements: 15. */ real_t* a = acadoWorkspace.objAuxVar; /* Compute intermediate quantities: */ a[0] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); -a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01)))))); -a[2] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); -a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01)))))); -a[4] = ((real_t)(1.0000000000000000e+00)/(a[0]+(real_t)(1.0000000000000001e-01))); -a[5] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01)))))); -a[6] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[4]))*a[5]); -a[7] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[8] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); -a[9] = (a[8]*(real_t)(5.0000000000000000e-01)); -a[10] = (a[4]*a[4]); -a[11] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[7]))*a[4])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))*a[9])*a[10])))*a[5]); +a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01)))))); +a[2] = ((real_t)(1.0000000000000000e+00)/(a[0]+(real_t)(1.0000000000000001e-01))); +a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01)))))); +a[4] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[2]))*a[3]); +a[5] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); +a[6] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); +a[7] = (a[6]*(real_t)(5.0000000000000000e-01)); +a[8] = (a[2]*a[2]); +a[9] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[5]))*a[2])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))*a[7])*a[8])))*a[3]); +a[10] = (real_t)(0.0000000000000000e+00); +a[11] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); a[12] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[13] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[14] = ((real_t)(1.0000000000000000e+00)/(a[2]+(real_t)(1.0000000000000001e-01))); -a[15] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); -a[16] = (a[15]*(real_t)(5.0000000000000000e-01)); -a[17] = (a[14]*a[14]); -a[18] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01)))))); -a[19] = (((real_t)(2.9999999999999999e-01)*((((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[12]))-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[13])))*a[14])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*a[16])*a[17])))*a[18]); -a[20] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[4]))*a[5]); -a[21] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[22] = (((real_t)(2.9999999999999999e-01)*((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[21]))*a[4]))*a[5]); -a[23] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[24] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[25] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[23]))-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[24])))*a[14]))*a[18]); -a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); -a[27] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[28] = (a[26]*a[26]); -a[29] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); +a[13] = (a[11]*a[11]); +a[14] = (real_t)(0.0000000000000000e+00); /* Compute outputs: */ -out[0] = (a[1]-a[3]); -out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); +out[0] = a[1]; +out[1] = (((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00))); out[3] = (u[0]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00))); -out[4] = a[6]; -out[5] = (a[11]-a[19]); -out[6] = (real_t)(0.0000000000000000e+00); -out[7] = a[20]; -out[8] = (a[22]-a[25]); +out[4] = a[4]; +out[5] = a[9]; +out[6] = a[10]; +out[7] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[11]); +out[8] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[12])))*a[11])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[13])); out[9] = (real_t)(0.0000000000000000e+00); -out[10] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[26]); -out[11] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[28])); -out[12] = (real_t)(0.0000000000000000e+00); -out[13] = a[26]; -out[14] = (((real_t)(0.0000000000000000e+00)-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[29])))*a[26]); +out[10] = (real_t)(0.0000000000000000e+00); +out[11] = (xd[2]*(real_t)(1.0000000000000001e-01)); +out[12] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)); +out[13] = (real_t)(0.0000000000000000e+00); +out[14] = (u[0]*(real_t)(1.0000000000000001e-01)); out[15] = (real_t)(0.0000000000000000e+00); -out[16] = (real_t)(0.0000000000000000e+00); -out[17] = (xd[2]*(real_t)(1.0000000000000001e-01)); -out[18] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)); -out[19] = (real_t)(0.0000000000000000e+00); -out[20] = (real_t)(0.0000000000000000e+00); -out[21] = (real_t)(0.0000000000000000e+00); -out[22] = (real_t)(0.0000000000000000e+00); -out[23] = (u[0]*(real_t)(1.0000000000000001e-01)); -out[24] = (real_t)(0.0000000000000000e+00); -out[25] = (real_t)(0.0000000000000000e+00); -out[26] = (real_t)(0.0000000000000000e+00); -out[27] = (real_t)(0.0000000000000000e+00); -out[28] = (real_t)(0.0000000000000000e+00); -out[29] = (real_t)(0.0000000000000000e+00); -out[30] = (real_t)(0.0000000000000000e+00); -out[31] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)); +out[16] = a[14]; +out[17] = (real_t)(0.0000000000000000e+00); +out[18] = (real_t)(0.0000000000000000e+00); +out[19] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)); } void acado_evaluateLSQEndTerm(const real_t* in, real_t* out) { const real_t* xd = in; -/* Vector of auxiliary variables; number of elements: 30. */ +const real_t* od = in + 3; +/* Vector of auxiliary variables; number of elements: 14. */ real_t* a = acadoWorkspace.objAuxVar; /* Compute intermediate quantities: */ a[0] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); -a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01)))))); -a[2] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); -a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01)))))); -a[4] = ((real_t)(1.0000000000000000e+00)/(a[0]+(real_t)(1.0000000000000001e-01))); -a[5] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01)))))); -a[6] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[4]))*a[5]); -a[7] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[8] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); -a[9] = (a[8]*(real_t)(5.0000000000000000e-01)); -a[10] = (a[4]*a[4]); -a[11] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[7]))*a[4])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))*a[9])*a[10])))*a[5]); +a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01)))))); +a[2] = ((real_t)(1.0000000000000000e+00)/(a[0]+(real_t)(1.0000000000000001e-01))); +a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01)))))); +a[4] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[2]))*a[3]); +a[5] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); +a[6] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); +a[7] = (a[6]*(real_t)(5.0000000000000000e-01)); +a[8] = (a[2]*a[2]); +a[9] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[5]))*a[2])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))*a[7])*a[8])))*a[3]); +a[10] = (real_t)(0.0000000000000000e+00); +a[11] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); a[12] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[13] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[14] = ((real_t)(1.0000000000000000e+00)/(a[2]+(real_t)(1.0000000000000001e-01))); -a[15] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); -a[16] = (a[15]*(real_t)(5.0000000000000000e-01)); -a[17] = (a[14]*a[14]); -a[18] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01)))))); -a[19] = (((real_t)(2.9999999999999999e-01)*((((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[12]))-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[13])))*a[14])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*a[16])*a[17])))*a[18]); -a[20] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[4]))*a[5]); -a[21] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[22] = (((real_t)(2.9999999999999999e-01)*((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[21]))*a[4]))*a[5]); -a[23] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[24] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[25] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[23]))-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[24])))*a[14]))*a[18]); -a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); -a[27] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[28] = (a[26]*a[26]); -a[29] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); +a[13] = (a[11]*a[11]); /* Compute outputs: */ -out[0] = (a[1]-a[3]); -out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); +out[0] = a[1]; +out[1] = (((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00))); -out[3] = a[6]; -out[4] = (a[11]-a[19]); -out[5] = (real_t)(0.0000000000000000e+00); -out[6] = a[20]; -out[7] = (a[22]-a[25]); +out[3] = a[4]; +out[4] = a[9]; +out[5] = a[10]; +out[6] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[11]); +out[7] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[12])))*a[11])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[13])); out[8] = (real_t)(0.0000000000000000e+00); -out[9] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[26]); -out[10] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[28])); -out[11] = (real_t)(0.0000000000000000e+00); -out[12] = a[26]; -out[13] = (((real_t)(0.0000000000000000e+00)-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[29])))*a[26]); -out[14] = (real_t)(0.0000000000000000e+00); -out[15] = (real_t)(0.0000000000000000e+00); -out[16] = (xd[2]*(real_t)(1.0000000000000001e-01)); -out[17] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)); -out[18] = (real_t)(0.0000000000000000e+00); -out[19] = (real_t)(0.0000000000000000e+00); -out[20] = (real_t)(0.0000000000000000e+00); +out[9] = (real_t)(0.0000000000000000e+00); +out[10] = (xd[2]*(real_t)(1.0000000000000001e-01)); +out[11] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)); } void acado_setObjQ1Q2( real_t* const tmpFx, real_t* const tmpObjS, real_t* const tmpQ1, real_t* const tmpQ2 ) { -tmpQ2[0] = + tmpFx[0]*tmpObjS[0] + tmpFx[6]*tmpObjS[4] + tmpFx[12]*tmpObjS[8] + tmpFx[18]*tmpObjS[12]; -tmpQ2[1] = + tmpFx[0]*tmpObjS[1] + tmpFx[6]*tmpObjS[5] + tmpFx[12]*tmpObjS[9] + tmpFx[18]*tmpObjS[13]; -tmpQ2[2] = + tmpFx[0]*tmpObjS[2] + tmpFx[6]*tmpObjS[6] + tmpFx[12]*tmpObjS[10] + tmpFx[18]*tmpObjS[14]; -tmpQ2[3] = + tmpFx[0]*tmpObjS[3] + tmpFx[6]*tmpObjS[7] + tmpFx[12]*tmpObjS[11] + tmpFx[18]*tmpObjS[15]; -tmpQ2[4] = + tmpFx[1]*tmpObjS[0] + tmpFx[7]*tmpObjS[4] + tmpFx[13]*tmpObjS[8] + tmpFx[19]*tmpObjS[12]; -tmpQ2[5] = + tmpFx[1]*tmpObjS[1] + tmpFx[7]*tmpObjS[5] + tmpFx[13]*tmpObjS[9] + tmpFx[19]*tmpObjS[13]; -tmpQ2[6] = + tmpFx[1]*tmpObjS[2] + tmpFx[7]*tmpObjS[6] + tmpFx[13]*tmpObjS[10] + tmpFx[19]*tmpObjS[14]; -tmpQ2[7] = + tmpFx[1]*tmpObjS[3] + tmpFx[7]*tmpObjS[7] + tmpFx[13]*tmpObjS[11] + tmpFx[19]*tmpObjS[15]; -tmpQ2[8] = + tmpFx[2]*tmpObjS[0] + tmpFx[8]*tmpObjS[4] + tmpFx[14]*tmpObjS[8] + tmpFx[20]*tmpObjS[12]; -tmpQ2[9] = + tmpFx[2]*tmpObjS[1] + tmpFx[8]*tmpObjS[5] + tmpFx[14]*tmpObjS[9] + tmpFx[20]*tmpObjS[13]; -tmpQ2[10] = + tmpFx[2]*tmpObjS[2] + tmpFx[8]*tmpObjS[6] + tmpFx[14]*tmpObjS[10] + tmpFx[20]*tmpObjS[14]; -tmpQ2[11] = + tmpFx[2]*tmpObjS[3] + tmpFx[8]*tmpObjS[7] + tmpFx[14]*tmpObjS[11] + tmpFx[20]*tmpObjS[15]; -tmpQ2[12] = + tmpFx[3]*tmpObjS[0] + tmpFx[9]*tmpObjS[4] + tmpFx[15]*tmpObjS[8] + tmpFx[21]*tmpObjS[12]; -tmpQ2[13] = + tmpFx[3]*tmpObjS[1] + tmpFx[9]*tmpObjS[5] + tmpFx[15]*tmpObjS[9] + tmpFx[21]*tmpObjS[13]; -tmpQ2[14] = + tmpFx[3]*tmpObjS[2] + tmpFx[9]*tmpObjS[6] + tmpFx[15]*tmpObjS[10] + tmpFx[21]*tmpObjS[14]; -tmpQ2[15] = + tmpFx[3]*tmpObjS[3] + tmpFx[9]*tmpObjS[7] + tmpFx[15]*tmpObjS[11] + tmpFx[21]*tmpObjS[15]; -tmpQ2[16] = + tmpFx[4]*tmpObjS[0] + tmpFx[10]*tmpObjS[4] + tmpFx[16]*tmpObjS[8] + tmpFx[22]*tmpObjS[12]; -tmpQ2[17] = + tmpFx[4]*tmpObjS[1] + tmpFx[10]*tmpObjS[5] + tmpFx[16]*tmpObjS[9] + tmpFx[22]*tmpObjS[13]; -tmpQ2[18] = + tmpFx[4]*tmpObjS[2] + tmpFx[10]*tmpObjS[6] + tmpFx[16]*tmpObjS[10] + tmpFx[22]*tmpObjS[14]; -tmpQ2[19] = + tmpFx[4]*tmpObjS[3] + tmpFx[10]*tmpObjS[7] + tmpFx[16]*tmpObjS[11] + tmpFx[22]*tmpObjS[15]; -tmpQ2[20] = + tmpFx[5]*tmpObjS[0] + tmpFx[11]*tmpObjS[4] + tmpFx[17]*tmpObjS[8] + tmpFx[23]*tmpObjS[12]; -tmpQ2[21] = + tmpFx[5]*tmpObjS[1] + tmpFx[11]*tmpObjS[5] + tmpFx[17]*tmpObjS[9] + tmpFx[23]*tmpObjS[13]; -tmpQ2[22] = + tmpFx[5]*tmpObjS[2] + tmpFx[11]*tmpObjS[6] + tmpFx[17]*tmpObjS[10] + tmpFx[23]*tmpObjS[14]; -tmpQ2[23] = + tmpFx[5]*tmpObjS[3] + tmpFx[11]*tmpObjS[7] + tmpFx[17]*tmpObjS[11] + tmpFx[23]*tmpObjS[15]; -tmpQ1[0] = + tmpQ2[0]*tmpFx[0] + tmpQ2[1]*tmpFx[6] + tmpQ2[2]*tmpFx[12] + tmpQ2[3]*tmpFx[18]; -tmpQ1[1] = + tmpQ2[0]*tmpFx[1] + tmpQ2[1]*tmpFx[7] + tmpQ2[2]*tmpFx[13] + tmpQ2[3]*tmpFx[19]; -tmpQ1[2] = + tmpQ2[0]*tmpFx[2] + tmpQ2[1]*tmpFx[8] + tmpQ2[2]*tmpFx[14] + tmpQ2[3]*tmpFx[20]; -tmpQ1[3] = + tmpQ2[0]*tmpFx[3] + tmpQ2[1]*tmpFx[9] + tmpQ2[2]*tmpFx[15] + tmpQ2[3]*tmpFx[21]; -tmpQ1[4] = + tmpQ2[0]*tmpFx[4] + tmpQ2[1]*tmpFx[10] + tmpQ2[2]*tmpFx[16] + tmpQ2[3]*tmpFx[22]; -tmpQ1[5] = + tmpQ2[0]*tmpFx[5] + tmpQ2[1]*tmpFx[11] + tmpQ2[2]*tmpFx[17] + tmpQ2[3]*tmpFx[23]; -tmpQ1[6] = + tmpQ2[4]*tmpFx[0] + tmpQ2[5]*tmpFx[6] + tmpQ2[6]*tmpFx[12] + tmpQ2[7]*tmpFx[18]; -tmpQ1[7] = + tmpQ2[4]*tmpFx[1] + tmpQ2[5]*tmpFx[7] + tmpQ2[6]*tmpFx[13] + tmpQ2[7]*tmpFx[19]; -tmpQ1[8] = + tmpQ2[4]*tmpFx[2] + tmpQ2[5]*tmpFx[8] + tmpQ2[6]*tmpFx[14] + tmpQ2[7]*tmpFx[20]; -tmpQ1[9] = + tmpQ2[4]*tmpFx[3] + tmpQ2[5]*tmpFx[9] + tmpQ2[6]*tmpFx[15] + tmpQ2[7]*tmpFx[21]; -tmpQ1[10] = + tmpQ2[4]*tmpFx[4] + tmpQ2[5]*tmpFx[10] + tmpQ2[6]*tmpFx[16] + tmpQ2[7]*tmpFx[22]; -tmpQ1[11] = + tmpQ2[4]*tmpFx[5] + tmpQ2[5]*tmpFx[11] + tmpQ2[6]*tmpFx[17] + tmpQ2[7]*tmpFx[23]; -tmpQ1[12] = + tmpQ2[8]*tmpFx[0] + tmpQ2[9]*tmpFx[6] + tmpQ2[10]*tmpFx[12] + tmpQ2[11]*tmpFx[18]; -tmpQ1[13] = + tmpQ2[8]*tmpFx[1] + tmpQ2[9]*tmpFx[7] + tmpQ2[10]*tmpFx[13] + tmpQ2[11]*tmpFx[19]; -tmpQ1[14] = + tmpQ2[8]*tmpFx[2] + tmpQ2[9]*tmpFx[8] + tmpQ2[10]*tmpFx[14] + tmpQ2[11]*tmpFx[20]; -tmpQ1[15] = + tmpQ2[8]*tmpFx[3] + tmpQ2[9]*tmpFx[9] + tmpQ2[10]*tmpFx[15] + tmpQ2[11]*tmpFx[21]; -tmpQ1[16] = + tmpQ2[8]*tmpFx[4] + tmpQ2[9]*tmpFx[10] + tmpQ2[10]*tmpFx[16] + tmpQ2[11]*tmpFx[22]; -tmpQ1[17] = + tmpQ2[8]*tmpFx[5] + tmpQ2[9]*tmpFx[11] + tmpQ2[10]*tmpFx[17] + tmpQ2[11]*tmpFx[23]; -tmpQ1[18] = + tmpQ2[12]*tmpFx[0] + tmpQ2[13]*tmpFx[6] + tmpQ2[14]*tmpFx[12] + tmpQ2[15]*tmpFx[18]; -tmpQ1[19] = + tmpQ2[12]*tmpFx[1] + tmpQ2[13]*tmpFx[7] + tmpQ2[14]*tmpFx[13] + tmpQ2[15]*tmpFx[19]; -tmpQ1[20] = + tmpQ2[12]*tmpFx[2] + tmpQ2[13]*tmpFx[8] + tmpQ2[14]*tmpFx[14] + tmpQ2[15]*tmpFx[20]; -tmpQ1[21] = + tmpQ2[12]*tmpFx[3] + tmpQ2[13]*tmpFx[9] + tmpQ2[14]*tmpFx[15] + tmpQ2[15]*tmpFx[21]; -tmpQ1[22] = + tmpQ2[12]*tmpFx[4] + tmpQ2[13]*tmpFx[10] + tmpQ2[14]*tmpFx[16] + tmpQ2[15]*tmpFx[22]; -tmpQ1[23] = + tmpQ2[12]*tmpFx[5] + tmpQ2[13]*tmpFx[11] + tmpQ2[14]*tmpFx[17] + tmpQ2[15]*tmpFx[23]; -tmpQ1[24] = + tmpQ2[16]*tmpFx[0] + tmpQ2[17]*tmpFx[6] + tmpQ2[18]*tmpFx[12] + tmpQ2[19]*tmpFx[18]; -tmpQ1[25] = + tmpQ2[16]*tmpFx[1] + tmpQ2[17]*tmpFx[7] + tmpQ2[18]*tmpFx[13] + tmpQ2[19]*tmpFx[19]; -tmpQ1[26] = + tmpQ2[16]*tmpFx[2] + tmpQ2[17]*tmpFx[8] + tmpQ2[18]*tmpFx[14] + tmpQ2[19]*tmpFx[20]; -tmpQ1[27] = + tmpQ2[16]*tmpFx[3] + tmpQ2[17]*tmpFx[9] + tmpQ2[18]*tmpFx[15] + tmpQ2[19]*tmpFx[21]; -tmpQ1[28] = + tmpQ2[16]*tmpFx[4] + tmpQ2[17]*tmpFx[10] + tmpQ2[18]*tmpFx[16] + tmpQ2[19]*tmpFx[22]; -tmpQ1[29] = + tmpQ2[16]*tmpFx[5] + tmpQ2[17]*tmpFx[11] + tmpQ2[18]*tmpFx[17] + tmpQ2[19]*tmpFx[23]; -tmpQ1[30] = + tmpQ2[20]*tmpFx[0] + tmpQ2[21]*tmpFx[6] + tmpQ2[22]*tmpFx[12] + tmpQ2[23]*tmpFx[18]; -tmpQ1[31] = + tmpQ2[20]*tmpFx[1] + tmpQ2[21]*tmpFx[7] + tmpQ2[22]*tmpFx[13] + tmpQ2[23]*tmpFx[19]; -tmpQ1[32] = + tmpQ2[20]*tmpFx[2] + tmpQ2[21]*tmpFx[8] + tmpQ2[22]*tmpFx[14] + tmpQ2[23]*tmpFx[20]; -tmpQ1[33] = + tmpQ2[20]*tmpFx[3] + tmpQ2[21]*tmpFx[9] + tmpQ2[22]*tmpFx[15] + tmpQ2[23]*tmpFx[21]; -tmpQ1[34] = + tmpQ2[20]*tmpFx[4] + tmpQ2[21]*tmpFx[10] + tmpQ2[22]*tmpFx[16] + tmpQ2[23]*tmpFx[22]; -tmpQ1[35] = + tmpQ2[20]*tmpFx[5] + tmpQ2[21]*tmpFx[11] + tmpQ2[22]*tmpFx[17] + tmpQ2[23]*tmpFx[23]; +tmpQ2[0] = + tmpFx[0]*tmpObjS[0] + tmpFx[3]*tmpObjS[4] + tmpFx[6]*tmpObjS[8] + tmpFx[9]*tmpObjS[12]; +tmpQ2[1] = + tmpFx[0]*tmpObjS[1] + tmpFx[3]*tmpObjS[5] + tmpFx[6]*tmpObjS[9] + tmpFx[9]*tmpObjS[13]; +tmpQ2[2] = + tmpFx[0]*tmpObjS[2] + tmpFx[3]*tmpObjS[6] + tmpFx[6]*tmpObjS[10] + tmpFx[9]*tmpObjS[14]; +tmpQ2[3] = + tmpFx[0]*tmpObjS[3] + tmpFx[3]*tmpObjS[7] + tmpFx[6]*tmpObjS[11] + tmpFx[9]*tmpObjS[15]; +tmpQ2[4] = + tmpFx[1]*tmpObjS[0] + tmpFx[4]*tmpObjS[4] + tmpFx[7]*tmpObjS[8] + tmpFx[10]*tmpObjS[12]; +tmpQ2[5] = + tmpFx[1]*tmpObjS[1] + tmpFx[4]*tmpObjS[5] + tmpFx[7]*tmpObjS[9] + tmpFx[10]*tmpObjS[13]; +tmpQ2[6] = + tmpFx[1]*tmpObjS[2] + tmpFx[4]*tmpObjS[6] + tmpFx[7]*tmpObjS[10] + tmpFx[10]*tmpObjS[14]; +tmpQ2[7] = + tmpFx[1]*tmpObjS[3] + tmpFx[4]*tmpObjS[7] + tmpFx[7]*tmpObjS[11] + tmpFx[10]*tmpObjS[15]; +tmpQ2[8] = + tmpFx[2]*tmpObjS[0] + tmpFx[5]*tmpObjS[4] + tmpFx[8]*tmpObjS[8] + tmpFx[11]*tmpObjS[12]; +tmpQ2[9] = + tmpFx[2]*tmpObjS[1] + tmpFx[5]*tmpObjS[5] + tmpFx[8]*tmpObjS[9] + tmpFx[11]*tmpObjS[13]; +tmpQ2[10] = + tmpFx[2]*tmpObjS[2] + tmpFx[5]*tmpObjS[6] + tmpFx[8]*tmpObjS[10] + tmpFx[11]*tmpObjS[14]; +tmpQ2[11] = + tmpFx[2]*tmpObjS[3] + tmpFx[5]*tmpObjS[7] + tmpFx[8]*tmpObjS[11] + tmpFx[11]*tmpObjS[15]; +tmpQ1[0] = + tmpQ2[0]*tmpFx[0] + tmpQ2[1]*tmpFx[3] + tmpQ2[2]*tmpFx[6] + tmpQ2[3]*tmpFx[9]; +tmpQ1[1] = + tmpQ2[0]*tmpFx[1] + tmpQ2[1]*tmpFx[4] + tmpQ2[2]*tmpFx[7] + tmpQ2[3]*tmpFx[10]; +tmpQ1[2] = + tmpQ2[0]*tmpFx[2] + tmpQ2[1]*tmpFx[5] + tmpQ2[2]*tmpFx[8] + tmpQ2[3]*tmpFx[11]; +tmpQ1[3] = + tmpQ2[4]*tmpFx[0] + tmpQ2[5]*tmpFx[3] + tmpQ2[6]*tmpFx[6] + tmpQ2[7]*tmpFx[9]; +tmpQ1[4] = + tmpQ2[4]*tmpFx[1] + tmpQ2[5]*tmpFx[4] + tmpQ2[6]*tmpFx[7] + tmpQ2[7]*tmpFx[10]; +tmpQ1[5] = + tmpQ2[4]*tmpFx[2] + tmpQ2[5]*tmpFx[5] + tmpQ2[6]*tmpFx[8] + tmpQ2[7]*tmpFx[11]; +tmpQ1[6] = + tmpQ2[8]*tmpFx[0] + tmpQ2[9]*tmpFx[3] + tmpQ2[10]*tmpFx[6] + tmpQ2[11]*tmpFx[9]; +tmpQ1[7] = + tmpQ2[8]*tmpFx[1] + tmpQ2[9]*tmpFx[4] + tmpQ2[10]*tmpFx[7] + tmpQ2[11]*tmpFx[10]; +tmpQ1[8] = + tmpQ2[8]*tmpFx[2] + tmpQ2[9]*tmpFx[5] + tmpQ2[10]*tmpFx[8] + tmpQ2[11]*tmpFx[11]; } void acado_setObjR1R2( real_t* const tmpFu, real_t* const tmpObjS, real_t* const tmpR1, real_t* const tmpR2 ) @@ -315,60 +190,24 @@ tmpR1[0] = + tmpR2[0]*tmpFu[0] + tmpR2[1]*tmpFu[1] + tmpR2[2]*tmpFu[2] + tmpR2[3 void acado_setObjQN1QN2( real_t* const tmpFx, real_t* const tmpObjSEndTerm, real_t* const tmpQN1, real_t* const tmpQN2 ) { -tmpQN2[0] = + tmpFx[0]*tmpObjSEndTerm[0] + tmpFx[6]*tmpObjSEndTerm[3] + tmpFx[12]*tmpObjSEndTerm[6]; -tmpQN2[1] = + tmpFx[0]*tmpObjSEndTerm[1] + tmpFx[6]*tmpObjSEndTerm[4] + tmpFx[12]*tmpObjSEndTerm[7]; -tmpQN2[2] = + tmpFx[0]*tmpObjSEndTerm[2] + tmpFx[6]*tmpObjSEndTerm[5] + tmpFx[12]*tmpObjSEndTerm[8]; -tmpQN2[3] = + tmpFx[1]*tmpObjSEndTerm[0] + tmpFx[7]*tmpObjSEndTerm[3] + tmpFx[13]*tmpObjSEndTerm[6]; -tmpQN2[4] = + tmpFx[1]*tmpObjSEndTerm[1] + tmpFx[7]*tmpObjSEndTerm[4] + tmpFx[13]*tmpObjSEndTerm[7]; -tmpQN2[5] = + tmpFx[1]*tmpObjSEndTerm[2] + tmpFx[7]*tmpObjSEndTerm[5] + tmpFx[13]*tmpObjSEndTerm[8]; -tmpQN2[6] = + tmpFx[2]*tmpObjSEndTerm[0] + tmpFx[8]*tmpObjSEndTerm[3] + tmpFx[14]*tmpObjSEndTerm[6]; -tmpQN2[7] = + tmpFx[2]*tmpObjSEndTerm[1] + tmpFx[8]*tmpObjSEndTerm[4] + tmpFx[14]*tmpObjSEndTerm[7]; -tmpQN2[8] = + tmpFx[2]*tmpObjSEndTerm[2] + tmpFx[8]*tmpObjSEndTerm[5] + tmpFx[14]*tmpObjSEndTerm[8]; -tmpQN2[9] = + tmpFx[3]*tmpObjSEndTerm[0] + tmpFx[9]*tmpObjSEndTerm[3] + tmpFx[15]*tmpObjSEndTerm[6]; -tmpQN2[10] = + tmpFx[3]*tmpObjSEndTerm[1] + tmpFx[9]*tmpObjSEndTerm[4] + tmpFx[15]*tmpObjSEndTerm[7]; -tmpQN2[11] = + tmpFx[3]*tmpObjSEndTerm[2] + tmpFx[9]*tmpObjSEndTerm[5] + tmpFx[15]*tmpObjSEndTerm[8]; -tmpQN2[12] = + tmpFx[4]*tmpObjSEndTerm[0] + tmpFx[10]*tmpObjSEndTerm[3] + tmpFx[16]*tmpObjSEndTerm[6]; -tmpQN2[13] = + tmpFx[4]*tmpObjSEndTerm[1] + tmpFx[10]*tmpObjSEndTerm[4] + tmpFx[16]*tmpObjSEndTerm[7]; -tmpQN2[14] = + tmpFx[4]*tmpObjSEndTerm[2] + tmpFx[10]*tmpObjSEndTerm[5] + tmpFx[16]*tmpObjSEndTerm[8]; -tmpQN2[15] = + tmpFx[5]*tmpObjSEndTerm[0] + tmpFx[11]*tmpObjSEndTerm[3] + tmpFx[17]*tmpObjSEndTerm[6]; -tmpQN2[16] = + tmpFx[5]*tmpObjSEndTerm[1] + tmpFx[11]*tmpObjSEndTerm[4] + tmpFx[17]*tmpObjSEndTerm[7]; -tmpQN2[17] = + tmpFx[5]*tmpObjSEndTerm[2] + tmpFx[11]*tmpObjSEndTerm[5] + tmpFx[17]*tmpObjSEndTerm[8]; -tmpQN1[0] = + tmpQN2[0]*tmpFx[0] + tmpQN2[1]*tmpFx[6] + tmpQN2[2]*tmpFx[12]; -tmpQN1[1] = + tmpQN2[0]*tmpFx[1] + tmpQN2[1]*tmpFx[7] + tmpQN2[2]*tmpFx[13]; -tmpQN1[2] = + tmpQN2[0]*tmpFx[2] + tmpQN2[1]*tmpFx[8] + tmpQN2[2]*tmpFx[14]; -tmpQN1[3] = + tmpQN2[0]*tmpFx[3] + tmpQN2[1]*tmpFx[9] + tmpQN2[2]*tmpFx[15]; -tmpQN1[4] = + tmpQN2[0]*tmpFx[4] + tmpQN2[1]*tmpFx[10] + tmpQN2[2]*tmpFx[16]; -tmpQN1[5] = + tmpQN2[0]*tmpFx[5] + tmpQN2[1]*tmpFx[11] + tmpQN2[2]*tmpFx[17]; -tmpQN1[6] = + tmpQN2[3]*tmpFx[0] + tmpQN2[4]*tmpFx[6] + tmpQN2[5]*tmpFx[12]; -tmpQN1[7] = + tmpQN2[3]*tmpFx[1] + tmpQN2[4]*tmpFx[7] + tmpQN2[5]*tmpFx[13]; -tmpQN1[8] = + tmpQN2[3]*tmpFx[2] + tmpQN2[4]*tmpFx[8] + tmpQN2[5]*tmpFx[14]; -tmpQN1[9] = + tmpQN2[3]*tmpFx[3] + tmpQN2[4]*tmpFx[9] + tmpQN2[5]*tmpFx[15]; -tmpQN1[10] = + tmpQN2[3]*tmpFx[4] + tmpQN2[4]*tmpFx[10] + tmpQN2[5]*tmpFx[16]; -tmpQN1[11] = + tmpQN2[3]*tmpFx[5] + tmpQN2[4]*tmpFx[11] + tmpQN2[5]*tmpFx[17]; -tmpQN1[12] = + tmpQN2[6]*tmpFx[0] + tmpQN2[7]*tmpFx[6] + tmpQN2[8]*tmpFx[12]; -tmpQN1[13] = + tmpQN2[6]*tmpFx[1] + tmpQN2[7]*tmpFx[7] + tmpQN2[8]*tmpFx[13]; -tmpQN1[14] = + tmpQN2[6]*tmpFx[2] + tmpQN2[7]*tmpFx[8] + tmpQN2[8]*tmpFx[14]; -tmpQN1[15] = + tmpQN2[6]*tmpFx[3] + tmpQN2[7]*tmpFx[9] + tmpQN2[8]*tmpFx[15]; -tmpQN1[16] = + tmpQN2[6]*tmpFx[4] + tmpQN2[7]*tmpFx[10] + tmpQN2[8]*tmpFx[16]; -tmpQN1[17] = + tmpQN2[6]*tmpFx[5] + tmpQN2[7]*tmpFx[11] + tmpQN2[8]*tmpFx[17]; -tmpQN1[18] = + tmpQN2[9]*tmpFx[0] + tmpQN2[10]*tmpFx[6] + tmpQN2[11]*tmpFx[12]; -tmpQN1[19] = + tmpQN2[9]*tmpFx[1] + tmpQN2[10]*tmpFx[7] + tmpQN2[11]*tmpFx[13]; -tmpQN1[20] = + tmpQN2[9]*tmpFx[2] + tmpQN2[10]*tmpFx[8] + tmpQN2[11]*tmpFx[14]; -tmpQN1[21] = + tmpQN2[9]*tmpFx[3] + tmpQN2[10]*tmpFx[9] + tmpQN2[11]*tmpFx[15]; -tmpQN1[22] = + tmpQN2[9]*tmpFx[4] + tmpQN2[10]*tmpFx[10] + tmpQN2[11]*tmpFx[16]; -tmpQN1[23] = + tmpQN2[9]*tmpFx[5] + tmpQN2[10]*tmpFx[11] + tmpQN2[11]*tmpFx[17]; -tmpQN1[24] = + tmpQN2[12]*tmpFx[0] + tmpQN2[13]*tmpFx[6] + tmpQN2[14]*tmpFx[12]; -tmpQN1[25] = + tmpQN2[12]*tmpFx[1] + tmpQN2[13]*tmpFx[7] + tmpQN2[14]*tmpFx[13]; -tmpQN1[26] = + tmpQN2[12]*tmpFx[2] + tmpQN2[13]*tmpFx[8] + tmpQN2[14]*tmpFx[14]; -tmpQN1[27] = + tmpQN2[12]*tmpFx[3] + tmpQN2[13]*tmpFx[9] + tmpQN2[14]*tmpFx[15]; -tmpQN1[28] = + tmpQN2[12]*tmpFx[4] + tmpQN2[13]*tmpFx[10] + tmpQN2[14]*tmpFx[16]; -tmpQN1[29] = + tmpQN2[12]*tmpFx[5] + tmpQN2[13]*tmpFx[11] + tmpQN2[14]*tmpFx[17]; -tmpQN1[30] = + tmpQN2[15]*tmpFx[0] + tmpQN2[16]*tmpFx[6] + tmpQN2[17]*tmpFx[12]; -tmpQN1[31] = + tmpQN2[15]*tmpFx[1] + tmpQN2[16]*tmpFx[7] + tmpQN2[17]*tmpFx[13]; -tmpQN1[32] = + tmpQN2[15]*tmpFx[2] + tmpQN2[16]*tmpFx[8] + tmpQN2[17]*tmpFx[14]; -tmpQN1[33] = + tmpQN2[15]*tmpFx[3] + tmpQN2[16]*tmpFx[9] + tmpQN2[17]*tmpFx[15]; -tmpQN1[34] = + tmpQN2[15]*tmpFx[4] + tmpQN2[16]*tmpFx[10] + tmpQN2[17]*tmpFx[16]; -tmpQN1[35] = + tmpQN2[15]*tmpFx[5] + tmpQN2[16]*tmpFx[11] + tmpQN2[17]*tmpFx[17]; +tmpQN2[0] = + tmpFx[0]*tmpObjSEndTerm[0] + tmpFx[3]*tmpObjSEndTerm[3] + tmpFx[6]*tmpObjSEndTerm[6]; +tmpQN2[1] = + tmpFx[0]*tmpObjSEndTerm[1] + tmpFx[3]*tmpObjSEndTerm[4] + tmpFx[6]*tmpObjSEndTerm[7]; +tmpQN2[2] = + tmpFx[0]*tmpObjSEndTerm[2] + tmpFx[3]*tmpObjSEndTerm[5] + tmpFx[6]*tmpObjSEndTerm[8]; +tmpQN2[3] = + tmpFx[1]*tmpObjSEndTerm[0] + tmpFx[4]*tmpObjSEndTerm[3] + tmpFx[7]*tmpObjSEndTerm[6]; +tmpQN2[4] = + tmpFx[1]*tmpObjSEndTerm[1] + tmpFx[4]*tmpObjSEndTerm[4] + tmpFx[7]*tmpObjSEndTerm[7]; +tmpQN2[5] = + tmpFx[1]*tmpObjSEndTerm[2] + tmpFx[4]*tmpObjSEndTerm[5] + tmpFx[7]*tmpObjSEndTerm[8]; +tmpQN2[6] = + tmpFx[2]*tmpObjSEndTerm[0] + tmpFx[5]*tmpObjSEndTerm[3] + tmpFx[8]*tmpObjSEndTerm[6]; +tmpQN2[7] = + tmpFx[2]*tmpObjSEndTerm[1] + tmpFx[5]*tmpObjSEndTerm[4] + tmpFx[8]*tmpObjSEndTerm[7]; +tmpQN2[8] = + tmpFx[2]*tmpObjSEndTerm[2] + tmpFx[5]*tmpObjSEndTerm[5] + tmpFx[8]*tmpObjSEndTerm[8]; +tmpQN1[0] = + tmpQN2[0]*tmpFx[0] + tmpQN2[1]*tmpFx[3] + tmpQN2[2]*tmpFx[6]; +tmpQN1[1] = + tmpQN2[0]*tmpFx[1] + tmpQN2[1]*tmpFx[4] + tmpQN2[2]*tmpFx[7]; +tmpQN1[2] = + tmpQN2[0]*tmpFx[2] + tmpQN2[1]*tmpFx[5] + tmpQN2[2]*tmpFx[8]; +tmpQN1[3] = + tmpQN2[3]*tmpFx[0] + tmpQN2[4]*tmpFx[3] + tmpQN2[5]*tmpFx[6]; +tmpQN1[4] = + tmpQN2[3]*tmpFx[1] + tmpQN2[4]*tmpFx[4] + tmpQN2[5]*tmpFx[7]; +tmpQN1[5] = + tmpQN2[3]*tmpFx[2] + tmpQN2[4]*tmpFx[5] + tmpQN2[5]*tmpFx[8]; +tmpQN1[6] = + tmpQN2[6]*tmpFx[0] + tmpQN2[7]*tmpFx[3] + tmpQN2[8]*tmpFx[6]; +tmpQN1[7] = + tmpQN2[6]*tmpFx[1] + tmpQN2[7]*tmpFx[4] + tmpQN2[8]*tmpFx[7]; +tmpQN1[8] = + tmpQN2[6]*tmpFx[2] + tmpQN2[7]*tmpFx[5] + tmpQN2[8]*tmpFx[8]; } void acado_evaluateObjective( ) @@ -376,15 +215,12 @@ void acado_evaluateObjective( ) int runObj; for (runObj = 0; runObj < 20; ++runObj) { -acadoWorkspace.objValueIn[0] = acadoVariables.x[runObj * 6]; -acadoWorkspace.objValueIn[1] = acadoVariables.x[runObj * 6 + 1]; -acadoWorkspace.objValueIn[2] = acadoVariables.x[runObj * 6 + 2]; -acadoWorkspace.objValueIn[3] = acadoVariables.x[runObj * 6 + 3]; -acadoWorkspace.objValueIn[4] = acadoVariables.x[runObj * 6 + 4]; -acadoWorkspace.objValueIn[5] = acadoVariables.x[runObj * 6 + 5]; -acadoWorkspace.objValueIn[6] = acadoVariables.u[runObj]; -acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 2]; -acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 2 + 1]; +acadoWorkspace.objValueIn[0] = acadoVariables.x[runObj * 3]; +acadoWorkspace.objValueIn[1] = acadoVariables.x[runObj * 3 + 1]; +acadoWorkspace.objValueIn[2] = acadoVariables.x[runObj * 3 + 2]; +acadoWorkspace.objValueIn[3] = acadoVariables.u[runObj]; +acadoWorkspace.objValueIn[4] = acadoVariables.od[runObj * 2]; +acadoWorkspace.objValueIn[5] = acadoVariables.od[runObj * 2 + 1]; acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); acadoWorkspace.Dy[runObj * 4] = acadoWorkspace.objValueOut[0]; @@ -392,19 +228,16 @@ acadoWorkspace.Dy[runObj * 4 + 1] = acadoWorkspace.objValueOut[1]; acadoWorkspace.Dy[runObj * 4 + 2] = acadoWorkspace.objValueOut[2]; acadoWorkspace.Dy[runObj * 4 + 3] = acadoWorkspace.objValueOut[3]; -acado_setObjQ1Q2( &(acadoWorkspace.objValueOut[ 4 ]), &(acadoVariables.W[ runObj * 16 ]), &(acadoWorkspace.Q1[ runObj * 36 ]), &(acadoWorkspace.Q2[ runObj * 24 ]) ); +acado_setObjQ1Q2( &(acadoWorkspace.objValueOut[ 4 ]), &(acadoVariables.W[ runObj * 16 ]), &(acadoWorkspace.Q1[ runObj * 9 ]), &(acadoWorkspace.Q2[ runObj * 12 ]) ); -acado_setObjR1R2( &(acadoWorkspace.objValueOut[ 28 ]), &(acadoVariables.W[ runObj * 16 ]), &(acadoWorkspace.R1[ runObj ]), &(acadoWorkspace.R2[ runObj * 4 ]) ); +acado_setObjR1R2( &(acadoWorkspace.objValueOut[ 16 ]), &(acadoVariables.W[ runObj * 16 ]), &(acadoWorkspace.R1[ runObj ]), &(acadoWorkspace.R2[ runObj * 4 ]) ); } -acadoWorkspace.objValueIn[0] = acadoVariables.x[120]; -acadoWorkspace.objValueIn[1] = acadoVariables.x[121]; -acadoWorkspace.objValueIn[2] = acadoVariables.x[122]; -acadoWorkspace.objValueIn[3] = acadoVariables.x[123]; -acadoWorkspace.objValueIn[4] = acadoVariables.x[124]; -acadoWorkspace.objValueIn[5] = acadoVariables.x[125]; -acadoWorkspace.objValueIn[6] = acadoVariables.od[40]; -acadoWorkspace.objValueIn[7] = acadoVariables.od[41]; +acadoWorkspace.objValueIn[0] = acadoVariables.x[60]; +acadoWorkspace.objValueIn[1] = acadoVariables.x[61]; +acadoWorkspace.objValueIn[2] = acadoVariables.x[62]; +acadoWorkspace.objValueIn[3] = acadoVariables.od[40]; +acadoWorkspace.objValueIn[4] = acadoVariables.od[41]; acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0]; @@ -417,12 +250,9 @@ acado_setObjQN1QN2( &(acadoWorkspace.objValueOut[ 3 ]), acadoVariables.WN, acado void acado_multGxd( real_t* const dOld, real_t* const Gx1, real_t* const dNew ) { -dNew[0] += + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2] + Gx1[3]*dOld[3] + Gx1[4]*dOld[4] + Gx1[5]*dOld[5]; -dNew[1] += + Gx1[6]*dOld[0] + Gx1[7]*dOld[1] + Gx1[8]*dOld[2] + Gx1[9]*dOld[3] + Gx1[10]*dOld[4] + Gx1[11]*dOld[5]; -dNew[2] += + Gx1[12]*dOld[0] + Gx1[13]*dOld[1] + Gx1[14]*dOld[2] + Gx1[15]*dOld[3] + Gx1[16]*dOld[4] + Gx1[17]*dOld[5]; -dNew[3] += + Gx1[18]*dOld[0] + Gx1[19]*dOld[1] + Gx1[20]*dOld[2] + Gx1[21]*dOld[3] + Gx1[22]*dOld[4] + Gx1[23]*dOld[5]; -dNew[4] += + Gx1[24]*dOld[0] + Gx1[25]*dOld[1] + Gx1[26]*dOld[2] + Gx1[27]*dOld[3] + Gx1[28]*dOld[4] + Gx1[29]*dOld[5]; -dNew[5] += + Gx1[30]*dOld[0] + Gx1[31]*dOld[1] + Gx1[32]*dOld[2] + Gx1[33]*dOld[3] + Gx1[34]*dOld[4] + Gx1[35]*dOld[5]; +dNew[0] += + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2]; +dNew[1] += + Gx1[3]*dOld[0] + Gx1[4]*dOld[1] + Gx1[5]*dOld[2]; +dNew[2] += + Gx1[6]*dOld[0] + Gx1[7]*dOld[1] + Gx1[8]*dOld[2]; } void acado_moveGxT( real_t* const Gx1, real_t* const Gx2 ) @@ -436,83 +266,26 @@ Gx2[5] = Gx1[5]; Gx2[6] = Gx1[6]; Gx2[7] = Gx1[7]; Gx2[8] = Gx1[8]; -Gx2[9] = Gx1[9]; -Gx2[10] = Gx1[10]; -Gx2[11] = Gx1[11]; -Gx2[12] = Gx1[12]; -Gx2[13] = Gx1[13]; -Gx2[14] = Gx1[14]; -Gx2[15] = Gx1[15]; -Gx2[16] = Gx1[16]; -Gx2[17] = Gx1[17]; -Gx2[18] = Gx1[18]; -Gx2[19] = Gx1[19]; -Gx2[20] = Gx1[20]; -Gx2[21] = Gx1[21]; -Gx2[22] = Gx1[22]; -Gx2[23] = Gx1[23]; -Gx2[24] = Gx1[24]; -Gx2[25] = Gx1[25]; -Gx2[26] = Gx1[26]; -Gx2[27] = Gx1[27]; -Gx2[28] = Gx1[28]; -Gx2[29] = Gx1[29]; -Gx2[30] = Gx1[30]; -Gx2[31] = Gx1[31]; -Gx2[32] = Gx1[32]; -Gx2[33] = Gx1[33]; -Gx2[34] = Gx1[34]; -Gx2[35] = Gx1[35]; } void acado_multGxGx( real_t* const Gx1, real_t* const Gx2, real_t* const Gx3 ) { -Gx3[0] = + Gx1[0]*Gx2[0] + Gx1[1]*Gx2[6] + Gx1[2]*Gx2[12] + Gx1[3]*Gx2[18] + Gx1[4]*Gx2[24] + Gx1[5]*Gx2[30]; -Gx3[1] = + Gx1[0]*Gx2[1] + Gx1[1]*Gx2[7] + Gx1[2]*Gx2[13] + Gx1[3]*Gx2[19] + Gx1[4]*Gx2[25] + Gx1[5]*Gx2[31]; -Gx3[2] = + Gx1[0]*Gx2[2] + Gx1[1]*Gx2[8] + Gx1[2]*Gx2[14] + Gx1[3]*Gx2[20] + Gx1[4]*Gx2[26] + Gx1[5]*Gx2[32]; -Gx3[3] = + Gx1[0]*Gx2[3] + Gx1[1]*Gx2[9] + Gx1[2]*Gx2[15] + Gx1[3]*Gx2[21] + Gx1[4]*Gx2[27] + Gx1[5]*Gx2[33]; -Gx3[4] = + Gx1[0]*Gx2[4] + Gx1[1]*Gx2[10] + Gx1[2]*Gx2[16] + Gx1[3]*Gx2[22] + Gx1[4]*Gx2[28] + Gx1[5]*Gx2[34]; -Gx3[5] = + Gx1[0]*Gx2[5] + Gx1[1]*Gx2[11] + Gx1[2]*Gx2[17] + Gx1[3]*Gx2[23] + Gx1[4]*Gx2[29] + Gx1[5]*Gx2[35]; -Gx3[6] = + Gx1[6]*Gx2[0] + Gx1[7]*Gx2[6] + Gx1[8]*Gx2[12] + Gx1[9]*Gx2[18] + Gx1[10]*Gx2[24] + Gx1[11]*Gx2[30]; -Gx3[7] = + Gx1[6]*Gx2[1] + Gx1[7]*Gx2[7] + Gx1[8]*Gx2[13] + Gx1[9]*Gx2[19] + Gx1[10]*Gx2[25] + Gx1[11]*Gx2[31]; -Gx3[8] = + Gx1[6]*Gx2[2] + Gx1[7]*Gx2[8] + Gx1[8]*Gx2[14] + Gx1[9]*Gx2[20] + Gx1[10]*Gx2[26] + Gx1[11]*Gx2[32]; -Gx3[9] = + Gx1[6]*Gx2[3] + Gx1[7]*Gx2[9] + Gx1[8]*Gx2[15] + Gx1[9]*Gx2[21] + Gx1[10]*Gx2[27] + Gx1[11]*Gx2[33]; -Gx3[10] = + Gx1[6]*Gx2[4] + Gx1[7]*Gx2[10] + Gx1[8]*Gx2[16] + Gx1[9]*Gx2[22] + Gx1[10]*Gx2[28] + Gx1[11]*Gx2[34]; -Gx3[11] = + Gx1[6]*Gx2[5] + Gx1[7]*Gx2[11] + Gx1[8]*Gx2[17] + Gx1[9]*Gx2[23] + Gx1[10]*Gx2[29] + Gx1[11]*Gx2[35]; -Gx3[12] = + Gx1[12]*Gx2[0] + Gx1[13]*Gx2[6] + Gx1[14]*Gx2[12] + Gx1[15]*Gx2[18] + Gx1[16]*Gx2[24] + Gx1[17]*Gx2[30]; -Gx3[13] = + Gx1[12]*Gx2[1] + Gx1[13]*Gx2[7] + Gx1[14]*Gx2[13] + Gx1[15]*Gx2[19] + Gx1[16]*Gx2[25] + Gx1[17]*Gx2[31]; -Gx3[14] = + Gx1[12]*Gx2[2] + Gx1[13]*Gx2[8] + Gx1[14]*Gx2[14] + Gx1[15]*Gx2[20] + Gx1[16]*Gx2[26] + Gx1[17]*Gx2[32]; -Gx3[15] = + Gx1[12]*Gx2[3] + Gx1[13]*Gx2[9] + Gx1[14]*Gx2[15] + Gx1[15]*Gx2[21] + Gx1[16]*Gx2[27] + Gx1[17]*Gx2[33]; -Gx3[16] = + Gx1[12]*Gx2[4] + Gx1[13]*Gx2[10] + Gx1[14]*Gx2[16] + Gx1[15]*Gx2[22] + Gx1[16]*Gx2[28] + Gx1[17]*Gx2[34]; -Gx3[17] = + Gx1[12]*Gx2[5] + Gx1[13]*Gx2[11] + Gx1[14]*Gx2[17] + Gx1[15]*Gx2[23] + Gx1[16]*Gx2[29] + Gx1[17]*Gx2[35]; -Gx3[18] = + Gx1[18]*Gx2[0] + Gx1[19]*Gx2[6] + Gx1[20]*Gx2[12] + Gx1[21]*Gx2[18] + Gx1[22]*Gx2[24] + Gx1[23]*Gx2[30]; -Gx3[19] = + Gx1[18]*Gx2[1] + Gx1[19]*Gx2[7] + Gx1[20]*Gx2[13] + Gx1[21]*Gx2[19] + Gx1[22]*Gx2[25] + Gx1[23]*Gx2[31]; -Gx3[20] = + Gx1[18]*Gx2[2] + Gx1[19]*Gx2[8] + Gx1[20]*Gx2[14] + Gx1[21]*Gx2[20] + Gx1[22]*Gx2[26] + Gx1[23]*Gx2[32]; -Gx3[21] = + Gx1[18]*Gx2[3] + Gx1[19]*Gx2[9] + Gx1[20]*Gx2[15] + Gx1[21]*Gx2[21] + Gx1[22]*Gx2[27] + Gx1[23]*Gx2[33]; -Gx3[22] = + Gx1[18]*Gx2[4] + Gx1[19]*Gx2[10] + Gx1[20]*Gx2[16] + Gx1[21]*Gx2[22] + Gx1[22]*Gx2[28] + Gx1[23]*Gx2[34]; -Gx3[23] = + Gx1[18]*Gx2[5] + Gx1[19]*Gx2[11] + Gx1[20]*Gx2[17] + Gx1[21]*Gx2[23] + Gx1[22]*Gx2[29] + Gx1[23]*Gx2[35]; -Gx3[24] = + Gx1[24]*Gx2[0] + Gx1[25]*Gx2[6] + Gx1[26]*Gx2[12] + Gx1[27]*Gx2[18] + Gx1[28]*Gx2[24] + Gx1[29]*Gx2[30]; -Gx3[25] = + Gx1[24]*Gx2[1] + Gx1[25]*Gx2[7] + Gx1[26]*Gx2[13] + Gx1[27]*Gx2[19] + Gx1[28]*Gx2[25] + Gx1[29]*Gx2[31]; -Gx3[26] = + Gx1[24]*Gx2[2] + Gx1[25]*Gx2[8] + Gx1[26]*Gx2[14] + Gx1[27]*Gx2[20] + Gx1[28]*Gx2[26] + Gx1[29]*Gx2[32]; -Gx3[27] = + Gx1[24]*Gx2[3] + Gx1[25]*Gx2[9] + Gx1[26]*Gx2[15] + Gx1[27]*Gx2[21] + Gx1[28]*Gx2[27] + Gx1[29]*Gx2[33]; -Gx3[28] = + Gx1[24]*Gx2[4] + Gx1[25]*Gx2[10] + Gx1[26]*Gx2[16] + Gx1[27]*Gx2[22] + Gx1[28]*Gx2[28] + Gx1[29]*Gx2[34]; -Gx3[29] = + Gx1[24]*Gx2[5] + Gx1[25]*Gx2[11] + Gx1[26]*Gx2[17] + Gx1[27]*Gx2[23] + Gx1[28]*Gx2[29] + Gx1[29]*Gx2[35]; -Gx3[30] = + Gx1[30]*Gx2[0] + Gx1[31]*Gx2[6] + Gx1[32]*Gx2[12] + Gx1[33]*Gx2[18] + Gx1[34]*Gx2[24] + Gx1[35]*Gx2[30]; -Gx3[31] = + Gx1[30]*Gx2[1] + Gx1[31]*Gx2[7] + Gx1[32]*Gx2[13] + Gx1[33]*Gx2[19] + Gx1[34]*Gx2[25] + Gx1[35]*Gx2[31]; -Gx3[32] = + Gx1[30]*Gx2[2] + Gx1[31]*Gx2[8] + Gx1[32]*Gx2[14] + Gx1[33]*Gx2[20] + Gx1[34]*Gx2[26] + Gx1[35]*Gx2[32]; -Gx3[33] = + Gx1[30]*Gx2[3] + Gx1[31]*Gx2[9] + Gx1[32]*Gx2[15] + Gx1[33]*Gx2[21] + Gx1[34]*Gx2[27] + Gx1[35]*Gx2[33]; -Gx3[34] = + Gx1[30]*Gx2[4] + Gx1[31]*Gx2[10] + Gx1[32]*Gx2[16] + Gx1[33]*Gx2[22] + Gx1[34]*Gx2[28] + Gx1[35]*Gx2[34]; -Gx3[35] = + Gx1[30]*Gx2[5] + Gx1[31]*Gx2[11] + Gx1[32]*Gx2[17] + Gx1[33]*Gx2[23] + Gx1[34]*Gx2[29] + Gx1[35]*Gx2[35]; +Gx3[0] = + Gx1[0]*Gx2[0] + Gx1[1]*Gx2[3] + Gx1[2]*Gx2[6]; +Gx3[1] = + Gx1[0]*Gx2[1] + Gx1[1]*Gx2[4] + Gx1[2]*Gx2[7]; +Gx3[2] = + Gx1[0]*Gx2[2] + Gx1[1]*Gx2[5] + Gx1[2]*Gx2[8]; +Gx3[3] = + Gx1[3]*Gx2[0] + Gx1[4]*Gx2[3] + Gx1[5]*Gx2[6]; +Gx3[4] = + Gx1[3]*Gx2[1] + Gx1[4]*Gx2[4] + Gx1[5]*Gx2[7]; +Gx3[5] = + Gx1[3]*Gx2[2] + Gx1[4]*Gx2[5] + Gx1[5]*Gx2[8]; +Gx3[6] = + Gx1[6]*Gx2[0] + Gx1[7]*Gx2[3] + Gx1[8]*Gx2[6]; +Gx3[7] = + Gx1[6]*Gx2[1] + Gx1[7]*Gx2[4] + Gx1[8]*Gx2[7]; +Gx3[8] = + Gx1[6]*Gx2[2] + Gx1[7]*Gx2[5] + Gx1[8]*Gx2[8]; } void acado_multGxGu( real_t* const Gx1, real_t* const Gu1, real_t* const Gu2 ) { -Gu2[0] = + Gx1[0]*Gu1[0] + Gx1[1]*Gu1[1] + Gx1[2]*Gu1[2] + Gx1[3]*Gu1[3] + Gx1[4]*Gu1[4] + Gx1[5]*Gu1[5]; -Gu2[1] = + Gx1[6]*Gu1[0] + Gx1[7]*Gu1[1] + Gx1[8]*Gu1[2] + Gx1[9]*Gu1[3] + Gx1[10]*Gu1[4] + Gx1[11]*Gu1[5]; -Gu2[2] = + Gx1[12]*Gu1[0] + Gx1[13]*Gu1[1] + Gx1[14]*Gu1[2] + Gx1[15]*Gu1[3] + Gx1[16]*Gu1[4] + Gx1[17]*Gu1[5]; -Gu2[3] = + Gx1[18]*Gu1[0] + Gx1[19]*Gu1[1] + Gx1[20]*Gu1[2] + Gx1[21]*Gu1[3] + Gx1[22]*Gu1[4] + Gx1[23]*Gu1[5]; -Gu2[4] = + Gx1[24]*Gu1[0] + Gx1[25]*Gu1[1] + Gx1[26]*Gu1[2] + Gx1[27]*Gu1[3] + Gx1[28]*Gu1[4] + Gx1[29]*Gu1[5]; -Gu2[5] = + Gx1[30]*Gu1[0] + Gx1[31]*Gu1[1] + Gx1[32]*Gu1[2] + Gx1[33]*Gu1[3] + Gx1[34]*Gu1[4] + Gx1[35]*Gu1[5]; +Gu2[0] = + Gx1[0]*Gu1[0] + Gx1[1]*Gu1[1] + Gx1[2]*Gu1[2]; +Gu2[1] = + Gx1[3]*Gu1[0] + Gx1[4]*Gu1[1] + Gx1[5]*Gu1[2]; +Gu2[2] = + Gx1[6]*Gu1[0] + Gx1[7]*Gu1[1] + Gx1[8]*Gu1[2]; } void acado_moveGuE( real_t* const Gu1, real_t* const Gu2 ) @@ -520,49 +293,40 @@ void acado_moveGuE( real_t* const Gu1, real_t* const Gu2 ) Gu2[0] = Gu1[0]; Gu2[1] = Gu1[1]; Gu2[2] = Gu1[2]; -Gu2[3] = Gu1[3]; -Gu2[4] = Gu1[4]; -Gu2[5] = Gu1[5]; } void acado_setBlockH11( int iRow, int iCol, real_t* const Gu1, real_t* const Gu2 ) { -acadoWorkspace.H[(iRow * 26 + 156) + (iCol + 6)] += + Gu1[0]*Gu2[0] + Gu1[1]*Gu2[1] + Gu1[2]*Gu2[2] + Gu1[3]*Gu2[3] + Gu1[4]*Gu2[4] + Gu1[5]*Gu2[5]; +acadoWorkspace.H[(iRow * 23 + 69) + (iCol + 3)] += + Gu1[0]*Gu2[0] + Gu1[1]*Gu2[1] + Gu1[2]*Gu2[2]; } void acado_setBlockH11_R1( int iRow, int iCol, real_t* const R11 ) { -acadoWorkspace.H[(iRow * 26 + 156) + (iCol + 6)] = R11[0]; +acadoWorkspace.H[(iRow * 23 + 69) + (iCol + 3)] = R11[0]; } void acado_zeroBlockH11( int iRow, int iCol ) { -acadoWorkspace.H[(iRow * 26 + 156) + (iCol + 6)] = 0.0000000000000000e+00; +acadoWorkspace.H[(iRow * 23 + 69) + (iCol + 3)] = 0.0000000000000000e+00; } void acado_copyHTH( int iRow, int iCol ) { -acadoWorkspace.H[(iRow * 26 + 156) + (iCol + 6)] = acadoWorkspace.H[(iCol * 26 + 156) + (iRow + 6)]; +acadoWorkspace.H[(iRow * 23 + 69) + (iCol + 3)] = acadoWorkspace.H[(iCol * 23 + 69) + (iRow + 3)]; } void acado_multQ1d( real_t* const Gx1, real_t* const dOld, real_t* const dNew ) { -dNew[0] = + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2] + Gx1[3]*dOld[3] + Gx1[4]*dOld[4] + Gx1[5]*dOld[5]; -dNew[1] = + Gx1[6]*dOld[0] + Gx1[7]*dOld[1] + Gx1[8]*dOld[2] + Gx1[9]*dOld[3] + Gx1[10]*dOld[4] + Gx1[11]*dOld[5]; -dNew[2] = + Gx1[12]*dOld[0] + Gx1[13]*dOld[1] + Gx1[14]*dOld[2] + Gx1[15]*dOld[3] + Gx1[16]*dOld[4] + Gx1[17]*dOld[5]; -dNew[3] = + Gx1[18]*dOld[0] + Gx1[19]*dOld[1] + Gx1[20]*dOld[2] + Gx1[21]*dOld[3] + Gx1[22]*dOld[4] + Gx1[23]*dOld[5]; -dNew[4] = + Gx1[24]*dOld[0] + Gx1[25]*dOld[1] + Gx1[26]*dOld[2] + Gx1[27]*dOld[3] + Gx1[28]*dOld[4] + Gx1[29]*dOld[5]; -dNew[5] = + Gx1[30]*dOld[0] + Gx1[31]*dOld[1] + Gx1[32]*dOld[2] + Gx1[33]*dOld[3] + Gx1[34]*dOld[4] + Gx1[35]*dOld[5]; +dNew[0] = + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2]; +dNew[1] = + Gx1[3]*dOld[0] + Gx1[4]*dOld[1] + Gx1[5]*dOld[2]; +dNew[2] = + Gx1[6]*dOld[0] + Gx1[7]*dOld[1] + Gx1[8]*dOld[2]; } void acado_multQN1d( real_t* const QN1, real_t* const dOld, real_t* const dNew ) { -dNew[0] = + acadoWorkspace.QN1[0]*dOld[0] + acadoWorkspace.QN1[1]*dOld[1] + acadoWorkspace.QN1[2]*dOld[2] + acadoWorkspace.QN1[3]*dOld[3] + acadoWorkspace.QN1[4]*dOld[4] + acadoWorkspace.QN1[5]*dOld[5]; -dNew[1] = + acadoWorkspace.QN1[6]*dOld[0] + acadoWorkspace.QN1[7]*dOld[1] + acadoWorkspace.QN1[8]*dOld[2] + acadoWorkspace.QN1[9]*dOld[3] + acadoWorkspace.QN1[10]*dOld[4] + acadoWorkspace.QN1[11]*dOld[5]; -dNew[2] = + acadoWorkspace.QN1[12]*dOld[0] + acadoWorkspace.QN1[13]*dOld[1] + acadoWorkspace.QN1[14]*dOld[2] + acadoWorkspace.QN1[15]*dOld[3] + acadoWorkspace.QN1[16]*dOld[4] + acadoWorkspace.QN1[17]*dOld[5]; -dNew[3] = + acadoWorkspace.QN1[18]*dOld[0] + acadoWorkspace.QN1[19]*dOld[1] + acadoWorkspace.QN1[20]*dOld[2] + acadoWorkspace.QN1[21]*dOld[3] + acadoWorkspace.QN1[22]*dOld[4] + acadoWorkspace.QN1[23]*dOld[5]; -dNew[4] = + acadoWorkspace.QN1[24]*dOld[0] + acadoWorkspace.QN1[25]*dOld[1] + acadoWorkspace.QN1[26]*dOld[2] + acadoWorkspace.QN1[27]*dOld[3] + acadoWorkspace.QN1[28]*dOld[4] + acadoWorkspace.QN1[29]*dOld[5]; -dNew[5] = + acadoWorkspace.QN1[30]*dOld[0] + acadoWorkspace.QN1[31]*dOld[1] + acadoWorkspace.QN1[32]*dOld[2] + acadoWorkspace.QN1[33]*dOld[3] + acadoWorkspace.QN1[34]*dOld[4] + acadoWorkspace.QN1[35]*dOld[5]; +dNew[0] = + acadoWorkspace.QN1[0]*dOld[0] + acadoWorkspace.QN1[1]*dOld[1] + acadoWorkspace.QN1[2]*dOld[2]; +dNew[1] = + acadoWorkspace.QN1[3]*dOld[0] + acadoWorkspace.QN1[4]*dOld[1] + acadoWorkspace.QN1[5]*dOld[2]; +dNew[2] = + acadoWorkspace.QN1[6]*dOld[0] + acadoWorkspace.QN1[7]*dOld[1] + acadoWorkspace.QN1[8]*dOld[2]; } void acado_multRDy( real_t* const R2, real_t* const Dy1, real_t* const RDy1 ) @@ -575,29 +339,23 @@ void acado_multQDy( real_t* const Q2, real_t* const Dy1, real_t* const QDy1 ) QDy1[0] = + Q2[0]*Dy1[0] + Q2[1]*Dy1[1] + Q2[2]*Dy1[2] + Q2[3]*Dy1[3]; QDy1[1] = + Q2[4]*Dy1[0] + Q2[5]*Dy1[1] + Q2[6]*Dy1[2] + Q2[7]*Dy1[3]; QDy1[2] = + Q2[8]*Dy1[0] + Q2[9]*Dy1[1] + Q2[10]*Dy1[2] + Q2[11]*Dy1[3]; -QDy1[3] = + Q2[12]*Dy1[0] + Q2[13]*Dy1[1] + Q2[14]*Dy1[2] + Q2[15]*Dy1[3]; -QDy1[4] = + Q2[16]*Dy1[0] + Q2[17]*Dy1[1] + Q2[18]*Dy1[2] + Q2[19]*Dy1[3]; -QDy1[5] = + Q2[20]*Dy1[0] + Q2[21]*Dy1[1] + Q2[22]*Dy1[2] + Q2[23]*Dy1[3]; } void acado_multEQDy( real_t* const E1, real_t* const QDy1, real_t* const U1 ) { -U1[0] += + E1[0]*QDy1[0] + E1[1]*QDy1[1] + E1[2]*QDy1[2] + E1[3]*QDy1[3] + E1[4]*QDy1[4] + E1[5]*QDy1[5]; +U1[0] += + E1[0]*QDy1[0] + E1[1]*QDy1[1] + E1[2]*QDy1[2]; } void acado_multQETGx( real_t* const E1, real_t* const Gx1, real_t* const H101 ) { -H101[0] += + E1[0]*Gx1[0] + E1[1]*Gx1[6] + E1[2]*Gx1[12] + E1[3]*Gx1[18] + E1[4]*Gx1[24] + E1[5]*Gx1[30]; -H101[1] += + E1[0]*Gx1[1] + E1[1]*Gx1[7] + E1[2]*Gx1[13] + E1[3]*Gx1[19] + E1[4]*Gx1[25] + E1[5]*Gx1[31]; -H101[2] += + E1[0]*Gx1[2] + E1[1]*Gx1[8] + E1[2]*Gx1[14] + E1[3]*Gx1[20] + E1[4]*Gx1[26] + E1[5]*Gx1[32]; -H101[3] += + E1[0]*Gx1[3] + E1[1]*Gx1[9] + E1[2]*Gx1[15] + E1[3]*Gx1[21] + E1[4]*Gx1[27] + E1[5]*Gx1[33]; -H101[4] += + E1[0]*Gx1[4] + E1[1]*Gx1[10] + E1[2]*Gx1[16] + E1[3]*Gx1[22] + E1[4]*Gx1[28] + E1[5]*Gx1[34]; -H101[5] += + E1[0]*Gx1[5] + E1[1]*Gx1[11] + E1[2]*Gx1[17] + E1[3]*Gx1[23] + E1[4]*Gx1[29] + E1[5]*Gx1[35]; +H101[0] += + E1[0]*Gx1[0] + E1[1]*Gx1[3] + E1[2]*Gx1[6]; +H101[1] += + E1[0]*Gx1[1] + E1[1]*Gx1[4] + E1[2]*Gx1[7]; +H101[2] += + E1[0]*Gx1[2] + E1[1]*Gx1[5] + E1[2]*Gx1[8]; } void acado_zeroBlockH10( real_t* const H101 ) { -{ int lCopy; for (lCopy = 0; lCopy < 6; lCopy++) H101[ lCopy ] = 0; } +{ int lCopy; for (lCopy = 0; lCopy < 3; lCopy++) H101[ lCopy ] = 0; } } void acado_multEDu( real_t* const E1, real_t* const U1, real_t* const dNew ) @@ -605,9 +363,6 @@ void acado_multEDu( real_t* const E1, real_t* const U1, real_t* const dNew ) dNew[0] += + E1[0]*U1[0]; dNew[1] += + E1[1]*U1[0]; dNew[2] += + E1[2]*U1[0]; -dNew[3] += + E1[3]*U1[0]; -dNew[4] += + E1[4]*U1[0]; -dNew[5] += + E1[5]*U1[0]; } void acado_zeroBlockH00( ) @@ -615,79 +370,25 @@ void acado_zeroBlockH00( ) acadoWorkspace.H[0] = 0.0000000000000000e+00; acadoWorkspace.H[1] = 0.0000000000000000e+00; acadoWorkspace.H[2] = 0.0000000000000000e+00; -acadoWorkspace.H[3] = 0.0000000000000000e+00; -acadoWorkspace.H[4] = 0.0000000000000000e+00; -acadoWorkspace.H[5] = 0.0000000000000000e+00; -acadoWorkspace.H[26] = 0.0000000000000000e+00; -acadoWorkspace.H[27] = 0.0000000000000000e+00; -acadoWorkspace.H[28] = 0.0000000000000000e+00; -acadoWorkspace.H[29] = 0.0000000000000000e+00; -acadoWorkspace.H[30] = 0.0000000000000000e+00; -acadoWorkspace.H[31] = 0.0000000000000000e+00; -acadoWorkspace.H[52] = 0.0000000000000000e+00; -acadoWorkspace.H[53] = 0.0000000000000000e+00; -acadoWorkspace.H[54] = 0.0000000000000000e+00; -acadoWorkspace.H[55] = 0.0000000000000000e+00; -acadoWorkspace.H[56] = 0.0000000000000000e+00; -acadoWorkspace.H[57] = 0.0000000000000000e+00; -acadoWorkspace.H[78] = 0.0000000000000000e+00; -acadoWorkspace.H[79] = 0.0000000000000000e+00; -acadoWorkspace.H[80] = 0.0000000000000000e+00; -acadoWorkspace.H[81] = 0.0000000000000000e+00; -acadoWorkspace.H[82] = 0.0000000000000000e+00; -acadoWorkspace.H[83] = 0.0000000000000000e+00; -acadoWorkspace.H[104] = 0.0000000000000000e+00; -acadoWorkspace.H[105] = 0.0000000000000000e+00; -acadoWorkspace.H[106] = 0.0000000000000000e+00; -acadoWorkspace.H[107] = 0.0000000000000000e+00; -acadoWorkspace.H[108] = 0.0000000000000000e+00; -acadoWorkspace.H[109] = 0.0000000000000000e+00; -acadoWorkspace.H[130] = 0.0000000000000000e+00; -acadoWorkspace.H[131] = 0.0000000000000000e+00; -acadoWorkspace.H[132] = 0.0000000000000000e+00; -acadoWorkspace.H[133] = 0.0000000000000000e+00; -acadoWorkspace.H[134] = 0.0000000000000000e+00; -acadoWorkspace.H[135] = 0.0000000000000000e+00; +acadoWorkspace.H[23] = 0.0000000000000000e+00; +acadoWorkspace.H[24] = 0.0000000000000000e+00; +acadoWorkspace.H[25] = 0.0000000000000000e+00; +acadoWorkspace.H[46] = 0.0000000000000000e+00; +acadoWorkspace.H[47] = 0.0000000000000000e+00; +acadoWorkspace.H[48] = 0.0000000000000000e+00; } void acado_multCTQC( real_t* const Gx1, real_t* const Gx2 ) { -acadoWorkspace.H[0] += + Gx1[0]*Gx2[0] + Gx1[6]*Gx2[6] + Gx1[12]*Gx2[12] + Gx1[18]*Gx2[18] + Gx1[24]*Gx2[24] + Gx1[30]*Gx2[30]; -acadoWorkspace.H[1] += + Gx1[0]*Gx2[1] + Gx1[6]*Gx2[7] + Gx1[12]*Gx2[13] + Gx1[18]*Gx2[19] + Gx1[24]*Gx2[25] + Gx1[30]*Gx2[31]; -acadoWorkspace.H[2] += + Gx1[0]*Gx2[2] + Gx1[6]*Gx2[8] + Gx1[12]*Gx2[14] + Gx1[18]*Gx2[20] + Gx1[24]*Gx2[26] + Gx1[30]*Gx2[32]; -acadoWorkspace.H[3] += + Gx1[0]*Gx2[3] + Gx1[6]*Gx2[9] + Gx1[12]*Gx2[15] + Gx1[18]*Gx2[21] + Gx1[24]*Gx2[27] + Gx1[30]*Gx2[33]; -acadoWorkspace.H[4] += + Gx1[0]*Gx2[4] + Gx1[6]*Gx2[10] + Gx1[12]*Gx2[16] + Gx1[18]*Gx2[22] + Gx1[24]*Gx2[28] + Gx1[30]*Gx2[34]; -acadoWorkspace.H[5] += + Gx1[0]*Gx2[5] + Gx1[6]*Gx2[11] + Gx1[12]*Gx2[17] + Gx1[18]*Gx2[23] + Gx1[24]*Gx2[29] + Gx1[30]*Gx2[35]; -acadoWorkspace.H[26] += + Gx1[1]*Gx2[0] + Gx1[7]*Gx2[6] + Gx1[13]*Gx2[12] + Gx1[19]*Gx2[18] + Gx1[25]*Gx2[24] + Gx1[31]*Gx2[30]; -acadoWorkspace.H[27] += + Gx1[1]*Gx2[1] + Gx1[7]*Gx2[7] + Gx1[13]*Gx2[13] + Gx1[19]*Gx2[19] + Gx1[25]*Gx2[25] + Gx1[31]*Gx2[31]; -acadoWorkspace.H[28] += + Gx1[1]*Gx2[2] + Gx1[7]*Gx2[8] + Gx1[13]*Gx2[14] + Gx1[19]*Gx2[20] + Gx1[25]*Gx2[26] + Gx1[31]*Gx2[32]; -acadoWorkspace.H[29] += + Gx1[1]*Gx2[3] + Gx1[7]*Gx2[9] + Gx1[13]*Gx2[15] + Gx1[19]*Gx2[21] + Gx1[25]*Gx2[27] + Gx1[31]*Gx2[33]; -acadoWorkspace.H[30] += + Gx1[1]*Gx2[4] + Gx1[7]*Gx2[10] + Gx1[13]*Gx2[16] + Gx1[19]*Gx2[22] + Gx1[25]*Gx2[28] + Gx1[31]*Gx2[34]; -acadoWorkspace.H[31] += + Gx1[1]*Gx2[5] + Gx1[7]*Gx2[11] + Gx1[13]*Gx2[17] + Gx1[19]*Gx2[23] + Gx1[25]*Gx2[29] + Gx1[31]*Gx2[35]; -acadoWorkspace.H[52] += + Gx1[2]*Gx2[0] + Gx1[8]*Gx2[6] + Gx1[14]*Gx2[12] + Gx1[20]*Gx2[18] + Gx1[26]*Gx2[24] + Gx1[32]*Gx2[30]; -acadoWorkspace.H[53] += + Gx1[2]*Gx2[1] + Gx1[8]*Gx2[7] + Gx1[14]*Gx2[13] + Gx1[20]*Gx2[19] + Gx1[26]*Gx2[25] + Gx1[32]*Gx2[31]; -acadoWorkspace.H[54] += + Gx1[2]*Gx2[2] + Gx1[8]*Gx2[8] + Gx1[14]*Gx2[14] + Gx1[20]*Gx2[20] + Gx1[26]*Gx2[26] + Gx1[32]*Gx2[32]; -acadoWorkspace.H[55] += + Gx1[2]*Gx2[3] + Gx1[8]*Gx2[9] + Gx1[14]*Gx2[15] + Gx1[20]*Gx2[21] + Gx1[26]*Gx2[27] + Gx1[32]*Gx2[33]; -acadoWorkspace.H[56] += + Gx1[2]*Gx2[4] + Gx1[8]*Gx2[10] + Gx1[14]*Gx2[16] + Gx1[20]*Gx2[22] + Gx1[26]*Gx2[28] + Gx1[32]*Gx2[34]; -acadoWorkspace.H[57] += + Gx1[2]*Gx2[5] + Gx1[8]*Gx2[11] + Gx1[14]*Gx2[17] + Gx1[20]*Gx2[23] + Gx1[26]*Gx2[29] + Gx1[32]*Gx2[35]; -acadoWorkspace.H[78] += + Gx1[3]*Gx2[0] + Gx1[9]*Gx2[6] + Gx1[15]*Gx2[12] + Gx1[21]*Gx2[18] + Gx1[27]*Gx2[24] + Gx1[33]*Gx2[30]; -acadoWorkspace.H[79] += + Gx1[3]*Gx2[1] + Gx1[9]*Gx2[7] + Gx1[15]*Gx2[13] + Gx1[21]*Gx2[19] + Gx1[27]*Gx2[25] + Gx1[33]*Gx2[31]; -acadoWorkspace.H[80] += + Gx1[3]*Gx2[2] + Gx1[9]*Gx2[8] + Gx1[15]*Gx2[14] + Gx1[21]*Gx2[20] + Gx1[27]*Gx2[26] + Gx1[33]*Gx2[32]; -acadoWorkspace.H[81] += + Gx1[3]*Gx2[3] + Gx1[9]*Gx2[9] + Gx1[15]*Gx2[15] + Gx1[21]*Gx2[21] + Gx1[27]*Gx2[27] + Gx1[33]*Gx2[33]; -acadoWorkspace.H[82] += + Gx1[3]*Gx2[4] + Gx1[9]*Gx2[10] + Gx1[15]*Gx2[16] + Gx1[21]*Gx2[22] + Gx1[27]*Gx2[28] + Gx1[33]*Gx2[34]; -acadoWorkspace.H[83] += + Gx1[3]*Gx2[5] + Gx1[9]*Gx2[11] + Gx1[15]*Gx2[17] + Gx1[21]*Gx2[23] + Gx1[27]*Gx2[29] + Gx1[33]*Gx2[35]; -acadoWorkspace.H[104] += + Gx1[4]*Gx2[0] + Gx1[10]*Gx2[6] + Gx1[16]*Gx2[12] + Gx1[22]*Gx2[18] + Gx1[28]*Gx2[24] + Gx1[34]*Gx2[30]; -acadoWorkspace.H[105] += + Gx1[4]*Gx2[1] + Gx1[10]*Gx2[7] + Gx1[16]*Gx2[13] + Gx1[22]*Gx2[19] + Gx1[28]*Gx2[25] + Gx1[34]*Gx2[31]; -acadoWorkspace.H[106] += + Gx1[4]*Gx2[2] + Gx1[10]*Gx2[8] + Gx1[16]*Gx2[14] + Gx1[22]*Gx2[20] + Gx1[28]*Gx2[26] + Gx1[34]*Gx2[32]; -acadoWorkspace.H[107] += + Gx1[4]*Gx2[3] + Gx1[10]*Gx2[9] + Gx1[16]*Gx2[15] + Gx1[22]*Gx2[21] + Gx1[28]*Gx2[27] + Gx1[34]*Gx2[33]; -acadoWorkspace.H[108] += + Gx1[4]*Gx2[4] + Gx1[10]*Gx2[10] + Gx1[16]*Gx2[16] + Gx1[22]*Gx2[22] + Gx1[28]*Gx2[28] + Gx1[34]*Gx2[34]; -acadoWorkspace.H[109] += + Gx1[4]*Gx2[5] + Gx1[10]*Gx2[11] + Gx1[16]*Gx2[17] + Gx1[22]*Gx2[23] + Gx1[28]*Gx2[29] + Gx1[34]*Gx2[35]; -acadoWorkspace.H[130] += + Gx1[5]*Gx2[0] + Gx1[11]*Gx2[6] + Gx1[17]*Gx2[12] + Gx1[23]*Gx2[18] + Gx1[29]*Gx2[24] + Gx1[35]*Gx2[30]; -acadoWorkspace.H[131] += + Gx1[5]*Gx2[1] + Gx1[11]*Gx2[7] + Gx1[17]*Gx2[13] + Gx1[23]*Gx2[19] + Gx1[29]*Gx2[25] + Gx1[35]*Gx2[31]; -acadoWorkspace.H[132] += + Gx1[5]*Gx2[2] + Gx1[11]*Gx2[8] + Gx1[17]*Gx2[14] + Gx1[23]*Gx2[20] + Gx1[29]*Gx2[26] + Gx1[35]*Gx2[32]; -acadoWorkspace.H[133] += + Gx1[5]*Gx2[3] + Gx1[11]*Gx2[9] + Gx1[17]*Gx2[15] + Gx1[23]*Gx2[21] + Gx1[29]*Gx2[27] + Gx1[35]*Gx2[33]; -acadoWorkspace.H[134] += + Gx1[5]*Gx2[4] + Gx1[11]*Gx2[10] + Gx1[17]*Gx2[16] + Gx1[23]*Gx2[22] + Gx1[29]*Gx2[28] + Gx1[35]*Gx2[34]; -acadoWorkspace.H[135] += + Gx1[5]*Gx2[5] + Gx1[11]*Gx2[11] + Gx1[17]*Gx2[17] + Gx1[23]*Gx2[23] + Gx1[29]*Gx2[29] + Gx1[35]*Gx2[35]; +acadoWorkspace.H[0] += + Gx1[0]*Gx2[0] + Gx1[3]*Gx2[3] + Gx1[6]*Gx2[6]; +acadoWorkspace.H[1] += + Gx1[0]*Gx2[1] + Gx1[3]*Gx2[4] + Gx1[6]*Gx2[7]; +acadoWorkspace.H[2] += + Gx1[0]*Gx2[2] + Gx1[3]*Gx2[5] + Gx1[6]*Gx2[8]; +acadoWorkspace.H[23] += + Gx1[1]*Gx2[0] + Gx1[4]*Gx2[3] + Gx1[7]*Gx2[6]; +acadoWorkspace.H[24] += + Gx1[1]*Gx2[1] + Gx1[4]*Gx2[4] + Gx1[7]*Gx2[7]; +acadoWorkspace.H[25] += + Gx1[1]*Gx2[2] + Gx1[4]*Gx2[5] + Gx1[7]*Gx2[8]; +acadoWorkspace.H[46] += + Gx1[2]*Gx2[0] + Gx1[5]*Gx2[3] + Gx1[8]*Gx2[6]; +acadoWorkspace.H[47] += + Gx1[2]*Gx2[1] + Gx1[5]*Gx2[4] + Gx1[8]*Gx2[7]; +acadoWorkspace.H[48] += + Gx1[2]*Gx2[2] + Gx1[5]*Gx2[5] + Gx1[8]*Gx2[8]; } void acado_macCTSlx( real_t* const C0, real_t* const g0 ) @@ -698,12 +399,6 @@ g0[1] += 0.0; ; g0[2] += 0.0; ; -g0[3] += 0.0; -; -g0[4] += 0.0; -; -g0[5] += 0.0; -; } void acado_macETSlu( real_t* const E0, real_t* const g1 ) @@ -721,2896 +416,2836 @@ int lRun4; int lRun5; /** Row vector of size: 20 */ static const int xBoundIndices[ 20 ] = -{ 7, 13, 19, 25, 31, 37, 43, 49, 55, 61, 67, 73, 79, 85, 91, 97, 103, 109, 115, 121 }; +{ 4, 7, 10, 13, 16, 19, 22, 25, 28, 31, 34, 37, 40, 43, 46, 49, 52, 55, 58, 61 }; acado_moveGuE( acadoWorkspace.evGu, acadoWorkspace.E ); +acado_moveGxT( &(acadoWorkspace.evGx[ 9 ]), acadoWorkspace.T ); +acado_multGxd( acadoWorkspace.d, &(acadoWorkspace.evGx[ 9 ]), &(acadoWorkspace.d[ 3 ]) ); +acado_multGxGx( acadoWorkspace.T, acadoWorkspace.evGx, &(acadoWorkspace.evGx[ 9 ]) ); + +acado_multGxGu( acadoWorkspace.T, acadoWorkspace.E, &(acadoWorkspace.E[ 3 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 3 ]), &(acadoWorkspace.E[ 6 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 18 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 3 ]), &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.d[ 6 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 9 ]), &(acadoWorkspace.evGx[ 18 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.E[ 9 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.E[ 12 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 6 ]), &(acadoWorkspace.E[ 15 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 27 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 6 ]), &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.d[ 9 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.evGx[ 27 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.E[ 18 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.E[ 21 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 15 ]), &(acadoWorkspace.E[ 24 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 9 ]), &(acadoWorkspace.E[ 27 ]) ); + acado_moveGxT( &(acadoWorkspace.evGx[ 36 ]), acadoWorkspace.T ); -acado_multGxd( acadoWorkspace.d, &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.d[ 6 ]) ); -acado_multGxGx( acadoWorkspace.T, acadoWorkspace.evGx, &(acadoWorkspace.evGx[ 36 ]) ); +acado_multGxd( &(acadoWorkspace.d[ 9 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.d[ 12 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.evGx[ 36 ]) ); -acado_multGxGu( acadoWorkspace.T, acadoWorkspace.E, &(acadoWorkspace.E[ 6 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.E[ 30 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.E[ 33 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.E[ 36 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 27 ]), &(acadoWorkspace.E[ 39 ]) ); -acado_moveGuE( &(acadoWorkspace.evGu[ 6 ]), &(acadoWorkspace.E[ 12 ]) ); +acado_moveGuE( &(acadoWorkspace.evGu[ 12 ]), &(acadoWorkspace.E[ 42 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 45 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.d[ 15 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.evGx[ 45 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.E[ 45 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.E[ 48 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.E[ 51 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.E[ 54 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.E[ 57 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 15 ]), &(acadoWorkspace.E[ 60 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 54 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 15 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.d[ 18 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.evGx[ 54 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.E[ 63 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.E[ 66 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.E[ 69 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.E[ 72 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.E[ 75 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.E[ 78 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 18 ]), &(acadoWorkspace.E[ 81 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 63 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 18 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.d[ 21 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.evGx[ 63 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.E[ 84 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.E[ 87 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.E[ 90 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.E[ 93 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.E[ 96 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.E[ 99 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 81 ]), &(acadoWorkspace.E[ 102 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 21 ]), &(acadoWorkspace.E[ 105 ]) ); acado_moveGxT( &(acadoWorkspace.evGx[ 72 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 6 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.d[ 12 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.evGx[ 72 ]) ); +acado_multGxd( &(acadoWorkspace.d[ 21 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.d[ 24 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.evGx[ 72 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.E[ 18 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.E[ 24 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.E[ 108 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.E[ 111 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.E[ 114 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.E[ 117 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.E[ 120 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.E[ 123 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.E[ 126 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 105 ]), &(acadoWorkspace.E[ 129 ]) ); -acado_moveGuE( &(acadoWorkspace.evGu[ 12 ]), &(acadoWorkspace.E[ 30 ]) ); +acado_moveGuE( &(acadoWorkspace.evGu[ 24 ]), &(acadoWorkspace.E[ 132 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 81 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.d[ 27 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.evGx[ 81 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.E[ 135 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.E[ 138 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.E[ 141 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.E[ 144 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.E[ 147 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.E[ 150 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.E[ 153 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.E[ 156 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.E[ 159 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 27 ]), &(acadoWorkspace.E[ 162 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 90 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 27 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.d[ 30 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.evGx[ 90 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.E[ 165 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.E[ 168 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.E[ 171 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.E[ 174 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.E[ 177 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.E[ 180 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.E[ 183 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.E[ 186 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.E[ 189 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.E[ 192 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 30 ]), &(acadoWorkspace.E[ 195 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 99 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 30 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.d[ 33 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.evGx[ 99 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.E[ 198 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.E[ 201 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.E[ 204 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.E[ 207 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.E[ 210 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.E[ 213 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.E[ 216 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.E[ 219 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.E[ 222 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.E[ 225 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 195 ]), &(acadoWorkspace.E[ 228 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 33 ]), &(acadoWorkspace.E[ 231 ]) ); acado_moveGxT( &(acadoWorkspace.evGx[ 108 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.d[ 18 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.evGx[ 108 ]) ); +acado_multGxd( &(acadoWorkspace.d[ 33 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.d[ 36 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.evGx[ 108 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.E[ 36 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.E[ 42 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.E[ 48 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.E[ 234 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.E[ 237 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.E[ 240 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.E[ 243 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.E[ 246 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.E[ 249 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.E[ 252 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.E[ 255 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.E[ 258 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.E[ 261 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.E[ 264 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 231 ]), &(acadoWorkspace.E[ 267 ]) ); -acado_moveGuE( &(acadoWorkspace.evGu[ 18 ]), &(acadoWorkspace.E[ 54 ]) ); +acado_moveGuE( &(acadoWorkspace.evGu[ 36 ]), &(acadoWorkspace.E[ 270 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 117 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.d[ 39 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.evGx[ 117 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.E[ 273 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.E[ 276 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.E[ 279 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.E[ 282 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.E[ 285 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.E[ 288 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.E[ 291 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.E[ 294 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.E[ 297 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.E[ 300 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.E[ 303 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.E[ 306 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.E[ 309 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 39 ]), &(acadoWorkspace.E[ 312 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 126 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 39 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.d[ 42 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.evGx[ 126 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.E[ 315 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.E[ 318 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.E[ 321 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.E[ 324 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.E[ 327 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.E[ 330 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.E[ 333 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.E[ 336 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.E[ 339 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.E[ 342 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.E[ 345 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.E[ 348 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.E[ 351 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.E[ 354 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 42 ]), &(acadoWorkspace.E[ 357 ]) ); + +acado_moveGxT( &(acadoWorkspace.evGx[ 135 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 42 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.d[ 45 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.evGx[ 135 ]) ); + +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.E[ 360 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.E[ 363 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.E[ 366 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.E[ 369 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.E[ 372 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.E[ 375 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.E[ 378 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.E[ 381 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.E[ 384 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.E[ 387 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.E[ 390 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.E[ 393 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.E[ 396 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.E[ 399 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 357 ]), &(acadoWorkspace.E[ 402 ]) ); + +acado_moveGuE( &(acadoWorkspace.evGu[ 45 ]), &(acadoWorkspace.E[ 405 ]) ); acado_moveGxT( &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 18 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.d[ 24 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.evGx[ 144 ]) ); +acado_multGxd( &(acadoWorkspace.d[ 45 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.d[ 48 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.evGx[ 144 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.E[ 60 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.E[ 66 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.E[ 72 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.E[ 78 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.E[ 408 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.E[ 411 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.E[ 414 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.E[ 417 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.E[ 420 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.E[ 423 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.E[ 426 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.E[ 429 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.E[ 432 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.E[ 435 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.E[ 438 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.E[ 441 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.E[ 444 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.E[ 447 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.E[ 450 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 405 ]), &(acadoWorkspace.E[ 453 ]) ); -acado_moveGuE( &(acadoWorkspace.evGu[ 24 ]), &(acadoWorkspace.E[ 84 ]) ); +acado_moveGuE( &(acadoWorkspace.evGu[ 48 ]), &(acadoWorkspace.E[ 456 ]) ); -acado_moveGxT( &(acadoWorkspace.evGx[ 180 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.evGx[ 180 ]), &(acadoWorkspace.d[ 30 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.evGx[ 180 ]) ); +acado_moveGxT( &(acadoWorkspace.evGx[ 153 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.d[ 51 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.evGx[ 153 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.E[ 90 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.E[ 96 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.E[ 102 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.E[ 108 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.E[ 114 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.E[ 459 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.E[ 462 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.E[ 465 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.E[ 468 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.E[ 471 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.E[ 474 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.E[ 477 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.E[ 480 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.E[ 483 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.E[ 486 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.E[ 489 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.E[ 492 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.E[ 495 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.E[ 498 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.E[ 501 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.E[ 504 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.E[ 507 ]) ); -acado_moveGuE( &(acadoWorkspace.evGu[ 30 ]), &(acadoWorkspace.E[ 120 ]) ); +acado_moveGuE( &(acadoWorkspace.evGu[ 51 ]), &(acadoWorkspace.E[ 510 ]) ); -acado_moveGxT( &(acadoWorkspace.evGx[ 216 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 30 ]), &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.d[ 36 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 180 ]), &(acadoWorkspace.evGx[ 216 ]) ); +acado_moveGxT( &(acadoWorkspace.evGx[ 162 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 51 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.d[ 54 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.evGx[ 162 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.E[ 126 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.E[ 132 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.E[ 138 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.E[ 144 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.E[ 150 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.E[ 156 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.E[ 513 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.E[ 516 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.E[ 519 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.E[ 522 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.E[ 525 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.E[ 528 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.E[ 531 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.E[ 534 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.E[ 537 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.E[ 540 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.E[ 543 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.E[ 546 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.E[ 549 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.E[ 552 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.E[ 555 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.E[ 558 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.E[ 561 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.E[ 564 ]) ); -acado_moveGuE( &(acadoWorkspace.evGu[ 36 ]), &(acadoWorkspace.E[ 162 ]) ); +acado_moveGuE( &(acadoWorkspace.evGu[ 54 ]), &(acadoWorkspace.E[ 567 ]) ); -acado_moveGxT( &(acadoWorkspace.evGx[ 252 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.d[ 42 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.evGx[ 252 ]) ); +acado_moveGxT( &(acadoWorkspace.evGx[ 171 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ 54 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.d[ 57 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.evGx[ 171 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.E[ 168 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.E[ 174 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.E[ 180 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.E[ 186 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.E[ 192 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.E[ 198 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.E[ 204 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.E[ 570 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.E[ 573 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.E[ 576 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.E[ 579 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.E[ 582 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.E[ 585 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.E[ 588 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.E[ 591 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.E[ 594 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.E[ 597 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.E[ 600 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.E[ 603 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.E[ 606 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.E[ 609 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.E[ 612 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.E[ 615 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.E[ 618 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.E[ 621 ]) ); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 567 ]), &(acadoWorkspace.E[ 624 ]) ); -acado_moveGuE( &(acadoWorkspace.evGu[ 42 ]), &(acadoWorkspace.E[ 210 ]) ); +acado_moveGuE( &(acadoWorkspace.evGu[ 57 ]), &(acadoWorkspace.E[ 627 ]) ); -acado_moveGxT( &(acadoWorkspace.evGx[ 288 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 42 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.d[ 48 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.evGx[ 288 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 9 ]), acadoWorkspace.evGx, acadoWorkspace.QGx ); +acado_multGxGx( &(acadoWorkspace.Q1[ 18 ]), &(acadoWorkspace.evGx[ 9 ]), &(acadoWorkspace.QGx[ 9 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 27 ]), &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.QGx[ 18 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.QGx[ 27 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.QGx[ 36 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.QGx[ 45 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.QGx[ 54 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.QGx[ 63 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.QGx[ 72 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.QGx[ 81 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.QGx[ 90 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.QGx[ 99 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.QGx[ 108 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.QGx[ 117 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.QGx[ 126 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.QGx[ 135 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.QGx[ 153 ]) ); +acado_multGxGx( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.QGx[ 162 ]) ); +acado_multGxGx( acadoWorkspace.QN1, &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.QGx[ 171 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.E[ 216 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.E[ 222 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.E[ 228 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.E[ 234 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.E[ 240 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.E[ 246 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.E[ 252 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.E[ 258 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 48 ]), &(acadoWorkspace.E[ 264 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 324 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.d[ 54 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.evGx[ 324 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.E[ 270 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.E[ 276 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.E[ 282 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.E[ 288 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.E[ 294 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.E[ 300 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.E[ 306 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.E[ 312 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.E[ 318 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 54 ]), &(acadoWorkspace.E[ 324 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 360 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 54 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.d[ 60 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.evGx[ 360 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.E[ 330 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.E[ 336 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.E[ 342 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.E[ 348 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.E[ 354 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.E[ 360 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.E[ 366 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.E[ 372 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.E[ 378 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.E[ 384 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 60 ]), &(acadoWorkspace.E[ 390 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 396 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 60 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.d[ 66 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.evGx[ 396 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.E[ 396 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.E[ 402 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.E[ 408 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.E[ 414 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.E[ 420 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.E[ 426 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.E[ 432 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.E[ 438 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.E[ 444 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.E[ 450 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.E[ 456 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 66 ]), &(acadoWorkspace.E[ 462 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 432 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 66 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.d[ 72 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.evGx[ 432 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.E[ 468 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.E[ 474 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.E[ 480 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.E[ 486 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.E[ 492 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.E[ 498 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.E[ 504 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.E[ 510 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.E[ 516 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.E[ 522 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.E[ 528 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.E[ 534 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 72 ]), &(acadoWorkspace.E[ 540 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 468 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 72 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.d[ 78 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.evGx[ 468 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.E[ 546 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.E[ 552 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.E[ 558 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.E[ 564 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.E[ 570 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.E[ 576 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.E[ 582 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.E[ 588 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.E[ 594 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.E[ 600 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.E[ 606 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.E[ 612 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.E[ 618 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 78 ]), &(acadoWorkspace.E[ 624 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 504 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 78 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.d[ 84 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.evGx[ 504 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.E[ 630 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.E[ 636 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.E[ 642 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.E[ 648 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.E[ 654 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.E[ 660 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.E[ 666 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.E[ 672 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.E[ 678 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.E[ 684 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.E[ 690 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.E[ 696 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.E[ 702 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.E[ 708 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 84 ]), &(acadoWorkspace.E[ 714 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 540 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 84 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.d[ 90 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.evGx[ 540 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.E[ 720 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.E[ 726 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.E[ 732 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.E[ 738 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.E[ 744 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.E[ 750 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.E[ 756 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.E[ 762 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.E[ 768 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.E[ 774 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 690 ]), &(acadoWorkspace.E[ 780 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.E[ 786 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 702 ]), &(acadoWorkspace.E[ 792 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.E[ 798 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 714 ]), &(acadoWorkspace.E[ 804 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 90 ]), &(acadoWorkspace.E[ 810 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 576 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 90 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.d[ 96 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.evGx[ 576 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.E[ 816 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.E[ 822 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.E[ 828 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.E[ 834 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.E[ 840 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.E[ 846 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.E[ 852 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.E[ 858 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.E[ 864 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.E[ 870 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.E[ 876 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 786 ]), &(acadoWorkspace.E[ 882 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.E[ 888 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 798 ]), &(acadoWorkspace.E[ 894 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.E[ 900 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 810 ]), &(acadoWorkspace.E[ 906 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 96 ]), &(acadoWorkspace.E[ 912 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 612 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 96 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.d[ 102 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.evGx[ 612 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.E[ 918 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.E[ 924 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.E[ 930 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.E[ 936 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.E[ 942 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.E[ 948 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.E[ 954 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.E[ 960 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.E[ 966 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.E[ 972 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.E[ 978 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 882 ]), &(acadoWorkspace.E[ 984 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 888 ]), &(acadoWorkspace.E[ 990 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 894 ]), &(acadoWorkspace.E[ 996 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 900 ]), &(acadoWorkspace.E[ 1002 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 906 ]), &(acadoWorkspace.E[ 1008 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 912 ]), &(acadoWorkspace.E[ 1014 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 102 ]), &(acadoWorkspace.E[ 1020 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 648 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 102 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.d[ 108 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.evGx[ 648 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.E[ 1026 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.E[ 1032 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.E[ 1038 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.E[ 1044 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.E[ 1050 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.E[ 1056 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.E[ 1062 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.E[ 1068 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.E[ 1074 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.E[ 1080 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.E[ 1086 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.E[ 1092 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 990 ]), &(acadoWorkspace.E[ 1098 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 996 ]), &(acadoWorkspace.E[ 1104 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1002 ]), &(acadoWorkspace.E[ 1110 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1008 ]), &(acadoWorkspace.E[ 1116 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1014 ]), &(acadoWorkspace.E[ 1122 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1020 ]), &(acadoWorkspace.E[ 1128 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 108 ]), &(acadoWorkspace.E[ 1134 ]) ); - -acado_moveGxT( &(acadoWorkspace.evGx[ 684 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ 108 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.d[ 114 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.evGx[ 684 ]) ); - -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.E[ 1140 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.E[ 1146 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.E[ 1152 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.E[ 1158 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.E[ 1164 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.E[ 1170 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.E[ 1176 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.E[ 1182 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.E[ 1188 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.E[ 1194 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.E[ 1200 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.E[ 1206 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.E[ 1212 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1104 ]), &(acadoWorkspace.E[ 1218 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1110 ]), &(acadoWorkspace.E[ 1224 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1116 ]), &(acadoWorkspace.E[ 1230 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1122 ]), &(acadoWorkspace.E[ 1236 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1128 ]), &(acadoWorkspace.E[ 1242 ]) ); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 1134 ]), &(acadoWorkspace.E[ 1248 ]) ); - -acado_moveGuE( &(acadoWorkspace.evGu[ 114 ]), &(acadoWorkspace.E[ 1254 ]) ); - -acado_multGxGx( &(acadoWorkspace.Q1[ 36 ]), acadoWorkspace.evGx, acadoWorkspace.QGx ); -acado_multGxGx( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.QGx[ 36 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.QGx[ 72 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.QGx[ 108 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 180 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 216 ]), &(acadoWorkspace.evGx[ 180 ]), &(acadoWorkspace.QGx[ 180 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 252 ]), &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.QGx[ 216 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.QGx[ 252 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.QGx[ 288 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.QGx[ 324 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.QGx[ 360 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.QGx[ 396 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.QGx[ 432 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.QGx[ 468 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.QGx[ 504 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.QGx[ 540 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.QGx[ 576 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.QGx[ 612 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.QGx[ 648 ]) ); -acado_multGxGx( acadoWorkspace.QN1, &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.QGx[ 684 ]) ); - -acado_multGxGu( &(acadoWorkspace.Q1[ 36 ]), acadoWorkspace.E, acadoWorkspace.QE ); -acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.QE[ 6 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 12 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 18 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 24 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 30 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 36 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QE[ 42 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 48 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QE[ 54 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 180 ]), &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 60 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 180 ]), &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 66 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 180 ]), &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 72 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 180 ]), &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QE[ 78 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 180 ]), &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 84 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 216 ]), &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 90 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 216 ]), &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 96 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 216 ]), &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 102 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 216 ]), &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 108 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 216 ]), &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 114 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 216 ]), &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 120 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 252 ]), &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 126 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 252 ]), &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 132 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 252 ]), &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 138 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 252 ]), &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 144 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 252 ]), &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 150 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 252 ]), &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 156 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 252 ]), &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.QE[ 162 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 168 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 174 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 180 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 186 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 192 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 198 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 204 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 210 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 216 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 222 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 228 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 234 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 240 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 246 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 252 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 258 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 264 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 270 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 276 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 282 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 288 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 294 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 300 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 306 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 312 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 318 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 330 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 336 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 342 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 348 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 354 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 360 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 366 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 372 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 378 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 396 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 402 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 408 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 414 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 420 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 426 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 432 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 438 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 444 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 468 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 474 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 480 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 486 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 492 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 498 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 504 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 510 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 516 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 546 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 552 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 558 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 564 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 570 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 576 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 582 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 588 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 594 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 630 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 636 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 642 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 648 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 654 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 660 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QE[ 666 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 672 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.QE[ 678 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 690 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 702 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.E[ 714 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 720 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 726 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 732 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 738 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 744 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 750 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 756 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QE[ 762 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 768 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 786 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 798 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.E[ 810 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 816 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 822 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 828 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 834 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 840 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 846 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 852 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 858 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QE[ 864 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 882 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 888 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 894 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 900 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 906 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.E[ 912 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 918 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 924 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 930 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 936 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 942 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 948 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 954 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 960 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 966 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 990 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 996 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 1002 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 1008 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 1014 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.E[ 1020 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1026 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1032 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1038 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1044 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1050 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1056 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1062 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1068 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1074 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1104 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1110 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1116 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1122 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1128 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_multGxGu( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.E[ 1134 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1140 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1146 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1152 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1158 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1164 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1170 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1176 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1182 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1188 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1194 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1200 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QE[ 1206 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.QE[ 1212 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1218 ]), &(acadoWorkspace.QE[ 1218 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1224 ]), &(acadoWorkspace.QE[ 1224 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1230 ]), &(acadoWorkspace.QE[ 1230 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1236 ]), &(acadoWorkspace.QE[ 1236 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1242 ]), &(acadoWorkspace.QE[ 1242 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1248 ]), &(acadoWorkspace.QE[ 1248 ]) ); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 1254 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 9 ]), acadoWorkspace.E, acadoWorkspace.QE ); +acado_multGxGu( &(acadoWorkspace.Q1[ 18 ]), &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.QE[ 3 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 18 ]), &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.QE[ 6 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 27 ]), &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.QE[ 9 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 27 ]), &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 12 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 27 ]), &(acadoWorkspace.E[ 15 ]), &(acadoWorkspace.QE[ 15 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 18 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.QE[ 21 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 24 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.E[ 27 ]), &(acadoWorkspace.QE[ 27 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 30 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QE[ 33 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 36 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.QE[ 39 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QE[ 42 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 45 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 48 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QE[ 51 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QE[ 54 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.QE[ 57 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 60 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 63 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 66 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 69 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 72 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.QE[ 75 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QE[ 78 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.E[ 81 ]), &(acadoWorkspace.QE[ 81 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 84 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 87 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 90 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 93 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 96 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.QE[ 99 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 102 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.E[ 105 ]), &(acadoWorkspace.QE[ 105 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 108 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 111 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 114 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 117 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 120 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QE[ 123 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 126 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.QE[ 129 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 132 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 135 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 138 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 141 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 144 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 147 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 150 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QE[ 153 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 156 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.QE[ 159 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 165 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 168 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 171 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 174 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 177 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 180 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 183 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 186 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.QE[ 189 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.E[ 195 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 198 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 201 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 204 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 207 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 210 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 213 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 216 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 219 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.E[ 231 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 234 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 237 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 240 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 243 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 246 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 249 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 252 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 255 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 258 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 273 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 276 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 279 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 282 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 285 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 288 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 291 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 294 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 297 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 315 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 318 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 321 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 324 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 327 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 330 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 333 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 336 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 339 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.E[ 357 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 360 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 363 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 366 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 369 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 372 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 375 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 378 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 381 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 384 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 405 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 408 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 411 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 414 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 417 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 420 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 423 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 426 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 429 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 432 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 459 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 462 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 465 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 468 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 471 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 474 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 477 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 480 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 483 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 513 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 516 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 519 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 522 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 525 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 528 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 531 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 534 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 537 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_multGxGu( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.E[ 567 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 570 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 573 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 576 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 579 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 582 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 585 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 588 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 591 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 594 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 597 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 600 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 603 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 606 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 609 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 612 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 615 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 618 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.QE[ 621 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 624 ]) ); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 627 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_zeroBlockH00( ); acado_multCTQC( acadoWorkspace.evGx, acadoWorkspace.QGx ); +acado_multCTQC( &(acadoWorkspace.evGx[ 9 ]), &(acadoWorkspace.QGx[ 9 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.QGx[ 18 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.QGx[ 27 ]) ); acado_multCTQC( &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.QGx[ 36 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.QGx[ 45 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.QGx[ 54 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.QGx[ 63 ]) ); acado_multCTQC( &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.QGx[ 72 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.QGx[ 81 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.QGx[ 90 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.QGx[ 99 ]) ); acado_multCTQC( &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.QGx[ 108 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.QGx[ 117 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.QGx[ 126 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.QGx[ 135 ]) ); acado_multCTQC( &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 180 ]), &(acadoWorkspace.QGx[ 180 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.QGx[ 216 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.QGx[ 252 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.QGx[ 288 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.QGx[ 324 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.QGx[ 360 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.QGx[ 396 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.QGx[ 432 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.QGx[ 468 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.QGx[ 504 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.QGx[ 540 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.QGx[ 576 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.QGx[ 612 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.QGx[ 648 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.QGx[ 684 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.QGx[ 153 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.QGx[ 162 ]) ); +acado_multCTQC( &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.QGx[ 171 ]) ); acado_zeroBlockH10( acadoWorkspace.H10 ); acado_multQETGx( acadoWorkspace.QE, acadoWorkspace.evGx, acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 6 ]), &(acadoWorkspace.evGx[ 36 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 18 ]), &(acadoWorkspace.evGx[ 72 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 36 ]), &(acadoWorkspace.evGx[ 108 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 60 ]), &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 90 ]), &(acadoWorkspace.evGx[ 180 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 126 ]), &(acadoWorkspace.evGx[ 216 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 168 ]), &(acadoWorkspace.evGx[ 252 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 216 ]), &(acadoWorkspace.evGx[ 288 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 270 ]), &(acadoWorkspace.evGx[ 324 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 330 ]), &(acadoWorkspace.evGx[ 360 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 396 ]), &(acadoWorkspace.evGx[ 396 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 468 ]), &(acadoWorkspace.evGx[ 432 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 546 ]), &(acadoWorkspace.evGx[ 468 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 630 ]), &(acadoWorkspace.evGx[ 504 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 720 ]), &(acadoWorkspace.evGx[ 540 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 816 ]), &(acadoWorkspace.evGx[ 576 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 918 ]), &(acadoWorkspace.evGx[ 612 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 1026 ]), &(acadoWorkspace.evGx[ 648 ]), acadoWorkspace.H10 ); -acado_multQETGx( &(acadoWorkspace.QE[ 1140 ]), &(acadoWorkspace.evGx[ 684 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 3 ]), &(acadoWorkspace.evGx[ 9 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 9 ]), &(acadoWorkspace.evGx[ 18 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 18 ]), &(acadoWorkspace.evGx[ 27 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 30 ]), &(acadoWorkspace.evGx[ 36 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 45 ]), &(acadoWorkspace.evGx[ 45 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 63 ]), &(acadoWorkspace.evGx[ 54 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 84 ]), &(acadoWorkspace.evGx[ 63 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 108 ]), &(acadoWorkspace.evGx[ 72 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 135 ]), &(acadoWorkspace.evGx[ 81 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 165 ]), &(acadoWorkspace.evGx[ 90 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 198 ]), &(acadoWorkspace.evGx[ 99 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 234 ]), &(acadoWorkspace.evGx[ 108 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 273 ]), &(acadoWorkspace.evGx[ 117 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 315 ]), &(acadoWorkspace.evGx[ 126 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 360 ]), &(acadoWorkspace.evGx[ 135 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 408 ]), &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 459 ]), &(acadoWorkspace.evGx[ 153 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 513 ]), &(acadoWorkspace.evGx[ 162 ]), acadoWorkspace.H10 ); +acado_multQETGx( &(acadoWorkspace.QE[ 570 ]), &(acadoWorkspace.evGx[ 171 ]), acadoWorkspace.H10 ); +acado_zeroBlockH10( &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 6 ]), &(acadoWorkspace.evGx[ 9 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 12 ]), &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 21 ]), &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 33 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 48 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 66 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 87 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 111 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 138 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 168 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 201 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 237 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 276 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 318 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 363 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 411 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 462 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 516 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 3 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 573 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 3 ]) ); acado_zeroBlockH10( &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 12 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 24 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 42 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 66 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 96 ]), &(acadoWorkspace.evGx[ 180 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 132 ]), &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 174 ]), &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 222 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 276 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 336 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 402 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 474 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 552 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 636 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 726 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 822 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 924 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1032 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 6 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1146 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 15 ]), &(acadoWorkspace.evGx[ 18 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 24 ]), &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 36 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 51 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 69 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 90 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 114 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 141 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 171 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 204 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 240 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 279 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 321 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 366 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 414 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 465 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 519 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 576 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 6 ]) ); +acado_zeroBlockH10( &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 27 ]), &(acadoWorkspace.evGx[ 27 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 39 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 54 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 72 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 93 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 117 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 144 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 174 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 207 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 243 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 282 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 324 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 369 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 417 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 468 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 522 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 9 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 579 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 9 ]) ); acado_zeroBlockH10( &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 30 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 48 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 72 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 102 ]), &(acadoWorkspace.evGx[ 180 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 138 ]), &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 180 ]), &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 228 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 282 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 342 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 408 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 480 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 558 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 642 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 732 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 828 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 930 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1038 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 12 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1152 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 42 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 57 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 75 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 96 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 120 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 147 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 177 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 210 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 246 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 285 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 327 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 372 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 420 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 471 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 525 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 582 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 12 ]) ); +acado_zeroBlockH10( &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 60 ]), &(acadoWorkspace.evGx[ 45 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 78 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 99 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 123 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 150 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 180 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 213 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 249 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 288 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 330 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 375 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 423 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 474 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 528 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 15 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 585 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 15 ]) ); acado_zeroBlockH10( &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 54 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 78 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 108 ]), &(acadoWorkspace.evGx[ 180 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 144 ]), &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 186 ]), &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 234 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 288 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 348 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 414 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 486 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 564 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 648 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 738 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 834 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 936 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1044 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 18 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1158 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 81 ]), &(acadoWorkspace.evGx[ 54 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 102 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 126 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 153 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 183 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 216 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 252 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 291 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 333 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 378 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 426 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 477 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 531 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 588 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 18 ]) ); +acado_zeroBlockH10( &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 105 ]), &(acadoWorkspace.evGx[ 63 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 129 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 156 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 186 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 219 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 255 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 294 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 336 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 381 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 429 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 480 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 534 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 21 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 591 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 21 ]) ); acado_zeroBlockH10( &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 84 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 114 ]), &(acadoWorkspace.evGx[ 180 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 150 ]), &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 192 ]), &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 240 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 294 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 354 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 420 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 492 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 570 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 654 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 744 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 840 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 942 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1050 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 24 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1164 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 132 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 159 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 189 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 222 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 258 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 297 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 339 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 384 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 432 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 483 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 537 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 594 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 24 ]) ); +acado_zeroBlockH10( &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 162 ]), &(acadoWorkspace.evGx[ 81 ]), &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 192 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 225 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 261 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 300 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 342 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 387 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 435 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 486 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 540 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 27 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 597 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 27 ]) ); acado_zeroBlockH10( &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 120 ]), &(acadoWorkspace.evGx[ 180 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 156 ]), &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 198 ]), &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 246 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 300 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 360 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 426 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 498 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 576 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 660 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 750 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 846 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 948 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1056 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 30 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1170 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 195 ]), &(acadoWorkspace.evGx[ 90 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 228 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 264 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 303 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 345 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 390 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 438 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 489 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 543 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 600 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 30 ]) ); +acado_zeroBlockH10( &(acadoWorkspace.H10[ 33 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 231 ]), &(acadoWorkspace.evGx[ 99 ]), &(acadoWorkspace.H10[ 33 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 267 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 33 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 306 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 33 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 348 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 33 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 393 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 33 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 441 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 33 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 492 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 33 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 546 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 33 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 603 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 33 ]) ); acado_zeroBlockH10( &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 162 ]), &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 204 ]), &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 252 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 306 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 366 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 432 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 504 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 582 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 666 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 756 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 852 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 954 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1062 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 36 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1176 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 36 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 270 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.H10[ 36 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 309 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 36 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 351 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 36 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 396 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 36 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 444 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 36 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 495 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 36 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 549 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 36 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 606 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 36 ]) ); +acado_zeroBlockH10( &(acadoWorkspace.H10[ 39 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 312 ]), &(acadoWorkspace.evGx[ 117 ]), &(acadoWorkspace.H10[ 39 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 354 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 39 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 399 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 39 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 447 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 39 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 498 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 39 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 552 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 39 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 609 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 39 ]) ); acado_zeroBlockH10( &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 210 ]), &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 258 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 312 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 372 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 438 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 510 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 588 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 672 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 762 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 858 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 960 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1068 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 42 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1182 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 42 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 357 ]), &(acadoWorkspace.evGx[ 126 ]), &(acadoWorkspace.H10[ 42 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 402 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 42 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 450 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 42 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 501 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 42 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 555 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 42 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 612 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 42 ]) ); +acado_zeroBlockH10( &(acadoWorkspace.H10[ 45 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 405 ]), &(acadoWorkspace.evGx[ 135 ]), &(acadoWorkspace.H10[ 45 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 453 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 45 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 504 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 45 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 558 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 45 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 615 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 45 ]) ); acado_zeroBlockH10( &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 264 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 318 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 378 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 444 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 516 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 594 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 678 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 768 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 864 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 966 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1074 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 48 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1188 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 48 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 456 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 48 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 507 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 48 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 561 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 48 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 618 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 48 ]) ); +acado_zeroBlockH10( &(acadoWorkspace.H10[ 51 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 510 ]), &(acadoWorkspace.evGx[ 153 ]), &(acadoWorkspace.H10[ 51 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 564 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 51 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 621 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 51 ]) ); acado_zeroBlockH10( &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 324 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 384 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 450 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 522 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 600 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 684 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 774 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 870 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 972 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1080 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1194 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 54 ]) ); -acado_zeroBlockH10( &(acadoWorkspace.H10[ 60 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 390 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.H10[ 60 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 456 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 60 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 528 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 60 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 606 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 60 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 690 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 60 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 780 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 60 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 876 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 60 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 978 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 60 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1086 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 60 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1200 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 60 ]) ); -acado_zeroBlockH10( &(acadoWorkspace.H10[ 66 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 462 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.H10[ 66 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 534 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 66 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 612 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 66 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 696 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 66 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 786 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 66 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 882 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 66 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 984 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 66 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1092 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 66 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1206 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 66 ]) ); -acado_zeroBlockH10( &(acadoWorkspace.H10[ 72 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 540 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.H10[ 72 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 618 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 72 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 702 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 72 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 792 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 72 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 888 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 72 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 990 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 72 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1098 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 72 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1212 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 72 ]) ); -acado_zeroBlockH10( &(acadoWorkspace.H10[ 78 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 624 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.H10[ 78 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 708 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 78 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 798 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 78 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 894 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 78 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 996 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 78 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1104 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 78 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1218 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 78 ]) ); -acado_zeroBlockH10( &(acadoWorkspace.H10[ 84 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 714 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.H10[ 84 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 804 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 84 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 900 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 84 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1002 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 84 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1110 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 84 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1224 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 84 ]) ); -acado_zeroBlockH10( &(acadoWorkspace.H10[ 90 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 810 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.H10[ 90 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 906 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 90 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1008 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 90 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1116 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 90 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1230 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 90 ]) ); -acado_zeroBlockH10( &(acadoWorkspace.H10[ 96 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 912 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.H10[ 96 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1014 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 96 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1122 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 96 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1236 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 96 ]) ); -acado_zeroBlockH10( &(acadoWorkspace.H10[ 102 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1020 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.H10[ 102 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1128 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 102 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1242 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 102 ]) ); -acado_zeroBlockH10( &(acadoWorkspace.H10[ 108 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1134 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.H10[ 108 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1248 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 108 ]) ); -acado_zeroBlockH10( &(acadoWorkspace.H10[ 114 ]) ); -acado_multQETGx( &(acadoWorkspace.QE[ 1254 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.H10[ 114 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 567 ]), &(acadoWorkspace.evGx[ 162 ]), &(acadoWorkspace.H10[ 54 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 624 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 54 ]) ); +acado_zeroBlockH10( &(acadoWorkspace.H10[ 57 ]) ); +acado_multQETGx( &(acadoWorkspace.QE[ 627 ]), &(acadoWorkspace.evGx[ 171 ]), &(acadoWorkspace.H10[ 57 ]) ); -acadoWorkspace.H[6] = acadoWorkspace.H10[0]; -acadoWorkspace.H[7] = acadoWorkspace.H10[6]; -acadoWorkspace.H[8] = acadoWorkspace.H10[12]; +acadoWorkspace.H[3] = acadoWorkspace.H10[0]; +acadoWorkspace.H[4] = acadoWorkspace.H10[3]; +acadoWorkspace.H[5] = acadoWorkspace.H10[6]; +acadoWorkspace.H[6] = acadoWorkspace.H10[9]; +acadoWorkspace.H[7] = acadoWorkspace.H10[12]; +acadoWorkspace.H[8] = acadoWorkspace.H10[15]; acadoWorkspace.H[9] = acadoWorkspace.H10[18]; -acadoWorkspace.H[10] = acadoWorkspace.H10[24]; -acadoWorkspace.H[11] = acadoWorkspace.H10[30]; -acadoWorkspace.H[12] = acadoWorkspace.H10[36]; -acadoWorkspace.H[13] = acadoWorkspace.H10[42]; -acadoWorkspace.H[14] = acadoWorkspace.H10[48]; -acadoWorkspace.H[15] = acadoWorkspace.H10[54]; -acadoWorkspace.H[16] = acadoWorkspace.H10[60]; -acadoWorkspace.H[17] = acadoWorkspace.H10[66]; -acadoWorkspace.H[18] = acadoWorkspace.H10[72]; -acadoWorkspace.H[19] = acadoWorkspace.H10[78]; -acadoWorkspace.H[20] = acadoWorkspace.H10[84]; -acadoWorkspace.H[21] = acadoWorkspace.H10[90]; -acadoWorkspace.H[22] = acadoWorkspace.H10[96]; -acadoWorkspace.H[23] = acadoWorkspace.H10[102]; -acadoWorkspace.H[24] = acadoWorkspace.H10[108]; -acadoWorkspace.H[25] = acadoWorkspace.H10[114]; -acadoWorkspace.H[32] = acadoWorkspace.H10[1]; -acadoWorkspace.H[33] = acadoWorkspace.H10[7]; -acadoWorkspace.H[34] = acadoWorkspace.H10[13]; -acadoWorkspace.H[35] = acadoWorkspace.H10[19]; -acadoWorkspace.H[36] = acadoWorkspace.H10[25]; -acadoWorkspace.H[37] = acadoWorkspace.H10[31]; +acadoWorkspace.H[10] = acadoWorkspace.H10[21]; +acadoWorkspace.H[11] = acadoWorkspace.H10[24]; +acadoWorkspace.H[12] = acadoWorkspace.H10[27]; +acadoWorkspace.H[13] = acadoWorkspace.H10[30]; +acadoWorkspace.H[14] = acadoWorkspace.H10[33]; +acadoWorkspace.H[15] = acadoWorkspace.H10[36]; +acadoWorkspace.H[16] = acadoWorkspace.H10[39]; +acadoWorkspace.H[17] = acadoWorkspace.H10[42]; +acadoWorkspace.H[18] = acadoWorkspace.H10[45]; +acadoWorkspace.H[19] = acadoWorkspace.H10[48]; +acadoWorkspace.H[20] = acadoWorkspace.H10[51]; +acadoWorkspace.H[21] = acadoWorkspace.H10[54]; +acadoWorkspace.H[22] = acadoWorkspace.H10[57]; +acadoWorkspace.H[26] = acadoWorkspace.H10[1]; +acadoWorkspace.H[27] = acadoWorkspace.H10[4]; +acadoWorkspace.H[28] = acadoWorkspace.H10[7]; +acadoWorkspace.H[29] = acadoWorkspace.H10[10]; +acadoWorkspace.H[30] = acadoWorkspace.H10[13]; +acadoWorkspace.H[31] = acadoWorkspace.H10[16]; +acadoWorkspace.H[32] = acadoWorkspace.H10[19]; +acadoWorkspace.H[33] = acadoWorkspace.H10[22]; +acadoWorkspace.H[34] = acadoWorkspace.H10[25]; +acadoWorkspace.H[35] = acadoWorkspace.H10[28]; +acadoWorkspace.H[36] = acadoWorkspace.H10[31]; +acadoWorkspace.H[37] = acadoWorkspace.H10[34]; acadoWorkspace.H[38] = acadoWorkspace.H10[37]; -acadoWorkspace.H[39] = acadoWorkspace.H10[43]; -acadoWorkspace.H[40] = acadoWorkspace.H10[49]; -acadoWorkspace.H[41] = acadoWorkspace.H10[55]; -acadoWorkspace.H[42] = acadoWorkspace.H10[61]; -acadoWorkspace.H[43] = acadoWorkspace.H10[67]; -acadoWorkspace.H[44] = acadoWorkspace.H10[73]; -acadoWorkspace.H[45] = acadoWorkspace.H10[79]; -acadoWorkspace.H[46] = acadoWorkspace.H10[85]; -acadoWorkspace.H[47] = acadoWorkspace.H10[91]; -acadoWorkspace.H[48] = acadoWorkspace.H10[97]; -acadoWorkspace.H[49] = acadoWorkspace.H10[103]; -acadoWorkspace.H[50] = acadoWorkspace.H10[109]; -acadoWorkspace.H[51] = acadoWorkspace.H10[115]; -acadoWorkspace.H[58] = acadoWorkspace.H10[2]; -acadoWorkspace.H[59] = acadoWorkspace.H10[8]; -acadoWorkspace.H[60] = acadoWorkspace.H10[14]; -acadoWorkspace.H[61] = acadoWorkspace.H10[20]; -acadoWorkspace.H[62] = acadoWorkspace.H10[26]; -acadoWorkspace.H[63] = acadoWorkspace.H10[32]; -acadoWorkspace.H[64] = acadoWorkspace.H10[38]; -acadoWorkspace.H[65] = acadoWorkspace.H10[44]; -acadoWorkspace.H[66] = acadoWorkspace.H10[50]; +acadoWorkspace.H[39] = acadoWorkspace.H10[40]; +acadoWorkspace.H[40] = acadoWorkspace.H10[43]; +acadoWorkspace.H[41] = acadoWorkspace.H10[46]; +acadoWorkspace.H[42] = acadoWorkspace.H10[49]; +acadoWorkspace.H[43] = acadoWorkspace.H10[52]; +acadoWorkspace.H[44] = acadoWorkspace.H10[55]; +acadoWorkspace.H[45] = acadoWorkspace.H10[58]; +acadoWorkspace.H[49] = acadoWorkspace.H10[2]; +acadoWorkspace.H[50] = acadoWorkspace.H10[5]; +acadoWorkspace.H[51] = acadoWorkspace.H10[8]; +acadoWorkspace.H[52] = acadoWorkspace.H10[11]; +acadoWorkspace.H[53] = acadoWorkspace.H10[14]; +acadoWorkspace.H[54] = acadoWorkspace.H10[17]; +acadoWorkspace.H[55] = acadoWorkspace.H10[20]; +acadoWorkspace.H[56] = acadoWorkspace.H10[23]; +acadoWorkspace.H[57] = acadoWorkspace.H10[26]; +acadoWorkspace.H[58] = acadoWorkspace.H10[29]; +acadoWorkspace.H[59] = acadoWorkspace.H10[32]; +acadoWorkspace.H[60] = acadoWorkspace.H10[35]; +acadoWorkspace.H[61] = acadoWorkspace.H10[38]; +acadoWorkspace.H[62] = acadoWorkspace.H10[41]; +acadoWorkspace.H[63] = acadoWorkspace.H10[44]; +acadoWorkspace.H[64] = acadoWorkspace.H10[47]; +acadoWorkspace.H[65] = acadoWorkspace.H10[50]; +acadoWorkspace.H[66] = acadoWorkspace.H10[53]; acadoWorkspace.H[67] = acadoWorkspace.H10[56]; -acadoWorkspace.H[68] = acadoWorkspace.H10[62]; -acadoWorkspace.H[69] = acadoWorkspace.H10[68]; -acadoWorkspace.H[70] = acadoWorkspace.H10[74]; -acadoWorkspace.H[71] = acadoWorkspace.H10[80]; -acadoWorkspace.H[72] = acadoWorkspace.H10[86]; -acadoWorkspace.H[73] = acadoWorkspace.H10[92]; -acadoWorkspace.H[74] = acadoWorkspace.H10[98]; -acadoWorkspace.H[75] = acadoWorkspace.H10[104]; -acadoWorkspace.H[76] = acadoWorkspace.H10[110]; -acadoWorkspace.H[77] = acadoWorkspace.H10[116]; -acadoWorkspace.H[84] = acadoWorkspace.H10[3]; -acadoWorkspace.H[85] = acadoWorkspace.H10[9]; -acadoWorkspace.H[86] = acadoWorkspace.H10[15]; -acadoWorkspace.H[87] = acadoWorkspace.H10[21]; -acadoWorkspace.H[88] = acadoWorkspace.H10[27]; -acadoWorkspace.H[89] = acadoWorkspace.H10[33]; -acadoWorkspace.H[90] = acadoWorkspace.H10[39]; -acadoWorkspace.H[91] = acadoWorkspace.H10[45]; -acadoWorkspace.H[92] = acadoWorkspace.H10[51]; -acadoWorkspace.H[93] = acadoWorkspace.H10[57]; -acadoWorkspace.H[94] = acadoWorkspace.H10[63]; -acadoWorkspace.H[95] = acadoWorkspace.H10[69]; -acadoWorkspace.H[96] = acadoWorkspace.H10[75]; -acadoWorkspace.H[97] = acadoWorkspace.H10[81]; -acadoWorkspace.H[98] = acadoWorkspace.H10[87]; -acadoWorkspace.H[99] = acadoWorkspace.H10[93]; -acadoWorkspace.H[100] = acadoWorkspace.H10[99]; -acadoWorkspace.H[101] = acadoWorkspace.H10[105]; -acadoWorkspace.H[102] = acadoWorkspace.H10[111]; -acadoWorkspace.H[103] = acadoWorkspace.H10[117]; -acadoWorkspace.H[110] = acadoWorkspace.H10[4]; -acadoWorkspace.H[111] = acadoWorkspace.H10[10]; -acadoWorkspace.H[112] = acadoWorkspace.H10[16]; -acadoWorkspace.H[113] = acadoWorkspace.H10[22]; -acadoWorkspace.H[114] = acadoWorkspace.H10[28]; -acadoWorkspace.H[115] = acadoWorkspace.H10[34]; -acadoWorkspace.H[116] = acadoWorkspace.H10[40]; -acadoWorkspace.H[117] = acadoWorkspace.H10[46]; -acadoWorkspace.H[118] = acadoWorkspace.H10[52]; -acadoWorkspace.H[119] = acadoWorkspace.H10[58]; -acadoWorkspace.H[120] = acadoWorkspace.H10[64]; -acadoWorkspace.H[121] = acadoWorkspace.H10[70]; -acadoWorkspace.H[122] = acadoWorkspace.H10[76]; -acadoWorkspace.H[123] = acadoWorkspace.H10[82]; -acadoWorkspace.H[124] = acadoWorkspace.H10[88]; -acadoWorkspace.H[125] = acadoWorkspace.H10[94]; -acadoWorkspace.H[126] = acadoWorkspace.H10[100]; -acadoWorkspace.H[127] = acadoWorkspace.H10[106]; -acadoWorkspace.H[128] = acadoWorkspace.H10[112]; -acadoWorkspace.H[129] = acadoWorkspace.H10[118]; -acadoWorkspace.H[136] = acadoWorkspace.H10[5]; -acadoWorkspace.H[137] = acadoWorkspace.H10[11]; -acadoWorkspace.H[138] = acadoWorkspace.H10[17]; -acadoWorkspace.H[139] = acadoWorkspace.H10[23]; -acadoWorkspace.H[140] = acadoWorkspace.H10[29]; -acadoWorkspace.H[141] = acadoWorkspace.H10[35]; -acadoWorkspace.H[142] = acadoWorkspace.H10[41]; -acadoWorkspace.H[143] = acadoWorkspace.H10[47]; -acadoWorkspace.H[144] = acadoWorkspace.H10[53]; -acadoWorkspace.H[145] = acadoWorkspace.H10[59]; -acadoWorkspace.H[146] = acadoWorkspace.H10[65]; -acadoWorkspace.H[147] = acadoWorkspace.H10[71]; -acadoWorkspace.H[148] = acadoWorkspace.H10[77]; -acadoWorkspace.H[149] = acadoWorkspace.H10[83]; -acadoWorkspace.H[150] = acadoWorkspace.H10[89]; -acadoWorkspace.H[151] = acadoWorkspace.H10[95]; -acadoWorkspace.H[152] = acadoWorkspace.H10[101]; -acadoWorkspace.H[153] = acadoWorkspace.H10[107]; -acadoWorkspace.H[154] = acadoWorkspace.H10[113]; -acadoWorkspace.H[155] = acadoWorkspace.H10[119]; +acadoWorkspace.H[68] = acadoWorkspace.H10[59]; acado_setBlockH11_R1( 0, 0, acadoWorkspace.R1 ); acado_setBlockH11( 0, 0, acadoWorkspace.E, acadoWorkspace.QE ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.QE[ 6 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.QE[ 3 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.QE[ 9 ]) ); acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 18 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 36 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 60 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 90 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 126 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 168 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 216 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 270 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 330 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 396 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 468 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 546 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 630 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 720 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 816 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 918 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1026 ]) ); -acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1140 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 30 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 45 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 63 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 84 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 108 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 135 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 165 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 198 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 234 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 273 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 315 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 360 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 408 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 459 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 513 ]) ); +acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 570 ]) ); acado_zeroBlockH11( 0, 1 ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.QE[ 12 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 24 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 42 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 66 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 96 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 132 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 174 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 222 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 276 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 336 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 402 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 474 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 552 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 636 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 726 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 822 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 924 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1032 ]) ); -acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1146 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.QE[ 6 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.QE[ 12 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 21 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 33 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 48 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 66 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 87 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 111 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 138 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 168 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 201 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 237 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 276 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 318 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 363 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 411 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 462 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 516 ]) ); +acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 573 ]) ); acado_zeroBlockH11( 0, 2 ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 30 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 48 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 72 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 102 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 138 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 180 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 228 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 282 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 342 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 408 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 480 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 558 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 642 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 732 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 828 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 930 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1038 ]) ); -acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1152 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.QE[ 15 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 24 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 36 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 51 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 69 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 90 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 114 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 141 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 171 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 204 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 240 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 279 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 321 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 366 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 414 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 465 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 519 ]) ); +acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 576 ]) ); acado_zeroBlockH11( 0, 3 ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 54 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 78 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 108 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 144 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 186 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 234 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 288 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 348 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 414 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 486 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 564 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 648 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 738 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 834 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 936 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1044 ]) ); -acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1158 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QE[ 27 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 39 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 54 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 72 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 93 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 117 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 144 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 174 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 207 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 243 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 282 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 324 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 369 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 417 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 468 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 522 ]) ); +acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 579 ]) ); acado_zeroBlockH11( 0, 4 ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 84 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 114 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 150 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 192 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 240 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 294 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 354 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 420 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 492 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 570 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 654 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 744 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 840 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 942 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1050 ]) ); -acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1164 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 42 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 57 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 75 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 96 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 120 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 147 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 177 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 210 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 246 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 285 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 327 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 372 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 420 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 471 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 525 ]) ); +acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 582 ]) ); acado_zeroBlockH11( 0, 5 ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 120 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 156 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 198 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 246 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 300 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 360 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 426 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 498 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 576 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 660 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 750 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 846 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 948 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1056 ]) ); -acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1170 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QE[ 60 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 78 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 99 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 123 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 150 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 180 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 213 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 249 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 288 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 330 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 375 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 423 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 474 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 528 ]) ); +acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 585 ]) ); acado_zeroBlockH11( 0, 6 ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 162 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 204 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 252 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 306 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 366 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 432 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 504 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 582 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 666 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 756 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 852 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 954 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1062 ]) ); -acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1176 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QE[ 81 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 102 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 126 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 153 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 183 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 216 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 252 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 291 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 333 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 378 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 426 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 477 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 531 ]) ); +acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 588 ]) ); acado_zeroBlockH11( 0, 7 ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 210 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 258 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 312 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 372 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 438 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 510 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 588 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 672 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 762 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 858 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 960 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1068 ]) ); -acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1182 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 105 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 129 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 156 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 186 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 219 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 255 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 294 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 336 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 381 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 429 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 480 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 534 ]) ); +acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 591 ]) ); acado_zeroBlockH11( 0, 8 ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 264 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 318 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 378 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 444 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 516 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 594 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 678 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 768 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 864 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 966 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1074 ]) ); -acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1188 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 132 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 159 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 189 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 258 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 297 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 339 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 384 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 432 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 483 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 537 ]) ); +acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 594 ]) ); acado_zeroBlockH11( 0, 9 ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1194 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 597 ]) ); acado_zeroBlockH11( 0, 10 ); -acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 0, 11 ); -acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 0, 12 ); -acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 0, 13 ); -acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 0, 14 ); -acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 0, 15 ); -acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 0, 16 ); -acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 0, 17 ); -acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 0, 18 ); -acado_setBlockH11( 0, 18, &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 0, 18, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 0, 18, &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 0, 18, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 0, 19 ); -acado_setBlockH11( 0, 19, &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 0, 19, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 1, 1, &(acadoWorkspace.R1[ 1 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.QE[ 6 ]) ); acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 12 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 24 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QE[ 42 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.QE[ 21 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QE[ 33 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 48 ]) ); acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 66 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 96 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 132 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 174 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 87 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 111 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 138 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 168 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 201 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 237 ]) ); acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 276 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 336 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 402 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 474 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 552 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 636 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 726 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 822 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 924 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1032 ]) ); -acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1146 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 318 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 363 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 411 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 462 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 516 ]) ); +acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 573 ]) ); acado_zeroBlockH11( 1, 2 ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 30 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QE[ 48 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 72 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 102 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 138 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 180 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 228 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 282 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 342 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 408 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 480 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 558 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 642 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 732 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 828 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 930 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1038 ]) ); -acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1152 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 15 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.QE[ 24 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QE[ 36 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 51 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 69 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 90 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 114 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 141 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 171 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 204 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 240 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 279 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 321 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 366 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 414 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 465 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 519 ]) ); +acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 576 ]) ); acado_zeroBlockH11( 1, 3 ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QE[ 54 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 78 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 108 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 144 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 186 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 234 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 288 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 348 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 414 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 486 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 564 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 648 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 738 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 834 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 936 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1044 ]) ); -acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1158 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.QE[ 27 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QE[ 39 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 54 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 72 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 93 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 117 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 144 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 174 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 207 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 243 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 282 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 324 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 369 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 417 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 468 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 522 ]) ); +acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 579 ]) ); acado_zeroBlockH11( 1, 4 ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 84 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 114 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 150 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 192 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 240 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 294 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 354 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 420 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 492 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 570 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 654 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 744 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 840 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 942 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1050 ]) ); -acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1164 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QE[ 42 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 57 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 75 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 96 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 120 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 147 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 177 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 210 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 246 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 285 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 327 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 372 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 420 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 471 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 525 ]) ); +acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 582 ]) ); acado_zeroBlockH11( 1, 5 ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 120 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 156 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 198 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 246 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 300 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 360 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 426 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 498 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 576 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 660 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 750 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 846 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 948 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1056 ]) ); -acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1170 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 60 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 78 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 99 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 123 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 150 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 180 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 213 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 249 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 288 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 330 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 375 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 423 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 474 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 528 ]) ); +acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 585 ]) ); acado_zeroBlockH11( 1, 6 ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 162 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 204 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 252 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 306 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 366 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 432 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 504 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 582 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 666 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 756 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 852 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 954 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1062 ]) ); -acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1176 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QE[ 81 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 102 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 126 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 153 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 183 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 216 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 252 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 291 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 333 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 378 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 426 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 477 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 531 ]) ); +acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 588 ]) ); acado_zeroBlockH11( 1, 7 ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 210 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 258 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 312 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 372 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 438 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 510 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 588 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 672 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 762 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 858 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 960 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1068 ]) ); -acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1182 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QE[ 105 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 129 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 156 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 186 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 219 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 255 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 294 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 336 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 381 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 429 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 480 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 534 ]) ); +acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 591 ]) ); acado_zeroBlockH11( 1, 8 ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 264 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 318 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 378 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 444 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 516 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 594 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 678 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 768 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 864 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 966 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1074 ]) ); -acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1188 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QE[ 132 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 159 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 189 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 258 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 297 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 339 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 384 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 432 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 483 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 537 ]) ); +acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 594 ]) ); acado_zeroBlockH11( 1, 9 ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1194 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 597 ]) ); acado_zeroBlockH11( 1, 10 ); -acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 1, 11 ); -acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 1, 12 ); -acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 1, 13 ); -acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 1, 14 ); -acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 1, 15 ); -acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 1, 16 ); -acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 1, 17 ); -acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 1, 18 ); -acado_setBlockH11( 1, 18, &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 1, 18, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 1, 18, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 1, 18, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 1, 19 ); -acado_setBlockH11( 1, 19, &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 1, 19, &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 2, 2, &(acadoWorkspace.R1[ 2 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QE[ 30 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 48 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 72 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 102 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 138 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 180 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 228 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 282 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 342 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 408 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 480 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 558 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 642 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 732 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 828 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 930 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1038 ]) ); -acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1152 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 15 ]), &(acadoWorkspace.QE[ 15 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 24 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 36 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QE[ 51 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 69 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 90 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 114 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 141 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 171 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 204 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 240 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 279 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 321 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 366 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 414 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 465 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 519 ]) ); +acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 576 ]) ); acado_zeroBlockH11( 2, 3 ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 54 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 78 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 108 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 144 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 186 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 234 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 288 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 348 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 414 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 486 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 564 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 648 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 738 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 834 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 936 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1044 ]) ); -acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1158 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 27 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 39 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QE[ 54 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 72 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 93 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 117 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 144 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 174 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 207 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 243 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 282 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 324 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 369 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 417 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 468 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 522 ]) ); +acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 579 ]) ); acado_zeroBlockH11( 2, 4 ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 84 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 114 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 150 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 192 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 240 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 294 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 354 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 420 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 492 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 570 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 654 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 744 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 840 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 942 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1050 ]) ); -acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1164 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 42 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QE[ 57 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 75 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 96 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 120 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 147 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 177 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 210 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 246 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 285 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 327 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 372 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 420 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 471 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 525 ]) ); +acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 582 ]) ); acado_zeroBlockH11( 2, 5 ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 120 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 156 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 198 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 246 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 300 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 360 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 426 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 498 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 576 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 660 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 750 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 846 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 948 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1056 ]) ); -acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1170 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QE[ 60 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 78 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 99 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 123 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 150 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 180 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 213 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 249 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 288 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 330 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 375 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 423 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 474 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 528 ]) ); +acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 585 ]) ); acado_zeroBlockH11( 2, 6 ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QE[ 162 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 204 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 252 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 306 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 366 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 432 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 504 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 582 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 666 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 756 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 852 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 954 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1062 ]) ); -acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1176 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QE[ 81 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 102 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 126 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 153 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 183 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 216 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 252 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 291 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 333 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 378 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 426 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 477 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 531 ]) ); +acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 588 ]) ); acado_zeroBlockH11( 2, 7 ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 210 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 258 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 312 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 372 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 438 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 510 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 588 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 672 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 762 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 858 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 960 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1068 ]) ); -acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1182 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QE[ 105 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 129 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 156 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 186 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 219 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 255 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 294 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 336 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 381 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 429 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 480 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 534 ]) ); +acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 591 ]) ); acado_zeroBlockH11( 2, 8 ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 264 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 318 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 378 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 444 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 516 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 594 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 678 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 768 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 864 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 966 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1074 ]) ); -acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1188 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 132 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 159 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 189 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 258 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 297 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 339 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 384 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 432 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 483 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 537 ]) ); +acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 594 ]) ); acado_zeroBlockH11( 2, 9 ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1194 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 597 ]) ); acado_zeroBlockH11( 2, 10 ); -acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 2, 11 ); -acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 2, 12 ); -acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 2, 13 ); -acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 2, 14 ); -acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 2, 15 ); -acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 2, 16 ); -acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 2, 17 ); -acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 2, 18 ); -acado_setBlockH11( 2, 18, &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 2, 18, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 2, 18, &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 2, 18, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 2, 19 ); -acado_setBlockH11( 2, 19, &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 2, 19, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 3, 3, &(acadoWorkspace.R1[ 3 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 27 ]), &(acadoWorkspace.QE[ 27 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.QE[ 39 ]) ); acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QE[ 54 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QE[ 78 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 108 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 72 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 93 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 117 ]) ); acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 144 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 186 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 234 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 288 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 348 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 414 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 486 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 564 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 648 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 738 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 834 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 936 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1044 ]) ); -acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1158 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 174 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 207 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 243 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 282 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 324 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 369 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 417 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 468 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 522 ]) ); +acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 579 ]) ); acado_zeroBlockH11( 3, 4 ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QE[ 84 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 114 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 150 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 192 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 240 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 294 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 354 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 420 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 492 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 570 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 654 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 744 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 840 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 942 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1050 ]) ); -acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1164 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.QE[ 42 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QE[ 57 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 75 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 96 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 120 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 147 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 177 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 210 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 246 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 285 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 327 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 372 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 420 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 471 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 525 ]) ); +acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 582 ]) ); acado_zeroBlockH11( 3, 5 ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 120 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 156 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 198 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 246 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 300 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 360 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 426 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 498 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 576 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 660 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 750 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 846 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 948 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1056 ]) ); -acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1170 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QE[ 60 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 78 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 99 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 123 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 150 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 180 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 213 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 249 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 288 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 330 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 375 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 423 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 474 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 528 ]) ); +acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 585 ]) ); acado_zeroBlockH11( 3, 6 ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 162 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 204 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 252 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 306 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 366 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 432 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 504 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 582 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 666 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 756 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 852 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 954 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1062 ]) ); -acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1176 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 81 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 102 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 126 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 153 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 183 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 216 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 252 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 291 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 333 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 378 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 426 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 477 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 531 ]) ); +acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 588 ]) ); acado_zeroBlockH11( 3, 7 ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 210 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 258 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 312 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 372 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 438 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 510 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 588 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 672 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 762 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 858 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 960 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1068 ]) ); -acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1182 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QE[ 105 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 129 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 156 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 186 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 219 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 255 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 294 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 336 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 381 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 429 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 480 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 534 ]) ); +acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 591 ]) ); acado_zeroBlockH11( 3, 8 ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QE[ 264 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 318 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 378 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 444 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 516 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 594 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 678 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 768 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 864 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 966 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1074 ]) ); -acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1188 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QE[ 132 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 159 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 189 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 258 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 297 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 339 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 384 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 432 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 483 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 537 ]) ); +acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 594 ]) ); acado_zeroBlockH11( 3, 9 ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1194 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 597 ]) ); acado_zeroBlockH11( 3, 10 ); -acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 3, 11 ); -acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 3, 12 ); -acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 3, 13 ); -acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 3, 14 ); -acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 3, 15 ); -acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 3, 16 ); -acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 3, 17 ); -acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 3, 18 ); -acado_setBlockH11( 3, 18, &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 3, 18, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 3, 18, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 3, 18, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 3, 19 ); -acado_setBlockH11( 3, 19, &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 3, 19, &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 4, 4, &(acadoWorkspace.R1[ 4 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 84 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 114 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 150 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 192 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 240 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 294 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QE[ 42 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.QE[ 57 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.QE[ 75 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 96 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 120 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 147 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 177 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 210 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 246 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 285 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 327 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 372 ]) ); acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 420 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 492 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 570 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 654 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 744 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 840 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 942 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1050 ]) ); -acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1164 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 471 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 525 ]) ); +acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 582 ]) ); acado_zeroBlockH11( 4, 5 ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QE[ 120 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 156 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 198 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 246 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 300 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 360 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 426 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 498 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 576 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 660 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 750 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 846 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 948 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1056 ]) ); -acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1170 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.QE[ 60 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.QE[ 78 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 99 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 123 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 150 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 180 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 213 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 249 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 288 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 330 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 375 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 423 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 474 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 528 ]) ); +acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 585 ]) ); acado_zeroBlockH11( 4, 6 ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 162 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 204 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 252 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 306 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 366 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 432 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 504 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 582 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 666 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 756 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 852 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 954 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1062 ]) ); -acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1176 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.QE[ 81 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 102 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 126 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 153 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 183 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 216 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 252 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 291 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 333 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 378 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 426 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 477 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 531 ]) ); +acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 588 ]) ); acado_zeroBlockH11( 4, 7 ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 210 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 258 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 312 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 372 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 438 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 510 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 588 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 672 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 762 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 858 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 960 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1068 ]) ); -acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1182 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 105 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 129 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 156 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 186 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 219 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 255 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 294 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 336 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 381 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 429 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 480 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 534 ]) ); +acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 591 ]) ); acado_zeroBlockH11( 4, 8 ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 264 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 318 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 378 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 444 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 516 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 594 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 678 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 768 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 864 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 966 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1074 ]) ); -acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1188 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 132 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 159 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 189 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 258 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 297 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 339 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 384 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 432 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 483 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 537 ]) ); +acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 594 ]) ); acado_zeroBlockH11( 4, 9 ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1194 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 597 ]) ); acado_zeroBlockH11( 4, 10 ); -acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 4, 11 ); -acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 4, 12 ); -acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 4, 13 ); -acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 4, 14 ); -acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 4, 15 ); -acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 4, 16 ); -acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 4, 17 ); -acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 4, 18 ); -acado_setBlockH11( 4, 18, &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 4, 18, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 4, 18, &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 4, 18, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 4, 19 ); -acado_setBlockH11( 4, 19, &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 4, 19, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 5, 5, &(acadoWorkspace.R1[ 5 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 120 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 156 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 198 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 246 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 300 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 360 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 426 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 498 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 576 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 660 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 750 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 846 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 948 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1056 ]) ); -acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1170 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 60 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QE[ 78 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.QE[ 99 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QE[ 123 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 150 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 180 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 213 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 249 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 288 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 330 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 375 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 423 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 474 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 528 ]) ); +acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 585 ]) ); acado_zeroBlockH11( 5, 6 ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 162 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 204 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 252 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 306 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 366 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 432 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 504 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 582 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 666 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 756 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 852 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 954 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1062 ]) ); -acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1176 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QE[ 81 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.QE[ 102 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QE[ 126 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 153 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 183 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 216 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 252 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 291 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 333 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 378 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 426 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 477 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 531 ]) ); +acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 588 ]) ); acado_zeroBlockH11( 5, 7 ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QE[ 210 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 258 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 312 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 372 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 438 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 510 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 588 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 672 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 762 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 858 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 960 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1068 ]) ); -acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1182 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.QE[ 105 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QE[ 129 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 156 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 186 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 219 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 255 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 294 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 336 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 381 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 429 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 480 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 534 ]) ); +acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 591 ]) ); acado_zeroBlockH11( 5, 8 ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QE[ 264 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 318 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 378 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 444 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 516 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 594 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 678 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 768 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 864 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 966 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1074 ]) ); -acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1188 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QE[ 132 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 159 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 189 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 258 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 297 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 339 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 384 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 432 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 483 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 537 ]) ); +acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 594 ]) ); acado_zeroBlockH11( 5, 9 ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1194 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 597 ]) ); acado_zeroBlockH11( 5, 10 ); -acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 5, 11 ); -acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 5, 12 ); -acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 5, 13 ); -acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 5, 14 ); -acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 5, 15 ); -acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 5, 16 ); -acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 5, 17 ); -acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 5, 18 ); -acado_setBlockH11( 5, 18, &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 5, 18, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 5, 18, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 5, 18, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 5, 19 ); -acado_setBlockH11( 5, 19, &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 5, 19, &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 6, 6, &(acadoWorkspace.R1[ 6 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.QE[ 162 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 204 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 81 ]), &(acadoWorkspace.QE[ 81 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 102 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 126 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QE[ 153 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 183 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 216 ]) ); acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 252 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 306 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 366 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 432 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 504 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 582 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QE[ 666 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 756 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 852 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 954 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1062 ]) ); -acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1176 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 291 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 333 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 378 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 426 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 477 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 531 ]) ); +acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 588 ]) ); acado_zeroBlockH11( 6, 7 ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 210 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 258 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 312 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 372 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 438 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 510 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 588 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QE[ 672 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 762 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 858 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 960 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1068 ]) ); -acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1182 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QE[ 105 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 129 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QE[ 156 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 186 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 219 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 255 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 294 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 336 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 381 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 429 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 480 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 534 ]) ); +acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 591 ]) ); acado_zeroBlockH11( 6, 8 ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 264 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 318 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 378 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 444 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 516 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 594 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QE[ 678 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 768 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 864 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 966 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1074 ]) ); -acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1188 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QE[ 132 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QE[ 159 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 189 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 258 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 297 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 339 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 384 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 432 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 483 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 537 ]) ); +acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 594 ]) ); acado_zeroBlockH11( 6, 9 ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1194 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 597 ]) ); acado_zeroBlockH11( 6, 10 ); -acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 6, 11 ); -acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 6, 12 ); -acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 6, 13 ); -acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 6, 14 ); -acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 6, 15 ); -acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 6, 16 ); -acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 6, 17 ); -acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 6, 18 ); -acado_setBlockH11( 6, 18, &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 6, 18, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 6, 18, &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 6, 18, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 6, 19 ); -acado_setBlockH11( 6, 19, &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 6, 19, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 7, 7, &(acadoWorkspace.R1[ 7 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QE[ 210 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 258 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 312 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 372 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 438 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 510 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 588 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 672 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QE[ 762 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 858 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 960 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1068 ]) ); -acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1182 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 105 ]), &(acadoWorkspace.QE[ 105 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.QE[ 129 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 156 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 186 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 219 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 255 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 294 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 336 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 381 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 429 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 480 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 534 ]) ); +acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 591 ]) ); acado_zeroBlockH11( 7, 8 ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 264 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 318 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 378 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 444 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 516 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 594 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 678 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QE[ 768 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 864 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 966 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1074 ]) ); -acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1188 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.QE[ 132 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 159 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 189 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 258 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 297 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 339 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 384 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 432 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 483 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 537 ]) ); +acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 594 ]) ); acado_zeroBlockH11( 7, 9 ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1194 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 597 ]) ); acado_zeroBlockH11( 7, 10 ); -acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 7, 11 ); -acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 7, 12 ); -acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 7, 13 ); -acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 7, 14 ); -acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 7, 15 ); -acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 7, 16 ); -acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 7, 17 ); -acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 7, 18 ); -acado_setBlockH11( 7, 18, &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 7, 18, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 7, 18, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 7, 18, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 7, 19 ); -acado_setBlockH11( 7, 19, &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 7, 19, &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 8, 8, &(acadoWorkspace.R1[ 8 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 264 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 318 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 378 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 444 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 516 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 132 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.QE[ 159 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.QE[ 189 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 222 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 258 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 297 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 339 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 384 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 432 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 483 ]) ); +acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 537 ]) ); acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 594 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.QE[ 678 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 768 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QE[ 864 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 966 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1074 ]) ); -acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1188 ]) ); acado_zeroBlockH11( 8, 9 ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1194 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 597 ]) ); acado_zeroBlockH11( 8, 10 ); -acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 8, 11 ); -acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 8, 12 ); -acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 8, 13 ); -acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 8, 14 ); -acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 8, 15 ); -acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 8, 16 ); -acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 8, 17 ); -acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 8, 18 ); -acado_setBlockH11( 8, 18, &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 8, 18, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 8, 18, &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 8, 18, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 8, 19 ); -acado_setBlockH11( 8, 19, &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 8, 19, &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 9, 9, &(acadoWorkspace.R1[ 9 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 324 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 384 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 450 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 522 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 600 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 684 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.QE[ 774 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.QE[ 870 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QE[ 972 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1080 ]) ); -acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1194 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.QE[ 162 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 192 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.QE[ 225 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QE[ 261 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 300 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 342 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 387 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 435 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 486 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 540 ]) ); +acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 597 ]) ); acado_zeroBlockH11( 9, 10 ); -acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 345 ]) ); +acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 390 ]) ); +acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 9, 11 ); -acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 9, 12 ); -acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 9, 13 ); -acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 9, 14 ); -acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 9, 15 ); -acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 9, 16 ); -acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 9, 17 ); -acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 9, 18 ); -acado_setBlockH11( 9, 18, &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 9, 18, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 9, 18, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 9, 18, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 9, 19 ); -acado_setBlockH11( 9, 19, &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 9, 19, &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 10, 10, &(acadoWorkspace.R1[ 10 ]) ); +acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 195 ]), &(acadoWorkspace.QE[ 195 ]) ); +acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 228 ]) ); +acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 264 ]) ); +acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QE[ 303 ]) ); +acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 345 ]) ); acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 390 ]) ); -acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 456 ]) ); -acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 528 ]) ); -acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 606 ]) ); -acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 690 ]), &(acadoWorkspace.QE[ 690 ]) ); -acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 780 ]) ); -acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.QE[ 876 ]) ); -acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.QE[ 978 ]) ); -acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QE[ 1086 ]) ); -acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1200 ]) ); +acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 438 ]) ); +acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 489 ]) ); +acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 543 ]) ); +acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 600 ]) ); acado_zeroBlockH11( 10, 11 ); -acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 690 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 10, 12 ); -acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 690 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 10, 13 ); -acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 690 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 10, 14 ); -acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 690 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 10, 15 ); -acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 10, 16 ); -acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 10, 17 ); -acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 10, 18 ); -acado_setBlockH11( 10, 18, &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 10, 18, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 10, 18, &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 10, 18, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 10, 19 ); -acado_setBlockH11( 10, 19, &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 10, 19, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 11, 11, &(acadoWorkspace.R1[ 11 ]) ); -acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QE[ 462 ]) ); -acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 534 ]) ); -acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 612 ]) ); -acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 696 ]) ); -acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 786 ]), &(acadoWorkspace.QE[ 786 ]) ); -acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 882 ]), &(acadoWorkspace.QE[ 882 ]) ); -acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.QE[ 984 ]) ); -acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.QE[ 1092 ]) ); -acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QE[ 1206 ]) ); +acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 231 ]), &(acadoWorkspace.QE[ 231 ]) ); +acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.QE[ 267 ]) ); +acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 306 ]) ); +acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 348 ]) ); +acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 393 ]) ); +acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 441 ]) ); +acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 492 ]) ); +acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 546 ]) ); +acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 603 ]) ); acado_zeroBlockH11( 11, 12 ); -acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 786 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 882 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 11, 13 ); -acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 786 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 882 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 11, 14 ); -acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 786 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 882 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 11, 15 ); -acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 786 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 882 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 11, 16 ); -acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 882 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 11, 17 ); -acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 11, 18 ); -acado_setBlockH11( 11, 18, &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 11, 18, &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 11, 18, &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 11, 18, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 11, 19 ); -acado_setBlockH11( 11, 19, &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 11, 19, &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 12, 12, &(acadoWorkspace.R1[ 12 ]) ); -acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 540 ]) ); -acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 618 ]) ); -acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 702 ]), &(acadoWorkspace.QE[ 702 ]) ); -acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 792 ]) ); -acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 888 ]), &(acadoWorkspace.QE[ 888 ]) ); -acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 990 ]), &(acadoWorkspace.QE[ 990 ]) ); -acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.QE[ 1098 ]) ); -acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.QE[ 1212 ]) ); +acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QE[ 270 ]) ); +acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.QE[ 309 ]) ); +acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.QE[ 351 ]) ); +acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 396 ]) ); +acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 444 ]) ); +acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 495 ]) ); +acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 549 ]) ); +acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 606 ]) ); acado_zeroBlockH11( 12, 13 ); -acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 702 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 888 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 990 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 12, 14 ); -acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 702 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 888 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 990 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 12, 15 ); -acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 888 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 990 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 12, 16 ); -acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 888 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 990 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 12, 17 ); -acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 990 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 12, 18 ); -acado_setBlockH11( 12, 18, &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 12, 18, &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 12, 18, &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 12, 18, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 12, 19 ); -acado_setBlockH11( 12, 19, &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 12, 19, &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 13, 13, &(acadoWorkspace.R1[ 13 ]) ); -acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 624 ]) ); -acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 708 ]) ); -acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 798 ]), &(acadoWorkspace.QE[ 798 ]) ); -acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 894 ]), &(acadoWorkspace.QE[ 894 ]) ); -acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 996 ]), &(acadoWorkspace.QE[ 996 ]) ); -acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 1104 ]), &(acadoWorkspace.QE[ 1104 ]) ); -acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 1218 ]), &(acadoWorkspace.QE[ 1218 ]) ); +acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 312 ]) ); +acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 354 ]) ); +acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.QE[ 399 ]) ); +acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QE[ 447 ]) ); +acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 498 ]) ); +acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 552 ]) ); +acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 609 ]) ); acado_zeroBlockH11( 13, 14 ); -acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 798 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 894 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 996 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 1104 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 1218 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 13, 15 ); -acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 798 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 894 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 996 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 1104 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 1218 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 13, 16 ); -acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 894 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 996 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 1104 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 1218 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 13, 17 ); -acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 996 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 1104 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 1218 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 13, 18 ); -acado_setBlockH11( 13, 18, &(acadoWorkspace.E[ 1104 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 13, 18, &(acadoWorkspace.E[ 1218 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 13, 18, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 13, 18, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 13, 19 ); -acado_setBlockH11( 13, 19, &(acadoWorkspace.E[ 1218 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 13, 19, &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 14, 14, &(acadoWorkspace.R1[ 14 ]) ); -acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 714 ]), &(acadoWorkspace.QE[ 714 ]) ); -acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 804 ]) ); -acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 900 ]), &(acadoWorkspace.QE[ 900 ]) ); -acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 1002 ]), &(acadoWorkspace.QE[ 1002 ]) ); -acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 1110 ]), &(acadoWorkspace.QE[ 1110 ]) ); -acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 1224 ]), &(acadoWorkspace.QE[ 1224 ]) ); +acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 357 ]), &(acadoWorkspace.QE[ 357 ]) ); +acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 402 ]) ); +acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 450 ]) ); +acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QE[ 501 ]) ); +acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 555 ]) ); +acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 612 ]) ); acado_zeroBlockH11( 14, 15 ); -acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 900 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 1002 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 1110 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 1224 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 14, 16 ); -acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 900 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 1002 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 1110 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 1224 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 14, 17 ); -acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 1002 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 1110 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 1224 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 14, 18 ); -acado_setBlockH11( 14, 18, &(acadoWorkspace.E[ 1110 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 14, 18, &(acadoWorkspace.E[ 1224 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 14, 18, &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 14, 18, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 14, 19 ); -acado_setBlockH11( 14, 19, &(acadoWorkspace.E[ 1224 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 14, 19, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 15, 15, &(acadoWorkspace.R1[ 15 ]) ); -acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 810 ]), &(acadoWorkspace.QE[ 810 ]) ); -acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 906 ]), &(acadoWorkspace.QE[ 906 ]) ); -acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 1008 ]), &(acadoWorkspace.QE[ 1008 ]) ); -acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 1116 ]), &(acadoWorkspace.QE[ 1116 ]) ); -acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 1230 ]), &(acadoWorkspace.QE[ 1230 ]) ); +acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 405 ]), &(acadoWorkspace.QE[ 405 ]) ); +acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.QE[ 453 ]) ); +acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 504 ]) ); +acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 558 ]) ); +acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 615 ]) ); acado_zeroBlockH11( 15, 16 ); -acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 906 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 1008 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 1116 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 1230 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 15, 17 ); -acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 1008 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 1116 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 1230 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 15, 18 ); -acado_setBlockH11( 15, 18, &(acadoWorkspace.E[ 1116 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 15, 18, &(acadoWorkspace.E[ 1230 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 15, 18, &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 15, 18, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 15, 19 ); -acado_setBlockH11( 15, 19, &(acadoWorkspace.E[ 1230 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 15, 19, &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 16, 16, &(acadoWorkspace.R1[ 16 ]) ); -acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 912 ]), &(acadoWorkspace.QE[ 912 ]) ); -acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 1014 ]), &(acadoWorkspace.QE[ 1014 ]) ); -acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 1122 ]), &(acadoWorkspace.QE[ 1122 ]) ); -acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 1236 ]), &(acadoWorkspace.QE[ 1236 ]) ); +acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 456 ]) ); +acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.QE[ 507 ]) ); +acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.QE[ 561 ]) ); +acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 618 ]) ); acado_zeroBlockH11( 16, 17 ); -acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 1014 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 1122 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 1236 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 16, 18 ); -acado_setBlockH11( 16, 18, &(acadoWorkspace.E[ 1122 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 16, 18, &(acadoWorkspace.E[ 1236 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 16, 18, &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 16, 18, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 16, 19 ); -acado_setBlockH11( 16, 19, &(acadoWorkspace.E[ 1236 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 16, 19, &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 17, 17, &(acadoWorkspace.R1[ 17 ]) ); -acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 1020 ]), &(acadoWorkspace.QE[ 1020 ]) ); -acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 1128 ]), &(acadoWorkspace.QE[ 1128 ]) ); -acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 1242 ]), &(acadoWorkspace.QE[ 1242 ]) ); +acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QE[ 510 ]) ); +acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 564 ]) ); +acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.QE[ 621 ]) ); acado_zeroBlockH11( 17, 18 ); -acado_setBlockH11( 17, 18, &(acadoWorkspace.E[ 1128 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 17, 18, &(acadoWorkspace.E[ 1242 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 17, 18, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 17, 18, &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 17, 19 ); -acado_setBlockH11( 17, 19, &(acadoWorkspace.E[ 1242 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 17, 19, &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 18, 18, &(acadoWorkspace.R1[ 18 ]) ); -acado_setBlockH11( 18, 18, &(acadoWorkspace.E[ 1134 ]), &(acadoWorkspace.QE[ 1134 ]) ); -acado_setBlockH11( 18, 18, &(acadoWorkspace.E[ 1248 ]), &(acadoWorkspace.QE[ 1248 ]) ); +acado_setBlockH11( 18, 18, &(acadoWorkspace.E[ 567 ]), &(acadoWorkspace.QE[ 567 ]) ); +acado_setBlockH11( 18, 18, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 624 ]) ); acado_zeroBlockH11( 18, 19 ); -acado_setBlockH11( 18, 19, &(acadoWorkspace.E[ 1248 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 18, 19, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_setBlockH11_R1( 19, 19, &(acadoWorkspace.R1[ 19 ]) ); -acado_setBlockH11( 19, 19, &(acadoWorkspace.E[ 1254 ]), &(acadoWorkspace.QE[ 1254 ]) ); +acado_setBlockH11( 19, 19, &(acadoWorkspace.E[ 627 ]), &(acadoWorkspace.QE[ 627 ]) ); acado_copyHTH( 1, 0 ); @@ -3804,433 +3439,370 @@ acado_copyHTH( 19, 16 ); acado_copyHTH( 19, 17 ); acado_copyHTH( 19, 18 ); -acadoWorkspace.H[156] = acadoWorkspace.H10[0]; -acadoWorkspace.H[157] = acadoWorkspace.H10[1]; -acadoWorkspace.H[158] = acadoWorkspace.H10[2]; -acadoWorkspace.H[159] = acadoWorkspace.H10[3]; -acadoWorkspace.H[160] = acadoWorkspace.H10[4]; -acadoWorkspace.H[161] = acadoWorkspace.H10[5]; -acadoWorkspace.H[182] = acadoWorkspace.H10[6]; -acadoWorkspace.H[183] = acadoWorkspace.H10[7]; -acadoWorkspace.H[184] = acadoWorkspace.H10[8]; -acadoWorkspace.H[185] = acadoWorkspace.H10[9]; -acadoWorkspace.H[186] = acadoWorkspace.H10[10]; -acadoWorkspace.H[187] = acadoWorkspace.H10[11]; -acadoWorkspace.H[208] = acadoWorkspace.H10[12]; -acadoWorkspace.H[209] = acadoWorkspace.H10[13]; -acadoWorkspace.H[210] = acadoWorkspace.H10[14]; -acadoWorkspace.H[211] = acadoWorkspace.H10[15]; -acadoWorkspace.H[212] = acadoWorkspace.H10[16]; -acadoWorkspace.H[213] = acadoWorkspace.H10[17]; -acadoWorkspace.H[234] = acadoWorkspace.H10[18]; -acadoWorkspace.H[235] = acadoWorkspace.H10[19]; -acadoWorkspace.H[236] = acadoWorkspace.H10[20]; -acadoWorkspace.H[237] = acadoWorkspace.H10[21]; -acadoWorkspace.H[238] = acadoWorkspace.H10[22]; -acadoWorkspace.H[239] = acadoWorkspace.H10[23]; -acadoWorkspace.H[260] = acadoWorkspace.H10[24]; -acadoWorkspace.H[261] = acadoWorkspace.H10[25]; -acadoWorkspace.H[262] = acadoWorkspace.H10[26]; -acadoWorkspace.H[263] = acadoWorkspace.H10[27]; -acadoWorkspace.H[264] = acadoWorkspace.H10[28]; -acadoWorkspace.H[265] = acadoWorkspace.H10[29]; -acadoWorkspace.H[286] = acadoWorkspace.H10[30]; -acadoWorkspace.H[287] = acadoWorkspace.H10[31]; -acadoWorkspace.H[288] = acadoWorkspace.H10[32]; -acadoWorkspace.H[289] = acadoWorkspace.H10[33]; -acadoWorkspace.H[290] = acadoWorkspace.H10[34]; -acadoWorkspace.H[291] = acadoWorkspace.H10[35]; -acadoWorkspace.H[312] = acadoWorkspace.H10[36]; -acadoWorkspace.H[313] = acadoWorkspace.H10[37]; -acadoWorkspace.H[314] = acadoWorkspace.H10[38]; -acadoWorkspace.H[315] = acadoWorkspace.H10[39]; -acadoWorkspace.H[316] = acadoWorkspace.H10[40]; -acadoWorkspace.H[317] = acadoWorkspace.H10[41]; -acadoWorkspace.H[338] = acadoWorkspace.H10[42]; -acadoWorkspace.H[339] = acadoWorkspace.H10[43]; -acadoWorkspace.H[340] = acadoWorkspace.H10[44]; -acadoWorkspace.H[341] = acadoWorkspace.H10[45]; -acadoWorkspace.H[342] = acadoWorkspace.H10[46]; -acadoWorkspace.H[343] = acadoWorkspace.H10[47]; -acadoWorkspace.H[364] = acadoWorkspace.H10[48]; -acadoWorkspace.H[365] = acadoWorkspace.H10[49]; -acadoWorkspace.H[366] = acadoWorkspace.H10[50]; -acadoWorkspace.H[367] = acadoWorkspace.H10[51]; -acadoWorkspace.H[368] = acadoWorkspace.H10[52]; -acadoWorkspace.H[369] = acadoWorkspace.H10[53]; -acadoWorkspace.H[390] = acadoWorkspace.H10[54]; -acadoWorkspace.H[391] = acadoWorkspace.H10[55]; -acadoWorkspace.H[392] = acadoWorkspace.H10[56]; -acadoWorkspace.H[393] = acadoWorkspace.H10[57]; -acadoWorkspace.H[394] = acadoWorkspace.H10[58]; -acadoWorkspace.H[395] = acadoWorkspace.H10[59]; -acadoWorkspace.H[416] = acadoWorkspace.H10[60]; -acadoWorkspace.H[417] = acadoWorkspace.H10[61]; -acadoWorkspace.H[418] = acadoWorkspace.H10[62]; -acadoWorkspace.H[419] = acadoWorkspace.H10[63]; -acadoWorkspace.H[420] = acadoWorkspace.H10[64]; -acadoWorkspace.H[421] = acadoWorkspace.H10[65]; -acadoWorkspace.H[442] = acadoWorkspace.H10[66]; -acadoWorkspace.H[443] = acadoWorkspace.H10[67]; -acadoWorkspace.H[444] = acadoWorkspace.H10[68]; -acadoWorkspace.H[445] = acadoWorkspace.H10[69]; -acadoWorkspace.H[446] = acadoWorkspace.H10[70]; -acadoWorkspace.H[447] = acadoWorkspace.H10[71]; -acadoWorkspace.H[468] = acadoWorkspace.H10[72]; -acadoWorkspace.H[469] = acadoWorkspace.H10[73]; -acadoWorkspace.H[470] = acadoWorkspace.H10[74]; -acadoWorkspace.H[471] = acadoWorkspace.H10[75]; -acadoWorkspace.H[472] = acadoWorkspace.H10[76]; -acadoWorkspace.H[473] = acadoWorkspace.H10[77]; -acadoWorkspace.H[494] = acadoWorkspace.H10[78]; -acadoWorkspace.H[495] = acadoWorkspace.H10[79]; -acadoWorkspace.H[496] = acadoWorkspace.H10[80]; -acadoWorkspace.H[497] = acadoWorkspace.H10[81]; -acadoWorkspace.H[498] = acadoWorkspace.H10[82]; -acadoWorkspace.H[499] = acadoWorkspace.H10[83]; -acadoWorkspace.H[520] = acadoWorkspace.H10[84]; -acadoWorkspace.H[521] = acadoWorkspace.H10[85]; -acadoWorkspace.H[522] = acadoWorkspace.H10[86]; -acadoWorkspace.H[523] = acadoWorkspace.H10[87]; -acadoWorkspace.H[524] = acadoWorkspace.H10[88]; -acadoWorkspace.H[525] = acadoWorkspace.H10[89]; -acadoWorkspace.H[546] = acadoWorkspace.H10[90]; -acadoWorkspace.H[547] = acadoWorkspace.H10[91]; -acadoWorkspace.H[548] = acadoWorkspace.H10[92]; -acadoWorkspace.H[549] = acadoWorkspace.H10[93]; -acadoWorkspace.H[550] = acadoWorkspace.H10[94]; -acadoWorkspace.H[551] = acadoWorkspace.H10[95]; -acadoWorkspace.H[572] = acadoWorkspace.H10[96]; -acadoWorkspace.H[573] = acadoWorkspace.H10[97]; -acadoWorkspace.H[574] = acadoWorkspace.H10[98]; -acadoWorkspace.H[575] = acadoWorkspace.H10[99]; -acadoWorkspace.H[576] = acadoWorkspace.H10[100]; -acadoWorkspace.H[577] = acadoWorkspace.H10[101]; -acadoWorkspace.H[598] = acadoWorkspace.H10[102]; -acadoWorkspace.H[599] = acadoWorkspace.H10[103]; -acadoWorkspace.H[600] = acadoWorkspace.H10[104]; -acadoWorkspace.H[601] = acadoWorkspace.H10[105]; -acadoWorkspace.H[602] = acadoWorkspace.H10[106]; -acadoWorkspace.H[603] = acadoWorkspace.H10[107]; -acadoWorkspace.H[624] = acadoWorkspace.H10[108]; -acadoWorkspace.H[625] = acadoWorkspace.H10[109]; -acadoWorkspace.H[626] = acadoWorkspace.H10[110]; -acadoWorkspace.H[627] = acadoWorkspace.H10[111]; -acadoWorkspace.H[628] = acadoWorkspace.H10[112]; -acadoWorkspace.H[629] = acadoWorkspace.H10[113]; -acadoWorkspace.H[650] = acadoWorkspace.H10[114]; -acadoWorkspace.H[651] = acadoWorkspace.H10[115]; -acadoWorkspace.H[652] = acadoWorkspace.H10[116]; -acadoWorkspace.H[653] = acadoWorkspace.H10[117]; -acadoWorkspace.H[654] = acadoWorkspace.H10[118]; -acadoWorkspace.H[655] = acadoWorkspace.H10[119]; +acadoWorkspace.H[69] = acadoWorkspace.H10[0]; +acadoWorkspace.H[70] = acadoWorkspace.H10[1]; +acadoWorkspace.H[71] = acadoWorkspace.H10[2]; +acadoWorkspace.H[92] = acadoWorkspace.H10[3]; +acadoWorkspace.H[93] = acadoWorkspace.H10[4]; +acadoWorkspace.H[94] = acadoWorkspace.H10[5]; +acadoWorkspace.H[115] = acadoWorkspace.H10[6]; +acadoWorkspace.H[116] = acadoWorkspace.H10[7]; +acadoWorkspace.H[117] = acadoWorkspace.H10[8]; +acadoWorkspace.H[138] = acadoWorkspace.H10[9]; +acadoWorkspace.H[139] = acadoWorkspace.H10[10]; +acadoWorkspace.H[140] = acadoWorkspace.H10[11]; +acadoWorkspace.H[161] = acadoWorkspace.H10[12]; +acadoWorkspace.H[162] = acadoWorkspace.H10[13]; +acadoWorkspace.H[163] = acadoWorkspace.H10[14]; +acadoWorkspace.H[184] = acadoWorkspace.H10[15]; +acadoWorkspace.H[185] = acadoWorkspace.H10[16]; +acadoWorkspace.H[186] = acadoWorkspace.H10[17]; +acadoWorkspace.H[207] = acadoWorkspace.H10[18]; +acadoWorkspace.H[208] = acadoWorkspace.H10[19]; +acadoWorkspace.H[209] = acadoWorkspace.H10[20]; +acadoWorkspace.H[230] = acadoWorkspace.H10[21]; +acadoWorkspace.H[231] = acadoWorkspace.H10[22]; +acadoWorkspace.H[232] = acadoWorkspace.H10[23]; +acadoWorkspace.H[253] = acadoWorkspace.H10[24]; +acadoWorkspace.H[254] = acadoWorkspace.H10[25]; +acadoWorkspace.H[255] = acadoWorkspace.H10[26]; +acadoWorkspace.H[276] = acadoWorkspace.H10[27]; +acadoWorkspace.H[277] = acadoWorkspace.H10[28]; +acadoWorkspace.H[278] = acadoWorkspace.H10[29]; +acadoWorkspace.H[299] = acadoWorkspace.H10[30]; +acadoWorkspace.H[300] = acadoWorkspace.H10[31]; +acadoWorkspace.H[301] = acadoWorkspace.H10[32]; +acadoWorkspace.H[322] = acadoWorkspace.H10[33]; +acadoWorkspace.H[323] = acadoWorkspace.H10[34]; +acadoWorkspace.H[324] = acadoWorkspace.H10[35]; +acadoWorkspace.H[345] = acadoWorkspace.H10[36]; +acadoWorkspace.H[346] = acadoWorkspace.H10[37]; +acadoWorkspace.H[347] = acadoWorkspace.H10[38]; +acadoWorkspace.H[368] = acadoWorkspace.H10[39]; +acadoWorkspace.H[369] = acadoWorkspace.H10[40]; +acadoWorkspace.H[370] = acadoWorkspace.H10[41]; +acadoWorkspace.H[391] = acadoWorkspace.H10[42]; +acadoWorkspace.H[392] = acadoWorkspace.H10[43]; +acadoWorkspace.H[393] = acadoWorkspace.H10[44]; +acadoWorkspace.H[414] = acadoWorkspace.H10[45]; +acadoWorkspace.H[415] = acadoWorkspace.H10[46]; +acadoWorkspace.H[416] = acadoWorkspace.H10[47]; +acadoWorkspace.H[437] = acadoWorkspace.H10[48]; +acadoWorkspace.H[438] = acadoWorkspace.H10[49]; +acadoWorkspace.H[439] = acadoWorkspace.H10[50]; +acadoWorkspace.H[460] = acadoWorkspace.H10[51]; +acadoWorkspace.H[461] = acadoWorkspace.H10[52]; +acadoWorkspace.H[462] = acadoWorkspace.H10[53]; +acadoWorkspace.H[483] = acadoWorkspace.H10[54]; +acadoWorkspace.H[484] = acadoWorkspace.H10[55]; +acadoWorkspace.H[485] = acadoWorkspace.H10[56]; +acadoWorkspace.H[506] = acadoWorkspace.H10[57]; +acadoWorkspace.H[507] = acadoWorkspace.H10[58]; +acadoWorkspace.H[508] = acadoWorkspace.H10[59]; -acado_multQ1d( &(acadoWorkspace.Q1[ 36 ]), acadoWorkspace.d, acadoWorkspace.Qd ); -acado_multQ1d( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.d[ 6 ]), &(acadoWorkspace.Qd[ 6 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.Qd[ 12 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.d[ 18 ]), &(acadoWorkspace.Qd[ 18 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 180 ]), &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.Qd[ 24 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 216 ]), &(acadoWorkspace.d[ 30 ]), &(acadoWorkspace.Qd[ 30 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 252 ]), &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.Qd[ 36 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.d[ 42 ]), &(acadoWorkspace.Qd[ 42 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.Qd[ 48 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.d[ 54 ]), &(acadoWorkspace.Qd[ 54 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.d[ 60 ]), &(acadoWorkspace.Qd[ 60 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.d[ 66 ]), &(acadoWorkspace.Qd[ 66 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.d[ 72 ]), &(acadoWorkspace.Qd[ 72 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.d[ 78 ]), &(acadoWorkspace.Qd[ 78 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.d[ 84 ]), &(acadoWorkspace.Qd[ 84 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.d[ 90 ]), &(acadoWorkspace.Qd[ 90 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.d[ 96 ]), &(acadoWorkspace.Qd[ 96 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.d[ 102 ]), &(acadoWorkspace.Qd[ 102 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.d[ 108 ]), &(acadoWorkspace.Qd[ 108 ]) ); -acado_multQN1d( acadoWorkspace.QN1, &(acadoWorkspace.d[ 114 ]), &(acadoWorkspace.Qd[ 114 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 9 ]), acadoWorkspace.d, acadoWorkspace.Qd ); +acado_multQ1d( &(acadoWorkspace.Q1[ 18 ]), &(acadoWorkspace.d[ 3 ]), &(acadoWorkspace.Qd[ 3 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 27 ]), &(acadoWorkspace.d[ 6 ]), &(acadoWorkspace.Qd[ 6 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 36 ]), &(acadoWorkspace.d[ 9 ]), &(acadoWorkspace.Qd[ 9 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 45 ]), &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.Qd[ 12 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 54 ]), &(acadoWorkspace.d[ 15 ]), &(acadoWorkspace.Qd[ 15 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 63 ]), &(acadoWorkspace.d[ 18 ]), &(acadoWorkspace.Qd[ 18 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.d[ 21 ]), &(acadoWorkspace.Qd[ 21 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 81 ]), &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.Qd[ 24 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 90 ]), &(acadoWorkspace.d[ 27 ]), &(acadoWorkspace.Qd[ 27 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 99 ]), &(acadoWorkspace.d[ 30 ]), &(acadoWorkspace.Qd[ 30 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.d[ 33 ]), &(acadoWorkspace.Qd[ 33 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 117 ]), &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.Qd[ 36 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 126 ]), &(acadoWorkspace.d[ 39 ]), &(acadoWorkspace.Qd[ 39 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 135 ]), &(acadoWorkspace.d[ 42 ]), &(acadoWorkspace.Qd[ 42 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.d[ 45 ]), &(acadoWorkspace.Qd[ 45 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 153 ]), &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.Qd[ 48 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 162 ]), &(acadoWorkspace.d[ 51 ]), &(acadoWorkspace.Qd[ 51 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 171 ]), &(acadoWorkspace.d[ 54 ]), &(acadoWorkspace.Qd[ 54 ]) ); +acado_multQN1d( acadoWorkspace.QN1, &(acadoWorkspace.d[ 57 ]), &(acadoWorkspace.Qd[ 57 ]) ); acado_macCTSlx( acadoWorkspace.evGx, acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 9 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 18 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 27 ]), acadoWorkspace.g ); acado_macCTSlx( &(acadoWorkspace.evGx[ 36 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 45 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 54 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 63 ]), acadoWorkspace.g ); acado_macCTSlx( &(acadoWorkspace.evGx[ 72 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 81 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 90 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 99 ]), acadoWorkspace.g ); acado_macCTSlx( &(acadoWorkspace.evGx[ 108 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 117 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 126 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 135 ]), acadoWorkspace.g ); acado_macCTSlx( &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 180 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 216 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 252 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 288 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 324 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 360 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 396 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 432 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 468 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 504 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 540 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 576 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 612 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 648 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 684 ]), acadoWorkspace.g ); -acado_macETSlu( acadoWorkspace.QE, &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 6 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 18 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 36 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 60 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 90 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 126 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 168 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 216 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 270 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 330 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 396 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 153 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 162 ]), acadoWorkspace.g ); +acado_macCTSlx( &(acadoWorkspace.evGx[ 171 ]), acadoWorkspace.g ); +acado_macETSlu( acadoWorkspace.QE, &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 3 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 9 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 18 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 30 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 45 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 63 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 84 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 108 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 135 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 165 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 198 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 234 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 273 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 315 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 360 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 408 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 459 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 513 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 570 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 6 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 12 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 21 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 33 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 48 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 66 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 87 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 111 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 138 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 168 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 201 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 237 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 276 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 318 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 363 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 411 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 462 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 516 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 573 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 15 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 24 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 36 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 51 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 69 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 90 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 114 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 141 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 171 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 204 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 240 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 279 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 321 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 366 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 414 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 465 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 519 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 576 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 27 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 39 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 54 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 72 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 93 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 117 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 144 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 174 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 207 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 243 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 282 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 324 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 369 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 417 ]), &(acadoWorkspace.g[ 6 ]) ); acado_macETSlu( &(acadoWorkspace.QE[ 468 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 546 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 630 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 720 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 816 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 918 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1026 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1140 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 12 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 24 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 522 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 579 ]), &(acadoWorkspace.g[ 6 ]) ); acado_macETSlu( &(acadoWorkspace.QE[ 42 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 66 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 57 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 75 ]), &(acadoWorkspace.g[ 7 ]) ); acado_macETSlu( &(acadoWorkspace.QE[ 96 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 132 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 174 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 222 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 276 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 336 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 402 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 474 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 552 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 636 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 726 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 822 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 924 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1032 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1146 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 30 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 48 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 72 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 102 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 138 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 120 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 147 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 177 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 210 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 246 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 285 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 327 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 372 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 420 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 471 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 525 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 582 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 60 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 78 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 99 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 123 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 150 ]), &(acadoWorkspace.g[ 8 ]) ); acado_macETSlu( &(acadoWorkspace.QE[ 180 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 228 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 282 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 342 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 408 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 480 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 558 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 642 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 732 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 828 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 930 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1038 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1152 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 54 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 78 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 108 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 144 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 186 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 234 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 288 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 348 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 414 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 486 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 564 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 648 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 738 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 834 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 936 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1044 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1158 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 84 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 114 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 150 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 192 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 240 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 213 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 249 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 288 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 330 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 375 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 423 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 474 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 528 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 585 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 81 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 102 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 126 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 153 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 183 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 216 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 252 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 291 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 333 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 378 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 426 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 477 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 531 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 588 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 105 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 129 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 156 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 186 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 219 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 255 ]), &(acadoWorkspace.g[ 10 ]) ); acado_macETSlu( &(acadoWorkspace.QE[ 294 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 354 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 420 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 492 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 570 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 654 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 744 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 840 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 942 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1050 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1164 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 120 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 156 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 198 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 246 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 300 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 360 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 426 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 498 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 576 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 660 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 750 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 846 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 948 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1056 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1170 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 336 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 381 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 429 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 480 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 534 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 591 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 132 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 159 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 189 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 222 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 258 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 297 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 339 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 384 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 432 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 483 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 537 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 594 ]), &(acadoWorkspace.g[ 11 ]) ); acado_macETSlu( &(acadoWorkspace.QE[ 162 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 204 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 252 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 306 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 366 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 432 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 504 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 582 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 666 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 756 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 852 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 954 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1062 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1176 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 210 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 258 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 312 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 372 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 192 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 225 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 261 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 300 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 342 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 387 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 435 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 486 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 540 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 597 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 195 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 228 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 264 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 303 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 345 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 390 ]), &(acadoWorkspace.g[ 13 ]) ); acado_macETSlu( &(acadoWorkspace.QE[ 438 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 510 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 588 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 672 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 762 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 858 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 960 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1068 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1182 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 264 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 318 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 378 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 444 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 516 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 594 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 678 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 768 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 864 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 966 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1074 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1188 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 324 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 384 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 450 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 522 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 600 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 684 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 774 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 870 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 972 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1080 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1194 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 390 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 456 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 528 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 606 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 690 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 780 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 876 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 978 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1086 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1200 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 462 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 534 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 489 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 543 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 600 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 231 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 267 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 306 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 348 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 393 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 441 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 492 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 546 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 603 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 270 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 309 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 351 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 396 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 444 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 495 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 549 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 606 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 312 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 354 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 399 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 447 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 498 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 552 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 609 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 357 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 402 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 450 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 501 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 555 ]), &(acadoWorkspace.g[ 17 ]) ); acado_macETSlu( &(acadoWorkspace.QE[ 612 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 696 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 786 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 882 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 984 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1092 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1206 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 540 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 618 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 702 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 792 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 888 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 990 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1098 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1212 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 624 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 708 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 798 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 894 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 996 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1104 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1218 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 714 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 804 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 900 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1002 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1110 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1224 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 810 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 906 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1008 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1116 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1230 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 912 ]), &(acadoWorkspace.g[ 22 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1014 ]), &(acadoWorkspace.g[ 22 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1122 ]), &(acadoWorkspace.g[ 22 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1236 ]), &(acadoWorkspace.g[ 22 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1020 ]), &(acadoWorkspace.g[ 23 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1128 ]), &(acadoWorkspace.g[ 23 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1242 ]), &(acadoWorkspace.g[ 23 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1134 ]), &(acadoWorkspace.g[ 24 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1248 ]), &(acadoWorkspace.g[ 24 ]) ); -acado_macETSlu( &(acadoWorkspace.QE[ 1254 ]), &(acadoWorkspace.g[ 25 ]) ); -acadoWorkspace.lb[6] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[0]; -acadoWorkspace.lb[7] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[1]; -acadoWorkspace.lb[8] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[2]; -acadoWorkspace.lb[9] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[3]; -acadoWorkspace.lb[10] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[4]; -acadoWorkspace.lb[11] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[5]; -acadoWorkspace.lb[12] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[6]; -acadoWorkspace.lb[13] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[7]; -acadoWorkspace.lb[14] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[8]; -acadoWorkspace.lb[15] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[9]; -acadoWorkspace.lb[16] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[10]; -acadoWorkspace.lb[17] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[11]; -acadoWorkspace.lb[18] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[12]; -acadoWorkspace.lb[19] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[13]; -acadoWorkspace.lb[20] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[14]; -acadoWorkspace.lb[21] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[15]; -acadoWorkspace.lb[22] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[16]; -acadoWorkspace.lb[23] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[17]; -acadoWorkspace.lb[24] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[18]; -acadoWorkspace.lb[25] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[19]; -acadoWorkspace.ub[6] = (real_t)1.0000000000000000e+12 - acadoVariables.u[0]; -acadoWorkspace.ub[7] = (real_t)1.0000000000000000e+12 - acadoVariables.u[1]; -acadoWorkspace.ub[8] = (real_t)1.0000000000000000e+12 - acadoVariables.u[2]; -acadoWorkspace.ub[9] = (real_t)1.0000000000000000e+12 - acadoVariables.u[3]; -acadoWorkspace.ub[10] = (real_t)1.0000000000000000e+12 - acadoVariables.u[4]; -acadoWorkspace.ub[11] = (real_t)1.0000000000000000e+12 - acadoVariables.u[5]; -acadoWorkspace.ub[12] = (real_t)1.0000000000000000e+12 - acadoVariables.u[6]; -acadoWorkspace.ub[13] = (real_t)1.0000000000000000e+12 - acadoVariables.u[7]; -acadoWorkspace.ub[14] = (real_t)1.0000000000000000e+12 - acadoVariables.u[8]; -acadoWorkspace.ub[15] = (real_t)1.0000000000000000e+12 - acadoVariables.u[9]; -acadoWorkspace.ub[16] = (real_t)1.0000000000000000e+12 - acadoVariables.u[10]; -acadoWorkspace.ub[17] = (real_t)1.0000000000000000e+12 - acadoVariables.u[11]; -acadoWorkspace.ub[18] = (real_t)1.0000000000000000e+12 - acadoVariables.u[12]; -acadoWorkspace.ub[19] = (real_t)1.0000000000000000e+12 - acadoVariables.u[13]; -acadoWorkspace.ub[20] = (real_t)1.0000000000000000e+12 - acadoVariables.u[14]; -acadoWorkspace.ub[21] = (real_t)1.0000000000000000e+12 - acadoVariables.u[15]; -acadoWorkspace.ub[22] = (real_t)1.0000000000000000e+12 - acadoVariables.u[16]; -acadoWorkspace.ub[23] = (real_t)1.0000000000000000e+12 - acadoVariables.u[17]; -acadoWorkspace.ub[24] = (real_t)1.0000000000000000e+12 - acadoVariables.u[18]; -acadoWorkspace.ub[25] = (real_t)1.0000000000000000e+12 - acadoVariables.u[19]; +acado_macETSlu( &(acadoWorkspace.QE[ 405 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 453 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 504 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 558 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 615 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 456 ]), &(acadoWorkspace.g[ 19 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 507 ]), &(acadoWorkspace.g[ 19 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 561 ]), &(acadoWorkspace.g[ 19 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 618 ]), &(acadoWorkspace.g[ 19 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 510 ]), &(acadoWorkspace.g[ 20 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 564 ]), &(acadoWorkspace.g[ 20 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 621 ]), &(acadoWorkspace.g[ 20 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 567 ]), &(acadoWorkspace.g[ 21 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 624 ]), &(acadoWorkspace.g[ 21 ]) ); +acado_macETSlu( &(acadoWorkspace.QE[ 627 ]), &(acadoWorkspace.g[ 22 ]) ); +acadoWorkspace.lb[3] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[0]; +acadoWorkspace.lb[4] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[1]; +acadoWorkspace.lb[5] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[2]; +acadoWorkspace.lb[6] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[3]; +acadoWorkspace.lb[7] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[4]; +acadoWorkspace.lb[8] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[5]; +acadoWorkspace.lb[9] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[6]; +acadoWorkspace.lb[10] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[7]; +acadoWorkspace.lb[11] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[8]; +acadoWorkspace.lb[12] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[9]; +acadoWorkspace.lb[13] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[10]; +acadoWorkspace.lb[14] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[11]; +acadoWorkspace.lb[15] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[12]; +acadoWorkspace.lb[16] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[13]; +acadoWorkspace.lb[17] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[14]; +acadoWorkspace.lb[18] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[15]; +acadoWorkspace.lb[19] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[16]; +acadoWorkspace.lb[20] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[17]; +acadoWorkspace.lb[21] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[18]; +acadoWorkspace.lb[22] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[19]; +acadoWorkspace.ub[3] = (real_t)1.0000000000000000e+12 - acadoVariables.u[0]; +acadoWorkspace.ub[4] = (real_t)1.0000000000000000e+12 - acadoVariables.u[1]; +acadoWorkspace.ub[5] = (real_t)1.0000000000000000e+12 - acadoVariables.u[2]; +acadoWorkspace.ub[6] = (real_t)1.0000000000000000e+12 - acadoVariables.u[3]; +acadoWorkspace.ub[7] = (real_t)1.0000000000000000e+12 - acadoVariables.u[4]; +acadoWorkspace.ub[8] = (real_t)1.0000000000000000e+12 - acadoVariables.u[5]; +acadoWorkspace.ub[9] = (real_t)1.0000000000000000e+12 - acadoVariables.u[6]; +acadoWorkspace.ub[10] = (real_t)1.0000000000000000e+12 - acadoVariables.u[7]; +acadoWorkspace.ub[11] = (real_t)1.0000000000000000e+12 - acadoVariables.u[8]; +acadoWorkspace.ub[12] = (real_t)1.0000000000000000e+12 - acadoVariables.u[9]; +acadoWorkspace.ub[13] = (real_t)1.0000000000000000e+12 - acadoVariables.u[10]; +acadoWorkspace.ub[14] = (real_t)1.0000000000000000e+12 - acadoVariables.u[11]; +acadoWorkspace.ub[15] = (real_t)1.0000000000000000e+12 - acadoVariables.u[12]; +acadoWorkspace.ub[16] = (real_t)1.0000000000000000e+12 - acadoVariables.u[13]; +acadoWorkspace.ub[17] = (real_t)1.0000000000000000e+12 - acadoVariables.u[14]; +acadoWorkspace.ub[18] = (real_t)1.0000000000000000e+12 - acadoVariables.u[15]; +acadoWorkspace.ub[19] = (real_t)1.0000000000000000e+12 - acadoVariables.u[16]; +acadoWorkspace.ub[20] = (real_t)1.0000000000000000e+12 - acadoVariables.u[17]; +acadoWorkspace.ub[21] = (real_t)1.0000000000000000e+12 - acadoVariables.u[18]; +acadoWorkspace.ub[22] = (real_t)1.0000000000000000e+12 - acadoVariables.u[19]; for (lRun1 = 0; lRun1 < 20; ++lRun1) { -lRun3 = xBoundIndices[ lRun1 ] - 6; -lRun4 = ((lRun3) / (6)) + (1); -acadoWorkspace.A[lRun1 * 26] = acadoWorkspace.evGx[lRun3 * 6]; -acadoWorkspace.A[lRun1 * 26 + 1] = acadoWorkspace.evGx[lRun3 * 6 + 1]; -acadoWorkspace.A[lRun1 * 26 + 2] = acadoWorkspace.evGx[lRun3 * 6 + 2]; -acadoWorkspace.A[lRun1 * 26 + 3] = acadoWorkspace.evGx[lRun3 * 6 + 3]; -acadoWorkspace.A[lRun1 * 26 + 4] = acadoWorkspace.evGx[lRun3 * 6 + 4]; -acadoWorkspace.A[lRun1 * 26 + 5] = acadoWorkspace.evGx[lRun3 * 6 + 5]; +lRun3 = xBoundIndices[ lRun1 ] - 3; +lRun4 = ((lRun3) / (3)) + (1); +acadoWorkspace.A[lRun1 * 23] = acadoWorkspace.evGx[lRun3 * 3]; +acadoWorkspace.A[lRun1 * 23 + 1] = acadoWorkspace.evGx[lRun3 * 3 + 1]; +acadoWorkspace.A[lRun1 * 23 + 2] = acadoWorkspace.evGx[lRun3 * 3 + 2]; for (lRun2 = 0; lRun2 < lRun4; ++lRun2) { -lRun5 = (((((lRun4) * (lRun4-1)) / (2)) + (lRun2)) * (6)) + ((lRun3) % (6)); -acadoWorkspace.A[(lRun1 * 26) + (lRun2 + 6)] = acadoWorkspace.E[lRun5]; +lRun5 = (((((lRun4) * (lRun4-1)) / (2)) + (lRun2)) * (3)) + ((lRun3) % (3)); +acadoWorkspace.A[(lRun1 * 23) + (lRun2 + 3)] = acadoWorkspace.E[lRun5]; } } @@ -4243,9 +3815,6 @@ real_t tmp; acadoWorkspace.Dx0[0] = acadoVariables.x0[0] - acadoVariables.x[0]; acadoWorkspace.Dx0[1] = acadoVariables.x0[1] - acadoVariables.x[1]; acadoWorkspace.Dx0[2] = acadoVariables.x0[2] - acadoVariables.x[2]; -acadoWorkspace.Dx0[3] = acadoVariables.x0[3] - acadoVariables.x[3]; -acadoWorkspace.Dx0[4] = acadoVariables.x0[4] - acadoVariables.x[4]; -acadoWorkspace.Dx0[5] = acadoVariables.x0[5] - acadoVariables.x[5]; acadoWorkspace.Dy[0] -= acadoVariables.y[0]; acadoWorkspace.Dy[1] -= acadoVariables.y[1]; @@ -4331,465 +3900,393 @@ acadoWorkspace.DyN[0] -= acadoVariables.yN[0]; acadoWorkspace.DyN[1] -= acadoVariables.yN[1]; acadoWorkspace.DyN[2] -= acadoVariables.yN[2]; -acado_multRDy( acadoWorkspace.R2, acadoWorkspace.Dy, &(acadoWorkspace.g[ 6 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 4 ]), &(acadoWorkspace.Dy[ 4 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 8 ]), &(acadoWorkspace.Dy[ 8 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 12 ]), &(acadoWorkspace.Dy[ 12 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 16 ]), &(acadoWorkspace.Dy[ 16 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 20 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 24 ]), &(acadoWorkspace.Dy[ 24 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 28 ]), &(acadoWorkspace.Dy[ 28 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 32 ]), &(acadoWorkspace.Dy[ 32 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 36 ]), &(acadoWorkspace.Dy[ 36 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 40 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 44 ]), &(acadoWorkspace.Dy[ 44 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 48 ]), &(acadoWorkspace.Dy[ 48 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 52 ]), &(acadoWorkspace.Dy[ 52 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 56 ]), &(acadoWorkspace.Dy[ 56 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 60 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 64 ]), &(acadoWorkspace.Dy[ 64 ]), &(acadoWorkspace.g[ 22 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 68 ]), &(acadoWorkspace.Dy[ 68 ]), &(acadoWorkspace.g[ 23 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 72 ]), &(acadoWorkspace.Dy[ 72 ]), &(acadoWorkspace.g[ 24 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 76 ]), &(acadoWorkspace.Dy[ 76 ]), &(acadoWorkspace.g[ 25 ]) ); +acado_multRDy( acadoWorkspace.R2, acadoWorkspace.Dy, &(acadoWorkspace.g[ 3 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 4 ]), &(acadoWorkspace.Dy[ 4 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 8 ]), &(acadoWorkspace.Dy[ 8 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 12 ]), &(acadoWorkspace.Dy[ 12 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 16 ]), &(acadoWorkspace.Dy[ 16 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 20 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 24 ]), &(acadoWorkspace.Dy[ 24 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 28 ]), &(acadoWorkspace.Dy[ 28 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 32 ]), &(acadoWorkspace.Dy[ 32 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 36 ]), &(acadoWorkspace.Dy[ 36 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 40 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 44 ]), &(acadoWorkspace.Dy[ 44 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 48 ]), &(acadoWorkspace.Dy[ 48 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 52 ]), &(acadoWorkspace.Dy[ 52 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 56 ]), &(acadoWorkspace.Dy[ 56 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 60 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 64 ]), &(acadoWorkspace.Dy[ 64 ]), &(acadoWorkspace.g[ 19 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 68 ]), &(acadoWorkspace.Dy[ 68 ]), &(acadoWorkspace.g[ 20 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 72 ]), &(acadoWorkspace.Dy[ 72 ]), &(acadoWorkspace.g[ 21 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 76 ]), &(acadoWorkspace.Dy[ 76 ]), &(acadoWorkspace.g[ 22 ]) ); acado_multQDy( acadoWorkspace.Q2, acadoWorkspace.Dy, acadoWorkspace.QDy ); -acado_multQDy( &(acadoWorkspace.Q2[ 24 ]), &(acadoWorkspace.Dy[ 4 ]), &(acadoWorkspace.QDy[ 6 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 48 ]), &(acadoWorkspace.Dy[ 8 ]), &(acadoWorkspace.QDy[ 12 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 72 ]), &(acadoWorkspace.Dy[ 12 ]), &(acadoWorkspace.QDy[ 18 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 96 ]), &(acadoWorkspace.Dy[ 16 ]), &(acadoWorkspace.QDy[ 24 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 120 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.QDy[ 30 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 144 ]), &(acadoWorkspace.Dy[ 24 ]), &(acadoWorkspace.QDy[ 36 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 168 ]), &(acadoWorkspace.Dy[ 28 ]), &(acadoWorkspace.QDy[ 42 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 192 ]), &(acadoWorkspace.Dy[ 32 ]), &(acadoWorkspace.QDy[ 48 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 216 ]), &(acadoWorkspace.Dy[ 36 ]), &(acadoWorkspace.QDy[ 54 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 240 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.QDy[ 60 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 264 ]), &(acadoWorkspace.Dy[ 44 ]), &(acadoWorkspace.QDy[ 66 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 288 ]), &(acadoWorkspace.Dy[ 48 ]), &(acadoWorkspace.QDy[ 72 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 312 ]), &(acadoWorkspace.Dy[ 52 ]), &(acadoWorkspace.QDy[ 78 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 336 ]), &(acadoWorkspace.Dy[ 56 ]), &(acadoWorkspace.QDy[ 84 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 360 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.QDy[ 90 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 384 ]), &(acadoWorkspace.Dy[ 64 ]), &(acadoWorkspace.QDy[ 96 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 408 ]), &(acadoWorkspace.Dy[ 68 ]), &(acadoWorkspace.QDy[ 102 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 432 ]), &(acadoWorkspace.Dy[ 72 ]), &(acadoWorkspace.QDy[ 108 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 456 ]), &(acadoWorkspace.Dy[ 76 ]), &(acadoWorkspace.QDy[ 114 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 12 ]), &(acadoWorkspace.Dy[ 4 ]), &(acadoWorkspace.QDy[ 3 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 24 ]), &(acadoWorkspace.Dy[ 8 ]), &(acadoWorkspace.QDy[ 6 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 36 ]), &(acadoWorkspace.Dy[ 12 ]), &(acadoWorkspace.QDy[ 9 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 48 ]), &(acadoWorkspace.Dy[ 16 ]), &(acadoWorkspace.QDy[ 12 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 60 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.QDy[ 15 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 72 ]), &(acadoWorkspace.Dy[ 24 ]), &(acadoWorkspace.QDy[ 18 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 84 ]), &(acadoWorkspace.Dy[ 28 ]), &(acadoWorkspace.QDy[ 21 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 96 ]), &(acadoWorkspace.Dy[ 32 ]), &(acadoWorkspace.QDy[ 24 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 108 ]), &(acadoWorkspace.Dy[ 36 ]), &(acadoWorkspace.QDy[ 27 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 120 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.QDy[ 30 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 132 ]), &(acadoWorkspace.Dy[ 44 ]), &(acadoWorkspace.QDy[ 33 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 144 ]), &(acadoWorkspace.Dy[ 48 ]), &(acadoWorkspace.QDy[ 36 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 156 ]), &(acadoWorkspace.Dy[ 52 ]), &(acadoWorkspace.QDy[ 39 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 168 ]), &(acadoWorkspace.Dy[ 56 ]), &(acadoWorkspace.QDy[ 42 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 180 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.QDy[ 45 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 192 ]), &(acadoWorkspace.Dy[ 64 ]), &(acadoWorkspace.QDy[ 48 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 204 ]), &(acadoWorkspace.Dy[ 68 ]), &(acadoWorkspace.QDy[ 51 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 216 ]), &(acadoWorkspace.Dy[ 72 ]), &(acadoWorkspace.QDy[ 54 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 228 ]), &(acadoWorkspace.Dy[ 76 ]), &(acadoWorkspace.QDy[ 57 ]) ); -acadoWorkspace.QDy[120] = + acadoWorkspace.QN2[0]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[1]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[2]*acadoWorkspace.DyN[2]; -acadoWorkspace.QDy[121] = + acadoWorkspace.QN2[3]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[4]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[5]*acadoWorkspace.DyN[2]; -acadoWorkspace.QDy[122] = + acadoWorkspace.QN2[6]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[7]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[8]*acadoWorkspace.DyN[2]; -acadoWorkspace.QDy[123] = + acadoWorkspace.QN2[9]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[10]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[11]*acadoWorkspace.DyN[2]; -acadoWorkspace.QDy[124] = + acadoWorkspace.QN2[12]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[13]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[14]*acadoWorkspace.DyN[2]; -acadoWorkspace.QDy[125] = + acadoWorkspace.QN2[15]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[16]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[17]*acadoWorkspace.DyN[2]; +acadoWorkspace.QDy[60] = + acadoWorkspace.QN2[0]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[1]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[2]*acadoWorkspace.DyN[2]; +acadoWorkspace.QDy[61] = + acadoWorkspace.QN2[3]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[4]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[5]*acadoWorkspace.DyN[2]; +acadoWorkspace.QDy[62] = + acadoWorkspace.QN2[6]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[7]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[8]*acadoWorkspace.DyN[2]; -acadoWorkspace.QDy[6] += acadoWorkspace.Qd[0]; -acadoWorkspace.QDy[7] += acadoWorkspace.Qd[1]; -acadoWorkspace.QDy[8] += acadoWorkspace.Qd[2]; -acadoWorkspace.QDy[9] += acadoWorkspace.Qd[3]; -acadoWorkspace.QDy[10] += acadoWorkspace.Qd[4]; -acadoWorkspace.QDy[11] += acadoWorkspace.Qd[5]; -acadoWorkspace.QDy[12] += acadoWorkspace.Qd[6]; -acadoWorkspace.QDy[13] += acadoWorkspace.Qd[7]; -acadoWorkspace.QDy[14] += acadoWorkspace.Qd[8]; -acadoWorkspace.QDy[15] += acadoWorkspace.Qd[9]; -acadoWorkspace.QDy[16] += acadoWorkspace.Qd[10]; -acadoWorkspace.QDy[17] += acadoWorkspace.Qd[11]; -acadoWorkspace.QDy[18] += acadoWorkspace.Qd[12]; -acadoWorkspace.QDy[19] += acadoWorkspace.Qd[13]; -acadoWorkspace.QDy[20] += acadoWorkspace.Qd[14]; -acadoWorkspace.QDy[21] += acadoWorkspace.Qd[15]; -acadoWorkspace.QDy[22] += acadoWorkspace.Qd[16]; -acadoWorkspace.QDy[23] += acadoWorkspace.Qd[17]; -acadoWorkspace.QDy[24] += acadoWorkspace.Qd[18]; -acadoWorkspace.QDy[25] += acadoWorkspace.Qd[19]; -acadoWorkspace.QDy[26] += acadoWorkspace.Qd[20]; -acadoWorkspace.QDy[27] += acadoWorkspace.Qd[21]; -acadoWorkspace.QDy[28] += acadoWorkspace.Qd[22]; -acadoWorkspace.QDy[29] += acadoWorkspace.Qd[23]; -acadoWorkspace.QDy[30] += acadoWorkspace.Qd[24]; -acadoWorkspace.QDy[31] += acadoWorkspace.Qd[25]; -acadoWorkspace.QDy[32] += acadoWorkspace.Qd[26]; -acadoWorkspace.QDy[33] += acadoWorkspace.Qd[27]; -acadoWorkspace.QDy[34] += acadoWorkspace.Qd[28]; -acadoWorkspace.QDy[35] += acadoWorkspace.Qd[29]; -acadoWorkspace.QDy[36] += acadoWorkspace.Qd[30]; -acadoWorkspace.QDy[37] += acadoWorkspace.Qd[31]; -acadoWorkspace.QDy[38] += acadoWorkspace.Qd[32]; -acadoWorkspace.QDy[39] += acadoWorkspace.Qd[33]; -acadoWorkspace.QDy[40] += acadoWorkspace.Qd[34]; -acadoWorkspace.QDy[41] += acadoWorkspace.Qd[35]; -acadoWorkspace.QDy[42] += acadoWorkspace.Qd[36]; -acadoWorkspace.QDy[43] += acadoWorkspace.Qd[37]; -acadoWorkspace.QDy[44] += acadoWorkspace.Qd[38]; -acadoWorkspace.QDy[45] += acadoWorkspace.Qd[39]; -acadoWorkspace.QDy[46] += acadoWorkspace.Qd[40]; -acadoWorkspace.QDy[47] += acadoWorkspace.Qd[41]; -acadoWorkspace.QDy[48] += acadoWorkspace.Qd[42]; -acadoWorkspace.QDy[49] += acadoWorkspace.Qd[43]; -acadoWorkspace.QDy[50] += acadoWorkspace.Qd[44]; -acadoWorkspace.QDy[51] += acadoWorkspace.Qd[45]; -acadoWorkspace.QDy[52] += acadoWorkspace.Qd[46]; -acadoWorkspace.QDy[53] += acadoWorkspace.Qd[47]; -acadoWorkspace.QDy[54] += acadoWorkspace.Qd[48]; -acadoWorkspace.QDy[55] += acadoWorkspace.Qd[49]; -acadoWorkspace.QDy[56] += acadoWorkspace.Qd[50]; -acadoWorkspace.QDy[57] += acadoWorkspace.Qd[51]; -acadoWorkspace.QDy[58] += acadoWorkspace.Qd[52]; -acadoWorkspace.QDy[59] += acadoWorkspace.Qd[53]; -acadoWorkspace.QDy[60] += acadoWorkspace.Qd[54]; -acadoWorkspace.QDy[61] += acadoWorkspace.Qd[55]; -acadoWorkspace.QDy[62] += acadoWorkspace.Qd[56]; -acadoWorkspace.QDy[63] += acadoWorkspace.Qd[57]; -acadoWorkspace.QDy[64] += acadoWorkspace.Qd[58]; -acadoWorkspace.QDy[65] += acadoWorkspace.Qd[59]; -acadoWorkspace.QDy[66] += acadoWorkspace.Qd[60]; -acadoWorkspace.QDy[67] += acadoWorkspace.Qd[61]; -acadoWorkspace.QDy[68] += acadoWorkspace.Qd[62]; -acadoWorkspace.QDy[69] += acadoWorkspace.Qd[63]; -acadoWorkspace.QDy[70] += acadoWorkspace.Qd[64]; -acadoWorkspace.QDy[71] += acadoWorkspace.Qd[65]; -acadoWorkspace.QDy[72] += acadoWorkspace.Qd[66]; -acadoWorkspace.QDy[73] += acadoWorkspace.Qd[67]; -acadoWorkspace.QDy[74] += acadoWorkspace.Qd[68]; -acadoWorkspace.QDy[75] += acadoWorkspace.Qd[69]; -acadoWorkspace.QDy[76] += acadoWorkspace.Qd[70]; -acadoWorkspace.QDy[77] += acadoWorkspace.Qd[71]; -acadoWorkspace.QDy[78] += acadoWorkspace.Qd[72]; -acadoWorkspace.QDy[79] += acadoWorkspace.Qd[73]; -acadoWorkspace.QDy[80] += acadoWorkspace.Qd[74]; -acadoWorkspace.QDy[81] += acadoWorkspace.Qd[75]; -acadoWorkspace.QDy[82] += acadoWorkspace.Qd[76]; -acadoWorkspace.QDy[83] += acadoWorkspace.Qd[77]; -acadoWorkspace.QDy[84] += acadoWorkspace.Qd[78]; -acadoWorkspace.QDy[85] += acadoWorkspace.Qd[79]; -acadoWorkspace.QDy[86] += acadoWorkspace.Qd[80]; -acadoWorkspace.QDy[87] += acadoWorkspace.Qd[81]; -acadoWorkspace.QDy[88] += acadoWorkspace.Qd[82]; -acadoWorkspace.QDy[89] += acadoWorkspace.Qd[83]; -acadoWorkspace.QDy[90] += acadoWorkspace.Qd[84]; -acadoWorkspace.QDy[91] += acadoWorkspace.Qd[85]; -acadoWorkspace.QDy[92] += acadoWorkspace.Qd[86]; -acadoWorkspace.QDy[93] += acadoWorkspace.Qd[87]; -acadoWorkspace.QDy[94] += acadoWorkspace.Qd[88]; -acadoWorkspace.QDy[95] += acadoWorkspace.Qd[89]; -acadoWorkspace.QDy[96] += acadoWorkspace.Qd[90]; -acadoWorkspace.QDy[97] += acadoWorkspace.Qd[91]; -acadoWorkspace.QDy[98] += acadoWorkspace.Qd[92]; -acadoWorkspace.QDy[99] += acadoWorkspace.Qd[93]; -acadoWorkspace.QDy[100] += acadoWorkspace.Qd[94]; -acadoWorkspace.QDy[101] += acadoWorkspace.Qd[95]; -acadoWorkspace.QDy[102] += acadoWorkspace.Qd[96]; -acadoWorkspace.QDy[103] += acadoWorkspace.Qd[97]; -acadoWorkspace.QDy[104] += acadoWorkspace.Qd[98]; -acadoWorkspace.QDy[105] += acadoWorkspace.Qd[99]; -acadoWorkspace.QDy[106] += acadoWorkspace.Qd[100]; -acadoWorkspace.QDy[107] += acadoWorkspace.Qd[101]; -acadoWorkspace.QDy[108] += acadoWorkspace.Qd[102]; -acadoWorkspace.QDy[109] += acadoWorkspace.Qd[103]; -acadoWorkspace.QDy[110] += acadoWorkspace.Qd[104]; -acadoWorkspace.QDy[111] += acadoWorkspace.Qd[105]; -acadoWorkspace.QDy[112] += acadoWorkspace.Qd[106]; -acadoWorkspace.QDy[113] += acadoWorkspace.Qd[107]; -acadoWorkspace.QDy[114] += acadoWorkspace.Qd[108]; -acadoWorkspace.QDy[115] += acadoWorkspace.Qd[109]; -acadoWorkspace.QDy[116] += acadoWorkspace.Qd[110]; -acadoWorkspace.QDy[117] += acadoWorkspace.Qd[111]; -acadoWorkspace.QDy[118] += acadoWorkspace.Qd[112]; -acadoWorkspace.QDy[119] += acadoWorkspace.Qd[113]; -acadoWorkspace.QDy[120] += acadoWorkspace.Qd[114]; -acadoWorkspace.QDy[121] += acadoWorkspace.Qd[115]; -acadoWorkspace.QDy[122] += acadoWorkspace.Qd[116]; -acadoWorkspace.QDy[123] += acadoWorkspace.Qd[117]; -acadoWorkspace.QDy[124] += acadoWorkspace.Qd[118]; -acadoWorkspace.QDy[125] += acadoWorkspace.Qd[119]; +acadoWorkspace.QDy[3] += acadoWorkspace.Qd[0]; +acadoWorkspace.QDy[4] += acadoWorkspace.Qd[1]; +acadoWorkspace.QDy[5] += acadoWorkspace.Qd[2]; +acadoWorkspace.QDy[6] += acadoWorkspace.Qd[3]; +acadoWorkspace.QDy[7] += acadoWorkspace.Qd[4]; +acadoWorkspace.QDy[8] += acadoWorkspace.Qd[5]; +acadoWorkspace.QDy[9] += acadoWorkspace.Qd[6]; +acadoWorkspace.QDy[10] += acadoWorkspace.Qd[7]; +acadoWorkspace.QDy[11] += acadoWorkspace.Qd[8]; +acadoWorkspace.QDy[12] += acadoWorkspace.Qd[9]; +acadoWorkspace.QDy[13] += acadoWorkspace.Qd[10]; +acadoWorkspace.QDy[14] += acadoWorkspace.Qd[11]; +acadoWorkspace.QDy[15] += acadoWorkspace.Qd[12]; +acadoWorkspace.QDy[16] += acadoWorkspace.Qd[13]; +acadoWorkspace.QDy[17] += acadoWorkspace.Qd[14]; +acadoWorkspace.QDy[18] += acadoWorkspace.Qd[15]; +acadoWorkspace.QDy[19] += acadoWorkspace.Qd[16]; +acadoWorkspace.QDy[20] += acadoWorkspace.Qd[17]; +acadoWorkspace.QDy[21] += acadoWorkspace.Qd[18]; +acadoWorkspace.QDy[22] += acadoWorkspace.Qd[19]; +acadoWorkspace.QDy[23] += acadoWorkspace.Qd[20]; +acadoWorkspace.QDy[24] += acadoWorkspace.Qd[21]; +acadoWorkspace.QDy[25] += acadoWorkspace.Qd[22]; +acadoWorkspace.QDy[26] += acadoWorkspace.Qd[23]; +acadoWorkspace.QDy[27] += acadoWorkspace.Qd[24]; +acadoWorkspace.QDy[28] += acadoWorkspace.Qd[25]; +acadoWorkspace.QDy[29] += acadoWorkspace.Qd[26]; +acadoWorkspace.QDy[30] += acadoWorkspace.Qd[27]; +acadoWorkspace.QDy[31] += acadoWorkspace.Qd[28]; +acadoWorkspace.QDy[32] += acadoWorkspace.Qd[29]; +acadoWorkspace.QDy[33] += acadoWorkspace.Qd[30]; +acadoWorkspace.QDy[34] += acadoWorkspace.Qd[31]; +acadoWorkspace.QDy[35] += acadoWorkspace.Qd[32]; +acadoWorkspace.QDy[36] += acadoWorkspace.Qd[33]; +acadoWorkspace.QDy[37] += acadoWorkspace.Qd[34]; +acadoWorkspace.QDy[38] += acadoWorkspace.Qd[35]; +acadoWorkspace.QDy[39] += acadoWorkspace.Qd[36]; +acadoWorkspace.QDy[40] += acadoWorkspace.Qd[37]; +acadoWorkspace.QDy[41] += acadoWorkspace.Qd[38]; +acadoWorkspace.QDy[42] += acadoWorkspace.Qd[39]; +acadoWorkspace.QDy[43] += acadoWorkspace.Qd[40]; +acadoWorkspace.QDy[44] += acadoWorkspace.Qd[41]; +acadoWorkspace.QDy[45] += acadoWorkspace.Qd[42]; +acadoWorkspace.QDy[46] += acadoWorkspace.Qd[43]; +acadoWorkspace.QDy[47] += acadoWorkspace.Qd[44]; +acadoWorkspace.QDy[48] += acadoWorkspace.Qd[45]; +acadoWorkspace.QDy[49] += acadoWorkspace.Qd[46]; +acadoWorkspace.QDy[50] += acadoWorkspace.Qd[47]; +acadoWorkspace.QDy[51] += acadoWorkspace.Qd[48]; +acadoWorkspace.QDy[52] += acadoWorkspace.Qd[49]; +acadoWorkspace.QDy[53] += acadoWorkspace.Qd[50]; +acadoWorkspace.QDy[54] += acadoWorkspace.Qd[51]; +acadoWorkspace.QDy[55] += acadoWorkspace.Qd[52]; +acadoWorkspace.QDy[56] += acadoWorkspace.Qd[53]; +acadoWorkspace.QDy[57] += acadoWorkspace.Qd[54]; +acadoWorkspace.QDy[58] += acadoWorkspace.Qd[55]; +acadoWorkspace.QDy[59] += acadoWorkspace.Qd[56]; +acadoWorkspace.QDy[60] += acadoWorkspace.Qd[57]; +acadoWorkspace.QDy[61] += acadoWorkspace.Qd[58]; +acadoWorkspace.QDy[62] += acadoWorkspace.Qd[59]; -acadoWorkspace.g[0] = + acadoWorkspace.evGx[0]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[6]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[12]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[18]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[24]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[30]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[36]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[42]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[48]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[54]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[60]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[66]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[72]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[78]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[84]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[90]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[96]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[102]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[108]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[114]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[120]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[126]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[132]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[138]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[144]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[150]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[156]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[162]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[168]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[174]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[180]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[186]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[192]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[198]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[204]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[210]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[216]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[222]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[228]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[234]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[240]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[246]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[252]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[258]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[264]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[270]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[276]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[282]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[288]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[294]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[300]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[306]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[312]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[318]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[324]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[330]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[336]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[342]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[348]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[354]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[360]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[366]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[372]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[378]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[384]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[390]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[396]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[402]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[408]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[414]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[420]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[426]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[432]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[438]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[444]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[450]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[456]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[462]*acadoWorkspace.QDy[83] + acadoWorkspace.evGx[468]*acadoWorkspace.QDy[84] + acadoWorkspace.evGx[474]*acadoWorkspace.QDy[85] + acadoWorkspace.evGx[480]*acadoWorkspace.QDy[86] + acadoWorkspace.evGx[486]*acadoWorkspace.QDy[87] + acadoWorkspace.evGx[492]*acadoWorkspace.QDy[88] + acadoWorkspace.evGx[498]*acadoWorkspace.QDy[89] + acadoWorkspace.evGx[504]*acadoWorkspace.QDy[90] + acadoWorkspace.evGx[510]*acadoWorkspace.QDy[91] + acadoWorkspace.evGx[516]*acadoWorkspace.QDy[92] + acadoWorkspace.evGx[522]*acadoWorkspace.QDy[93] + acadoWorkspace.evGx[528]*acadoWorkspace.QDy[94] + acadoWorkspace.evGx[534]*acadoWorkspace.QDy[95] + acadoWorkspace.evGx[540]*acadoWorkspace.QDy[96] + acadoWorkspace.evGx[546]*acadoWorkspace.QDy[97] + acadoWorkspace.evGx[552]*acadoWorkspace.QDy[98] + acadoWorkspace.evGx[558]*acadoWorkspace.QDy[99] + acadoWorkspace.evGx[564]*acadoWorkspace.QDy[100] + acadoWorkspace.evGx[570]*acadoWorkspace.QDy[101] + acadoWorkspace.evGx[576]*acadoWorkspace.QDy[102] + acadoWorkspace.evGx[582]*acadoWorkspace.QDy[103] + acadoWorkspace.evGx[588]*acadoWorkspace.QDy[104] + acadoWorkspace.evGx[594]*acadoWorkspace.QDy[105] + acadoWorkspace.evGx[600]*acadoWorkspace.QDy[106] + acadoWorkspace.evGx[606]*acadoWorkspace.QDy[107] + acadoWorkspace.evGx[612]*acadoWorkspace.QDy[108] + acadoWorkspace.evGx[618]*acadoWorkspace.QDy[109] + acadoWorkspace.evGx[624]*acadoWorkspace.QDy[110] + acadoWorkspace.evGx[630]*acadoWorkspace.QDy[111] + acadoWorkspace.evGx[636]*acadoWorkspace.QDy[112] + acadoWorkspace.evGx[642]*acadoWorkspace.QDy[113] + acadoWorkspace.evGx[648]*acadoWorkspace.QDy[114] + acadoWorkspace.evGx[654]*acadoWorkspace.QDy[115] + acadoWorkspace.evGx[660]*acadoWorkspace.QDy[116] + acadoWorkspace.evGx[666]*acadoWorkspace.QDy[117] + acadoWorkspace.evGx[672]*acadoWorkspace.QDy[118] + acadoWorkspace.evGx[678]*acadoWorkspace.QDy[119] + acadoWorkspace.evGx[684]*acadoWorkspace.QDy[120] + acadoWorkspace.evGx[690]*acadoWorkspace.QDy[121] + acadoWorkspace.evGx[696]*acadoWorkspace.QDy[122] + acadoWorkspace.evGx[702]*acadoWorkspace.QDy[123] + acadoWorkspace.evGx[708]*acadoWorkspace.QDy[124] + acadoWorkspace.evGx[714]*acadoWorkspace.QDy[125]; -acadoWorkspace.g[1] = + acadoWorkspace.evGx[1]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[7]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[13]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[19]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[25]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[31]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[37]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[43]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[49]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[55]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[61]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[67]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[73]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[79]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[85]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[91]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[97]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[103]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[109]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[115]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[121]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[127]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[133]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[139]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[145]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[151]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[157]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[163]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[169]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[175]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[181]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[187]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[193]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[199]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[205]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[211]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[217]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[223]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[229]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[235]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[241]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[247]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[253]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[259]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[265]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[271]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[277]*acadoWorkspace.QDy[52] + 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acadoWorkspace.evGx[403]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[409]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[415]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[421]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[427]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[433]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[439]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[445]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[451]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[457]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[463]*acadoWorkspace.QDy[83] + acadoWorkspace.evGx[469]*acadoWorkspace.QDy[84] + acadoWorkspace.evGx[475]*acadoWorkspace.QDy[85] + acadoWorkspace.evGx[481]*acadoWorkspace.QDy[86] + acadoWorkspace.evGx[487]*acadoWorkspace.QDy[87] + acadoWorkspace.evGx[493]*acadoWorkspace.QDy[88] + acadoWorkspace.evGx[499]*acadoWorkspace.QDy[89] + acadoWorkspace.evGx[505]*acadoWorkspace.QDy[90] + acadoWorkspace.evGx[511]*acadoWorkspace.QDy[91] + acadoWorkspace.evGx[517]*acadoWorkspace.QDy[92] + acadoWorkspace.evGx[523]*acadoWorkspace.QDy[93] + acadoWorkspace.evGx[529]*acadoWorkspace.QDy[94] + acadoWorkspace.evGx[535]*acadoWorkspace.QDy[95] + acadoWorkspace.evGx[541]*acadoWorkspace.QDy[96] + acadoWorkspace.evGx[547]*acadoWorkspace.QDy[97] + acadoWorkspace.evGx[553]*acadoWorkspace.QDy[98] + acadoWorkspace.evGx[559]*acadoWorkspace.QDy[99] + acadoWorkspace.evGx[565]*acadoWorkspace.QDy[100] + acadoWorkspace.evGx[571]*acadoWorkspace.QDy[101] + acadoWorkspace.evGx[577]*acadoWorkspace.QDy[102] + acadoWorkspace.evGx[583]*acadoWorkspace.QDy[103] + acadoWorkspace.evGx[589]*acadoWorkspace.QDy[104] + acadoWorkspace.evGx[595]*acadoWorkspace.QDy[105] + acadoWorkspace.evGx[601]*acadoWorkspace.QDy[106] + acadoWorkspace.evGx[607]*acadoWorkspace.QDy[107] + acadoWorkspace.evGx[613]*acadoWorkspace.QDy[108] + acadoWorkspace.evGx[619]*acadoWorkspace.QDy[109] + acadoWorkspace.evGx[625]*acadoWorkspace.QDy[110] + acadoWorkspace.evGx[631]*acadoWorkspace.QDy[111] + acadoWorkspace.evGx[637]*acadoWorkspace.QDy[112] + acadoWorkspace.evGx[643]*acadoWorkspace.QDy[113] + acadoWorkspace.evGx[649]*acadoWorkspace.QDy[114] + acadoWorkspace.evGx[655]*acadoWorkspace.QDy[115] + acadoWorkspace.evGx[661]*acadoWorkspace.QDy[116] + acadoWorkspace.evGx[667]*acadoWorkspace.QDy[117] + acadoWorkspace.evGx[673]*acadoWorkspace.QDy[118] + acadoWorkspace.evGx[679]*acadoWorkspace.QDy[119] + acadoWorkspace.evGx[685]*acadoWorkspace.QDy[120] + acadoWorkspace.evGx[691]*acadoWorkspace.QDy[121] + acadoWorkspace.evGx[697]*acadoWorkspace.QDy[122] + acadoWorkspace.evGx[703]*acadoWorkspace.QDy[123] + acadoWorkspace.evGx[709]*acadoWorkspace.QDy[124] + acadoWorkspace.evGx[715]*acadoWorkspace.QDy[125]; -acadoWorkspace.g[2] = + acadoWorkspace.evGx[2]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[8]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[14]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[20]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[26]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[32]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[38]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[44]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[50]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[56]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[62]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[68]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[74]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[80]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[86]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[92]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[98]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[104]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[110]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[116]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[122]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[128]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[134]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[140]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[146]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[152]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[158]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[164]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[170]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[176]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[182]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[188]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[194]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[200]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[206]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[212]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[218]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[224]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[230]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[236]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[242]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[248]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[254]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[260]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[266]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[272]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[278]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[284]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[290]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[296]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[302]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[308]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[314]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[320]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[326]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[332]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[338]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[344]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[350]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[356]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[362]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[368]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[374]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[380]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[386]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[392]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[398]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[404]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[410]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[416]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[422]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[428]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[434]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[440]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[446]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[452]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[458]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[464]*acadoWorkspace.QDy[83] + acadoWorkspace.evGx[470]*acadoWorkspace.QDy[84] + acadoWorkspace.evGx[476]*acadoWorkspace.QDy[85] + acadoWorkspace.evGx[482]*acadoWorkspace.QDy[86] + acadoWorkspace.evGx[488]*acadoWorkspace.QDy[87] + acadoWorkspace.evGx[494]*acadoWorkspace.QDy[88] + acadoWorkspace.evGx[500]*acadoWorkspace.QDy[89] + acadoWorkspace.evGx[506]*acadoWorkspace.QDy[90] + acadoWorkspace.evGx[512]*acadoWorkspace.QDy[91] + acadoWorkspace.evGx[518]*acadoWorkspace.QDy[92] + acadoWorkspace.evGx[524]*acadoWorkspace.QDy[93] + acadoWorkspace.evGx[530]*acadoWorkspace.QDy[94] + acadoWorkspace.evGx[536]*acadoWorkspace.QDy[95] + acadoWorkspace.evGx[542]*acadoWorkspace.QDy[96] + acadoWorkspace.evGx[548]*acadoWorkspace.QDy[97] + acadoWorkspace.evGx[554]*acadoWorkspace.QDy[98] + acadoWorkspace.evGx[560]*acadoWorkspace.QDy[99] + acadoWorkspace.evGx[566]*acadoWorkspace.QDy[100] + acadoWorkspace.evGx[572]*acadoWorkspace.QDy[101] + acadoWorkspace.evGx[578]*acadoWorkspace.QDy[102] + acadoWorkspace.evGx[584]*acadoWorkspace.QDy[103] + acadoWorkspace.evGx[590]*acadoWorkspace.QDy[104] + acadoWorkspace.evGx[596]*acadoWorkspace.QDy[105] + acadoWorkspace.evGx[602]*acadoWorkspace.QDy[106] + acadoWorkspace.evGx[608]*acadoWorkspace.QDy[107] + acadoWorkspace.evGx[614]*acadoWorkspace.QDy[108] + acadoWorkspace.evGx[620]*acadoWorkspace.QDy[109] + acadoWorkspace.evGx[626]*acadoWorkspace.QDy[110] + acadoWorkspace.evGx[632]*acadoWorkspace.QDy[111] + acadoWorkspace.evGx[638]*acadoWorkspace.QDy[112] + acadoWorkspace.evGx[644]*acadoWorkspace.QDy[113] + acadoWorkspace.evGx[650]*acadoWorkspace.QDy[114] + acadoWorkspace.evGx[656]*acadoWorkspace.QDy[115] + acadoWorkspace.evGx[662]*acadoWorkspace.QDy[116] + acadoWorkspace.evGx[668]*acadoWorkspace.QDy[117] + acadoWorkspace.evGx[674]*acadoWorkspace.QDy[118] + acadoWorkspace.evGx[680]*acadoWorkspace.QDy[119] + acadoWorkspace.evGx[686]*acadoWorkspace.QDy[120] + acadoWorkspace.evGx[692]*acadoWorkspace.QDy[121] + acadoWorkspace.evGx[698]*acadoWorkspace.QDy[122] + acadoWorkspace.evGx[704]*acadoWorkspace.QDy[123] + acadoWorkspace.evGx[710]*acadoWorkspace.QDy[124] + acadoWorkspace.evGx[716]*acadoWorkspace.QDy[125]; -acadoWorkspace.g[3] = + acadoWorkspace.evGx[3]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[9]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[15]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[21]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[27]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[33]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[39]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[45]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[51]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[57]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[63]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[69]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[75]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[81]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[87]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[93]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[99]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[105]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[111]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[117]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[123]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[129]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[135]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[141]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[147]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[153]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[159]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[165]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[171]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[177]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[183]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[189]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[195]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[201]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[207]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[213]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[219]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[225]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[231]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[237]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[243]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[249]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[255]*acadoWorkspace.QDy[48] + 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acadoWorkspace.evGx[381]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[387]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[393]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[399]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[405]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[411]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[417]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[423]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[429]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[435]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[441]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[447]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[453]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[459]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[465]*acadoWorkspace.QDy[83] + acadoWorkspace.evGx[471]*acadoWorkspace.QDy[84] + acadoWorkspace.evGx[477]*acadoWorkspace.QDy[85] + acadoWorkspace.evGx[483]*acadoWorkspace.QDy[86] + acadoWorkspace.evGx[489]*acadoWorkspace.QDy[87] + acadoWorkspace.evGx[495]*acadoWorkspace.QDy[88] + acadoWorkspace.evGx[501]*acadoWorkspace.QDy[89] + acadoWorkspace.evGx[507]*acadoWorkspace.QDy[90] + acadoWorkspace.evGx[513]*acadoWorkspace.QDy[91] + acadoWorkspace.evGx[519]*acadoWorkspace.QDy[92] + acadoWorkspace.evGx[525]*acadoWorkspace.QDy[93] + acadoWorkspace.evGx[531]*acadoWorkspace.QDy[94] + acadoWorkspace.evGx[537]*acadoWorkspace.QDy[95] + acadoWorkspace.evGx[543]*acadoWorkspace.QDy[96] + acadoWorkspace.evGx[549]*acadoWorkspace.QDy[97] + acadoWorkspace.evGx[555]*acadoWorkspace.QDy[98] + acadoWorkspace.evGx[561]*acadoWorkspace.QDy[99] + acadoWorkspace.evGx[567]*acadoWorkspace.QDy[100] + acadoWorkspace.evGx[573]*acadoWorkspace.QDy[101] + acadoWorkspace.evGx[579]*acadoWorkspace.QDy[102] + acadoWorkspace.evGx[585]*acadoWorkspace.QDy[103] + acadoWorkspace.evGx[591]*acadoWorkspace.QDy[104] + acadoWorkspace.evGx[597]*acadoWorkspace.QDy[105] + acadoWorkspace.evGx[603]*acadoWorkspace.QDy[106] + acadoWorkspace.evGx[609]*acadoWorkspace.QDy[107] + acadoWorkspace.evGx[615]*acadoWorkspace.QDy[108] + acadoWorkspace.evGx[621]*acadoWorkspace.QDy[109] + acadoWorkspace.evGx[627]*acadoWorkspace.QDy[110] + acadoWorkspace.evGx[633]*acadoWorkspace.QDy[111] + acadoWorkspace.evGx[639]*acadoWorkspace.QDy[112] + acadoWorkspace.evGx[645]*acadoWorkspace.QDy[113] + acadoWorkspace.evGx[651]*acadoWorkspace.QDy[114] + acadoWorkspace.evGx[657]*acadoWorkspace.QDy[115] + acadoWorkspace.evGx[663]*acadoWorkspace.QDy[116] + acadoWorkspace.evGx[669]*acadoWorkspace.QDy[117] + acadoWorkspace.evGx[675]*acadoWorkspace.QDy[118] + acadoWorkspace.evGx[681]*acadoWorkspace.QDy[119] + acadoWorkspace.evGx[687]*acadoWorkspace.QDy[120] + acadoWorkspace.evGx[693]*acadoWorkspace.QDy[121] + acadoWorkspace.evGx[699]*acadoWorkspace.QDy[122] + acadoWorkspace.evGx[705]*acadoWorkspace.QDy[123] + acadoWorkspace.evGx[711]*acadoWorkspace.QDy[124] + acadoWorkspace.evGx[717]*acadoWorkspace.QDy[125]; -acadoWorkspace.g[4] = + acadoWorkspace.evGx[4]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[10]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[16]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[22]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[28]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[34]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[40]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[46]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[52]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[58]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[64]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[70]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[76]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[82]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[88]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[94]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[100]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[106]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[112]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[118]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[124]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[130]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[136]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[142]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[148]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[154]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[160]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[166]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[172]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[178]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[184]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[190]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[196]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[202]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[208]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[214]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[220]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[226]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[232]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[238]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[244]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[250]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[256]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[262]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[268]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[274]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[280]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[286]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[292]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[298]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[304]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[310]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[316]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[322]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[328]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[334]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[340]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[346]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[352]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[358]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[364]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[370]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[376]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[382]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[388]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[394]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[400]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[406]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[412]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[418]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[424]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[430]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[436]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[442]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[448]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[454]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[460]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[466]*acadoWorkspace.QDy[83] + acadoWorkspace.evGx[472]*acadoWorkspace.QDy[84] + acadoWorkspace.evGx[478]*acadoWorkspace.QDy[85] + acadoWorkspace.evGx[484]*acadoWorkspace.QDy[86] + acadoWorkspace.evGx[490]*acadoWorkspace.QDy[87] + acadoWorkspace.evGx[496]*acadoWorkspace.QDy[88] + acadoWorkspace.evGx[502]*acadoWorkspace.QDy[89] + acadoWorkspace.evGx[508]*acadoWorkspace.QDy[90] + acadoWorkspace.evGx[514]*acadoWorkspace.QDy[91] + acadoWorkspace.evGx[520]*acadoWorkspace.QDy[92] + acadoWorkspace.evGx[526]*acadoWorkspace.QDy[93] + acadoWorkspace.evGx[532]*acadoWorkspace.QDy[94] + acadoWorkspace.evGx[538]*acadoWorkspace.QDy[95] + acadoWorkspace.evGx[544]*acadoWorkspace.QDy[96] + acadoWorkspace.evGx[550]*acadoWorkspace.QDy[97] + acadoWorkspace.evGx[556]*acadoWorkspace.QDy[98] + acadoWorkspace.evGx[562]*acadoWorkspace.QDy[99] + acadoWorkspace.evGx[568]*acadoWorkspace.QDy[100] + acadoWorkspace.evGx[574]*acadoWorkspace.QDy[101] + acadoWorkspace.evGx[580]*acadoWorkspace.QDy[102] + acadoWorkspace.evGx[586]*acadoWorkspace.QDy[103] + acadoWorkspace.evGx[592]*acadoWorkspace.QDy[104] + acadoWorkspace.evGx[598]*acadoWorkspace.QDy[105] + acadoWorkspace.evGx[604]*acadoWorkspace.QDy[106] + acadoWorkspace.evGx[610]*acadoWorkspace.QDy[107] + acadoWorkspace.evGx[616]*acadoWorkspace.QDy[108] + acadoWorkspace.evGx[622]*acadoWorkspace.QDy[109] + acadoWorkspace.evGx[628]*acadoWorkspace.QDy[110] + acadoWorkspace.evGx[634]*acadoWorkspace.QDy[111] + acadoWorkspace.evGx[640]*acadoWorkspace.QDy[112] + acadoWorkspace.evGx[646]*acadoWorkspace.QDy[113] + acadoWorkspace.evGx[652]*acadoWorkspace.QDy[114] + acadoWorkspace.evGx[658]*acadoWorkspace.QDy[115] + acadoWorkspace.evGx[664]*acadoWorkspace.QDy[116] + acadoWorkspace.evGx[670]*acadoWorkspace.QDy[117] + acadoWorkspace.evGx[676]*acadoWorkspace.QDy[118] + acadoWorkspace.evGx[682]*acadoWorkspace.QDy[119] + acadoWorkspace.evGx[688]*acadoWorkspace.QDy[120] + acadoWorkspace.evGx[694]*acadoWorkspace.QDy[121] + acadoWorkspace.evGx[700]*acadoWorkspace.QDy[122] + acadoWorkspace.evGx[706]*acadoWorkspace.QDy[123] + acadoWorkspace.evGx[712]*acadoWorkspace.QDy[124] + acadoWorkspace.evGx[718]*acadoWorkspace.QDy[125]; -acadoWorkspace.g[5] = + acadoWorkspace.evGx[5]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[11]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[17]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[23]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[29]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[35]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[41]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[47]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[53]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[59]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[65]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[71]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[77]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[83]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[89]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[95]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[101]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[107]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[113]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[119]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[125]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[131]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[137]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[143]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[149]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[155]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[161]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[167]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[173]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[179]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[185]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[191]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[197]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[203]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[209]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[215]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[221]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[227]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[233]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[239]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[245]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[251]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[257]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[263]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[269]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[275]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[281]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[287]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[293]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[299]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[305]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[311]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[317]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[323]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[329]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[335]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[341]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[347]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[353]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[359]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[365]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[371]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[377]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[383]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[389]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[395]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[401]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[407]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[413]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[419]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[425]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[431]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[437]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[443]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[449]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[455]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[461]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[467]*acadoWorkspace.QDy[83] + acadoWorkspace.evGx[473]*acadoWorkspace.QDy[84] + acadoWorkspace.evGx[479]*acadoWorkspace.QDy[85] + acadoWorkspace.evGx[485]*acadoWorkspace.QDy[86] + acadoWorkspace.evGx[491]*acadoWorkspace.QDy[87] + acadoWorkspace.evGx[497]*acadoWorkspace.QDy[88] + acadoWorkspace.evGx[503]*acadoWorkspace.QDy[89] + acadoWorkspace.evGx[509]*acadoWorkspace.QDy[90] + acadoWorkspace.evGx[515]*acadoWorkspace.QDy[91] + acadoWorkspace.evGx[521]*acadoWorkspace.QDy[92] + acadoWorkspace.evGx[527]*acadoWorkspace.QDy[93] + acadoWorkspace.evGx[533]*acadoWorkspace.QDy[94] + acadoWorkspace.evGx[539]*acadoWorkspace.QDy[95] + acadoWorkspace.evGx[545]*acadoWorkspace.QDy[96] + acadoWorkspace.evGx[551]*acadoWorkspace.QDy[97] + acadoWorkspace.evGx[557]*acadoWorkspace.QDy[98] + acadoWorkspace.evGx[563]*acadoWorkspace.QDy[99] + acadoWorkspace.evGx[569]*acadoWorkspace.QDy[100] + acadoWorkspace.evGx[575]*acadoWorkspace.QDy[101] + acadoWorkspace.evGx[581]*acadoWorkspace.QDy[102] + acadoWorkspace.evGx[587]*acadoWorkspace.QDy[103] + acadoWorkspace.evGx[593]*acadoWorkspace.QDy[104] + acadoWorkspace.evGx[599]*acadoWorkspace.QDy[105] + acadoWorkspace.evGx[605]*acadoWorkspace.QDy[106] + acadoWorkspace.evGx[611]*acadoWorkspace.QDy[107] + acadoWorkspace.evGx[617]*acadoWorkspace.QDy[108] + acadoWorkspace.evGx[623]*acadoWorkspace.QDy[109] + acadoWorkspace.evGx[629]*acadoWorkspace.QDy[110] + acadoWorkspace.evGx[635]*acadoWorkspace.QDy[111] + acadoWorkspace.evGx[641]*acadoWorkspace.QDy[112] + acadoWorkspace.evGx[647]*acadoWorkspace.QDy[113] + acadoWorkspace.evGx[653]*acadoWorkspace.QDy[114] + acadoWorkspace.evGx[659]*acadoWorkspace.QDy[115] + acadoWorkspace.evGx[665]*acadoWorkspace.QDy[116] + acadoWorkspace.evGx[671]*acadoWorkspace.QDy[117] + acadoWorkspace.evGx[677]*acadoWorkspace.QDy[118] + acadoWorkspace.evGx[683]*acadoWorkspace.QDy[119] + acadoWorkspace.evGx[689]*acadoWorkspace.QDy[120] + acadoWorkspace.evGx[695]*acadoWorkspace.QDy[121] + acadoWorkspace.evGx[701]*acadoWorkspace.QDy[122] + acadoWorkspace.evGx[707]*acadoWorkspace.QDy[123] + acadoWorkspace.evGx[713]*acadoWorkspace.QDy[124] + acadoWorkspace.evGx[719]*acadoWorkspace.QDy[125]; +acadoWorkspace.g[0] = + acadoWorkspace.evGx[0]*acadoWorkspace.QDy[3] + acadoWorkspace.evGx[3]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[6]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[9]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[12]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[15]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[18]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[21]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[24]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[27]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[30]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[33]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[36]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[39]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[42]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[45]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[48]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[51]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[54]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[57]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[60]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[63]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[66]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[69]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[72]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[75]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[78]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[81]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[84]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[87]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[90]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[93]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[96]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[99]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[102]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[105]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[108]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[111]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[114]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[117]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[120]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[123]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[126]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[129]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[132]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[135]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[138]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[141]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[144]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[147]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[150]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[153]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[156]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[159]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[162]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[165]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[168]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[171]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[174]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[177]*acadoWorkspace.QDy[62]; +acadoWorkspace.g[1] = + acadoWorkspace.evGx[1]*acadoWorkspace.QDy[3] + acadoWorkspace.evGx[4]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[7]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[10]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[13]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[16]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[19]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[22]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[25]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[28]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[31]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[34]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[37]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[40]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[43]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[46]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[49]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[52]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[55]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[58]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[61]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[64]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[67]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[70]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[73]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[76]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[79]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[82]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[85]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[88]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[91]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[94]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[97]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[100]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[103]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[106]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[109]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[112]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[115]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[118]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[121]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[124]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[127]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[130]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[133]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[136]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[139]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[142]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[145]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[148]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[151]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[154]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[157]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[160]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[163]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[166]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[169]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[172]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[175]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[178]*acadoWorkspace.QDy[62]; +acadoWorkspace.g[2] = + acadoWorkspace.evGx[2]*acadoWorkspace.QDy[3] + acadoWorkspace.evGx[5]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[8]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[11]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[14]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[17]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[20]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[23]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[26]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[29]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[32]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[35]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[38]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[41]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[44]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[47]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[50]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[53]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[56]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[59]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[62]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[65]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[68]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[71]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[74]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[77]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[80]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[83]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[86]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[89]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[92]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[95]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[98]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[101]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[104]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[107]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[110]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[113]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[116]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[119]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[122]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[125]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[128]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[131]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[134]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[137]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[140]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[143]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[146]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[149]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[152]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[155]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[158]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[161]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[164]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[167]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[170]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[173]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[176]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[179]*acadoWorkspace.QDy[62]; -acado_multEQDy( acadoWorkspace.E, &(acadoWorkspace.QDy[ 6 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 7 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 9 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 11 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 13 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 15 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QDy[ 66 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 690 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 786 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 882 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 17 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QDy[ 78 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 702 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 888 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 990 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QDy[ 84 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 798 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 894 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 996 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1104 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1218 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 19 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 714 ]), &(acadoWorkspace.QDy[ 90 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 900 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1002 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1110 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1224 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 810 ]), &(acadoWorkspace.QDy[ 96 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 906 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1008 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1116 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1230 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 21 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 912 ]), &(acadoWorkspace.QDy[ 102 ]), &(acadoWorkspace.g[ 22 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1014 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 22 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1122 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 22 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1236 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 22 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1020 ]), &(acadoWorkspace.QDy[ 108 ]), &(acadoWorkspace.g[ 23 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1128 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 23 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1242 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 23 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1134 ]), &(acadoWorkspace.QDy[ 114 ]), &(acadoWorkspace.g[ 24 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1248 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 24 ]) ); -acado_multEQDy( &(acadoWorkspace.E[ 1254 ]), &(acadoWorkspace.QDy[ 120 ]), &(acadoWorkspace.g[ 25 ]) ); +acado_multEQDy( acadoWorkspace.E, &(acadoWorkspace.QDy[ 3 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.QDy[ 6 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.QDy[ 9 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.QDy[ 15 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 3 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.QDy[ 6 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QDy[ 9 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.QDy[ 15 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 15 ]), &(acadoWorkspace.QDy[ 9 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QDy[ 15 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 5 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 27 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.QDy[ 15 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.QDy[ 15 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 7 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QDy[ 18 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 81 ]), &(acadoWorkspace.QDy[ 21 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 9 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 105 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QDy[ 27 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 11 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.QDy[ 30 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 195 ]), &(acadoWorkspace.QDy[ 33 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 13 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 231 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.QDy[ 39 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 15 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QDy[ 42 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 357 ]), &(acadoWorkspace.QDy[ 45 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 17 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 405 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QDy[ 51 ]), &(acadoWorkspace.g[ 19 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 19 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 19 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 19 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.QDy[ 54 ]), &(acadoWorkspace.g[ 20 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 20 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 20 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 567 ]), &(acadoWorkspace.QDy[ 57 ]), &(acadoWorkspace.g[ 21 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 21 ]) ); +acado_multEQDy( &(acadoWorkspace.E[ 627 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 22 ]) ); acadoWorkspace.lb[0] = acadoWorkspace.Dx0[0]; acadoWorkspace.lb[1] = acadoWorkspace.Dx0[1]; acadoWorkspace.lb[2] = acadoWorkspace.Dx0[2]; -acadoWorkspace.lb[3] = acadoWorkspace.Dx0[3]; -acadoWorkspace.lb[4] = acadoWorkspace.Dx0[4]; -acadoWorkspace.lb[5] = acadoWorkspace.Dx0[5]; acadoWorkspace.ub[0] = acadoWorkspace.Dx0[0]; acadoWorkspace.ub[1] = acadoWorkspace.Dx0[1]; acadoWorkspace.ub[2] = acadoWorkspace.Dx0[2]; -acadoWorkspace.ub[3] = acadoWorkspace.Dx0[3]; -acadoWorkspace.ub[4] = acadoWorkspace.Dx0[4]; -acadoWorkspace.ub[5] = acadoWorkspace.Dx0[5]; -tmp = acadoVariables.x[7] + acadoWorkspace.d[1]; +tmp = acadoVariables.x[4] + acadoWorkspace.d[1]; acadoWorkspace.lbA[0] = - tmp; acadoWorkspace.ubA[0] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[13] + acadoWorkspace.d[7]; +tmp = acadoVariables.x[7] + acadoWorkspace.d[4]; acadoWorkspace.lbA[1] = - tmp; acadoWorkspace.ubA[1] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[19] + acadoWorkspace.d[13]; +tmp = acadoVariables.x[10] + acadoWorkspace.d[7]; acadoWorkspace.lbA[2] = - tmp; acadoWorkspace.ubA[2] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[25] + acadoWorkspace.d[19]; +tmp = acadoVariables.x[13] + acadoWorkspace.d[10]; acadoWorkspace.lbA[3] = - tmp; acadoWorkspace.ubA[3] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[31] + acadoWorkspace.d[25]; +tmp = acadoVariables.x[16] + acadoWorkspace.d[13]; acadoWorkspace.lbA[4] = - tmp; acadoWorkspace.ubA[4] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[37] + acadoWorkspace.d[31]; +tmp = acadoVariables.x[19] + acadoWorkspace.d[16]; acadoWorkspace.lbA[5] = - tmp; acadoWorkspace.ubA[5] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[43] + acadoWorkspace.d[37]; +tmp = acadoVariables.x[22] + acadoWorkspace.d[19]; acadoWorkspace.lbA[6] = - tmp; acadoWorkspace.ubA[6] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[49] + acadoWorkspace.d[43]; +tmp = acadoVariables.x[25] + acadoWorkspace.d[22]; acadoWorkspace.lbA[7] = - tmp; acadoWorkspace.ubA[7] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[55] + acadoWorkspace.d[49]; +tmp = acadoVariables.x[28] + acadoWorkspace.d[25]; acadoWorkspace.lbA[8] = - tmp; acadoWorkspace.ubA[8] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[61] + acadoWorkspace.d[55]; +tmp = acadoVariables.x[31] + acadoWorkspace.d[28]; acadoWorkspace.lbA[9] = - tmp; acadoWorkspace.ubA[9] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[67] + acadoWorkspace.d[61]; +tmp = acadoVariables.x[34] + acadoWorkspace.d[31]; acadoWorkspace.lbA[10] = - tmp; acadoWorkspace.ubA[10] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[73] + acadoWorkspace.d[67]; +tmp = acadoVariables.x[37] + acadoWorkspace.d[34]; acadoWorkspace.lbA[11] = - tmp; acadoWorkspace.ubA[11] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[79] + acadoWorkspace.d[73]; +tmp = acadoVariables.x[40] + acadoWorkspace.d[37]; acadoWorkspace.lbA[12] = - tmp; acadoWorkspace.ubA[12] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[85] + acadoWorkspace.d[79]; +tmp = acadoVariables.x[43] + acadoWorkspace.d[40]; acadoWorkspace.lbA[13] = - tmp; acadoWorkspace.ubA[13] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[91] + acadoWorkspace.d[85]; +tmp = acadoVariables.x[46] + acadoWorkspace.d[43]; acadoWorkspace.lbA[14] = - tmp; acadoWorkspace.ubA[14] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[97] + acadoWorkspace.d[91]; +tmp = acadoVariables.x[49] + acadoWorkspace.d[46]; acadoWorkspace.lbA[15] = - tmp; acadoWorkspace.ubA[15] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[103] + acadoWorkspace.d[97]; +tmp = acadoVariables.x[52] + acadoWorkspace.d[49]; acadoWorkspace.lbA[16] = - tmp; acadoWorkspace.ubA[16] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[109] + acadoWorkspace.d[103]; +tmp = acadoVariables.x[55] + acadoWorkspace.d[52]; acadoWorkspace.lbA[17] = - tmp; acadoWorkspace.ubA[17] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[115] + acadoWorkspace.d[109]; +tmp = acadoVariables.x[58] + acadoWorkspace.d[55]; acadoWorkspace.lbA[18] = - tmp; acadoWorkspace.ubA[18] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[121] + acadoWorkspace.d[115]; +tmp = acadoVariables.x[61] + acadoWorkspace.d[58]; acadoWorkspace.lbA[19] = - tmp; acadoWorkspace.ubA[19] = (real_t)1.0000000000000000e+12 - tmp; @@ -4800,362 +4297,299 @@ void acado_expand( ) acadoVariables.x[0] += acadoWorkspace.x[0]; acadoVariables.x[1] += acadoWorkspace.x[1]; acadoVariables.x[2] += acadoWorkspace.x[2]; -acadoVariables.x[3] += acadoWorkspace.x[3]; -acadoVariables.x[4] += acadoWorkspace.x[4]; -acadoVariables.x[5] += acadoWorkspace.x[5]; -acadoVariables.u[0] += acadoWorkspace.x[6]; -acadoVariables.u[1] += acadoWorkspace.x[7]; -acadoVariables.u[2] += acadoWorkspace.x[8]; -acadoVariables.u[3] += acadoWorkspace.x[9]; -acadoVariables.u[4] += acadoWorkspace.x[10]; -acadoVariables.u[5] += acadoWorkspace.x[11]; -acadoVariables.u[6] += acadoWorkspace.x[12]; -acadoVariables.u[7] += acadoWorkspace.x[13]; -acadoVariables.u[8] += acadoWorkspace.x[14]; -acadoVariables.u[9] += acadoWorkspace.x[15]; -acadoVariables.u[10] += acadoWorkspace.x[16]; -acadoVariables.u[11] += acadoWorkspace.x[17]; -acadoVariables.u[12] += acadoWorkspace.x[18]; -acadoVariables.u[13] += acadoWorkspace.x[19]; -acadoVariables.u[14] += acadoWorkspace.x[20]; -acadoVariables.u[15] += acadoWorkspace.x[21]; -acadoVariables.u[16] += acadoWorkspace.x[22]; -acadoVariables.u[17] += acadoWorkspace.x[23]; -acadoVariables.u[18] += acadoWorkspace.x[24]; -acadoVariables.u[19] += acadoWorkspace.x[25]; +acadoVariables.u[0] += acadoWorkspace.x[3]; +acadoVariables.u[1] += acadoWorkspace.x[4]; +acadoVariables.u[2] += acadoWorkspace.x[5]; +acadoVariables.u[3] += acadoWorkspace.x[6]; +acadoVariables.u[4] += acadoWorkspace.x[7]; +acadoVariables.u[5] += acadoWorkspace.x[8]; +acadoVariables.u[6] += acadoWorkspace.x[9]; +acadoVariables.u[7] += acadoWorkspace.x[10]; +acadoVariables.u[8] += acadoWorkspace.x[11]; +acadoVariables.u[9] += acadoWorkspace.x[12]; +acadoVariables.u[10] += acadoWorkspace.x[13]; +acadoVariables.u[11] += acadoWorkspace.x[14]; +acadoVariables.u[12] += acadoWorkspace.x[15]; +acadoVariables.u[13] += acadoWorkspace.x[16]; +acadoVariables.u[14] += acadoWorkspace.x[17]; +acadoVariables.u[15] += acadoWorkspace.x[18]; +acadoVariables.u[16] += acadoWorkspace.x[19]; +acadoVariables.u[17] += acadoWorkspace.x[20]; +acadoVariables.u[18] += acadoWorkspace.x[21]; +acadoVariables.u[19] += acadoWorkspace.x[22]; -acadoVariables.x[6] += + acadoWorkspace.evGx[0]*acadoWorkspace.x[0] + acadoWorkspace.evGx[1]*acadoWorkspace.x[1] + acadoWorkspace.evGx[2]*acadoWorkspace.x[2] + acadoWorkspace.evGx[3]*acadoWorkspace.x[3] + acadoWorkspace.evGx[4]*acadoWorkspace.x[4] + acadoWorkspace.evGx[5]*acadoWorkspace.x[5] + acadoWorkspace.d[0]; -acadoVariables.x[7] += + acadoWorkspace.evGx[6]*acadoWorkspace.x[0] + acadoWorkspace.evGx[7]*acadoWorkspace.x[1] + acadoWorkspace.evGx[8]*acadoWorkspace.x[2] + acadoWorkspace.evGx[9]*acadoWorkspace.x[3] + acadoWorkspace.evGx[10]*acadoWorkspace.x[4] + acadoWorkspace.evGx[11]*acadoWorkspace.x[5] + acadoWorkspace.d[1]; -acadoVariables.x[8] += + acadoWorkspace.evGx[12]*acadoWorkspace.x[0] + acadoWorkspace.evGx[13]*acadoWorkspace.x[1] + acadoWorkspace.evGx[14]*acadoWorkspace.x[2] + acadoWorkspace.evGx[15]*acadoWorkspace.x[3] + acadoWorkspace.evGx[16]*acadoWorkspace.x[4] + acadoWorkspace.evGx[17]*acadoWorkspace.x[5] + acadoWorkspace.d[2]; -acadoVariables.x[9] += + acadoWorkspace.evGx[18]*acadoWorkspace.x[0] + acadoWorkspace.evGx[19]*acadoWorkspace.x[1] + acadoWorkspace.evGx[20]*acadoWorkspace.x[2] + acadoWorkspace.evGx[21]*acadoWorkspace.x[3] + acadoWorkspace.evGx[22]*acadoWorkspace.x[4] + acadoWorkspace.evGx[23]*acadoWorkspace.x[5] + acadoWorkspace.d[3]; -acadoVariables.x[10] += + acadoWorkspace.evGx[24]*acadoWorkspace.x[0] + acadoWorkspace.evGx[25]*acadoWorkspace.x[1] + acadoWorkspace.evGx[26]*acadoWorkspace.x[2] + acadoWorkspace.evGx[27]*acadoWorkspace.x[3] + acadoWorkspace.evGx[28]*acadoWorkspace.x[4] + acadoWorkspace.evGx[29]*acadoWorkspace.x[5] + acadoWorkspace.d[4]; -acadoVariables.x[11] += + acadoWorkspace.evGx[30]*acadoWorkspace.x[0] + acadoWorkspace.evGx[31]*acadoWorkspace.x[1] + acadoWorkspace.evGx[32]*acadoWorkspace.x[2] + acadoWorkspace.evGx[33]*acadoWorkspace.x[3] + acadoWorkspace.evGx[34]*acadoWorkspace.x[4] + acadoWorkspace.evGx[35]*acadoWorkspace.x[5] + acadoWorkspace.d[5]; -acadoVariables.x[12] += + acadoWorkspace.evGx[36]*acadoWorkspace.x[0] + acadoWorkspace.evGx[37]*acadoWorkspace.x[1] + acadoWorkspace.evGx[38]*acadoWorkspace.x[2] + acadoWorkspace.evGx[39]*acadoWorkspace.x[3] + acadoWorkspace.evGx[40]*acadoWorkspace.x[4] + acadoWorkspace.evGx[41]*acadoWorkspace.x[5] + acadoWorkspace.d[6]; -acadoVariables.x[13] += + acadoWorkspace.evGx[42]*acadoWorkspace.x[0] + acadoWorkspace.evGx[43]*acadoWorkspace.x[1] + acadoWorkspace.evGx[44]*acadoWorkspace.x[2] + acadoWorkspace.evGx[45]*acadoWorkspace.x[3] + acadoWorkspace.evGx[46]*acadoWorkspace.x[4] + acadoWorkspace.evGx[47]*acadoWorkspace.x[5] + acadoWorkspace.d[7]; -acadoVariables.x[14] += + acadoWorkspace.evGx[48]*acadoWorkspace.x[0] + acadoWorkspace.evGx[49]*acadoWorkspace.x[1] + acadoWorkspace.evGx[50]*acadoWorkspace.x[2] + acadoWorkspace.evGx[51]*acadoWorkspace.x[3] + acadoWorkspace.evGx[52]*acadoWorkspace.x[4] + acadoWorkspace.evGx[53]*acadoWorkspace.x[5] + acadoWorkspace.d[8]; -acadoVariables.x[15] += + acadoWorkspace.evGx[54]*acadoWorkspace.x[0] + acadoWorkspace.evGx[55]*acadoWorkspace.x[1] + acadoWorkspace.evGx[56]*acadoWorkspace.x[2] + acadoWorkspace.evGx[57]*acadoWorkspace.x[3] + acadoWorkspace.evGx[58]*acadoWorkspace.x[4] + acadoWorkspace.evGx[59]*acadoWorkspace.x[5] + acadoWorkspace.d[9]; -acadoVariables.x[16] += + acadoWorkspace.evGx[60]*acadoWorkspace.x[0] + acadoWorkspace.evGx[61]*acadoWorkspace.x[1] + acadoWorkspace.evGx[62]*acadoWorkspace.x[2] + acadoWorkspace.evGx[63]*acadoWorkspace.x[3] + acadoWorkspace.evGx[64]*acadoWorkspace.x[4] + acadoWorkspace.evGx[65]*acadoWorkspace.x[5] + acadoWorkspace.d[10]; -acadoVariables.x[17] += + acadoWorkspace.evGx[66]*acadoWorkspace.x[0] + acadoWorkspace.evGx[67]*acadoWorkspace.x[1] + acadoWorkspace.evGx[68]*acadoWorkspace.x[2] + acadoWorkspace.evGx[69]*acadoWorkspace.x[3] + acadoWorkspace.evGx[70]*acadoWorkspace.x[4] + acadoWorkspace.evGx[71]*acadoWorkspace.x[5] + acadoWorkspace.d[11]; -acadoVariables.x[18] += + acadoWorkspace.evGx[72]*acadoWorkspace.x[0] + acadoWorkspace.evGx[73]*acadoWorkspace.x[1] + acadoWorkspace.evGx[74]*acadoWorkspace.x[2] + acadoWorkspace.evGx[75]*acadoWorkspace.x[3] + acadoWorkspace.evGx[76]*acadoWorkspace.x[4] + acadoWorkspace.evGx[77]*acadoWorkspace.x[5] + acadoWorkspace.d[12]; -acadoVariables.x[19] += + acadoWorkspace.evGx[78]*acadoWorkspace.x[0] + acadoWorkspace.evGx[79]*acadoWorkspace.x[1] + acadoWorkspace.evGx[80]*acadoWorkspace.x[2] + acadoWorkspace.evGx[81]*acadoWorkspace.x[3] + acadoWorkspace.evGx[82]*acadoWorkspace.x[4] + acadoWorkspace.evGx[83]*acadoWorkspace.x[5] + acadoWorkspace.d[13]; -acadoVariables.x[20] += + acadoWorkspace.evGx[84]*acadoWorkspace.x[0] + acadoWorkspace.evGx[85]*acadoWorkspace.x[1] + acadoWorkspace.evGx[86]*acadoWorkspace.x[2] + acadoWorkspace.evGx[87]*acadoWorkspace.x[3] + acadoWorkspace.evGx[88]*acadoWorkspace.x[4] + acadoWorkspace.evGx[89]*acadoWorkspace.x[5] + acadoWorkspace.d[14]; -acadoVariables.x[21] += + acadoWorkspace.evGx[90]*acadoWorkspace.x[0] + acadoWorkspace.evGx[91]*acadoWorkspace.x[1] + acadoWorkspace.evGx[92]*acadoWorkspace.x[2] + acadoWorkspace.evGx[93]*acadoWorkspace.x[3] + acadoWorkspace.evGx[94]*acadoWorkspace.x[4] + acadoWorkspace.evGx[95]*acadoWorkspace.x[5] + acadoWorkspace.d[15]; -acadoVariables.x[22] += + acadoWorkspace.evGx[96]*acadoWorkspace.x[0] + acadoWorkspace.evGx[97]*acadoWorkspace.x[1] + acadoWorkspace.evGx[98]*acadoWorkspace.x[2] + acadoWorkspace.evGx[99]*acadoWorkspace.x[3] + acadoWorkspace.evGx[100]*acadoWorkspace.x[4] + acadoWorkspace.evGx[101]*acadoWorkspace.x[5] + acadoWorkspace.d[16]; -acadoVariables.x[23] += + acadoWorkspace.evGx[102]*acadoWorkspace.x[0] + acadoWorkspace.evGx[103]*acadoWorkspace.x[1] + acadoWorkspace.evGx[104]*acadoWorkspace.x[2] + acadoWorkspace.evGx[105]*acadoWorkspace.x[3] + acadoWorkspace.evGx[106]*acadoWorkspace.x[4] + acadoWorkspace.evGx[107]*acadoWorkspace.x[5] + acadoWorkspace.d[17]; -acadoVariables.x[24] += + acadoWorkspace.evGx[108]*acadoWorkspace.x[0] + acadoWorkspace.evGx[109]*acadoWorkspace.x[1] + acadoWorkspace.evGx[110]*acadoWorkspace.x[2] + acadoWorkspace.evGx[111]*acadoWorkspace.x[3] + acadoWorkspace.evGx[112]*acadoWorkspace.x[4] + acadoWorkspace.evGx[113]*acadoWorkspace.x[5] + acadoWorkspace.d[18]; -acadoVariables.x[25] += + acadoWorkspace.evGx[114]*acadoWorkspace.x[0] + acadoWorkspace.evGx[115]*acadoWorkspace.x[1] + acadoWorkspace.evGx[116]*acadoWorkspace.x[2] + acadoWorkspace.evGx[117]*acadoWorkspace.x[3] + acadoWorkspace.evGx[118]*acadoWorkspace.x[4] + acadoWorkspace.evGx[119]*acadoWorkspace.x[5] + acadoWorkspace.d[19]; -acadoVariables.x[26] += + acadoWorkspace.evGx[120]*acadoWorkspace.x[0] + acadoWorkspace.evGx[121]*acadoWorkspace.x[1] + acadoWorkspace.evGx[122]*acadoWorkspace.x[2] + acadoWorkspace.evGx[123]*acadoWorkspace.x[3] + acadoWorkspace.evGx[124]*acadoWorkspace.x[4] + acadoWorkspace.evGx[125]*acadoWorkspace.x[5] + acadoWorkspace.d[20]; -acadoVariables.x[27] += + acadoWorkspace.evGx[126]*acadoWorkspace.x[0] + acadoWorkspace.evGx[127]*acadoWorkspace.x[1] + acadoWorkspace.evGx[128]*acadoWorkspace.x[2] + acadoWorkspace.evGx[129]*acadoWorkspace.x[3] + acadoWorkspace.evGx[130]*acadoWorkspace.x[4] + acadoWorkspace.evGx[131]*acadoWorkspace.x[5] + acadoWorkspace.d[21]; -acadoVariables.x[28] += + acadoWorkspace.evGx[132]*acadoWorkspace.x[0] + acadoWorkspace.evGx[133]*acadoWorkspace.x[1] + acadoWorkspace.evGx[134]*acadoWorkspace.x[2] + acadoWorkspace.evGx[135]*acadoWorkspace.x[3] + acadoWorkspace.evGx[136]*acadoWorkspace.x[4] + acadoWorkspace.evGx[137]*acadoWorkspace.x[5] + acadoWorkspace.d[22]; -acadoVariables.x[29] += + acadoWorkspace.evGx[138]*acadoWorkspace.x[0] + acadoWorkspace.evGx[139]*acadoWorkspace.x[1] + acadoWorkspace.evGx[140]*acadoWorkspace.x[2] + acadoWorkspace.evGx[141]*acadoWorkspace.x[3] + acadoWorkspace.evGx[142]*acadoWorkspace.x[4] + acadoWorkspace.evGx[143]*acadoWorkspace.x[5] + acadoWorkspace.d[23]; -acadoVariables.x[30] += + acadoWorkspace.evGx[144]*acadoWorkspace.x[0] + acadoWorkspace.evGx[145]*acadoWorkspace.x[1] + acadoWorkspace.evGx[146]*acadoWorkspace.x[2] + acadoWorkspace.evGx[147]*acadoWorkspace.x[3] + acadoWorkspace.evGx[148]*acadoWorkspace.x[4] + acadoWorkspace.evGx[149]*acadoWorkspace.x[5] + acadoWorkspace.d[24]; -acadoVariables.x[31] += + acadoWorkspace.evGx[150]*acadoWorkspace.x[0] + acadoWorkspace.evGx[151]*acadoWorkspace.x[1] + acadoWorkspace.evGx[152]*acadoWorkspace.x[2] + acadoWorkspace.evGx[153]*acadoWorkspace.x[3] + acadoWorkspace.evGx[154]*acadoWorkspace.x[4] + acadoWorkspace.evGx[155]*acadoWorkspace.x[5] + acadoWorkspace.d[25]; -acadoVariables.x[32] += + acadoWorkspace.evGx[156]*acadoWorkspace.x[0] + acadoWorkspace.evGx[157]*acadoWorkspace.x[1] + acadoWorkspace.evGx[158]*acadoWorkspace.x[2] + acadoWorkspace.evGx[159]*acadoWorkspace.x[3] + acadoWorkspace.evGx[160]*acadoWorkspace.x[4] + acadoWorkspace.evGx[161]*acadoWorkspace.x[5] + acadoWorkspace.d[26]; -acadoVariables.x[33] += + acadoWorkspace.evGx[162]*acadoWorkspace.x[0] + acadoWorkspace.evGx[163]*acadoWorkspace.x[1] + acadoWorkspace.evGx[164]*acadoWorkspace.x[2] + acadoWorkspace.evGx[165]*acadoWorkspace.x[3] + acadoWorkspace.evGx[166]*acadoWorkspace.x[4] + acadoWorkspace.evGx[167]*acadoWorkspace.x[5] + acadoWorkspace.d[27]; -acadoVariables.x[34] += + acadoWorkspace.evGx[168]*acadoWorkspace.x[0] + acadoWorkspace.evGx[169]*acadoWorkspace.x[1] + acadoWorkspace.evGx[170]*acadoWorkspace.x[2] + acadoWorkspace.evGx[171]*acadoWorkspace.x[3] + acadoWorkspace.evGx[172]*acadoWorkspace.x[4] + acadoWorkspace.evGx[173]*acadoWorkspace.x[5] + acadoWorkspace.d[28]; -acadoVariables.x[35] += + acadoWorkspace.evGx[174]*acadoWorkspace.x[0] + acadoWorkspace.evGx[175]*acadoWorkspace.x[1] + acadoWorkspace.evGx[176]*acadoWorkspace.x[2] + acadoWorkspace.evGx[177]*acadoWorkspace.x[3] + acadoWorkspace.evGx[178]*acadoWorkspace.x[4] + acadoWorkspace.evGx[179]*acadoWorkspace.x[5] + acadoWorkspace.d[29]; -acadoVariables.x[36] += + acadoWorkspace.evGx[180]*acadoWorkspace.x[0] + acadoWorkspace.evGx[181]*acadoWorkspace.x[1] + acadoWorkspace.evGx[182]*acadoWorkspace.x[2] + acadoWorkspace.evGx[183]*acadoWorkspace.x[3] + acadoWorkspace.evGx[184]*acadoWorkspace.x[4] + acadoWorkspace.evGx[185]*acadoWorkspace.x[5] + acadoWorkspace.d[30]; -acadoVariables.x[37] += + acadoWorkspace.evGx[186]*acadoWorkspace.x[0] + acadoWorkspace.evGx[187]*acadoWorkspace.x[1] + acadoWorkspace.evGx[188]*acadoWorkspace.x[2] + acadoWorkspace.evGx[189]*acadoWorkspace.x[3] + acadoWorkspace.evGx[190]*acadoWorkspace.x[4] + acadoWorkspace.evGx[191]*acadoWorkspace.x[5] + acadoWorkspace.d[31]; -acadoVariables.x[38] += + acadoWorkspace.evGx[192]*acadoWorkspace.x[0] + acadoWorkspace.evGx[193]*acadoWorkspace.x[1] + acadoWorkspace.evGx[194]*acadoWorkspace.x[2] + acadoWorkspace.evGx[195]*acadoWorkspace.x[3] + acadoWorkspace.evGx[196]*acadoWorkspace.x[4] + acadoWorkspace.evGx[197]*acadoWorkspace.x[5] + acadoWorkspace.d[32]; -acadoVariables.x[39] += + acadoWorkspace.evGx[198]*acadoWorkspace.x[0] + acadoWorkspace.evGx[199]*acadoWorkspace.x[1] + acadoWorkspace.evGx[200]*acadoWorkspace.x[2] + acadoWorkspace.evGx[201]*acadoWorkspace.x[3] + acadoWorkspace.evGx[202]*acadoWorkspace.x[4] + acadoWorkspace.evGx[203]*acadoWorkspace.x[5] + acadoWorkspace.d[33]; -acadoVariables.x[40] += + acadoWorkspace.evGx[204]*acadoWorkspace.x[0] + acadoWorkspace.evGx[205]*acadoWorkspace.x[1] + acadoWorkspace.evGx[206]*acadoWorkspace.x[2] + acadoWorkspace.evGx[207]*acadoWorkspace.x[3] + acadoWorkspace.evGx[208]*acadoWorkspace.x[4] + acadoWorkspace.evGx[209]*acadoWorkspace.x[5] + acadoWorkspace.d[34]; -acadoVariables.x[41] += + acadoWorkspace.evGx[210]*acadoWorkspace.x[0] + acadoWorkspace.evGx[211]*acadoWorkspace.x[1] + acadoWorkspace.evGx[212]*acadoWorkspace.x[2] + acadoWorkspace.evGx[213]*acadoWorkspace.x[3] + acadoWorkspace.evGx[214]*acadoWorkspace.x[4] + acadoWorkspace.evGx[215]*acadoWorkspace.x[5] + acadoWorkspace.d[35]; -acadoVariables.x[42] += + acadoWorkspace.evGx[216]*acadoWorkspace.x[0] + acadoWorkspace.evGx[217]*acadoWorkspace.x[1] + acadoWorkspace.evGx[218]*acadoWorkspace.x[2] + acadoWorkspace.evGx[219]*acadoWorkspace.x[3] + acadoWorkspace.evGx[220]*acadoWorkspace.x[4] + acadoWorkspace.evGx[221]*acadoWorkspace.x[5] + acadoWorkspace.d[36]; -acadoVariables.x[43] += + acadoWorkspace.evGx[222]*acadoWorkspace.x[0] + acadoWorkspace.evGx[223]*acadoWorkspace.x[1] + acadoWorkspace.evGx[224]*acadoWorkspace.x[2] + acadoWorkspace.evGx[225]*acadoWorkspace.x[3] + acadoWorkspace.evGx[226]*acadoWorkspace.x[4] + acadoWorkspace.evGx[227]*acadoWorkspace.x[5] + acadoWorkspace.d[37]; -acadoVariables.x[44] += + acadoWorkspace.evGx[228]*acadoWorkspace.x[0] + acadoWorkspace.evGx[229]*acadoWorkspace.x[1] + acadoWorkspace.evGx[230]*acadoWorkspace.x[2] + acadoWorkspace.evGx[231]*acadoWorkspace.x[3] + acadoWorkspace.evGx[232]*acadoWorkspace.x[4] + acadoWorkspace.evGx[233]*acadoWorkspace.x[5] + acadoWorkspace.d[38]; -acadoVariables.x[45] += + acadoWorkspace.evGx[234]*acadoWorkspace.x[0] + acadoWorkspace.evGx[235]*acadoWorkspace.x[1] + acadoWorkspace.evGx[236]*acadoWorkspace.x[2] + acadoWorkspace.evGx[237]*acadoWorkspace.x[3] + acadoWorkspace.evGx[238]*acadoWorkspace.x[4] + acadoWorkspace.evGx[239]*acadoWorkspace.x[5] + acadoWorkspace.d[39]; -acadoVariables.x[46] += + acadoWorkspace.evGx[240]*acadoWorkspace.x[0] + acadoWorkspace.evGx[241]*acadoWorkspace.x[1] + acadoWorkspace.evGx[242]*acadoWorkspace.x[2] + acadoWorkspace.evGx[243]*acadoWorkspace.x[3] + acadoWorkspace.evGx[244]*acadoWorkspace.x[4] + acadoWorkspace.evGx[245]*acadoWorkspace.x[5] + acadoWorkspace.d[40]; -acadoVariables.x[47] += + acadoWorkspace.evGx[246]*acadoWorkspace.x[0] + acadoWorkspace.evGx[247]*acadoWorkspace.x[1] + acadoWorkspace.evGx[248]*acadoWorkspace.x[2] + acadoWorkspace.evGx[249]*acadoWorkspace.x[3] + acadoWorkspace.evGx[250]*acadoWorkspace.x[4] + acadoWorkspace.evGx[251]*acadoWorkspace.x[5] + acadoWorkspace.d[41]; -acadoVariables.x[48] += + acadoWorkspace.evGx[252]*acadoWorkspace.x[0] + acadoWorkspace.evGx[253]*acadoWorkspace.x[1] + acadoWorkspace.evGx[254]*acadoWorkspace.x[2] + acadoWorkspace.evGx[255]*acadoWorkspace.x[3] + acadoWorkspace.evGx[256]*acadoWorkspace.x[4] + acadoWorkspace.evGx[257]*acadoWorkspace.x[5] + acadoWorkspace.d[42]; -acadoVariables.x[49] += + acadoWorkspace.evGx[258]*acadoWorkspace.x[0] + acadoWorkspace.evGx[259]*acadoWorkspace.x[1] + acadoWorkspace.evGx[260]*acadoWorkspace.x[2] + acadoWorkspace.evGx[261]*acadoWorkspace.x[3] + acadoWorkspace.evGx[262]*acadoWorkspace.x[4] + acadoWorkspace.evGx[263]*acadoWorkspace.x[5] + acadoWorkspace.d[43]; -acadoVariables.x[50] += + acadoWorkspace.evGx[264]*acadoWorkspace.x[0] + acadoWorkspace.evGx[265]*acadoWorkspace.x[1] + acadoWorkspace.evGx[266]*acadoWorkspace.x[2] + acadoWorkspace.evGx[267]*acadoWorkspace.x[3] + acadoWorkspace.evGx[268]*acadoWorkspace.x[4] + acadoWorkspace.evGx[269]*acadoWorkspace.x[5] + acadoWorkspace.d[44]; -acadoVariables.x[51] += + acadoWorkspace.evGx[270]*acadoWorkspace.x[0] + acadoWorkspace.evGx[271]*acadoWorkspace.x[1] + acadoWorkspace.evGx[272]*acadoWorkspace.x[2] + acadoWorkspace.evGx[273]*acadoWorkspace.x[3] + acadoWorkspace.evGx[274]*acadoWorkspace.x[4] + acadoWorkspace.evGx[275]*acadoWorkspace.x[5] + acadoWorkspace.d[45]; -acadoVariables.x[52] += + acadoWorkspace.evGx[276]*acadoWorkspace.x[0] + acadoWorkspace.evGx[277]*acadoWorkspace.x[1] + acadoWorkspace.evGx[278]*acadoWorkspace.x[2] + acadoWorkspace.evGx[279]*acadoWorkspace.x[3] + acadoWorkspace.evGx[280]*acadoWorkspace.x[4] + acadoWorkspace.evGx[281]*acadoWorkspace.x[5] + acadoWorkspace.d[46]; -acadoVariables.x[53] += + acadoWorkspace.evGx[282]*acadoWorkspace.x[0] + acadoWorkspace.evGx[283]*acadoWorkspace.x[1] + acadoWorkspace.evGx[284]*acadoWorkspace.x[2] + acadoWorkspace.evGx[285]*acadoWorkspace.x[3] + acadoWorkspace.evGx[286]*acadoWorkspace.x[4] + acadoWorkspace.evGx[287]*acadoWorkspace.x[5] + acadoWorkspace.d[47]; -acadoVariables.x[54] += + acadoWorkspace.evGx[288]*acadoWorkspace.x[0] + acadoWorkspace.evGx[289]*acadoWorkspace.x[1] + acadoWorkspace.evGx[290]*acadoWorkspace.x[2] + acadoWorkspace.evGx[291]*acadoWorkspace.x[3] + acadoWorkspace.evGx[292]*acadoWorkspace.x[4] + acadoWorkspace.evGx[293]*acadoWorkspace.x[5] + acadoWorkspace.d[48]; -acadoVariables.x[55] += + acadoWorkspace.evGx[294]*acadoWorkspace.x[0] + acadoWorkspace.evGx[295]*acadoWorkspace.x[1] + acadoWorkspace.evGx[296]*acadoWorkspace.x[2] + acadoWorkspace.evGx[297]*acadoWorkspace.x[3] + acadoWorkspace.evGx[298]*acadoWorkspace.x[4] + acadoWorkspace.evGx[299]*acadoWorkspace.x[5] + acadoWorkspace.d[49]; -acadoVariables.x[56] += + acadoWorkspace.evGx[300]*acadoWorkspace.x[0] + acadoWorkspace.evGx[301]*acadoWorkspace.x[1] + acadoWorkspace.evGx[302]*acadoWorkspace.x[2] + acadoWorkspace.evGx[303]*acadoWorkspace.x[3] + acadoWorkspace.evGx[304]*acadoWorkspace.x[4] + acadoWorkspace.evGx[305]*acadoWorkspace.x[5] + acadoWorkspace.d[50]; -acadoVariables.x[57] += + acadoWorkspace.evGx[306]*acadoWorkspace.x[0] + acadoWorkspace.evGx[307]*acadoWorkspace.x[1] + acadoWorkspace.evGx[308]*acadoWorkspace.x[2] + acadoWorkspace.evGx[309]*acadoWorkspace.x[3] + acadoWorkspace.evGx[310]*acadoWorkspace.x[4] + acadoWorkspace.evGx[311]*acadoWorkspace.x[5] + acadoWorkspace.d[51]; -acadoVariables.x[58] += + acadoWorkspace.evGx[312]*acadoWorkspace.x[0] + acadoWorkspace.evGx[313]*acadoWorkspace.x[1] + acadoWorkspace.evGx[314]*acadoWorkspace.x[2] + acadoWorkspace.evGx[315]*acadoWorkspace.x[3] + acadoWorkspace.evGx[316]*acadoWorkspace.x[4] + acadoWorkspace.evGx[317]*acadoWorkspace.x[5] + acadoWorkspace.d[52]; -acadoVariables.x[59] += + acadoWorkspace.evGx[318]*acadoWorkspace.x[0] + acadoWorkspace.evGx[319]*acadoWorkspace.x[1] + acadoWorkspace.evGx[320]*acadoWorkspace.x[2] + acadoWorkspace.evGx[321]*acadoWorkspace.x[3] + acadoWorkspace.evGx[322]*acadoWorkspace.x[4] + acadoWorkspace.evGx[323]*acadoWorkspace.x[5] + acadoWorkspace.d[53]; -acadoVariables.x[60] += + acadoWorkspace.evGx[324]*acadoWorkspace.x[0] + acadoWorkspace.evGx[325]*acadoWorkspace.x[1] + acadoWorkspace.evGx[326]*acadoWorkspace.x[2] + acadoWorkspace.evGx[327]*acadoWorkspace.x[3] + acadoWorkspace.evGx[328]*acadoWorkspace.x[4] + acadoWorkspace.evGx[329]*acadoWorkspace.x[5] + acadoWorkspace.d[54]; -acadoVariables.x[61] += + acadoWorkspace.evGx[330]*acadoWorkspace.x[0] + acadoWorkspace.evGx[331]*acadoWorkspace.x[1] + acadoWorkspace.evGx[332]*acadoWorkspace.x[2] + acadoWorkspace.evGx[333]*acadoWorkspace.x[3] + acadoWorkspace.evGx[334]*acadoWorkspace.x[4] + acadoWorkspace.evGx[335]*acadoWorkspace.x[5] + acadoWorkspace.d[55]; -acadoVariables.x[62] += + acadoWorkspace.evGx[336]*acadoWorkspace.x[0] + acadoWorkspace.evGx[337]*acadoWorkspace.x[1] + acadoWorkspace.evGx[338]*acadoWorkspace.x[2] + acadoWorkspace.evGx[339]*acadoWorkspace.x[3] + acadoWorkspace.evGx[340]*acadoWorkspace.x[4] + acadoWorkspace.evGx[341]*acadoWorkspace.x[5] + acadoWorkspace.d[56]; -acadoVariables.x[63] += + acadoWorkspace.evGx[342]*acadoWorkspace.x[0] + acadoWorkspace.evGx[343]*acadoWorkspace.x[1] + acadoWorkspace.evGx[344]*acadoWorkspace.x[2] + acadoWorkspace.evGx[345]*acadoWorkspace.x[3] + acadoWorkspace.evGx[346]*acadoWorkspace.x[4] + acadoWorkspace.evGx[347]*acadoWorkspace.x[5] + acadoWorkspace.d[57]; -acadoVariables.x[64] += + acadoWorkspace.evGx[348]*acadoWorkspace.x[0] + acadoWorkspace.evGx[349]*acadoWorkspace.x[1] + acadoWorkspace.evGx[350]*acadoWorkspace.x[2] + acadoWorkspace.evGx[351]*acadoWorkspace.x[3] + acadoWorkspace.evGx[352]*acadoWorkspace.x[4] + acadoWorkspace.evGx[353]*acadoWorkspace.x[5] + acadoWorkspace.d[58]; -acadoVariables.x[65] += + acadoWorkspace.evGx[354]*acadoWorkspace.x[0] + acadoWorkspace.evGx[355]*acadoWorkspace.x[1] + acadoWorkspace.evGx[356]*acadoWorkspace.x[2] + acadoWorkspace.evGx[357]*acadoWorkspace.x[3] + acadoWorkspace.evGx[358]*acadoWorkspace.x[4] + acadoWorkspace.evGx[359]*acadoWorkspace.x[5] + acadoWorkspace.d[59]; -acadoVariables.x[66] += + acadoWorkspace.evGx[360]*acadoWorkspace.x[0] + acadoWorkspace.evGx[361]*acadoWorkspace.x[1] + acadoWorkspace.evGx[362]*acadoWorkspace.x[2] + acadoWorkspace.evGx[363]*acadoWorkspace.x[3] + acadoWorkspace.evGx[364]*acadoWorkspace.x[4] + acadoWorkspace.evGx[365]*acadoWorkspace.x[5] + acadoWorkspace.d[60]; -acadoVariables.x[67] += + acadoWorkspace.evGx[366]*acadoWorkspace.x[0] + acadoWorkspace.evGx[367]*acadoWorkspace.x[1] + acadoWorkspace.evGx[368]*acadoWorkspace.x[2] + acadoWorkspace.evGx[369]*acadoWorkspace.x[3] + acadoWorkspace.evGx[370]*acadoWorkspace.x[4] + acadoWorkspace.evGx[371]*acadoWorkspace.x[5] + acadoWorkspace.d[61]; -acadoVariables.x[68] += + acadoWorkspace.evGx[372]*acadoWorkspace.x[0] + acadoWorkspace.evGx[373]*acadoWorkspace.x[1] + acadoWorkspace.evGx[374]*acadoWorkspace.x[2] + acadoWorkspace.evGx[375]*acadoWorkspace.x[3] + acadoWorkspace.evGx[376]*acadoWorkspace.x[4] + acadoWorkspace.evGx[377]*acadoWorkspace.x[5] + acadoWorkspace.d[62]; -acadoVariables.x[69] += + acadoWorkspace.evGx[378]*acadoWorkspace.x[0] + acadoWorkspace.evGx[379]*acadoWorkspace.x[1] + acadoWorkspace.evGx[380]*acadoWorkspace.x[2] + acadoWorkspace.evGx[381]*acadoWorkspace.x[3] + acadoWorkspace.evGx[382]*acadoWorkspace.x[4] + acadoWorkspace.evGx[383]*acadoWorkspace.x[5] + acadoWorkspace.d[63]; -acadoVariables.x[70] += + acadoWorkspace.evGx[384]*acadoWorkspace.x[0] + acadoWorkspace.evGx[385]*acadoWorkspace.x[1] + acadoWorkspace.evGx[386]*acadoWorkspace.x[2] + acadoWorkspace.evGx[387]*acadoWorkspace.x[3] + acadoWorkspace.evGx[388]*acadoWorkspace.x[4] + acadoWorkspace.evGx[389]*acadoWorkspace.x[5] + acadoWorkspace.d[64]; -acadoVariables.x[71] += + acadoWorkspace.evGx[390]*acadoWorkspace.x[0] + acadoWorkspace.evGx[391]*acadoWorkspace.x[1] + acadoWorkspace.evGx[392]*acadoWorkspace.x[2] + acadoWorkspace.evGx[393]*acadoWorkspace.x[3] + acadoWorkspace.evGx[394]*acadoWorkspace.x[4] + acadoWorkspace.evGx[395]*acadoWorkspace.x[5] + acadoWorkspace.d[65]; -acadoVariables.x[72] += + acadoWorkspace.evGx[396]*acadoWorkspace.x[0] + acadoWorkspace.evGx[397]*acadoWorkspace.x[1] + acadoWorkspace.evGx[398]*acadoWorkspace.x[2] + acadoWorkspace.evGx[399]*acadoWorkspace.x[3] + acadoWorkspace.evGx[400]*acadoWorkspace.x[4] + acadoWorkspace.evGx[401]*acadoWorkspace.x[5] + acadoWorkspace.d[66]; -acadoVariables.x[73] += + acadoWorkspace.evGx[402]*acadoWorkspace.x[0] + acadoWorkspace.evGx[403]*acadoWorkspace.x[1] + acadoWorkspace.evGx[404]*acadoWorkspace.x[2] + acadoWorkspace.evGx[405]*acadoWorkspace.x[3] + acadoWorkspace.evGx[406]*acadoWorkspace.x[4] + acadoWorkspace.evGx[407]*acadoWorkspace.x[5] + acadoWorkspace.d[67]; -acadoVariables.x[74] += + acadoWorkspace.evGx[408]*acadoWorkspace.x[0] + acadoWorkspace.evGx[409]*acadoWorkspace.x[1] + acadoWorkspace.evGx[410]*acadoWorkspace.x[2] + acadoWorkspace.evGx[411]*acadoWorkspace.x[3] + acadoWorkspace.evGx[412]*acadoWorkspace.x[4] + acadoWorkspace.evGx[413]*acadoWorkspace.x[5] + acadoWorkspace.d[68]; -acadoVariables.x[75] += + acadoWorkspace.evGx[414]*acadoWorkspace.x[0] + acadoWorkspace.evGx[415]*acadoWorkspace.x[1] + acadoWorkspace.evGx[416]*acadoWorkspace.x[2] + acadoWorkspace.evGx[417]*acadoWorkspace.x[3] + acadoWorkspace.evGx[418]*acadoWorkspace.x[4] + acadoWorkspace.evGx[419]*acadoWorkspace.x[5] + acadoWorkspace.d[69]; -acadoVariables.x[76] += + acadoWorkspace.evGx[420]*acadoWorkspace.x[0] + acadoWorkspace.evGx[421]*acadoWorkspace.x[1] + acadoWorkspace.evGx[422]*acadoWorkspace.x[2] + acadoWorkspace.evGx[423]*acadoWorkspace.x[3] + acadoWorkspace.evGx[424]*acadoWorkspace.x[4] + acadoWorkspace.evGx[425]*acadoWorkspace.x[5] + acadoWorkspace.d[70]; -acadoVariables.x[77] += + acadoWorkspace.evGx[426]*acadoWorkspace.x[0] + acadoWorkspace.evGx[427]*acadoWorkspace.x[1] + acadoWorkspace.evGx[428]*acadoWorkspace.x[2] + acadoWorkspace.evGx[429]*acadoWorkspace.x[3] + acadoWorkspace.evGx[430]*acadoWorkspace.x[4] + acadoWorkspace.evGx[431]*acadoWorkspace.x[5] + acadoWorkspace.d[71]; -acadoVariables.x[78] += + acadoWorkspace.evGx[432]*acadoWorkspace.x[0] + acadoWorkspace.evGx[433]*acadoWorkspace.x[1] + acadoWorkspace.evGx[434]*acadoWorkspace.x[2] + acadoWorkspace.evGx[435]*acadoWorkspace.x[3] + acadoWorkspace.evGx[436]*acadoWorkspace.x[4] + acadoWorkspace.evGx[437]*acadoWorkspace.x[5] + acadoWorkspace.d[72]; -acadoVariables.x[79] += + acadoWorkspace.evGx[438]*acadoWorkspace.x[0] + acadoWorkspace.evGx[439]*acadoWorkspace.x[1] + acadoWorkspace.evGx[440]*acadoWorkspace.x[2] + acadoWorkspace.evGx[441]*acadoWorkspace.x[3] + acadoWorkspace.evGx[442]*acadoWorkspace.x[4] + acadoWorkspace.evGx[443]*acadoWorkspace.x[5] + acadoWorkspace.d[73]; -acadoVariables.x[80] += + acadoWorkspace.evGx[444]*acadoWorkspace.x[0] + acadoWorkspace.evGx[445]*acadoWorkspace.x[1] + acadoWorkspace.evGx[446]*acadoWorkspace.x[2] + acadoWorkspace.evGx[447]*acadoWorkspace.x[3] + acadoWorkspace.evGx[448]*acadoWorkspace.x[4] + acadoWorkspace.evGx[449]*acadoWorkspace.x[5] + acadoWorkspace.d[74]; -acadoVariables.x[81] += + acadoWorkspace.evGx[450]*acadoWorkspace.x[0] + acadoWorkspace.evGx[451]*acadoWorkspace.x[1] + acadoWorkspace.evGx[452]*acadoWorkspace.x[2] + acadoWorkspace.evGx[453]*acadoWorkspace.x[3] + acadoWorkspace.evGx[454]*acadoWorkspace.x[4] + acadoWorkspace.evGx[455]*acadoWorkspace.x[5] + acadoWorkspace.d[75]; -acadoVariables.x[82] += + acadoWorkspace.evGx[456]*acadoWorkspace.x[0] + acadoWorkspace.evGx[457]*acadoWorkspace.x[1] + acadoWorkspace.evGx[458]*acadoWorkspace.x[2] + acadoWorkspace.evGx[459]*acadoWorkspace.x[3] + acadoWorkspace.evGx[460]*acadoWorkspace.x[4] + acadoWorkspace.evGx[461]*acadoWorkspace.x[5] + acadoWorkspace.d[76]; -acadoVariables.x[83] += + acadoWorkspace.evGx[462]*acadoWorkspace.x[0] + acadoWorkspace.evGx[463]*acadoWorkspace.x[1] + acadoWorkspace.evGx[464]*acadoWorkspace.x[2] + acadoWorkspace.evGx[465]*acadoWorkspace.x[3] + acadoWorkspace.evGx[466]*acadoWorkspace.x[4] + acadoWorkspace.evGx[467]*acadoWorkspace.x[5] + acadoWorkspace.d[77]; -acadoVariables.x[84] += + acadoWorkspace.evGx[468]*acadoWorkspace.x[0] + acadoWorkspace.evGx[469]*acadoWorkspace.x[1] + acadoWorkspace.evGx[470]*acadoWorkspace.x[2] + acadoWorkspace.evGx[471]*acadoWorkspace.x[3] + acadoWorkspace.evGx[472]*acadoWorkspace.x[4] + acadoWorkspace.evGx[473]*acadoWorkspace.x[5] + acadoWorkspace.d[78]; -acadoVariables.x[85] += + acadoWorkspace.evGx[474]*acadoWorkspace.x[0] + acadoWorkspace.evGx[475]*acadoWorkspace.x[1] + acadoWorkspace.evGx[476]*acadoWorkspace.x[2] + acadoWorkspace.evGx[477]*acadoWorkspace.x[3] + acadoWorkspace.evGx[478]*acadoWorkspace.x[4] + acadoWorkspace.evGx[479]*acadoWorkspace.x[5] + acadoWorkspace.d[79]; -acadoVariables.x[86] += + acadoWorkspace.evGx[480]*acadoWorkspace.x[0] + acadoWorkspace.evGx[481]*acadoWorkspace.x[1] + acadoWorkspace.evGx[482]*acadoWorkspace.x[2] + acadoWorkspace.evGx[483]*acadoWorkspace.x[3] + acadoWorkspace.evGx[484]*acadoWorkspace.x[4] + acadoWorkspace.evGx[485]*acadoWorkspace.x[5] + acadoWorkspace.d[80]; -acadoVariables.x[87] += + acadoWorkspace.evGx[486]*acadoWorkspace.x[0] + acadoWorkspace.evGx[487]*acadoWorkspace.x[1] + acadoWorkspace.evGx[488]*acadoWorkspace.x[2] + acadoWorkspace.evGx[489]*acadoWorkspace.x[3] + acadoWorkspace.evGx[490]*acadoWorkspace.x[4] + acadoWorkspace.evGx[491]*acadoWorkspace.x[5] + acadoWorkspace.d[81]; -acadoVariables.x[88] += + acadoWorkspace.evGx[492]*acadoWorkspace.x[0] + acadoWorkspace.evGx[493]*acadoWorkspace.x[1] + acadoWorkspace.evGx[494]*acadoWorkspace.x[2] + acadoWorkspace.evGx[495]*acadoWorkspace.x[3] + acadoWorkspace.evGx[496]*acadoWorkspace.x[4] + acadoWorkspace.evGx[497]*acadoWorkspace.x[5] + acadoWorkspace.d[82]; -acadoVariables.x[89] += + acadoWorkspace.evGx[498]*acadoWorkspace.x[0] + acadoWorkspace.evGx[499]*acadoWorkspace.x[1] + acadoWorkspace.evGx[500]*acadoWorkspace.x[2] + acadoWorkspace.evGx[501]*acadoWorkspace.x[3] + acadoWorkspace.evGx[502]*acadoWorkspace.x[4] + acadoWorkspace.evGx[503]*acadoWorkspace.x[5] + acadoWorkspace.d[83]; -acadoVariables.x[90] += + acadoWorkspace.evGx[504]*acadoWorkspace.x[0] + acadoWorkspace.evGx[505]*acadoWorkspace.x[1] + acadoWorkspace.evGx[506]*acadoWorkspace.x[2] + acadoWorkspace.evGx[507]*acadoWorkspace.x[3] + acadoWorkspace.evGx[508]*acadoWorkspace.x[4] + acadoWorkspace.evGx[509]*acadoWorkspace.x[5] + acadoWorkspace.d[84]; -acadoVariables.x[91] += + acadoWorkspace.evGx[510]*acadoWorkspace.x[0] + acadoWorkspace.evGx[511]*acadoWorkspace.x[1] + acadoWorkspace.evGx[512]*acadoWorkspace.x[2] + acadoWorkspace.evGx[513]*acadoWorkspace.x[3] + acadoWorkspace.evGx[514]*acadoWorkspace.x[4] + acadoWorkspace.evGx[515]*acadoWorkspace.x[5] + acadoWorkspace.d[85]; -acadoVariables.x[92] += + acadoWorkspace.evGx[516]*acadoWorkspace.x[0] + acadoWorkspace.evGx[517]*acadoWorkspace.x[1] + acadoWorkspace.evGx[518]*acadoWorkspace.x[2] + acadoWorkspace.evGx[519]*acadoWorkspace.x[3] + acadoWorkspace.evGx[520]*acadoWorkspace.x[4] + acadoWorkspace.evGx[521]*acadoWorkspace.x[5] + acadoWorkspace.d[86]; -acadoVariables.x[93] += + acadoWorkspace.evGx[522]*acadoWorkspace.x[0] + acadoWorkspace.evGx[523]*acadoWorkspace.x[1] + acadoWorkspace.evGx[524]*acadoWorkspace.x[2] + acadoWorkspace.evGx[525]*acadoWorkspace.x[3] + acadoWorkspace.evGx[526]*acadoWorkspace.x[4] + acadoWorkspace.evGx[527]*acadoWorkspace.x[5] + acadoWorkspace.d[87]; -acadoVariables.x[94] += + acadoWorkspace.evGx[528]*acadoWorkspace.x[0] + acadoWorkspace.evGx[529]*acadoWorkspace.x[1] + acadoWorkspace.evGx[530]*acadoWorkspace.x[2] + acadoWorkspace.evGx[531]*acadoWorkspace.x[3] + acadoWorkspace.evGx[532]*acadoWorkspace.x[4] + acadoWorkspace.evGx[533]*acadoWorkspace.x[5] + acadoWorkspace.d[88]; -acadoVariables.x[95] += + acadoWorkspace.evGx[534]*acadoWorkspace.x[0] + acadoWorkspace.evGx[535]*acadoWorkspace.x[1] + acadoWorkspace.evGx[536]*acadoWorkspace.x[2] + acadoWorkspace.evGx[537]*acadoWorkspace.x[3] + acadoWorkspace.evGx[538]*acadoWorkspace.x[4] + acadoWorkspace.evGx[539]*acadoWorkspace.x[5] + acadoWorkspace.d[89]; -acadoVariables.x[96] += + acadoWorkspace.evGx[540]*acadoWorkspace.x[0] + acadoWorkspace.evGx[541]*acadoWorkspace.x[1] + acadoWorkspace.evGx[542]*acadoWorkspace.x[2] + acadoWorkspace.evGx[543]*acadoWorkspace.x[3] + acadoWorkspace.evGx[544]*acadoWorkspace.x[4] + acadoWorkspace.evGx[545]*acadoWorkspace.x[5] + acadoWorkspace.d[90]; -acadoVariables.x[97] += + acadoWorkspace.evGx[546]*acadoWorkspace.x[0] + acadoWorkspace.evGx[547]*acadoWorkspace.x[1] + acadoWorkspace.evGx[548]*acadoWorkspace.x[2] + acadoWorkspace.evGx[549]*acadoWorkspace.x[3] + acadoWorkspace.evGx[550]*acadoWorkspace.x[4] + acadoWorkspace.evGx[551]*acadoWorkspace.x[5] + acadoWorkspace.d[91]; -acadoVariables.x[98] += + acadoWorkspace.evGx[552]*acadoWorkspace.x[0] + acadoWorkspace.evGx[553]*acadoWorkspace.x[1] + acadoWorkspace.evGx[554]*acadoWorkspace.x[2] + acadoWorkspace.evGx[555]*acadoWorkspace.x[3] + acadoWorkspace.evGx[556]*acadoWorkspace.x[4] + acadoWorkspace.evGx[557]*acadoWorkspace.x[5] + acadoWorkspace.d[92]; -acadoVariables.x[99] += + acadoWorkspace.evGx[558]*acadoWorkspace.x[0] + acadoWorkspace.evGx[559]*acadoWorkspace.x[1] + acadoWorkspace.evGx[560]*acadoWorkspace.x[2] + acadoWorkspace.evGx[561]*acadoWorkspace.x[3] + acadoWorkspace.evGx[562]*acadoWorkspace.x[4] + acadoWorkspace.evGx[563]*acadoWorkspace.x[5] + acadoWorkspace.d[93]; -acadoVariables.x[100] += + acadoWorkspace.evGx[564]*acadoWorkspace.x[0] + acadoWorkspace.evGx[565]*acadoWorkspace.x[1] + acadoWorkspace.evGx[566]*acadoWorkspace.x[2] + acadoWorkspace.evGx[567]*acadoWorkspace.x[3] + acadoWorkspace.evGx[568]*acadoWorkspace.x[4] + acadoWorkspace.evGx[569]*acadoWorkspace.x[5] + acadoWorkspace.d[94]; -acadoVariables.x[101] += + acadoWorkspace.evGx[570]*acadoWorkspace.x[0] + acadoWorkspace.evGx[571]*acadoWorkspace.x[1] + acadoWorkspace.evGx[572]*acadoWorkspace.x[2] + acadoWorkspace.evGx[573]*acadoWorkspace.x[3] + acadoWorkspace.evGx[574]*acadoWorkspace.x[4] + acadoWorkspace.evGx[575]*acadoWorkspace.x[5] + acadoWorkspace.d[95]; -acadoVariables.x[102] += + acadoWorkspace.evGx[576]*acadoWorkspace.x[0] + acadoWorkspace.evGx[577]*acadoWorkspace.x[1] + acadoWorkspace.evGx[578]*acadoWorkspace.x[2] + acadoWorkspace.evGx[579]*acadoWorkspace.x[3] + acadoWorkspace.evGx[580]*acadoWorkspace.x[4] + acadoWorkspace.evGx[581]*acadoWorkspace.x[5] + acadoWorkspace.d[96]; -acadoVariables.x[103] += + acadoWorkspace.evGx[582]*acadoWorkspace.x[0] + acadoWorkspace.evGx[583]*acadoWorkspace.x[1] + acadoWorkspace.evGx[584]*acadoWorkspace.x[2] + acadoWorkspace.evGx[585]*acadoWorkspace.x[3] + acadoWorkspace.evGx[586]*acadoWorkspace.x[4] + acadoWorkspace.evGx[587]*acadoWorkspace.x[5] + acadoWorkspace.d[97]; -acadoVariables.x[104] += + acadoWorkspace.evGx[588]*acadoWorkspace.x[0] + acadoWorkspace.evGx[589]*acadoWorkspace.x[1] + acadoWorkspace.evGx[590]*acadoWorkspace.x[2] + acadoWorkspace.evGx[591]*acadoWorkspace.x[3] + acadoWorkspace.evGx[592]*acadoWorkspace.x[4] + acadoWorkspace.evGx[593]*acadoWorkspace.x[5] + acadoWorkspace.d[98]; -acadoVariables.x[105] += + acadoWorkspace.evGx[594]*acadoWorkspace.x[0] + acadoWorkspace.evGx[595]*acadoWorkspace.x[1] + acadoWorkspace.evGx[596]*acadoWorkspace.x[2] + acadoWorkspace.evGx[597]*acadoWorkspace.x[3] + acadoWorkspace.evGx[598]*acadoWorkspace.x[4] + acadoWorkspace.evGx[599]*acadoWorkspace.x[5] + acadoWorkspace.d[99]; -acadoVariables.x[106] += + acadoWorkspace.evGx[600]*acadoWorkspace.x[0] + acadoWorkspace.evGx[601]*acadoWorkspace.x[1] + acadoWorkspace.evGx[602]*acadoWorkspace.x[2] + acadoWorkspace.evGx[603]*acadoWorkspace.x[3] + acadoWorkspace.evGx[604]*acadoWorkspace.x[4] + acadoWorkspace.evGx[605]*acadoWorkspace.x[5] + acadoWorkspace.d[100]; -acadoVariables.x[107] += + acadoWorkspace.evGx[606]*acadoWorkspace.x[0] + acadoWorkspace.evGx[607]*acadoWorkspace.x[1] + acadoWorkspace.evGx[608]*acadoWorkspace.x[2] + acadoWorkspace.evGx[609]*acadoWorkspace.x[3] + acadoWorkspace.evGx[610]*acadoWorkspace.x[4] + acadoWorkspace.evGx[611]*acadoWorkspace.x[5] + acadoWorkspace.d[101]; -acadoVariables.x[108] += + acadoWorkspace.evGx[612]*acadoWorkspace.x[0] + acadoWorkspace.evGx[613]*acadoWorkspace.x[1] + acadoWorkspace.evGx[614]*acadoWorkspace.x[2] + acadoWorkspace.evGx[615]*acadoWorkspace.x[3] + acadoWorkspace.evGx[616]*acadoWorkspace.x[4] + acadoWorkspace.evGx[617]*acadoWorkspace.x[5] + acadoWorkspace.d[102]; -acadoVariables.x[109] += + acadoWorkspace.evGx[618]*acadoWorkspace.x[0] + acadoWorkspace.evGx[619]*acadoWorkspace.x[1] + acadoWorkspace.evGx[620]*acadoWorkspace.x[2] + acadoWorkspace.evGx[621]*acadoWorkspace.x[3] + acadoWorkspace.evGx[622]*acadoWorkspace.x[4] + acadoWorkspace.evGx[623]*acadoWorkspace.x[5] + acadoWorkspace.d[103]; -acadoVariables.x[110] += + 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acadoWorkspace.evGx[660]*acadoWorkspace.x[0] + acadoWorkspace.evGx[661]*acadoWorkspace.x[1] + acadoWorkspace.evGx[662]*acadoWorkspace.x[2] + acadoWorkspace.evGx[663]*acadoWorkspace.x[3] + acadoWorkspace.evGx[664]*acadoWorkspace.x[4] + acadoWorkspace.evGx[665]*acadoWorkspace.x[5] + acadoWorkspace.d[110]; -acadoVariables.x[117] += + acadoWorkspace.evGx[666]*acadoWorkspace.x[0] + acadoWorkspace.evGx[667]*acadoWorkspace.x[1] + acadoWorkspace.evGx[668]*acadoWorkspace.x[2] + acadoWorkspace.evGx[669]*acadoWorkspace.x[3] + acadoWorkspace.evGx[670]*acadoWorkspace.x[4] + acadoWorkspace.evGx[671]*acadoWorkspace.x[5] + acadoWorkspace.d[111]; -acadoVariables.x[118] += + acadoWorkspace.evGx[672]*acadoWorkspace.x[0] + acadoWorkspace.evGx[673]*acadoWorkspace.x[1] + acadoWorkspace.evGx[674]*acadoWorkspace.x[2] + acadoWorkspace.evGx[675]*acadoWorkspace.x[3] + acadoWorkspace.evGx[676]*acadoWorkspace.x[4] + acadoWorkspace.evGx[677]*acadoWorkspace.x[5] + acadoWorkspace.d[112]; -acadoVariables.x[119] += + acadoWorkspace.evGx[678]*acadoWorkspace.x[0] + acadoWorkspace.evGx[679]*acadoWorkspace.x[1] + acadoWorkspace.evGx[680]*acadoWorkspace.x[2] + acadoWorkspace.evGx[681]*acadoWorkspace.x[3] + acadoWorkspace.evGx[682]*acadoWorkspace.x[4] + acadoWorkspace.evGx[683]*acadoWorkspace.x[5] + acadoWorkspace.d[113]; -acadoVariables.x[120] += + acadoWorkspace.evGx[684]*acadoWorkspace.x[0] + acadoWorkspace.evGx[685]*acadoWorkspace.x[1] + acadoWorkspace.evGx[686]*acadoWorkspace.x[2] + acadoWorkspace.evGx[687]*acadoWorkspace.x[3] + acadoWorkspace.evGx[688]*acadoWorkspace.x[4] + acadoWorkspace.evGx[689]*acadoWorkspace.x[5] + acadoWorkspace.d[114]; -acadoVariables.x[121] += + acadoWorkspace.evGx[690]*acadoWorkspace.x[0] + acadoWorkspace.evGx[691]*acadoWorkspace.x[1] + acadoWorkspace.evGx[692]*acadoWorkspace.x[2] + acadoWorkspace.evGx[693]*acadoWorkspace.x[3] + acadoWorkspace.evGx[694]*acadoWorkspace.x[4] + acadoWorkspace.evGx[695]*acadoWorkspace.x[5] + acadoWorkspace.d[115]; -acadoVariables.x[122] += + acadoWorkspace.evGx[696]*acadoWorkspace.x[0] + acadoWorkspace.evGx[697]*acadoWorkspace.x[1] + acadoWorkspace.evGx[698]*acadoWorkspace.x[2] + acadoWorkspace.evGx[699]*acadoWorkspace.x[3] + acadoWorkspace.evGx[700]*acadoWorkspace.x[4] + acadoWorkspace.evGx[701]*acadoWorkspace.x[5] + acadoWorkspace.d[116]; -acadoVariables.x[123] += + acadoWorkspace.evGx[702]*acadoWorkspace.x[0] + acadoWorkspace.evGx[703]*acadoWorkspace.x[1] + acadoWorkspace.evGx[704]*acadoWorkspace.x[2] + acadoWorkspace.evGx[705]*acadoWorkspace.x[3] + acadoWorkspace.evGx[706]*acadoWorkspace.x[4] + acadoWorkspace.evGx[707]*acadoWorkspace.x[5] + acadoWorkspace.d[117]; -acadoVariables.x[124] += + acadoWorkspace.evGx[708]*acadoWorkspace.x[0] + acadoWorkspace.evGx[709]*acadoWorkspace.x[1] + acadoWorkspace.evGx[710]*acadoWorkspace.x[2] + acadoWorkspace.evGx[711]*acadoWorkspace.x[3] + acadoWorkspace.evGx[712]*acadoWorkspace.x[4] + acadoWorkspace.evGx[713]*acadoWorkspace.x[5] + acadoWorkspace.d[118]; -acadoVariables.x[125] += + acadoWorkspace.evGx[714]*acadoWorkspace.x[0] + acadoWorkspace.evGx[715]*acadoWorkspace.x[1] + acadoWorkspace.evGx[716]*acadoWorkspace.x[2] + acadoWorkspace.evGx[717]*acadoWorkspace.x[3] + acadoWorkspace.evGx[718]*acadoWorkspace.x[4] + acadoWorkspace.evGx[719]*acadoWorkspace.x[5] + acadoWorkspace.d[119]; +acadoVariables.x[3] += + acadoWorkspace.evGx[0]*acadoWorkspace.x[0] + acadoWorkspace.evGx[1]*acadoWorkspace.x[1] + acadoWorkspace.evGx[2]*acadoWorkspace.x[2] + acadoWorkspace.d[0]; +acadoVariables.x[4] += + acadoWorkspace.evGx[3]*acadoWorkspace.x[0] + acadoWorkspace.evGx[4]*acadoWorkspace.x[1] + acadoWorkspace.evGx[5]*acadoWorkspace.x[2] + acadoWorkspace.d[1]; +acadoVariables.x[5] += + acadoWorkspace.evGx[6]*acadoWorkspace.x[0] + acadoWorkspace.evGx[7]*acadoWorkspace.x[1] + acadoWorkspace.evGx[8]*acadoWorkspace.x[2] + acadoWorkspace.d[2]; +acadoVariables.x[6] += + acadoWorkspace.evGx[9]*acadoWorkspace.x[0] + acadoWorkspace.evGx[10]*acadoWorkspace.x[1] + acadoWorkspace.evGx[11]*acadoWorkspace.x[2] + acadoWorkspace.d[3]; +acadoVariables.x[7] += + acadoWorkspace.evGx[12]*acadoWorkspace.x[0] + acadoWorkspace.evGx[13]*acadoWorkspace.x[1] + acadoWorkspace.evGx[14]*acadoWorkspace.x[2] + acadoWorkspace.d[4]; +acadoVariables.x[8] += + acadoWorkspace.evGx[15]*acadoWorkspace.x[0] + acadoWorkspace.evGx[16]*acadoWorkspace.x[1] + acadoWorkspace.evGx[17]*acadoWorkspace.x[2] + acadoWorkspace.d[5]; +acadoVariables.x[9] += + acadoWorkspace.evGx[18]*acadoWorkspace.x[0] + acadoWorkspace.evGx[19]*acadoWorkspace.x[1] + acadoWorkspace.evGx[20]*acadoWorkspace.x[2] + acadoWorkspace.d[6]; +acadoVariables.x[10] += + acadoWorkspace.evGx[21]*acadoWorkspace.x[0] + acadoWorkspace.evGx[22]*acadoWorkspace.x[1] + acadoWorkspace.evGx[23]*acadoWorkspace.x[2] + acadoWorkspace.d[7]; +acadoVariables.x[11] += + acadoWorkspace.evGx[24]*acadoWorkspace.x[0] + acadoWorkspace.evGx[25]*acadoWorkspace.x[1] + acadoWorkspace.evGx[26]*acadoWorkspace.x[2] + acadoWorkspace.d[8]; +acadoVariables.x[12] += + acadoWorkspace.evGx[27]*acadoWorkspace.x[0] + acadoWorkspace.evGx[28]*acadoWorkspace.x[1] + acadoWorkspace.evGx[29]*acadoWorkspace.x[2] + acadoWorkspace.d[9]; +acadoVariables.x[13] += + acadoWorkspace.evGx[30]*acadoWorkspace.x[0] + acadoWorkspace.evGx[31]*acadoWorkspace.x[1] + acadoWorkspace.evGx[32]*acadoWorkspace.x[2] + acadoWorkspace.d[10]; +acadoVariables.x[14] += + acadoWorkspace.evGx[33]*acadoWorkspace.x[0] + acadoWorkspace.evGx[34]*acadoWorkspace.x[1] + acadoWorkspace.evGx[35]*acadoWorkspace.x[2] + acadoWorkspace.d[11]; +acadoVariables.x[15] += + acadoWorkspace.evGx[36]*acadoWorkspace.x[0] + acadoWorkspace.evGx[37]*acadoWorkspace.x[1] + acadoWorkspace.evGx[38]*acadoWorkspace.x[2] + acadoWorkspace.d[12]; +acadoVariables.x[16] += + acadoWorkspace.evGx[39]*acadoWorkspace.x[0] + acadoWorkspace.evGx[40]*acadoWorkspace.x[1] + acadoWorkspace.evGx[41]*acadoWorkspace.x[2] + acadoWorkspace.d[13]; +acadoVariables.x[17] += + 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acadoWorkspace.evGx[58]*acadoWorkspace.x[1] + acadoWorkspace.evGx[59]*acadoWorkspace.x[2] + acadoWorkspace.d[19]; +acadoVariables.x[23] += + acadoWorkspace.evGx[60]*acadoWorkspace.x[0] + acadoWorkspace.evGx[61]*acadoWorkspace.x[1] + acadoWorkspace.evGx[62]*acadoWorkspace.x[2] + acadoWorkspace.d[20]; +acadoVariables.x[24] += + acadoWorkspace.evGx[63]*acadoWorkspace.x[0] + acadoWorkspace.evGx[64]*acadoWorkspace.x[1] + acadoWorkspace.evGx[65]*acadoWorkspace.x[2] + acadoWorkspace.d[21]; +acadoVariables.x[25] += + acadoWorkspace.evGx[66]*acadoWorkspace.x[0] + acadoWorkspace.evGx[67]*acadoWorkspace.x[1] + acadoWorkspace.evGx[68]*acadoWorkspace.x[2] + acadoWorkspace.d[22]; +acadoVariables.x[26] += + acadoWorkspace.evGx[69]*acadoWorkspace.x[0] + acadoWorkspace.evGx[70]*acadoWorkspace.x[1] + acadoWorkspace.evGx[71]*acadoWorkspace.x[2] + acadoWorkspace.d[23]; +acadoVariables.x[27] += + acadoWorkspace.evGx[72]*acadoWorkspace.x[0] + acadoWorkspace.evGx[73]*acadoWorkspace.x[1] + acadoWorkspace.evGx[74]*acadoWorkspace.x[2] + acadoWorkspace.d[24]; +acadoVariables.x[28] += + acadoWorkspace.evGx[75]*acadoWorkspace.x[0] + acadoWorkspace.evGx[76]*acadoWorkspace.x[1] + acadoWorkspace.evGx[77]*acadoWorkspace.x[2] + acadoWorkspace.d[25]; +acadoVariables.x[29] += + acadoWorkspace.evGx[78]*acadoWorkspace.x[0] + acadoWorkspace.evGx[79]*acadoWorkspace.x[1] + acadoWorkspace.evGx[80]*acadoWorkspace.x[2] + acadoWorkspace.d[26]; +acadoVariables.x[30] += + acadoWorkspace.evGx[81]*acadoWorkspace.x[0] + acadoWorkspace.evGx[82]*acadoWorkspace.x[1] + acadoWorkspace.evGx[83]*acadoWorkspace.x[2] + acadoWorkspace.d[27]; +acadoVariables.x[31] += + acadoWorkspace.evGx[84]*acadoWorkspace.x[0] + acadoWorkspace.evGx[85]*acadoWorkspace.x[1] + acadoWorkspace.evGx[86]*acadoWorkspace.x[2] + acadoWorkspace.d[28]; +acadoVariables.x[32] += + acadoWorkspace.evGx[87]*acadoWorkspace.x[0] + acadoWorkspace.evGx[88]*acadoWorkspace.x[1] + acadoWorkspace.evGx[89]*acadoWorkspace.x[2] + acadoWorkspace.d[29]; +acadoVariables.x[33] += + acadoWorkspace.evGx[90]*acadoWorkspace.x[0] + acadoWorkspace.evGx[91]*acadoWorkspace.x[1] + acadoWorkspace.evGx[92]*acadoWorkspace.x[2] + acadoWorkspace.d[30]; +acadoVariables.x[34] += + acadoWorkspace.evGx[93]*acadoWorkspace.x[0] + acadoWorkspace.evGx[94]*acadoWorkspace.x[1] + acadoWorkspace.evGx[95]*acadoWorkspace.x[2] + acadoWorkspace.d[31]; +acadoVariables.x[35] += + acadoWorkspace.evGx[96]*acadoWorkspace.x[0] + acadoWorkspace.evGx[97]*acadoWorkspace.x[1] + acadoWorkspace.evGx[98]*acadoWorkspace.x[2] + acadoWorkspace.d[32]; +acadoVariables.x[36] += + acadoWorkspace.evGx[99]*acadoWorkspace.x[0] + acadoWorkspace.evGx[100]*acadoWorkspace.x[1] + acadoWorkspace.evGx[101]*acadoWorkspace.x[2] + acadoWorkspace.d[33]; +acadoVariables.x[37] += + acadoWorkspace.evGx[102]*acadoWorkspace.x[0] + acadoWorkspace.evGx[103]*acadoWorkspace.x[1] + acadoWorkspace.evGx[104]*acadoWorkspace.x[2] + acadoWorkspace.d[34]; +acadoVariables.x[38] += + 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acadoWorkspace.evGx[121]*acadoWorkspace.x[1] + acadoWorkspace.evGx[122]*acadoWorkspace.x[2] + acadoWorkspace.d[40]; +acadoVariables.x[44] += + acadoWorkspace.evGx[123]*acadoWorkspace.x[0] + acadoWorkspace.evGx[124]*acadoWorkspace.x[1] + acadoWorkspace.evGx[125]*acadoWorkspace.x[2] + acadoWorkspace.d[41]; +acadoVariables.x[45] += + acadoWorkspace.evGx[126]*acadoWorkspace.x[0] + acadoWorkspace.evGx[127]*acadoWorkspace.x[1] + acadoWorkspace.evGx[128]*acadoWorkspace.x[2] + acadoWorkspace.d[42]; +acadoVariables.x[46] += + acadoWorkspace.evGx[129]*acadoWorkspace.x[0] + acadoWorkspace.evGx[130]*acadoWorkspace.x[1] + acadoWorkspace.evGx[131]*acadoWorkspace.x[2] + acadoWorkspace.d[43]; +acadoVariables.x[47] += + acadoWorkspace.evGx[132]*acadoWorkspace.x[0] + acadoWorkspace.evGx[133]*acadoWorkspace.x[1] + acadoWorkspace.evGx[134]*acadoWorkspace.x[2] + acadoWorkspace.d[44]; +acadoVariables.x[48] += + acadoWorkspace.evGx[135]*acadoWorkspace.x[0] + acadoWorkspace.evGx[136]*acadoWorkspace.x[1] + acadoWorkspace.evGx[137]*acadoWorkspace.x[2] + acadoWorkspace.d[45]; +acadoVariables.x[49] += + acadoWorkspace.evGx[138]*acadoWorkspace.x[0] + acadoWorkspace.evGx[139]*acadoWorkspace.x[1] + acadoWorkspace.evGx[140]*acadoWorkspace.x[2] + acadoWorkspace.d[46]; +acadoVariables.x[50] += + acadoWorkspace.evGx[141]*acadoWorkspace.x[0] + acadoWorkspace.evGx[142]*acadoWorkspace.x[1] + acadoWorkspace.evGx[143]*acadoWorkspace.x[2] + acadoWorkspace.d[47]; +acadoVariables.x[51] += + acadoWorkspace.evGx[144]*acadoWorkspace.x[0] + acadoWorkspace.evGx[145]*acadoWorkspace.x[1] + acadoWorkspace.evGx[146]*acadoWorkspace.x[2] + acadoWorkspace.d[48]; +acadoVariables.x[52] += + acadoWorkspace.evGx[147]*acadoWorkspace.x[0] + acadoWorkspace.evGx[148]*acadoWorkspace.x[1] + acadoWorkspace.evGx[149]*acadoWorkspace.x[2] + acadoWorkspace.d[49]; +acadoVariables.x[53] += + acadoWorkspace.evGx[150]*acadoWorkspace.x[0] + acadoWorkspace.evGx[151]*acadoWorkspace.x[1] + acadoWorkspace.evGx[152]*acadoWorkspace.x[2] + acadoWorkspace.d[50]; +acadoVariables.x[54] += + acadoWorkspace.evGx[153]*acadoWorkspace.x[0] + acadoWorkspace.evGx[154]*acadoWorkspace.x[1] + acadoWorkspace.evGx[155]*acadoWorkspace.x[2] + acadoWorkspace.d[51]; +acadoVariables.x[55] += + acadoWorkspace.evGx[156]*acadoWorkspace.x[0] + acadoWorkspace.evGx[157]*acadoWorkspace.x[1] + acadoWorkspace.evGx[158]*acadoWorkspace.x[2] + acadoWorkspace.d[52]; +acadoVariables.x[56] += + acadoWorkspace.evGx[159]*acadoWorkspace.x[0] + acadoWorkspace.evGx[160]*acadoWorkspace.x[1] + acadoWorkspace.evGx[161]*acadoWorkspace.x[2] + acadoWorkspace.d[53]; +acadoVariables.x[57] += + acadoWorkspace.evGx[162]*acadoWorkspace.x[0] + acadoWorkspace.evGx[163]*acadoWorkspace.x[1] + acadoWorkspace.evGx[164]*acadoWorkspace.x[2] + acadoWorkspace.d[54]; +acadoVariables.x[58] += + acadoWorkspace.evGx[165]*acadoWorkspace.x[0] + acadoWorkspace.evGx[166]*acadoWorkspace.x[1] + acadoWorkspace.evGx[167]*acadoWorkspace.x[2] + acadoWorkspace.d[55]; +acadoVariables.x[59] += + acadoWorkspace.evGx[168]*acadoWorkspace.x[0] + acadoWorkspace.evGx[169]*acadoWorkspace.x[1] + acadoWorkspace.evGx[170]*acadoWorkspace.x[2] + acadoWorkspace.d[56]; +acadoVariables.x[60] += + acadoWorkspace.evGx[171]*acadoWorkspace.x[0] + acadoWorkspace.evGx[172]*acadoWorkspace.x[1] + acadoWorkspace.evGx[173]*acadoWorkspace.x[2] + acadoWorkspace.d[57]; +acadoVariables.x[61] += + acadoWorkspace.evGx[174]*acadoWorkspace.x[0] + acadoWorkspace.evGx[175]*acadoWorkspace.x[1] + acadoWorkspace.evGx[176]*acadoWorkspace.x[2] + acadoWorkspace.d[58]; +acadoVariables.x[62] += + acadoWorkspace.evGx[177]*acadoWorkspace.x[0] + acadoWorkspace.evGx[178]*acadoWorkspace.x[1] + acadoWorkspace.evGx[179]*acadoWorkspace.x[2] + acadoWorkspace.d[59]; -acado_multEDu( acadoWorkspace.E, &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 6 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 12 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 12 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 18 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 18 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 18 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 24 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 24 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 24 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 24 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 30 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 30 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 30 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 30 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 30 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 36 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 36 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 36 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 36 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 36 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 36 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 42 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 42 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 42 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 42 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 42 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 42 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 42 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 48 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 48 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 48 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 48 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 48 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 48 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 48 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 48 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 54 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 54 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 54 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 54 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 54 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 54 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 54 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 54 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 54 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 60 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 60 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 60 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 60 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 60 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 60 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 60 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 60 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 60 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 60 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 66 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 72 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 78 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 84 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 630 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 642 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 654 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 666 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 678 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 690 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 702 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 714 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 90 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 726 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 738 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 750 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 762 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 774 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 786 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 798 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 810 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 96 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 822 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 834 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 840 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 846 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 852 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 858 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 864 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 870 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 876 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 882 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 888 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 894 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 900 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 906 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 912 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 102 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 918 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 924 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 930 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 936 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 942 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 948 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 954 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 960 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 966 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 972 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 978 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 984 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 990 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 996 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1002 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1008 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1014 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1020 ]), &(acadoWorkspace.x[ 23 ]), &(acadoVariables.x[ 108 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1026 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1032 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1038 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1044 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1050 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1056 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1062 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1068 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1074 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1080 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1086 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1092 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1098 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1104 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1110 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1116 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1122 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1128 ]), &(acadoWorkspace.x[ 23 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1134 ]), &(acadoWorkspace.x[ 24 ]), &(acadoVariables.x[ 114 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1140 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1146 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1152 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1158 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1164 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1170 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1176 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1182 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1188 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1194 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1200 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1206 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1212 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1218 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1224 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1230 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1236 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1242 ]), &(acadoWorkspace.x[ 23 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1248 ]), &(acadoWorkspace.x[ 24 ]), &(acadoVariables.x[ 120 ]) ); -acado_multEDu( &(acadoWorkspace.E[ 1254 ]), &(acadoWorkspace.x[ 25 ]), &(acadoVariables.x[ 120 ]) ); +acado_multEDu( acadoWorkspace.E, &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 3 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 3 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 6 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 6 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 6 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 9 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 9 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 9 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 15 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 9 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 18 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 12 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 21 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 12 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 12 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 27 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 12 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 30 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 15 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 33 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 15 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 15 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 39 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 15 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 42 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 15 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 45 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 18 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 18 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 51 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 18 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 54 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 18 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 57 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 18 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 18 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 63 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 21 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 66 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 21 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 69 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 21 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 21 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 75 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 21 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 78 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 21 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 81 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 21 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 24 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 87 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 24 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 90 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 24 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 93 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 24 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 24 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 99 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 24 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 102 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 24 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 105 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 24 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 27 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 111 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 27 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 114 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 27 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 117 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 27 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 27 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 123 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 27 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 126 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 27 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 129 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 27 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 27 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 135 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 30 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 138 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 30 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 141 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 30 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 30 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 147 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 30 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 150 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 30 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 153 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 30 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 30 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 159 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 30 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 162 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 30 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 165 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 171 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 174 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 177 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 183 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 186 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 189 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 195 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 33 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 198 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 201 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 207 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 210 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 213 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 219 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 222 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 225 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 231 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 36 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 234 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 237 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 243 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 246 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 249 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 255 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 258 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 261 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 267 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 270 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 39 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 273 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 279 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 282 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 285 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 291 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 294 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 297 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 303 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 306 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 309 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 42 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 315 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 318 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 321 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 327 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 330 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 333 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 339 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 342 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 345 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 351 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 354 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 357 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 45 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 363 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 366 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 369 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 375 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 378 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 381 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 387 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 390 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 393 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 399 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 402 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 405 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 48 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 411 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 414 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 417 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 423 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 426 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 429 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 435 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 438 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 441 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 447 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 450 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 453 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 51 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 459 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 462 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 465 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 471 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 474 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 477 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 483 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 486 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 489 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 495 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 498 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 501 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 507 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 510 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 54 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 513 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 519 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 522 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 525 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 531 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 534 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 537 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 543 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 546 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 549 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 555 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 558 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 561 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 567 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 57 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 570 ]), &(acadoWorkspace.x[ 3 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 573 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 579 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 582 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 585 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 591 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 594 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 597 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 603 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 606 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 609 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 615 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 618 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 621 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 60 ]) ); +acado_multEDu( &(acadoWorkspace.E[ 627 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 60 ]) ); } int acado_preparationStep( ) @@ -5198,24 +4632,18 @@ void acado_initializeNodesByForwardSimulation( ) int index; for (index = 0; index < 20; ++index) { -acadoWorkspace.state[0] = acadoVariables.x[index * 6]; -acadoWorkspace.state[1] = acadoVariables.x[index * 6 + 1]; -acadoWorkspace.state[2] = acadoVariables.x[index * 6 + 2]; -acadoWorkspace.state[3] = acadoVariables.x[index * 6 + 3]; -acadoWorkspace.state[4] = acadoVariables.x[index * 6 + 4]; -acadoWorkspace.state[5] = acadoVariables.x[index * 6 + 5]; -acadoWorkspace.state[48] = acadoVariables.u[index]; -acadoWorkspace.state[49] = acadoVariables.od[index * 2]; -acadoWorkspace.state[50] = acadoVariables.od[index * 2 + 1]; +acadoWorkspace.state[0] = acadoVariables.x[index * 3]; +acadoWorkspace.state[1] = acadoVariables.x[index * 3 + 1]; +acadoWorkspace.state[2] = acadoVariables.x[index * 3 + 2]; +acadoWorkspace.state[15] = acadoVariables.u[index]; +acadoWorkspace.state[16] = acadoVariables.od[index * 2]; +acadoWorkspace.state[17] = acadoVariables.od[index * 2 + 1]; acado_integrate(acadoWorkspace.state, index == 0, index); -acadoVariables.x[index * 6 + 6] = acadoWorkspace.state[0]; -acadoVariables.x[index * 6 + 7] = acadoWorkspace.state[1]; -acadoVariables.x[index * 6 + 8] = acadoWorkspace.state[2]; -acadoVariables.x[index * 6 + 9] = acadoWorkspace.state[3]; -acadoVariables.x[index * 6 + 10] = acadoWorkspace.state[4]; -acadoVariables.x[index * 6 + 11] = acadoWorkspace.state[5]; +acadoVariables.x[index * 3 + 3] = acadoWorkspace.state[0]; +acadoVariables.x[index * 3 + 4] = acadoWorkspace.state[1]; +acadoVariables.x[index * 3 + 5] = acadoWorkspace.state[2]; } } @@ -5224,50 +4652,38 @@ void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd ) int index; for (index = 0; index < 20; ++index) { -acadoVariables.x[index * 6] = acadoVariables.x[index * 6 + 6]; -acadoVariables.x[index * 6 + 1] = acadoVariables.x[index * 6 + 7]; -acadoVariables.x[index * 6 + 2] = acadoVariables.x[index * 6 + 8]; -acadoVariables.x[index * 6 + 3] = acadoVariables.x[index * 6 + 9]; -acadoVariables.x[index * 6 + 4] = acadoVariables.x[index * 6 + 10]; -acadoVariables.x[index * 6 + 5] = acadoVariables.x[index * 6 + 11]; +acadoVariables.x[index * 3] = acadoVariables.x[index * 3 + 3]; +acadoVariables.x[index * 3 + 1] = acadoVariables.x[index * 3 + 4]; +acadoVariables.x[index * 3 + 2] = acadoVariables.x[index * 3 + 5]; } if (strategy == 1 && xEnd != 0) { -acadoVariables.x[120] = xEnd[0]; -acadoVariables.x[121] = xEnd[1]; -acadoVariables.x[122] = xEnd[2]; -acadoVariables.x[123] = xEnd[3]; -acadoVariables.x[124] = xEnd[4]; -acadoVariables.x[125] = xEnd[5]; +acadoVariables.x[60] = xEnd[0]; +acadoVariables.x[61] = xEnd[1]; +acadoVariables.x[62] = xEnd[2]; } else if (strategy == 2) { -acadoWorkspace.state[0] = acadoVariables.x[120]; -acadoWorkspace.state[1] = acadoVariables.x[121]; -acadoWorkspace.state[2] = acadoVariables.x[122]; -acadoWorkspace.state[3] = acadoVariables.x[123]; -acadoWorkspace.state[4] = acadoVariables.x[124]; -acadoWorkspace.state[5] = acadoVariables.x[125]; +acadoWorkspace.state[0] = acadoVariables.x[60]; +acadoWorkspace.state[1] = acadoVariables.x[61]; +acadoWorkspace.state[2] = acadoVariables.x[62]; if (uEnd != 0) { -acadoWorkspace.state[48] = uEnd[0]; +acadoWorkspace.state[15] = uEnd[0]; } else { -acadoWorkspace.state[48] = acadoVariables.u[19]; +acadoWorkspace.state[15] = acadoVariables.u[19]; } -acadoWorkspace.state[49] = acadoVariables.od[40]; -acadoWorkspace.state[50] = acadoVariables.od[41]; +acadoWorkspace.state[16] = acadoVariables.od[40]; +acadoWorkspace.state[17] = acadoVariables.od[41]; acado_integrate(acadoWorkspace.state, 1, 19); -acadoVariables.x[120] = acadoWorkspace.state[0]; -acadoVariables.x[121] = acadoWorkspace.state[1]; -acadoVariables.x[122] = acadoWorkspace.state[2]; -acadoVariables.x[123] = acadoWorkspace.state[3]; -acadoVariables.x[124] = acadoWorkspace.state[4]; -acadoVariables.x[125] = acadoWorkspace.state[5]; +acadoVariables.x[60] = acadoWorkspace.state[0]; +acadoVariables.x[61] = acadoWorkspace.state[1]; +acadoVariables.x[62] = acadoWorkspace.state[2]; } } @@ -5292,9 +4708,9 @@ real_t kkt; int index; real_t prd; -kkt = + acadoWorkspace.g[0]*acadoWorkspace.x[0] + acadoWorkspace.g[1]*acadoWorkspace.x[1] + acadoWorkspace.g[2]*acadoWorkspace.x[2] + acadoWorkspace.g[3]*acadoWorkspace.x[3] + acadoWorkspace.g[4]*acadoWorkspace.x[4] + acadoWorkspace.g[5]*acadoWorkspace.x[5] + acadoWorkspace.g[6]*acadoWorkspace.x[6] + acadoWorkspace.g[7]*acadoWorkspace.x[7] + acadoWorkspace.g[8]*acadoWorkspace.x[8] + acadoWorkspace.g[9]*acadoWorkspace.x[9] + acadoWorkspace.g[10]*acadoWorkspace.x[10] + acadoWorkspace.g[11]*acadoWorkspace.x[11] + acadoWorkspace.g[12]*acadoWorkspace.x[12] + acadoWorkspace.g[13]*acadoWorkspace.x[13] + acadoWorkspace.g[14]*acadoWorkspace.x[14] + acadoWorkspace.g[15]*acadoWorkspace.x[15] + acadoWorkspace.g[16]*acadoWorkspace.x[16] + acadoWorkspace.g[17]*acadoWorkspace.x[17] + acadoWorkspace.g[18]*acadoWorkspace.x[18] + acadoWorkspace.g[19]*acadoWorkspace.x[19] + acadoWorkspace.g[20]*acadoWorkspace.x[20] + acadoWorkspace.g[21]*acadoWorkspace.x[21] + acadoWorkspace.g[22]*acadoWorkspace.x[22] + acadoWorkspace.g[23]*acadoWorkspace.x[23] + acadoWorkspace.g[24]*acadoWorkspace.x[24] + acadoWorkspace.g[25]*acadoWorkspace.x[25]; +kkt = + acadoWorkspace.g[0]*acadoWorkspace.x[0] + acadoWorkspace.g[1]*acadoWorkspace.x[1] + acadoWorkspace.g[2]*acadoWorkspace.x[2] + acadoWorkspace.g[3]*acadoWorkspace.x[3] + acadoWorkspace.g[4]*acadoWorkspace.x[4] + acadoWorkspace.g[5]*acadoWorkspace.x[5] + acadoWorkspace.g[6]*acadoWorkspace.x[6] + acadoWorkspace.g[7]*acadoWorkspace.x[7] + acadoWorkspace.g[8]*acadoWorkspace.x[8] + acadoWorkspace.g[9]*acadoWorkspace.x[9] + acadoWorkspace.g[10]*acadoWorkspace.x[10] + acadoWorkspace.g[11]*acadoWorkspace.x[11] + acadoWorkspace.g[12]*acadoWorkspace.x[12] + acadoWorkspace.g[13]*acadoWorkspace.x[13] + acadoWorkspace.g[14]*acadoWorkspace.x[14] + acadoWorkspace.g[15]*acadoWorkspace.x[15] + acadoWorkspace.g[16]*acadoWorkspace.x[16] + acadoWorkspace.g[17]*acadoWorkspace.x[17] + acadoWorkspace.g[18]*acadoWorkspace.x[18] + acadoWorkspace.g[19]*acadoWorkspace.x[19] + acadoWorkspace.g[20]*acadoWorkspace.x[20] + acadoWorkspace.g[21]*acadoWorkspace.x[21] + acadoWorkspace.g[22]*acadoWorkspace.x[22]; kkt = fabs( kkt ); -for (index = 0; index < 26; ++index) +for (index = 0; index < 23; ++index) { prd = acadoWorkspace.y[index]; if (prd > 1e-12) @@ -5304,7 +4720,7 @@ kkt += fabs(acadoWorkspace.ub[index] * prd); } for (index = 0; index < 20; ++index) { -prd = acadoWorkspace.y[index + 26]; +prd = acadoWorkspace.y[index + 23]; if (prd > 1e-12) kkt += fabs(acadoWorkspace.lbA[index] * prd); else if (prd < -1e-12) @@ -5326,15 +4742,12 @@ real_t tmpDyN[ 3 ]; for (lRun1 = 0; lRun1 < 20; ++lRun1) { -acadoWorkspace.objValueIn[0] = acadoVariables.x[lRun1 * 6]; -acadoWorkspace.objValueIn[1] = acadoVariables.x[lRun1 * 6 + 1]; -acadoWorkspace.objValueIn[2] = acadoVariables.x[lRun1 * 6 + 2]; -acadoWorkspace.objValueIn[3] = acadoVariables.x[lRun1 * 6 + 3]; -acadoWorkspace.objValueIn[4] = acadoVariables.x[lRun1 * 6 + 4]; -acadoWorkspace.objValueIn[5] = acadoVariables.x[lRun1 * 6 + 5]; -acadoWorkspace.objValueIn[6] = acadoVariables.u[lRun1]; -acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 2]; -acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 2 + 1]; +acadoWorkspace.objValueIn[0] = acadoVariables.x[lRun1 * 3]; +acadoWorkspace.objValueIn[1] = acadoVariables.x[lRun1 * 3 + 1]; +acadoWorkspace.objValueIn[2] = acadoVariables.x[lRun1 * 3 + 2]; +acadoWorkspace.objValueIn[3] = acadoVariables.u[lRun1]; +acadoWorkspace.objValueIn[4] = acadoVariables.od[lRun1 * 2]; +acadoWorkspace.objValueIn[5] = acadoVariables.od[lRun1 * 2 + 1]; acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); acadoWorkspace.Dy[lRun1 * 4] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 4]; @@ -5342,14 +4755,11 @@ acadoWorkspace.Dy[lRun1 * 4 + 1] = acadoWorkspace.objValueOut[1] - acadoVariable acadoWorkspace.Dy[lRun1 * 4 + 2] = acadoWorkspace.objValueOut[2] - acadoVariables.y[lRun1 * 4 + 2]; acadoWorkspace.Dy[lRun1 * 4 + 3] = acadoWorkspace.objValueOut[3] - acadoVariables.y[lRun1 * 4 + 3]; } -acadoWorkspace.objValueIn[0] = acadoVariables.x[120]; -acadoWorkspace.objValueIn[1] = acadoVariables.x[121]; -acadoWorkspace.objValueIn[2] = acadoVariables.x[122]; -acadoWorkspace.objValueIn[3] = acadoVariables.x[123]; -acadoWorkspace.objValueIn[4] = acadoVariables.x[124]; -acadoWorkspace.objValueIn[5] = acadoVariables.x[125]; -acadoWorkspace.objValueIn[6] = acadoVariables.od[40]; -acadoWorkspace.objValueIn[7] = acadoVariables.od[41]; +acadoWorkspace.objValueIn[0] = acadoVariables.x[60]; +acadoWorkspace.objValueIn[1] = acadoVariables.x[61]; +acadoWorkspace.objValueIn[2] = acadoVariables.x[62]; +acadoWorkspace.objValueIn[3] = acadoVariables.od[40]; +acadoWorkspace.objValueIn[4] = acadoVariables.od[41]; acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0]; acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - 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a/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py +++ b/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py @@ -32,6 +32,7 @@ def _get_libmpc(mpc_id): double j_ego[21]; double x_l[21]; double v_l[21]; + double a_l[21]; double t[21]; double cost; } log_t; diff --git a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c index c0b43e53c..e903ccc75 100644 --- a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c +++ b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c @@ -29,6 +29,7 @@ typedef struct { double j_ego[N+1]; double x_l[N+1]; double v_l[N+1]; + double a_l[N+1]; double t[N+1]; double cost; } log_t; @@ -68,17 +69,19 @@ void init(double ttcCost, double distanceCost, double accelerationCost, double j void init_with_simulation(double v_ego, double x_l_0, double v_l_0, double a_l_0, double l){ int i; - double x_ego = 0.0; - double a_ego = 0.0; double x_l = x_l_0; double v_l = v_l_0; double a_l = a_l_0; + double x_ego = 0.0; + double a_ego = -(v_ego - v_l) * (v_ego - v_l) / (2.0 * x_l + 0.01) + a_l; - if (v_ego > v_l){ - a_ego = -(v_ego - v_l) * (v_ego - v_l) / (2.0 * x_l + 0.01) + a_l; + if (a_ego > 0){ + a_ego = 0.0; } + + double dt = 0.2; double t = 0.; @@ -87,51 +90,66 @@ void init_with_simulation(double v_ego, double x_l_0, double v_l_0, double a_l_0 dt = 0.6; } - // Directly calculate a_l to prevent instabilites due to discretization - a_l = a_l_0 * exp(-l * t * t / 2); - - /* printf("x_e: %.2f\t v_e: %.2f\t a_e: %.2f\t", x_ego, v_ego, a_ego); */ - /* printf("x_l: %.2f\t v_l: %.2f\t a_l: %.2f\n", x_l, v_l, a_l); */ - + /* printf("%.2f\t%.2f\t%.2f\t%.2f\n", t, x_ego, v_ego, a_l); */ acadoVariables.x[i*NX] = x_ego; acadoVariables.x[i*NX+1] = v_ego; acadoVariables.x[i*NX+2] = a_ego; - acadoVariables.x[i*NX+3] = x_l; - acadoVariables.x[i*NX+4] = v_l; - acadoVariables.x[i*NX+5] = t; - - x_ego += v_ego * dt; v_ego += a_ego * dt; - x_l += v_l * dt; - v_l += a_l * dt; - t += dt; - if (v_ego <= 0.0) { v_ego = 0.0; a_ego = 0.0; } + + x_ego += v_ego * dt; + t += dt; } + for (i = 0; i < NU * N; ++i) acadoVariables.u[ i ] = 0.0; for (i = 0; i < NY * N; ++i) acadoVariables.y[ i ] = 0.0; for (i = 0; i < NYN; ++i) acadoVariables.yN[ i ] = 0.0; } int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0){ + // Calculate lead vehicle predictions int i; + double t = 0.; + double dt = 0.2; + double x_l = x0->x_l; + double v_l = x0->v_l; + double a_l = a_l_0; - for (i = 0; i <= NOD * N; i+= NOD){ - acadoVariables.od[i] = l; - acadoVariables.od[i+1] = a_l_0; + /* printf("t\tx_l\t_v_l\t_al\n"); */ + for (i = 0; i < N + 1; ++i){ + if (i > 4){ + dt = 0.6; + } + + /* printf("%.2f\t%.2f\t%.2f\t%.2f\n", t, x_l, v_l, a_l); */ + + acadoVariables.od[i*NOD] = x_l; + acadoVariables.od[i*NOD+1] = v_l; + + solution->x_l[i] = x_l; + solution->v_l[i] = v_l; + solution->a_l[i] = a_l; + solution->t[i] = t; + + a_l = a_l_0 * exp(-l * t * t / 2); + x_l += v_l * dt; + v_l += a_l * dt; + if (v_l < 0.0){ + a_l = 0.0; + v_l = 0.0; + } + + t += dt; } acadoVariables.x[0] = acadoVariables.x0[0] = x0->x_ego; acadoVariables.x[1] = acadoVariables.x0[1] = x0->v_ego; acadoVariables.x[2] = acadoVariables.x0[2] = x0->a_ego; - acadoVariables.x[3] = acadoVariables.x0[3] = x0->x_l; - acadoVariables.x[4] = acadoVariables.x0[4] = x0->v_l; - acadoVariables.x[5] = acadoVariables.x0[5] = 0.0; acado_preparationStep(); acado_feedbackStep(); @@ -140,10 +158,6 @@ int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0){ solution->x_ego[i] = acadoVariables.x[i*NX]; solution->v_ego[i] = acadoVariables.x[i*NX+1]; solution->a_ego[i] = acadoVariables.x[i*NX+2]; - solution->x_l[i] = acadoVariables.x[i*NX+3]; - solution->v_l[i] = acadoVariables.x[i*NX+4]; - solution->t[i] = acadoVariables.x[i*NX+5]; - solution->j_ego[i] = acadoVariables.u[i]; } solution->cost = acado_getObjective(); diff --git a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o 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zWf)=2t7hj#yIFQw`0i1z^gBpn-Sh*awY1r|E`I~kz2zL;=VynZnw>KfIJ(r*ZJ|LJ zivxFosy57N_yrehsNjy1%@VDHh<+HZr8KbZGc;$+~cZeO%H6O38=BegKYH Uyf5+{w*LYXqCjh`rPX}>7n_m4PXGV_ diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 55fd2afae..0161d2f94 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -46,15 +46,18 @@ class PathPlanner(object): self.angle_steers_des_prev = 0.0 self.angle_steers_des_time = 0.0 - def update(self, CP, VM, CS, md, live100): + def update(self, CP, VM, CS, md, live100, live_parameters): v_ego = CS.carState.vEgo angle_steers = CS.carState.steeringAngle active = live100.live100.active - angle_offset = live100.live100.angleOffset + + angle_offset_bias = live100.live100.angleModelBias + live_parameters.liveParameters.angleOffsetAverage + self.MP.update(v_ego, md) # Run MPC self.angle_steers_des_prev = self.angle_steers_des_mpc + VM.update_params(live_parameters.liveParameters.stiffnessFactor, live_parameters.liveParameters.steerRatio) curvature_factor = VM.curvature_factor(v_ego) l_poly = libmpc_py.ffi.new("double[4]", list(self.MP.l_poly)) @@ -62,7 +65,7 @@ class PathPlanner(object): p_poly = libmpc_py.ffi.new("double[4]", list(self.MP.p_poly)) # account for actuation delay - self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers, curvature_factor, CP.steerRatio, CP.steerActuatorDelay) + self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers, curvature_factor, VM.sR, CP.steerActuatorDelay) v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed self.libmpc.run_mpc(self.cur_state, self.mpc_solution, @@ -72,19 +75,22 @@ class PathPlanner(object): # reset to current steer angle if not active or overriding if active: delta_desired = self.mpc_solution[0].delta[1] + rate_desired = math.degrees(self.mpc_solution[0].rate[0] * VM.sR) else: - delta_desired = math.radians(angle_steers - angle_offset) / CP.steerRatio + delta_desired = math.radians(angle_steers - angle_offset_bias) / VM.sR + rate_desired = 0.0 self.cur_state[0].delta = delta_desired - self.angle_steers_des_mpc = float(math.degrees(delta_desired * CP.steerRatio) + angle_offset) + self.angle_steers_des_mpc = float(math.degrees(delta_desired * VM.sR) + angle_offset_bias) + # Check for infeasable MPC solution mpc_nans = np.any(np.isnan(list(self.mpc_solution[0].delta))) t = sec_since_boot() if mpc_nans: self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, CP.steerRateCost) - self.cur_state[0].delta = math.radians(angle_steers) / CP.steerRatio + self.cur_state[0].delta = math.radians(angle_steers) / VM.sR if t > self.last_cloudlog_t + 5.0: self.last_cloudlog_t = t @@ -108,7 +114,10 @@ class PathPlanner(object): plan_send.pathPlan.rPoly = map(float, r_poly) plan_send.pathPlan.rProb = float(self.MP.r_prob) plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc) + plan_send.pathPlan.rateSteers = float(rate_desired) + plan_send.pathPlan.angleOffset = float(live_parameters.liveParameters.angleOffsetAverage) plan_send.pathPlan.valid = bool(plan_valid) + plan_send.pathPlan.paramsValid = bool(live_parameters.liveParameters.valid) self.plan.send(plan_send.to_bytes()) diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py index e0a53e997..c26711f57 100755 --- a/selfdrive/controls/lib/planner.py +++ b/selfdrive/controls/lib/planner.py @@ -2,19 +2,18 @@ import zmq import math import numpy as np -from collections import defaultdict from common.params import Params -from common.realtime import sec_since_boot from common.numpy_fast import interp + import selfdrive.messaging as messaging from selfdrive.swaglog import cloudlog from selfdrive.config import Conversions as CV from selfdrive.services import service_list -from selfdrive.controls.lib.drive_helpers import create_event, MPC_COST_LONG, EventTypes as ET -from selfdrive.controls.lib.longitudinal_mpc import libmpc_py +from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET from selfdrive.controls.lib.speed_smoother import speed_smoother from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED -from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU +from selfdrive.controls.lib.fcw import FCWChecker +from selfdrive.controls.lib.long_mpc import LongitudinalMpc NO_CURVATURE_SPEED = 200. * CV.MPH_TO_MS @@ -37,9 +36,6 @@ _A_CRUISE_MAX_BP = [0., 5., 10., 20., 40.] _A_TOTAL_MAX_V = [1.5, 1.9, 3.2] _A_TOTAL_MAX_BP = [0., 20., 40.] -_FCW_A_ACT_V = [-3., -2.] -_FCW_A_ACT_BP = [0., 30.] - def calc_cruise_accel_limits(v_ego, following): a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V) @@ -65,182 +61,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): return a_target -class FCWChecker(object): - def __init__(self): - self.reset_lead(0.0) - - def reset_lead(self, cur_time): - self.last_fcw_a = 0.0 - self.v_lead_max = 0.0 - self.lead_seen_t = cur_time - self.last_fcw_time = 0.0 - self.last_min_a = 0.0 - - self.counters = defaultdict(lambda: 0) - - @staticmethod - def calc_ttc(v_ego, a_ego, x_lead, v_lead, a_lead): - max_ttc = 5.0 - - v_rel = v_ego - v_lead - a_rel = a_ego - a_lead - - # assuming that closing gap ARel comes from lead vehicle decel, - # then limit ARel so that v_lead will get to zero in no sooner than t_decel. - # This helps underweighting ARel when v_lead is close to zero. - t_decel = 2. - a_rel = np.minimum(a_rel, v_lead / t_decel) - - # delta of the quadratic equation to solve for ttc - delta = v_rel**2 + 2 * x_lead * a_rel - - # assign an arbitrary high ttc value if there is no solution to ttc - if delta < 0.1 or (np.sqrt(delta) + v_rel < 0.1): - ttc = max_ttc - else: - ttc = np.minimum(2 * x_lead / (np.sqrt(delta) + v_rel), max_ttc) - return ttc - - def update(self, mpc_solution, cur_time, v_ego, a_ego, x_lead, v_lead, a_lead, y_lead, vlat_lead, fcw_lead, blinkers): - mpc_solution_a = list(mpc_solution[0].a_ego) - self.last_min_a = min(mpc_solution_a) - self.v_lead_max = max(self.v_lead_max, v_lead) - - if (fcw_lead > 0.99): - ttc = self.calc_ttc(v_ego, a_ego, x_lead, v_lead, a_lead) - self.counters['v_ego'] = self.counters['v_ego'] + 1 if v_ego > 5.0 else 0 - self.counters['ttc'] = self.counters['ttc'] + 1 if ttc < 2.5 else 0 - self.counters['v_lead_max'] = self.counters['v_lead_max'] + 1 if self.v_lead_max > 2.5 else 0 - self.counters['v_ego_lead'] = self.counters['v_ego_lead'] + 1 if v_ego > v_lead else 0 - self.counters['lead_seen'] = self.counters['lead_seen'] + 0.33 - self.counters['y_lead'] = self.counters['y_lead'] + 1 if abs(y_lead) < 1.0 else 0 - self.counters['vlat_lead'] = self.counters['vlat_lead'] + 1 if abs(vlat_lead) < 0.4 else 0 - self.counters['blinkers'] = self.counters['blinkers'] + 10.0 / (20 * 3.0) if not blinkers else 0 - - a_thr = interp(v_lead, _FCW_A_ACT_BP, _FCW_A_ACT_V) - a_delta = min(mpc_solution_a[:15]) - min(0.0, a_ego) - - fcw_allowed = all(c >= 10 for c in self.counters.values()) - if (self.last_min_a < -3.0 or a_delta < a_thr) and fcw_allowed and self.last_fcw_time + 5.0 < cur_time: - self.last_fcw_time = cur_time - self.last_fcw_a = self.last_min_a - return True - - return False - - -class LongitudinalMpc(object): - def __init__(self, mpc_id, live_longitudinal_mpc): - self.live_longitudinal_mpc = live_longitudinal_mpc - self.mpc_id = mpc_id - - self.setup_mpc() - self.v_mpc = 0.0 - self.v_mpc_future = 0.0 - self.a_mpc = 0.0 - self.v_cruise = 0.0 - self.prev_lead_status = False - self.prev_lead_x = 0.0 - self.new_lead = False - - self.last_cloudlog_t = 0.0 - - def send_mpc_solution(self, qp_iterations, calculation_time): - qp_iterations = max(0, qp_iterations) - dat = messaging.new_message() - dat.init('liveLongitudinalMpc') - dat.liveLongitudinalMpc.xEgo = list(self.mpc_solution[0].x_ego) - dat.liveLongitudinalMpc.vEgo = list(self.mpc_solution[0].v_ego) - dat.liveLongitudinalMpc.aEgo = list(self.mpc_solution[0].a_ego) - dat.liveLongitudinalMpc.xLead = list(self.mpc_solution[0].x_l) - dat.liveLongitudinalMpc.vLead = list(self.mpc_solution[0].v_l) - dat.liveLongitudinalMpc.cost = self.mpc_solution[0].cost - dat.liveLongitudinalMpc.aLeadTau = self.a_lead_tau - dat.liveLongitudinalMpc.qpIterations = qp_iterations - dat.liveLongitudinalMpc.mpcId = self.mpc_id - dat.liveLongitudinalMpc.calculationTime = calculation_time - self.live_longitudinal_mpc.send(dat.to_bytes()) - - def setup_mpc(self): - ffi, self.libmpc = libmpc_py.get_libmpc(self.mpc_id) - self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE, - MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK) - - self.mpc_solution = ffi.new("log_t *") - self.cur_state = ffi.new("state_t *") - self.cur_state[0].v_ego = 0 - self.cur_state[0].a_ego = 0 - self.a_lead_tau = _LEAD_ACCEL_TAU - - def set_cur_state(self, v, a): - self.cur_state[0].v_ego = v - self.cur_state[0].a_ego = a - - def update(self, CS, lead, v_cruise_setpoint): - v_ego = CS.carState.vEgo - - # Setup current mpc state - self.cur_state[0].x_ego = 0.0 - - if lead is not None and lead.status: - x_lead = lead.dRel - v_lead = max(0.0, lead.vLead) - a_lead = lead.aLeadK - - if (v_lead < 0.1 or -a_lead / 2.0 > v_lead): - v_lead = 0.0 - a_lead = 0.0 - - self.a_lead_tau = max(lead.aLeadTau, (a_lead**2 * math.pi) / (2 * (v_lead + 0.01)**2)) - self.new_lead = False - if not self.prev_lead_status or abs(x_lead - self.prev_lead_x) > 2.5: - self.libmpc.init_with_simulation(self.v_mpc, x_lead, v_lead, a_lead, self.a_lead_tau) - self.new_lead = True - - self.prev_lead_status = True - self.prev_lead_x = x_lead - self.cur_state[0].x_l = x_lead - self.cur_state[0].v_l = v_lead - else: - self.prev_lead_status = False - # Fake a fast lead car, so mpc keeps running - self.cur_state[0].x_l = 50.0 - self.cur_state[0].v_l = v_ego + 10.0 - a_lead = 0.0 - self.a_lead_tau = _LEAD_ACCEL_TAU - - # Calculate mpc - t = sec_since_boot() - n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead) - duration = int((sec_since_boot() - t) * 1e9) - self.send_mpc_solution(n_its, duration) - - # Get solution. MPC timestep is 0.2 s, so interpolation to 0.05 s is needed - self.v_mpc = self.mpc_solution[0].v_ego[1] - self.a_mpc = self.mpc_solution[0].a_ego[1] - self.v_mpc_future = self.mpc_solution[0].v_ego[10] - - # Reset if NaN or goes through lead car - dls = np.array(list(self.mpc_solution[0].x_l)) - np.array(list(self.mpc_solution[0].x_ego)) - crashing = min(dls) < -50.0 - nans = np.any(np.isnan(list(self.mpc_solution[0].v_ego))) - backwards = min(list(self.mpc_solution[0].v_ego)) < -0.01 - - if ((backwards or crashing) and self.prev_lead_status) or nans: - if t > self.last_cloudlog_t + 5.0: - self.last_cloudlog_t = t - cloudlog.warning("Longitudinal mpc %d reset - backwards: %s crashing: %s nan: %s" % ( - self.mpc_id, backwards, crashing, nans)) - - self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE, - MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK) - self.cur_state[0].v_ego = v_ego - self.cur_state[0].a_ego = 0.0 - self.v_mpc = v_ego - self.a_mpc = CS.carState.aEgo - self.prev_lead_status = False - - class Planner(object): def __init__(self, CP, fcw_enabled): context = zmq.Context() @@ -250,8 +70,6 @@ class Planner(object): self.plan = messaging.pub_sock(context, service_list['plan'].port) self.live_longitudinal_mpc = messaging.pub_sock(context, service_list['liveLongitudinalMpc'].port) - self.radar_errors = [] - self.mpc1 = LongitudinalMpc(1, self.live_longitudinal_mpc) self.mpc2 = LongitudinalMpc(2, self.live_longitudinal_mpc) @@ -264,19 +82,11 @@ class Planner(object): self.v_cruise = 0.0 self.a_cruise = 0.0 - self.lead_1 = None - self.lead_2 = None - self.longitudinalPlanSource = 'cruise' - self.fcw = False self.fcw_checker = FCWChecker() self.fcw_enabled = fcw_enabled self.params = Params() - self.v_curvature = NO_CURVATURE_SPEED - self.v_speedlimit = NO_CURVATURE_SPEED - self.decel_for_turn = False - self.map_valid = False def choose_solution(self, v_cruise_setpoint, enabled): if enabled: @@ -313,19 +123,15 @@ class Planner(object): force_slow_decel = live100.live100.forceDecel v_cruise_setpoint = v_cruise_kph * CV.KPH_TO_MS - self.last_md_ts = md.logMonoTime - - self.radar_errors = list(live20.live20.radarErrors) - - self.lead_1 = live20.live20.leadOne - self.lead_2 = live20.live20.leadTwo + lead_1 = live20.live20.leadOne + lead_2 = live20.live20.leadTwo enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping) - following = self.lead_1.status and self.lead_1.dRel < 45.0 and self.lead_1.vLeadK > v_ego and self.lead_1.aLeadK > 0.0 + following = lead_1.status and lead_1.dRel < 45.0 and lead_1.vLeadK > v_ego and lead_1.aLeadK > 0.0 - self.v_speedlimit = NO_CURVATURE_SPEED - self.v_curvature = NO_CURVATURE_SPEED - self.map_valid = live_map_data.liveMapData.mapValid + v_speedlimit = NO_CURVATURE_SPEED + v_curvature = NO_CURVATURE_SPEED + map_valid = live_map_data.liveMapData.mapValid # Speed limit and curvature set_speed_limit_active = self.params.get("LimitSetSpeed") == "1" and self.params.get("SpeedLimitOffset") is not None @@ -333,16 +139,16 @@ class Planner(object): if live_map_data.liveMapData.speedLimitValid: speed_limit = live_map_data.liveMapData.speedLimit offset = float(self.params.get("SpeedLimitOffset")) - self.v_speedlimit = speed_limit + offset + v_speedlimit = speed_limit + offset if live_map_data.liveMapData.curvatureValid: curvature = abs(live_map_data.liveMapData.curvature) a_y_max = 2.975 - v_ego * 0.0375 # ~1.85 @ 75mph, ~2.6 @ 25mph v_curvature = math.sqrt(a_y_max / max(1e-4, curvature)) - self.v_curvature = min(NO_CURVATURE_SPEED, v_curvature) + v_curvature = min(NO_CURVATURE_SPEED, v_curvature) - self.decel_for_turn = bool(self.v_curvature < min([v_cruise_setpoint, self.v_speedlimit, v_ego + 1.])) - v_cruise_setpoint = min([v_cruise_setpoint, self.v_curvature, self.v_speedlimit]) + decel_for_turn = bool(v_curvature < min([v_cruise_setpoint, v_speedlimit, v_ego + 1.])) + v_cruise_setpoint = min([v_cruise_setpoint, v_curvature, v_speedlimit]) # Calculate speed for normal cruise control if enabled: @@ -356,9 +162,9 @@ class Planner(object): accel_limits[0] = min(accel_limits[0], accel_limits[1]) # Change accel limits based on time remaining to turn - if self.decel_for_turn: + if decel_for_turn: time_to_turn = max(1.0, live_map_data.liveMapData.distToTurn / max(self.v_cruise, 1.)) - required_decel = min(0, (self.v_curvature - self.v_cruise) / time_to_turn) + required_decel = min(0, (v_curvature - self.v_cruise) / time_to_turn) accel_limits[0] = max(accel_limits[0], required_decel) self.v_cruise, self.a_cruise = speed_smoother(self.v_acc_start, self.a_acc_start, @@ -383,8 +189,8 @@ class Planner(object): self.mpc1.set_cur_state(self.v_acc_start, self.a_acc_start) self.mpc2.set_cur_state(self.v_acc_start, self.a_acc_start) - self.mpc1.update(CS, self.lead_1, v_cruise_setpoint) - self.mpc2.update(CS, self.lead_2, v_cruise_setpoint) + self.mpc1.update(CS, lead_1, v_cruise_setpoint) + self.mpc2.update(CS, lead_2, v_cruise_setpoint) self.choose_solution(v_cruise_setpoint, enabled) @@ -393,11 +199,11 @@ class Planner(object): self.fcw_checker.reset_lead(cur_time) blinkers = CS.carState.leftBlinker or CS.carState.rightBlinker - self.fcw = self.fcw_checker.update(self.mpc1.mpc_solution, cur_time, v_ego, CS.carState.aEgo, - self.lead_1.dRel, self.lead_1.vLead, self.lead_1.aLeadK, - self.lead_1.yRel, self.lead_1.vLat, - self.lead_1.fcw, blinkers) and not CS.carState.brakePressed - if self.fcw: + fcw = self.fcw_checker.update(self.mpc1.mpc_solution, cur_time, v_ego, CS.carState.aEgo, + lead_1.dRel, lead_1.vLead, lead_1.aLeadK, + lead_1.yRel, lead_1.vLat, + lead_1.fcw, blinkers) and not CS.carState.brakePressed + if fcw: cloudlog.info("FCW triggered %s", self.fcw_checker.counters) model_dead = cur_time - (md.logMonoTime / 1e9) > 0.5 @@ -409,8 +215,12 @@ class Planner(object): # TODO: Move all these events to controlsd. This has nothing to do with planning events = [] if model_dead: - events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) - if 'fault' in self.radar_errors: + events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE])) + + radar_errors = list(live20.live20.radarErrors) + if 'commIssue' in radar_errors: + events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE])) + if 'fault' in radar_errors: events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE])) plan_send.plan.events = events @@ -428,12 +238,12 @@ class Planner(object): plan_send.plan.hasLead = self.mpc1.prev_lead_status plan_send.plan.longitudinalPlanSource = self.longitudinalPlanSource - plan_send.plan.vCurvature = self.v_curvature - plan_send.plan.decelForTurn = self.decel_for_turn - plan_send.plan.mapValid = self.map_valid + plan_send.plan.vCurvature = v_curvature + plan_send.plan.decelForTurn = decel_for_turn + plan_send.plan.mapValid = map_valid # Send out fcw - fcw = self.fcw and (self.fcw_enabled or long_control_state != LongCtrlState.off) + fcw = fcw and (self.fcw_enabled or long_control_state != LongCtrlState.off) plan_send.plan.fcw = fcw self.plan.send(plan_send.to_bytes()) diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py index 95e3ef378..1dc77bf37 100755 --- a/selfdrive/controls/lib/vehicle_model.py +++ b/selfdrive/controls/lib/vehicle_model.py @@ -102,11 +102,18 @@ class VehicleModel(object): self.l = CP.wheelbase self.aF = CP.centerToFront self.aR = CP.wheelbase - CP.centerToFront - self.cF = CP.tireStiffnessFront - self.cR = CP.tireStiffnessRear - self.sR = CP.steerRatio self.chi = CP.steerRatioRear + self.cF_orig = CP.tireStiffnessFront + self.cR_orig = CP.tireStiffnessRear + self.update_params(1.0, CP.steerRatio) + + def update_params(self, stiffness_factor, steer_ratio): + """Update the vehicle model with a new stiffness factor and steer ratio""" + self.cF = stiffness_factor * self.cF_orig + self.cR = stiffness_factor * self.cR_orig + self.sR = steer_ratio + def steady_state_sol(self, sa, u): """Returns the steady state solution. diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index c6f9040b2..2a9537540 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -33,6 +33,7 @@ def plannerd_thread(): live20_sock = messaging.sub_sock(context, service_list['live20'].port, conflate=True, poller=poller) model_sock = messaging.sub_sock(context, service_list['model'].port, conflate=True, poller=poller) live_map_data_sock = messaging.sub_sock(context, service_list['liveMapData'].port, conflate=True, poller=poller) + live_parameters_sock = messaging.sub_sock(context, service_list['liveParameters'].port, conflate=True, poller=poller) car_state = messaging.new_message() car_state.init('carState') @@ -45,15 +46,23 @@ def plannerd_thread(): live_map_data = messaging.new_message() live_map_data.init('liveMapData') + live_parameters = messaging.new_message() + live_parameters.init('liveParameters') + live_parameters.liveParameters.valid = True + live_parameters.liveParameters.steerRatio = CP.steerRatio + live_parameters.liveParameters.stiffnessFactor = 1.0 + while True: for socket, event in poller.poll(): if socket is live100_sock: live100 = messaging.recv_one(socket) elif socket is car_state_sock: car_state = messaging.recv_one(socket) + elif socket is live_parameters_sock: + live_parameters = messaging.recv_one(socket) elif socket is model_sock: model = messaging.recv_one(socket) - PP.update(CP, VM, car_state, model, live100) + PP.update(CP, VM, car_state, model, live100, live_parameters) elif socket is live_map_data_sock: live_map_data = messaging.recv_one(socket) elif socket is live20_sock: diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 3952a913a..4d44c96b9 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -3,8 +3,9 @@ import zmq import numpy as np import numpy.matlib import importlib -from collections import defaultdict +from collections import defaultdict, deque from fastcluster import linkage_vector + import selfdrive.messaging as messaging from selfdrive.services import service_list from selfdrive.controls.lib.latcontrol_helpers import calc_lookahead_offset @@ -65,6 +66,14 @@ def radard_thread(gctx=None): poller = zmq.Poller() model = messaging.sub_sock(context, service_list['model'].port, conflate=True, poller=poller) live100 = messaging.sub_sock(context, service_list['live100'].port, conflate=True, poller=poller) + live_parameters_sock = messaging.sub_sock(context, service_list['liveParameters'].port, conflate=True, poller=poller) + + # Default parameters + live_parameters = messaging.new_message() + live_parameters.init('liveParameters') + live_parameters.liveParameters.valid = True + live_parameters.liveParameters.steerRatio = CP.steerRatio + live_parameters.liveParameters.stiffnessFactor = 1.0 MP = ModelParser() RI = RadarInterface(CP) @@ -95,7 +104,8 @@ def radard_thread(gctx=None): # v_ego v_ego = None - v_ego_array = np.zeros([2, v_len]) + v_ego_hist_t = deque(maxlen=v_len) + v_ego_hist_v = deque(maxlen=v_len) v_ego_t_aligned = 0. rk = Ratekeeper(rate, print_delay_threshold=np.inf) @@ -115,6 +125,9 @@ def radard_thread(gctx=None): l100 = messaging.recv_one(socket) elif socket is model: md = messaging.recv_one(socket) + elif socket is live_parameters_sock: + live_parameters = messaging.recv_one(socket) + VM.update_params(live_parameters.liveParameters.stiffnessFactor, live_parameters.liveParameters.steerRatio) if l100 is not None: active = l100.live100.active @@ -122,8 +135,8 @@ def radard_thread(gctx=None): steer_angle = l100.live100.angleSteers steer_override = l100.live100.steerOverride - v_ego_array = np.append(v_ego_array, [[v_ego], [float(rk.frame)/rate]], 1) - v_ego_array = v_ego_array[:, 1:] + v_ego_hist_v.append(v_ego) + v_ego_hist_t.append(float(rk.frame)/rate) last_l100_ts = l100.logMonoTime @@ -165,7 +178,7 @@ def radard_thread(gctx=None): path_y = np.polyval(MP.d_poly, path_x) else: # use path from steer, set angle_offset to 0 it does not only report the physical offset - path_y = calc_lookahead_offset(v_ego, steer_angle, path_x, VM, angle_offset=0)[0] + path_y = calc_lookahead_offset(v_ego, steer_angle, path_x, VM, angle_offset=live_parameters.liveParameters.angleOffsetAverage)[0] # *** remove missing points from meta data *** for ids in tracks.keys(): @@ -181,7 +194,8 @@ def radard_thread(gctx=None): # align v_ego by a fixed time to align it with the radar measurement cur_time = float(rk.frame)/rate - v_ego_t_aligned = np.interp(cur_time - RI.delay, v_ego_array[1], v_ego_array[0]) + v_ego_t_aligned = np.interp(cur_time - RI.delay, v_ego_hist_t, v_ego_hist_v) + d_path = np.sqrt(np.amin((path_x - rpt[0]) ** 2 + (path_y - rpt[1]) ** 2)) # add sign d_path *= np.sign(rpt[1] - np.interp(rpt[0], path_x, path_y)) diff --git a/selfdrive/crash.py b/selfdrive/crash.py index 20003ee9f..94bdfd125 100644 --- a/selfdrive/crash.py +++ b/selfdrive/crash.py @@ -1,6 +1,7 @@ """Install exception handler for process crash.""" import os import sys +import threading from selfdrive.version import version, dirty from selfdrive.swaglog import cloudlog @@ -38,3 +39,25 @@ else: capture_exception(exc_info=exc_info) __excepthook__(*exc_info) sys.excepthook = handle_exception + + """ + Workaround for `sys.excepthook` thread bug from: + http://bugs.python.org/issue1230540 + Call once from the main thread before creating any threads. + Source: https://stackoverflow.com/a/31622038 + """ + init_original = threading.Thread.__init__ + + def init(self, *args, **kwargs): + init_original(self, *args, **kwargs) + run_original = self.run + + def run_with_except_hook(*args2, **kwargs2): + try: + run_original(*args2, **kwargs2) + except Exception: + sys.excepthook(*sys.exc_info()) + + self.run = run_with_except_hook + + threading.Thread.__init__ = init diff --git a/selfdrive/locationd/kalman/__init__.py b/selfdrive/locationd/kalman/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/locationd/kalman/ekf_c.c b/selfdrive/locationd/kalman/ekf_c.c new file mode 100644 index 000000000..1331036de --- /dev/null +++ b/selfdrive/locationd/kalman/ekf_c.c @@ -0,0 +1,124 @@ +#include +#include + +typedef Eigen::Matrix DDM; +typedef Eigen::Matrix EEM; +typedef Eigen::Matrix DEM; + +void predict(double *in_x, double *in_P, double *in_Q, double dt) { + typedef Eigen::Matrix RRM; + + double nx[DIM] = {0}; + double in_F[EDIM*EDIM] = {0}; + + // functions from sympy + f_fun(in_x, dt, nx); + F_fun(in_x, dt, in_F); + + + EEM F(in_F); + EEM P(in_P); + EEM Q(in_Q); + + RRM F_main = F.topLeftCorner(MEDIM, MEDIM); + P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose(); + P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM); + P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose(); + + P = P + dt*Q; + + // copy out state + memcpy(in_x, nx, DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); +} + +// note: extra_args dim only correct when null space projecting +// otherwise 1 +template +void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) { + typedef Eigen::Matrix ZZM; + typedef Eigen::Matrix ZDM; + typedef Eigen::Matrix ZEM; + typedef Eigen::Matrix XEM; + typedef Eigen::Matrix EZM; + typedef Eigen::Matrix X1M; + typedef Eigen::Matrix XXM; + + double in_hx[ZDIM] = {0}; + double in_H[ZDIM * DIM] = {0}; + double in_H_mod[EDIM * DIM] = {0}; + double delta_x[EDIM] = {0}; + double x_new[DIM] = {0}; + + + // state x, P + Eigen::Matrix z(in_z); + EEM P(in_P); + ZZM pre_R(in_R); + + // functions from sympy + h_fun(in_x, in_ea, in_hx); + H_fun(in_x, in_ea, in_H); + ZDM pre_H(in_H); + + // get y (y = z - hx) + Eigen::Matrix pre_y(in_hx); pre_y = z - pre_y; + X1M y; XXM H; XXM R; + if (Hea_fun){ + typedef Eigen::Matrix ZAM; + double in_Hea[ZDIM * EADIM] = {0}; + Hea_fun(in_x, in_ea, in_Hea); + ZAM Hea(in_Hea); + XXM A = Hea.transpose().fullPivLu().kernel(); + + + y = A.transpose() * pre_y; + H = A.transpose() * pre_H; + R = A.transpose() * pre_R * A; + } else { + y = pre_y; + H = pre_H; + R = pre_R; + } + // get modified H + H_mod_fun(in_x, in_H_mod); + DEM H_mod(in_H_mod); + XEM H_err = H * H_mod; + + // Do mahalobis distance test + if (MAHA_TEST){ + XXM a = (H_err * P * H_err.transpose() + R).inverse(); + double maha_dist = y.transpose() * a * y; + if (maha_dist > MAHA_THRESHOLD){ + R = 1.0e16 * R; + } + } + + // Outlier resilient weighting + double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum()); + + // kalman gains and I_KH + XXM S = ((H_err * P) * H_err.transpose()) + R/weight; + XEM KT = S.fullPivLu().solve(H_err * P.transpose()); + //EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE? + //EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose(); + //std::cout << "Here is the matrix rot:\n" << K << std::endl; + EEM I_KH = Eigen::Matrix::Identity() - (KT.transpose() * H_err); + + // update state by injecting dx + Eigen::Matrix dx(delta_x); + dx = (KT.transpose() * y); + memcpy(delta_x, dx.data(), EDIM * sizeof(double)); + err_fun(in_x, delta_x, x_new); + Eigen::Matrix x(x_new); + + // update cov + P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT); + + // copy out state + memcpy(in_x, x.data(), DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); + memcpy(in_z, y.data(), y.rows() * sizeof(double)); +} + + diff --git a/selfdrive/locationd/kalman/ekf_sym.py b/selfdrive/locationd/kalman/ekf_sym.py new file mode 100644 index 000000000..2dfefe92d --- /dev/null +++ b/selfdrive/locationd/kalman/ekf_sym.py @@ -0,0 +1,564 @@ +import os +from bisect import bisect_right +import sympy as sp +import numpy as np +from numpy import dot +from common.ffi_wrapper import compile_code, wrap_compiled +from common.sympy_helpers import sympy_into_c +import scipy +from scipy.stats import chi2 + + +EXTERNAL_PATH = os.path.dirname(os.path.abspath(__file__)) + +def solve(a, b): + if a.shape[0] == 1 and a.shape[1] == 1: + #assert np.allclose(b/a[0][0], np.linalg.solve(a, b)) + return b/a[0][0] + else: + return np.linalg.solve(a, b) + +def null(H, eps=1e-12): + from scipy import linalg + u, s, vh = linalg.svd(H) + padding = max(0,np.shape(H)[1]-np.shape(s)[0]) + null_mask = np.concatenate(((s <= eps), np.ones((padding,),dtype=bool)),axis=0) + null_space = scipy.compress(null_mask, vh, axis=0) + return scipy.transpose(null_space) + +def gen_code(name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_params=None, msckf_params=None, maha_test_kinds=[]): + # optional state transition matrix, H modifier + # and err_function if an error-state kalman filter (ESKF) + # is desired. Best described in "Quaternion kinematics + # for the error-state Kalman filter" by Joan Sola + + if eskf_params: + err_eqs = eskf_params[0] + inv_err_eqs = eskf_params[1] + H_mod_sym = eskf_params[2] + f_err_sym = eskf_params[3] + x_err_sym = eskf_params[4] + else: + nom_x = sp.MatrixSymbol('nom_x',dim_x,1) + true_x = sp.MatrixSymbol('true_x',dim_x,1) + delta_x = sp.MatrixSymbol('delta_x',dim_x,1) + err_function_sym = sp.Matrix(nom_x + delta_x) + inv_err_function_sym = sp.Matrix(true_x - nom_x) + err_eqs = [err_function_sym, nom_x, delta_x] + inv_err_eqs = [inv_err_function_sym, nom_x, true_x] + + H_mod_sym = sp.Matrix(np.eye(dim_x)) + f_err_sym = f_sym + x_err_sym = x_sym + + # This configures the multi-state augmentation + # needed for EKF-SLAM with MSCKF (Mourikis et al 2007) + if msckf_params: + msckf = True + dim_main = msckf_params[0] # size of the main state + dim_augment = msckf_params[1] # size of one augment state chunk + dim_main_err = msckf_params[2] + dim_augment_err = msckf_params[3] + N = msckf_params[4] + feature_track_kinds = msckf_params[5] + assert dim_main + dim_augment*N == dim_x + assert dim_main_err + dim_augment_err*N == dim_err + else: + msckf = False + dim_main = dim_x + dim_augment = 0 + dim_main_err = dim_err + dim_augment_err = 0 + N = 0 + + # linearize with jacobians + F_sym = f_err_sym.jacobian(x_err_sym) + for sym in x_err_sym: + F_sym = F_sym.subs(sym, 0) + for i in xrange(len(obs_eqs)): + obs_eqs[i].append(obs_eqs[i][0].jacobian(x_sym)) + if msckf and obs_eqs[i][1] in feature_track_kinds: + obs_eqs[i].append(obs_eqs[i][0].jacobian(obs_eqs[i][2])) + else: + obs_eqs[i].append(None) + + # collect sympy functions + sympy_functions = [] + + # error functions + sympy_functions.append(('err_fun', err_eqs[0], [err_eqs[1], err_eqs[2]])) + sympy_functions.append(('inv_err_fun', inv_err_eqs[0], [inv_err_eqs[1], inv_err_eqs[2]])) + + # H modifier for ESKF updates + sympy_functions.append(('H_mod_fun', H_mod_sym, [x_sym])) + + # state propagation function + sympy_functions.append(('f_fun', f_sym, [x_sym, dt_sym])) + sympy_functions.append(('F_fun', F_sym, [x_sym, dt_sym])) + + # observation functions + for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs: + sympy_functions.append(('h_%d' % kind, h_sym, [x_sym, ea_sym])) + sympy_functions.append(('H_%d' % kind, H_sym, [x_sym, ea_sym])) + if msckf and kind in feature_track_kinds: + sympy_functions.append(('He_%d' % kind, He_sym, [x_sym, ea_sym])) + + # Generate and wrap all th c code + header, code = sympy_into_c(sympy_functions) + extra_header = "#define DIM %d\n" % dim_x + extra_header += "#define EDIM %d\n" % dim_err + extra_header += "#define MEDIM %d\n" % dim_main_err + extra_header += "typedef void (*Hfun)(double *, double *, double *);\n" + + extra_header += "\nvoid predict(double *x, double *P, double *Q, double dt);" + + extra_post = "" + + for h_sym, kind, ea_sym, H_sym, He_sym in obs_eqs: + if msckf and kind in feature_track_kinds: + He_str = 'He_%d' % kind + # ea_dim = ea_sym.shape[0] + else: + He_str = 'NULL' + # ea_dim = 1 # not really dim of ea but makes c function work + maha_thresh = chi2.ppf(0.95, int(h_sym.shape[0])) # mahalanobis distance for outlier detection + maha_test = kind in maha_test_kinds + extra_post += """ + void update_%d(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<%d,%d,%d>(in_x, in_P, h_%d, H_%d, %s, in_z, in_R, in_ea, MAHA_THRESH_%d); + } + """ % (kind, h_sym.shape[0], 3, maha_test, kind, kind, He_str, kind) + extra_header += "\nconst static double MAHA_THRESH_%d = %f;" % (kind, maha_thresh) + extra_header += "\nvoid update_%d(double *, double *, double *, double *, double *);" % kind + + code += "\n" + extra_header + code += "\n" + open(os.path.join(EXTERNAL_PATH, "ekf_c.c")).read() + code += "\n" + extra_post + header += "\n" + extra_header + compile_code(name, code, header, EXTERNAL_PATH) + +class EKF_sym(object): + def __init__(self, name, Q, x_initial, P_initial, dim_main, dim_main_err, + N=0, dim_augment=0, dim_augment_err=0, maha_test_kinds=[]): + ''' + Generates process function and all + observation functions for the kalman + filter. + ''' + if N > 0: + self.msckf = True + else: + self.msckf = False + self.N = N + self.dim_augment = dim_augment + self.dim_augment_err = dim_augment_err + self.dim_main = dim_main + self.dim_main_err = dim_main_err + + # state + x_initial = x_initial.reshape((-1, 1)) + self.dim_x = x_initial.shape[0] + self.dim_err = P_initial.shape[0] + assert dim_main + dim_augment*N == self.dim_x + assert dim_main_err + dim_augment_err*N == self.dim_err + + # kinds that should get mahalanobis distance + # tested for outlier rejection + self.maha_test_kinds = maha_test_kinds + + # process noise + self.Q = Q + + # rewind stuff + self.rewind_t = [] + self.rewind_states = [] + self.rewind_obscache = [] + self.init_state(x_initial, P_initial, None) + + ffi, lib = wrap_compiled(name, EXTERNAL_PATH) + kinds, self.feature_track_kinds = [], [] + for func in dir(lib): + if func[:2] == 'h_': + kinds.append(int(func[2:])) + if func[:3] == 'He_': + self.feature_track_kinds.append(int(func[3:])) + + # wrap all the sympy functions + def wrap_1lists(name): + func = eval("lib.%s" % name, {"lib":lib}) + def ret(lst1, out): + func(ffi.cast("double *", lst1.ctypes.data), + ffi.cast("double *", out.ctypes.data)) + return ret + def wrap_2lists(name): + func = eval("lib.%s" % name, {"lib":lib}) + def ret(lst1, lst2, out): + func(ffi.cast("double *", lst1.ctypes.data), + ffi.cast("double *", lst2.ctypes.data), + ffi.cast("double *", out.ctypes.data)) + return ret + def wrap_1list_1float(name): + func = eval("lib.%s" % name, {"lib":lib}) + def ret(lst1, fl, out): + func(ffi.cast("double *", lst1.ctypes.data), + ffi.cast("double", fl), + ffi.cast("double *", out.ctypes.data)) + return ret + + self.f = wrap_1list_1float("f_fun") + self.F = wrap_1list_1float("F_fun") + + self.err_function = wrap_2lists("err_fun") + self.inv_err_function = wrap_2lists("inv_err_fun") + self.H_mod = wrap_1lists("H_mod_fun") + + self.hs, self.Hs, self.Hes = {}, {}, {} + for kind in kinds: + self.hs[kind] = wrap_2lists("h_%d" % kind) + self.Hs[kind] = wrap_2lists("H_%d" % kind) + if self.msckf and kind in self.feature_track_kinds: + self.Hes[kind] = wrap_2lists("He_%d" % kind) + + # wrap the C++ predict function + def _predict_blas(x, P, dt): + lib.predict(ffi.cast("double *", x.ctypes.data), + ffi.cast("double *", P.ctypes.data), + ffi.cast("double *", self.Q.ctypes.data), + ffi.cast("double", dt)) + return x, P + + # wrap the C++ update function + def fun_wrapper(f, kind): + f = eval("lib.%s" % f, {"lib": lib}) + def _update_inner_blas(x, P, z, R, extra_args): + f(ffi.cast("double *", x.ctypes.data), + ffi.cast("double *", P.ctypes.data), + ffi.cast("double *", z.ctypes.data), + ffi.cast("double *", R.ctypes.data), + ffi.cast("double *", extra_args.ctypes.data)) + if self.msckf and kind in self.feature_track_kinds: + y = z[:-len(extra_args)] + else: + y = z + return x, P, y + return _update_inner_blas + + self._updates = {} + for kind in kinds: + self._updates[kind] = fun_wrapper("update_%d" % kind, kind) + + def _update_blas(x, P, kind, z, R, extra_args=[]): + return self._updates[kind](x, P, z, R, extra_args) + + # assign the functions + self._predict = _predict_blas + #self._predict = self._predict_python + self._update = _update_blas + #self._update = self._update_python + + + def init_state(self, state, covs, filter_time): + self.x = np.array(state.reshape((-1, 1))).astype(np.float64) + self.P = np.array(covs).astype(np.float64) + self.filter_time = filter_time + self.augment_times = [0]*self.N + self.rewind_obscache = [] + self.rewind_t = [] + self.rewind_states = [] + + def augment(self): + # TODO this is not a generalized way of doing + # this and implies that the augmented states + # are simply the first (dim_augment_state) + # elements of the main state. + assert self.msckf + d1 = self.dim_main + d2 = self.dim_main_err + d3 = self.dim_augment + d4 = self.dim_augment_err + # push through augmented states + self.x[d1:-d3] = self.x[d1+d3:] + self.x[-d3:] = self.x[:d3] + assert self.x.shape == (self.dim_x, 1) + # push through augmented covs + assert self.P.shape == (self.dim_err, self.dim_err) + P_reduced = self.P + P_reduced = np.delete(P_reduced, np.s_[d2:d2+d4], axis=1) + P_reduced = np.delete(P_reduced, np.s_[d2:d2+d4], axis=0) + assert P_reduced.shape == (self.dim_err -d4, self.dim_err -d4) + to_mult = np.zeros((self.dim_err, self.dim_err - d4)) + to_mult[:-d4,:] = np.eye(self.dim_err - d4) + to_mult[-d4:,:d4] = np.eye(d4) + self.P = to_mult.dot(P_reduced.dot(to_mult.T)) + self.augment_times = self.augment_times[1:] + self.augment_times.append(self.filter_time) + assert self.P.shape == (self.dim_err, self.dim_err) + + def state(self): + return np.array(self.x).flatten() + + def covs(self): + return self.P + + def rewind(self, t): + # find where we are rewinding to + idx = bisect_right(self.rewind_t, t) + assert self.rewind_t[idx-1] <= t + assert self.rewind_t[idx] > t # must be true, or rewind wouldn't be called + + # set the state to the time right before that + self.filter_time = self.rewind_t[idx-1] + self.x[:] = self.rewind_states[idx-1][0] + self.P[:] = self.rewind_states[idx-1][1] + + # return the observations we rewound over for fast forwarding + ret = self.rewind_obscache[idx:] + + # throw away the old future + # TODO: is this making a copy? + self.rewind_t = self.rewind_t[:idx] + self.rewind_states = self.rewind_states[:idx] + self.rewind_obscache = self.rewind_obscache[:idx] + + return ret + + def checkpoint(self, obs): + # push to rewinder + self.rewind_t.append(self.filter_time) + self.rewind_states.append((np.copy(self.x), np.copy(self.P))) + self.rewind_obscache.append(obs) + + # only keep a certain number around + REWIND_TO_KEEP = 512 + self.rewind_t = self.rewind_t[-REWIND_TO_KEEP:] + self.rewind_states = self.rewind_states[-REWIND_TO_KEEP:] + self.rewind_obscache = self.rewind_obscache[-REWIND_TO_KEEP:] + + def predict_and_update_batch(self, t, kind, z, R, extra_args=[[]], augment=False): + # TODO handle rewinding at this level" + + # rewind + if t < self.filter_time: + if len(self.rewind_t) == 0 or t < self.rewind_t[0] or t < self.rewind_t[-1] -1.0: + print "observation too old at %.3f with filter at %.3f, ignoring" % (t, self.filter_time) + return None + rewound = self.rewind(t) + else: + rewound = [] + + ret = self._predict_and_update_batch(t, kind, z, R, extra_args, augment) + + # optional fast forward + for r in rewound: + self._predict_and_update_batch(*r) + + return ret + + def _predict_and_update_batch(self, t, kind, z, R, extra_args, augment=False): + """The main kalman filter function + Predicts the state and then updates a batch of observations + + dim_x: dimensionality of the state space + dim_z: dimensionality of the observation and depends on kind + n: number of observations + + Args: + t (float): Time of observation + kind (int): Type of observation + z (vec [n,dim_z]): Measurements + R (mat [n,dim_z, dim_z]): Measurement Noise + extra_args (list, [n]): Values used in H computations + """ + # initialize time + if self.filter_time is None: + self.filter_time = t + + # predict + dt = t - self.filter_time + assert dt >= 0 + self.x, self.P = self._predict(self.x, self.P, dt) + self.filter_time = t + xk_km1, Pk_km1 = np.copy(self.x).flatten(), np.copy(self.P) + + # update batch + y = [] + for i in xrange(len(z)): + # these are from the user, so we canonicalize them + z_i = np.array(z[i], dtype=np.float64, order='F') + R_i = np.array(R[i], dtype=np.float64, order='F') + extra_args_i = np.array(extra_args[i], dtype=np.float64, order='F') + # update + self.x, self.P, y_i = self._update(self.x, self.P, kind, z_i, R_i, extra_args=extra_args_i) + y.append(y_i) + xk_k, Pk_k = np.copy(self.x).flatten(), np.copy(self.P) + + if augment: + self.augment() + + # checkpoint + self.checkpoint((t, kind, z, R, extra_args)) + + return xk_km1, xk_k, Pk_km1, Pk_k, t, kind, y, z, extra_args + + def _predict_python(self, x, P, dt): + x_new = np.zeros(x.shape, dtype=np.float64) + self.f(x, dt, x_new) + + F = np.zeros(P.shape, dtype=np.float64) + self.F(x, dt, F) + + if not self.msckf: + P = dot(dot(F, P), F.T) + else: + # Update the predicted state covariance: + # Pk+1|k = |F*Pii*FT + Q*dt F*Pij | + # |PijT*FT Pjj | + # Where F is the jacobian of the main state + # predict function, Pii is the main state's + # covariance and Q its process noise. Pij + # is the covariance between the augmented + # states and the main state. + # + d2 = self.dim_main_err # known at compile time + F_curr = F[:d2, :d2] + P[:d2, :d2] = (F_curr.dot(P[:d2, :d2])).dot(F_curr.T) + P[:d2, d2:] = F_curr.dot(P[:d2, d2:]) + P[d2:, :d2] = P[d2:, :d2].dot(F_curr.T) + + P += dt*self.Q + return x_new, P + + def _update_python(self, x, P, kind, z, R, extra_args=[]): + # init vars + z = z.reshape((-1, 1)) + h = np.zeros(z.shape, dtype=np.float64) + H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64) + + # C functions + self.hs[kind](x, extra_args, h) + self.Hs[kind](x, extra_args, H) + + # y is the "loss" + y = z - h + + # *** same above this line *** + + if self.msckf and kind in self.Hes: + # Do some algebraic magic to decorrelate + He = np.zeros((z.shape[0], len(extra_args)), dtype=np.float64) + self.Hes[kind](x, extra_args, He) + + # TODO: Don't call a function here, do projection locally + A = null(He.T) + + y = A.T.dot(y) + H = A.T.dot(H) + R = A.T.dot(R.dot(A)) + + # TODO If nullspace isn't the dimension we want + if A.shape[1] + He.shape[1] != A.shape[0]: + print 'Warning: null space projection failed, measurement ignored' + return x, P, np.zeros(A.shape[0] - He.shape[1]) + + # if using eskf + H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64) + self.H_mod(x, H_mod) + H = H.dot(H_mod) + + # Do mahalobis distance test + # currently just runs on msckf observations + # could run on anything if needed + if self.msckf and kind in self.maha_test_kinds: + a = np.linalg.inv(H.dot(P).dot(H.T) + R) + maha_dist = y.T.dot(a.dot(y)) + if maha_dist > chi2.ppf(0.95, y.shape[0]): + R = 10e16*R + + # *** same below this line *** + + # Outlier resilient weighting as described in: + # "A Kalman Filter for Robust Outlier Detection - Jo-Anne Ting, ..." + weight = 1 #(1.5)/(1 + np.sum(y**2)/np.sum(R)) + + S = dot(dot(H, P), H.T) + R/weight + K = solve(S, dot(H, P.T)).T + I_KH = np.eye(P.shape[0]) - dot(K, H) + + # update actual state + delta_x = dot(K, y) + P = dot(dot(I_KH, P), I_KH.T) + dot(dot(K, R), K.T) + + # inject observed error into state + x_new = np.zeros(x.shape, dtype=np.float64) + self.err_function(x, delta_x, x_new) + return x_new, P, y.flatten() + + def maha_test(self, x, P, kind, z, R, extra_args=[], maha_thresh=0.95): + # init vars + z = z.reshape((-1, 1)) + h = np.zeros(z.shape, dtype=np.float64) + H = np.zeros((z.shape[0], self.dim_x), dtype=np.float64) + + # C functions + self.hs[kind](x, extra_args, h) + self.Hs[kind](x, extra_args, H) + + # y is the "loss" + y = z - h + + # if using eskf + H_mod = np.zeros((x.shape[0], P.shape[0]), dtype=np.float64) + self.H_mod(x, H_mod) + H = H.dot(H_mod) + + a = np.linalg.inv(H.dot(P).dot(H.T) + R) + maha_dist = y.T.dot(a.dot(y)) + if maha_dist > chi2.ppf(maha_thresh, y.shape[0]): + return False + else: + return True + + + + + def rts_smooth(self, estimates, norm_quats=False): + ''' + Returns rts smoothed results of + kalman filter estimates + + If the kalman state is augmented with + old states only the main state is smoothed + ''' + xk_n = estimates[-1][0] + Pk_n = estimates[-1][2] + Fk_1 = np.zeros(Pk_n.shape, dtype=np.float64) + + states_smoothed = [xk_n] + covs_smoothed = [Pk_n] + for k in xrange(len(estimates) - 2, -1, -1): + xk1_n = xk_n + if norm_quats: + xk1_n[3:7] /= np.linalg.norm(xk1_n[3:7]) + Pk1_n = Pk_n + + xk1_k, _, Pk1_k, _, t2, _, _, _, _ = estimates[k + 1] + _, xk_k, _, Pk_k, t1, _, _, _, _ = estimates[k] + dt = t2 - t1 + self.F(xk_k, dt, Fk_1) + + d1 = self.dim_main + d2 = self.dim_main_err + Ck = np.linalg.solve(Pk1_k[:d2,:d2], Fk_1[:d2,:d2].dot(Pk_k[:d2,:d2].T)).T + xk_n = xk_k + delta_x = np.zeros((Pk_n.shape[0], 1), dtype=np.float64) + self.inv_err_function(xk1_k, xk1_n, delta_x) + delta_x[:d2] = Ck.dot(delta_x[:d2]) + x_new = np.zeros((xk_n.shape[0], 1), dtype=np.float64) + self.err_function(xk_k, delta_x, x_new) + xk_n[:d1] = x_new[:d1,0] + Pk_n = Pk_k + Pk_n[:d2,:d2] = Pk_k[:d2,:d2] + Ck.dot(Pk1_n[:d2,:d2] - Pk1_k[:d2,:d2]).dot(Ck.T) + states_smoothed.append(xk_n) + covs_smoothed.append(Pk_n) + + return np.flipud(np.vstack(states_smoothed)), np.stack(covs_smoothed, 0)[::-1] diff --git a/selfdrive/locationd/kalman/kalman_helpers.py b/selfdrive/locationd/kalman/kalman_helpers.py new file mode 100644 index 000000000..b15f1542e --- /dev/null +++ b/selfdrive/locationd/kalman/kalman_helpers.py @@ -0,0 +1,165 @@ +import numpy as np +import os +from bisect import bisect +from tqdm import tqdm + + +class ObservationKind(object): + UNKNOWN = 0 + NO_OBSERVATION = 1 + GPS_NED = 2 + ODOMETRIC_SPEED = 3 + PHONE_GYRO = 4 + GPS_VEL = 5 + PSEUDORANGE_GPS = 6 + PSEUDORANGE_RATE_GPS = 7 + SPEED = 8 + NO_ROT = 9 + PHONE_ACCEL = 10 + ORB_POINT = 11 + ECEF_POS = 12 + CAMERA_ODO_TRANSLATION = 13 + CAMERA_ODO_ROTATION = 14 + ORB_FEATURES = 15 + MSCKF_TEST = 16 + FEATURE_TRACK_TEST = 17 + LANE_PT = 18 + IMU_FRAME = 19 + PSEUDORANGE_GLONASS = 20 + PSEUDORANGE_RATE_GLONASS = 21 + PSEUDORANGE = 22 + PSEUDORANGE_RATE = 23 + + names = ['Unknown', + 'No observation', + 'GPS NED', + 'Odometric speed', + 'Phone gyro', + 'GPS velocity', + 'GPS pseudorange', + 'GPS pseudorange rate', + 'Speed', + 'No rotation', + 'Phone acceleration', + 'ORB point', + 'ECEF pos', + 'camera odometric translation', + 'camera odometric rotation', + 'ORB features', + 'MSCKF test', + 'Feature track test', + 'Lane ecef point', + 'imu frame eulers', + 'GLONASS pseudorange', + 'GLONASS pseudorange rate'] + + @classmethod + def to_string(cls, kind): + return cls.names[kind] + + + +SAT_OBS = [ObservationKind.PSEUDORANGE_GPS, + ObservationKind.PSEUDORANGE_RATE_GPS, + ObservationKind.PSEUDORANGE_GLONASS, + ObservationKind.PSEUDORANGE_RATE_GLONASS] + + +def run_car_ekf_offline(kf, observations_by_kind): + from laika.raw_gnss import GNSSMeasurement + observations = [] + # create list of observations with element format: [kind, time, data] + for kind in observations_by_kind: + for t, data in zip(observations_by_kind[kind][0], observations_by_kind[kind][1]): + observations.append([t, kind, data]) + observations.sort(key=lambda obs: obs[0]) + + times, estimates = run_observations_through_filter(kf, observations) + + forward_states = np.stack(e[1] for e in estimates) + forward_covs = np.stack(e[3] for e in estimates) + smoothed_states, smoothed_covs = kf.rts_smooth(estimates) + + observations_dict = {} + # TODO assuming observations and estimates + # are same length may not work with VO + for e in estimates: + t = e[4] + kind = str(int(e[5])) + res = e[6] + z = e[7] + ea = e[8] + if len(z) == 0: + continue + if kind not in observations_dict: + observations_dict[kind] = {} + observations_dict[kind]['t'] = np.array(len(z)*[t]) + observations_dict[kind]['z'] = np.array(z) + observations_dict[kind]['ea'] = np.array(ea) + observations_dict[kind]['residual'] = np.array(res) + else: + observations_dict[kind]['t'] = np.append(observations_dict[kind]['t'], np.array(len(z)*[t])) + observations_dict[kind]['z'] = np.vstack((observations_dict[kind]['z'], np.array(z))) + observations_dict[kind]['ea'] = np.vstack((observations_dict[kind]['ea'], np.array(ea))) + observations_dict[kind]['residual'] = np.vstack((observations_dict[kind]['residual'], np.array(res))) + + # add svIds to gnss data + for kind in map(str, SAT_OBS): + if int(kind) in observations_by_kind and kind in observations_dict: + observations_dict[kind]['svIds'] = np.array([]) + observations_dict[kind]['CNO'] = np.array([]) + observations_dict[kind]['std'] = np.array([]) + for obs in observations_by_kind[int(kind)][1]: + observations_dict[kind]['svIds'] = np.append(observations_dict[kind]['svIds'], + np.array([obs[:,GNSSMeasurement.PRN]])) + observations_dict[kind]['std'] = np.append(observations_dict[kind]['std'], + np.array([obs[:,GNSSMeasurement.PR_STD]])) + return smoothed_states, smoothed_covs, forward_states, forward_covs, times, observations_dict + + +def run_observations_through_filter(kf, observations, filter_time=None): + estimates = [] + + for obs in tqdm(observations): + t = obs[0] + kind = obs[1] + data = obs[2] + estimates.append(kf.predict_and_observe(t, kind, data)) + times = [x[4] for x in estimates] + return times, estimates + + +def save_residuals_plot(obs, save_path, data_name): + import matplotlib.pyplot as plt + import mpld3 + fig = plt.figure(figsize=(10,20)) + fig.suptitle('Residuals of ' + data_name, fontsize=24) + n = len(obs.keys()) + start_times = [obs[kind]['t'][0] for kind in obs] + start_time = min(start_times) + xlims = [start_time + 3, start_time + 60] + + for i, kind in enumerate(obs): + ax = fig.add_subplot(n, 1, i+1) + ax.set_xlim(xlims) + t = obs[kind]['t'] + res = obs[kind]['residual'] + start_idx = bisect(t, xlims[0]) + if len(res) == start_idx: + continue + ylim = max(np.linalg.norm(res[start_idx:], axis=1)) + ax.set_ylim([-ylim, ylim]) + if int(kind) in SAT_OBS: + svIds = obs[kind]['svIds'] + for svId in set(svIds): + svId_idx = (svIds == svId) + t = obs[kind]['t'][svId_idx] + res = obs[kind]['residual'][svId_idx] + ax.plot(t, res, label='SV ' + str(int(svId))) + ax.legend(loc='right') + else: + ax.plot(t, res) + plt.title('Residual of kind ' + ObservationKind.to_string(int(kind)), fontsize=20) + plt.tight_layout() + os.makedirs(save_path) + mpld3.save_html(fig, save_path + 'residuals_plot.html') diff --git a/selfdrive/locationd/kalman/loc_local_kf.py b/selfdrive/locationd/kalman/loc_local_kf.py new file mode 100755 index 000000000..df6d41c77 --- /dev/null +++ b/selfdrive/locationd/kalman/loc_local_kf.py @@ -0,0 +1,128 @@ +#!/usr/bin/env python +import numpy as np +import loc_local_model + +from kalman_helpers import ObservationKind +from ekf_sym import EKF_sym + + + +class States(object): + VELOCITY = slice(0,3) # device frame velocity in m/s + ANGULAR_VELOCITY = slice(3, 6) # roll, pitch and yaw rates in device frame in radians/s + GYRO_BIAS = slice(6, 9) # roll, pitch and yaw biases + ODO_SCALE = slice(9, 10) # odometer scale + ACCELERATION = slice(10, 13) # Acceleration in device frame in m/s**2 + + +class LocLocalKalman(object): + def __init__(self): + x_initial = np.array([0, 0, 0, + 0, 0, 0, + 0, 0, 0, + 1, + 0, 0, 0]) + + # state covariance + P_initial = np.diag([10**2, 10**2, 10**2, + 1**2, 1**2, 1**2, + 0.05**2, 0.05**2, 0.05**2, + 0.02**2, + 1**2, 1**2, 1**2]) + + # process noise + Q = np.diag([0.0**2, 0.0**2, 0.0**2, + .01**2, .01**2, .01**2, + (0.005/100)**2, (0.005/100)**2, (0.005/100)**2, + (0.02/100)**2, + 3**2, 3**2, 3**2]) + + self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2), + ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2])} + + # MSCKF stuff + self.dim_state = len(x_initial) + self.dim_main = self.dim_state + + name = 'loc_local' + loc_local_model.gen_model(name, self.dim_state) + + # init filter + self.filter = EKF_sym(name, Q, x_initial, P_initial, self.dim_main, self.dim_main) + + @property + def x(self): + return self.filter.state() + + @property + def t(self): + return self.filter.filter_time + + @property + def P(self): + return self.filter.covs() + + def predict(self, t): + if self.t: + # Does NOT modify filter state + return self.filter._predict(self.x, self.P, t - self.t)[0] + else: + raise RuntimeError("Request predict on filter with uninitialized time") + + def rts_smooth(self, estimates): + return self.filter.rts_smooth(estimates, norm_quats=True) + + + def init_state(self, state, covs_diag=None, covs=None, filter_time=None): + if covs_diag is not None: + P = np.diag(covs_diag) + elif covs is not None: + P = covs + else: + P = self.filter.covs() + self.filter.init_state(state, P, filter_time) + + def predict_and_observe(self, t, kind, data): + if len(data) > 0: + data = np.atleast_2d(data) + if kind == ObservationKind.CAMERA_ODO_TRANSLATION: + r = self.predict_and_update_odo_trans(data, t, kind) + elif kind == ObservationKind.CAMERA_ODO_ROTATION: + r = self.predict_and_update_odo_rot(data, t, kind) + elif kind == ObservationKind.ODOMETRIC_SPEED: + r = self.predict_and_update_odo_speed(data, t, kind) + else: + r = self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data))) + return r + + def get_R(self, kind, n): + obs_noise = self.obs_noise[kind] + dim = obs_noise.shape[0] + R = np.zeros((n, dim, dim)) + for i in xrange(n): + R[i,:,:] = obs_noise + return R + + def predict_and_update_odo_speed(self, speed, t, kind): + z = np.array(speed) + R = np.zeros((len(speed), 1, 1)) + for i, _ in enumerate(z): + R[i,:,:] = np.diag([0.2**2]) + return self.filter.predict_and_update_batch(t, kind, z, R) + + def predict_and_update_odo_trans(self, trans, t, kind): + z = trans[:,:3] + R = np.zeros((len(trans), 3, 3)) + for i, _ in enumerate(z): + R[i,:,:] = np.diag(trans[i,3:]**2) + return self.filter.predict_and_update_batch(t, kind, z, R) + + def predict_and_update_odo_rot(self, rot, t, kind): + z = rot[:,:3] + R = np.zeros((len(rot), 3, 3)) + for i, _ in enumerate(z): + R[i,:,:] = np.diag(rot[i,3:]**2) + return self.filter.predict_and_update_batch(t, kind, z, R) + +if __name__ == "__main__": + LocLocalKalman() diff --git a/selfdrive/locationd/kalman/loc_local_model.py b/selfdrive/locationd/kalman/loc_local_model.py new file mode 100644 index 000000000..2d69cac02 --- /dev/null +++ b/selfdrive/locationd/kalman/loc_local_model.py @@ -0,0 +1,80 @@ +import numpy as np +import sympy as sp +import os + +from kalman_helpers import ObservationKind +from ekf_sym import gen_code + + +def gen_model(name, dim_state): + + # check if rebuild is needed + try: + dir_path = os.path.dirname(__file__) + deps = [dir_path + '/' + 'ekf_c.c', + dir_path + '/' + 'ekf_sym.py', + dir_path + '/' + 'loc_local_model.py', + dir_path + '/' + 'loc_local_kf.py'] + + outs = [dir_path + '/' + name + '.o', + dir_path + '/' + name + '.so', + dir_path + '/' + name + '.cpp'] + out_times = map(os.path.getmtime, outs) + dep_times = map(os.path.getmtime, deps) + rebuild = os.getenv("REBUILD", False) + if min(out_times) > max(dep_times) and not rebuild: + return + map(os.remove, outs) + except OSError: + pass + + # make functions and jacobians with sympy + # state variables + state_sym = sp.MatrixSymbol('state', dim_state, 1) + state = sp.Matrix(state_sym) + v = state[0:3,:] + omega = state[3:6,:] + vroll, vpitch, vyaw = omega + vx, vy, vz = v + roll_bias, pitch_bias, yaw_bias = state[6:9,:] + odo_scale = state[9,:] + accel = state[10:13,:] + + dt = sp.Symbol('dt') + + # Time derivative of the state as a function of state + state_dot = sp.Matrix(np.zeros((dim_state, 1))) + state_dot[:3,:] = accel + + # Basic descretization, 1st order intergrator + # Can be pretty bad if dt is big + f_sym = sp.Matrix(state + dt*state_dot) + + # + # Observation functions + # + + # extra args + #imu_rot = euler_rotate(*imu_angles) + #h_gyro_sym = imu_rot*sp.Matrix([vroll + roll_bias, + # vpitch + pitch_bias, + # vyaw + yaw_bias]) + h_gyro_sym = sp.Matrix([vroll + roll_bias, + vpitch + pitch_bias, + vyaw + yaw_bias]) + + speed = vx**2 + vy**2 + vz**2 + h_speed_sym = sp.Matrix([sp.sqrt(speed)*odo_scale]) + + h_relative_motion = sp.Matrix(v) + h_phone_rot_sym = sp.Matrix([vroll, + vpitch, + vyaw]) + + + obs_eqs = [[h_speed_sym, ObservationKind.ODOMETRIC_SPEED, None], + [h_gyro_sym, ObservationKind.PHONE_GYRO, None], + [h_phone_rot_sym, ObservationKind.NO_ROT, None], + [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None], + [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None]] + gen_code(name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state) diff --git a/selfdrive/locationd/locationd_local.py b/selfdrive/locationd/locationd_local.py new file mode 100755 index 000000000..0b1af2f4c --- /dev/null +++ b/selfdrive/locationd/locationd_local.py @@ -0,0 +1,274 @@ +#!/usr/bin/env python +import os +import zmq +import math +import json + +os.environ["OMP_NUM_THREADS"] = "1" +import numpy as np +from bisect import bisect_right + +from cereal import car +from common.params import Params +from common.numpy_fast import clip +import selfdrive.messaging as messaging +from selfdrive.swaglog import cloudlog +from selfdrive.controls.lib.vehicle_model import VehicleModel +from selfdrive.services import service_list +from selfdrive.locationd.kalman.loc_local_kf import LocLocalKalman +from selfdrive.locationd.kalman.kalman_helpers import ObservationKind + +DEBUG = False +kf = LocLocalKalman() # Make sure that model is generated on import time + +MAX_ANGLE_OFFSET = math.radians(10.) +MAX_ANGLE_OFFSET_TH = math.radians(9.) +MIN_STIFFNESS = 0.5 +MAX_STIFFNESS = 2.0 +MIN_SR = 0.5 +MAX_SR = 2.0 +MIN_SR_TH = 0.55 +MAX_SR_TH = 1.9 + +LEARNING_RATE = 3 + +class Localizer(object): + def __init__(self, disabled_logs=None, dog=None): + self.kf = LocLocalKalman() + self.reset_kalman() + + self.max_age = .2 # seconds + self.calibration_valid = False + + if disabled_logs is None: + self.disabled_logs = list() + else: + self.disabled_logs = disabled_logs + + def reset_kalman(self): + self.filter_time = None + self.observation_buffer = [] + self.converter = None + self.speed_counter = 0 + self.sensor_counter = 0 + + def liveLocationMsg(self, time): + fix = messaging.log.KalmanOdometry.new_message() + + predicted_state = self.kf.x + fix.trans = [float(predicted_state[0]), float(predicted_state[1]), float(predicted_state[2])] + fix.rot = [float(predicted_state[3]), float(predicted_state[4]), float(predicted_state[5])] + + return fix + + def update_kalman(self, time, kind, meas): + idx = bisect_right([x[0] for x in self.observation_buffer], time) + self.observation_buffer.insert(idx, (time, kind, meas)) + while self.observation_buffer[-1][0] - self.observation_buffer[0][0] > self.max_age: + self.kf.predict_and_observe(*self.observation_buffer.pop(0)) + + def handle_cam_odo(self, log, current_time): + self.update_kalman(current_time, ObservationKind.CAMERA_ODO_ROTATION, np.concatenate([log.cameraOdometry.rot, + log.cameraOdometry.rotStd])) + self.update_kalman(current_time, ObservationKind.CAMERA_ODO_TRANSLATION, np.concatenate([log.cameraOdometry.trans, + log.cameraOdometry.transStd])) + + def handle_car_state(self, log, current_time): + self.speed_counter += 1 + if self.speed_counter % 5 == 0: + self.update_kalman(current_time, ObservationKind.ODOMETRIC_SPEED, np.array([log.carState.vEgo])) + + def handle_sensors(self, log, current_time): + for sensor_reading in log.sensorEvents: + # TODO does not yet account for double sensor readings in the log + if sensor_reading.type == 4: + self.sensor_counter += 1 + if self.sensor_counter % LEARNING_RATE == 0: + self.update_kalman(current_time, ObservationKind.PHONE_GYRO, [-sensor_reading.gyro.v[2], -sensor_reading.gyro.v[1], -sensor_reading.gyro.v[0]]) + + def handle_log(self, log): + current_time = 1e-9 * log.logMonoTime + typ = log.which + if typ in self.disabled_logs: + return + if typ == "sensorEvents": + self.handle_sensors(log, current_time) + elif typ == "carState": + self.handle_car_state(log, current_time) + elif typ == "cameraOdometry": + self.handle_cam_odo(log, current_time) + + +class ParamsLearner(object): + def __init__(self, VM, angle_offset=0., stiffness_factor=1.0, steer_ratio=None, learning_rate=1.0): + self.VM = VM + + self.ao = math.radians(angle_offset) + self.slow_ao = math.radians(angle_offset) + self.x = stiffness_factor + self.sR = VM.sR if steer_ratio is None else steer_ratio + self.MIN_SR = MIN_SR * self.VM.sR + self.MAX_SR = MAX_SR * self.VM.sR + self.MIN_SR_TH = MIN_SR_TH * self.VM.sR + self.MAX_SR_TH = MAX_SR_TH * self.VM.sR + + self.alpha1 = 0.01 * learning_rate + self.alpha2 = 0.00025 * learning_rate + self.alpha3 = 0.1 * learning_rate + self.alpha4 = 1.0 * learning_rate + + def get_values(self): + return { + 'angleOffsetAverage': math.degrees(self.slow_ao), + 'stiffnessFactor': self.x, + 'steerRatio': self.sR, + } + + def update(self, psi, u, sa): + cF0 = self.VM.cF + cR0 = self.VM.cR + aR = self.VM.aR + aF = self.VM.aF + l = self.VM.l + m = self.VM.m + + x = self.x + ao = self.ao + sR = self.sR + + # Gradient descent: learn angle offset, tire stiffness and steer ratio. + if u > 10.0 and abs(math.degrees(sa)) < 15.: + self.ao -= self.alpha1 * 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(ao - sa) + psi*sR*(cF0*cR0*l**2*x - m*u**2*(aF*cF0 - aR*cR0)))/(sR**2*(cF0*cR0*l**2*x - m*u**2*(aF*cF0 - aR*cR0))**2) + + ao = self.slow_ao + self.slow_ao -= self.alpha2 * 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(ao - sa) + psi*sR*(cF0*cR0*l**2*x - m*u**2*(aF*cF0 - aR*cR0)))/(sR**2*(cF0*cR0*l**2*x - m*u**2*(aF*cF0 - aR*cR0))**2) + + self.x -= self.alpha3 * -2.0*cF0*cR0*l*m*u**3*(ao - sa)*(aF*cF0 - aR*cR0)*(1.0*cF0*cR0*l*u*x*(ao - sa) + psi*sR*(cF0*cR0*l**2*x - m*u**2*(aF*cF0 - aR*cR0)))/(sR**2*(cF0*cR0*l**2*x - m*u**2*(aF*cF0 - aR*cR0))**3) + + self.sR -= self.alpha4 * -2.0*cF0*cR0*l*u*x*(ao - sa)*(1.0*cF0*cR0*l*u*x*(ao - sa) + psi*sR*(cF0*cR0*l**2*x - m*u**2*(aF*cF0 - aR*cR0)))/(sR**3*(cF0*cR0*l**2*x - m*u**2*(aF*cF0 - aR*cR0))**2) + + if DEBUG: + # s1 = "Measured yaw rate % .6f" % psi + # ao = 0. + # s2 = "Uncompensated yaw % .6f" % (1.0*u*(-ao + sa)/(l*sR*(1 - m*u**2*(aF*cF0*x - aR*cR0*x)/(cF0*cR0*l**2*x**2)))) + # instant_ao = aF*m*psi*sR*u/(cR0*l*x) - aR*m*psi*sR*u/(cF0*l*x) - l*psi*sR/u + sa + s4 = "Instant AO: % .2f Avg. AO % .2f" % (math.degrees(self.ao), math.degrees(self.slow_ao)) + s5 = "Stiffnes: % .3f x" % self.x + print s4, s5 + + + self.ao = clip(self.ao, -MAX_ANGLE_OFFSET, MAX_ANGLE_OFFSET) + self.slow_ao = clip(self.slow_ao, -MAX_ANGLE_OFFSET, MAX_ANGLE_OFFSET) + self.x = clip(self.x, MIN_STIFFNESS, MAX_STIFFNESS) + self.sR = clip(self.sR, self.MIN_SR, self.MAX_SR) + + # don't check stiffness for validity, as it can change quickly if sR is off + valid = abs(self.slow_ao) < MAX_ANGLE_OFFSET_TH and \ + self.sR > self.MIN_SR_TH and self.sR < self.MAX_SR_TH + + return valid + + +def locationd_thread(gctx, addr, disabled_logs): + ctx = zmq.Context() + poller = zmq.Poller() + + car_state_socket = messaging.sub_sock(ctx, service_list['carState'].port, poller, addr=addr, conflate=True) + sensor_events_socket = messaging.sub_sock(ctx, service_list['sensorEvents'].port, poller, addr=addr, conflate=True) + camera_odometry_socket = messaging.sub_sock(ctx, service_list['cameraOdometry'].port, poller, addr=addr, conflate=True) + + kalman_odometry_socket = messaging.pub_sock(ctx, service_list['kalmanOdometry'].port) + live_parameters_socket = messaging.pub_sock(ctx, service_list['liveParameters'].port) + + params_reader = Params() + cloudlog.info("Parameter learner is waiting for CarParams") + CP = car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) + VM = VehicleModel(CP) + cloudlog.info("Parameter learner got CarParams: %s" % CP.carFingerprint) + + params = params_reader.get("LiveParameters") + + # Check if car model matches + if params is not None: + params = json.loads(params) + if params.get('carFingerprint', None) != CP.carFingerprint: + cloudlog.info("Parameter learner found parameters for wrong car.") + params = None + + if params is None: + params = { + 'carFingerprint': CP.carFingerprint, + 'angleOffsetAverage': 0.0, + 'stiffnessFactor': 1.0, + 'steerRatio': VM.sR, + } + cloudlog.info("Parameter learner resetting to default values") + + cloudlog.info("Parameter starting with: %s" % str(params)) + localizer = Localizer(disabled_logs=disabled_logs) + + learner = ParamsLearner(VM, + angle_offset=params['angleOffsetAverage'], + stiffness_factor=params['stiffnessFactor'], + steer_ratio=params['steerRatio'], + learning_rate=LEARNING_RATE) + + i = 0 + while True: + for socket, event in poller.poll(timeout=1000): + log = messaging.recv_one(socket) + localizer.handle_log(log) + + if socket is car_state_socket: + if not localizer.kf.t: + continue + + if i % LEARNING_RATE == 0: + # carState is not updating the Kalman Filter, so update KF manually + localizer.kf.predict(1e-9 * log.logMonoTime) + + predicted_state = localizer.kf.x + yaw_rate = -float(predicted_state[5]) + + steering_angle = math.radians(log.carState.steeringAngle) + params_valid = learner.update(yaw_rate, log.carState.vEgo, steering_angle) + + params = messaging.new_message() + params.init('liveParameters') + params.liveParameters.valid = bool(params_valid) + params.liveParameters.angleOffset = float(math.degrees(learner.ao)) + params.liveParameters.angleOffsetAverage = float(math.degrees(learner.slow_ao)) + params.liveParameters.stiffnessFactor = float(learner.x) + params.liveParameters.steerRatio = float(learner.sR) + live_parameters_socket.send(params.to_bytes()) + + if i % 6000 == 0: # once a minute + params = learner.get_values() + params['carFingerprint'] = CP.carFingerprint + params_reader.put("LiveParameters", json.dumps(params)) + + i += 1 + elif socket is camera_odometry_socket: + msg = messaging.new_message() + msg.init('kalmanOdometry') + msg.logMonoTime = log.logMonoTime + msg.kalmanOdometry = localizer.liveLocationMsg(log.logMonoTime * 1e-9) + kalman_odometry_socket.send(msg.to_bytes()) + elif socket is sensor_events_socket: + pass + + +def main(gctx=None, addr="127.0.0.1"): + IN_CAR = os.getenv("IN_CAR", False) + disabled_logs = os.getenv("DISABLED_LOGS", "").split(",") + + # No speed for now + disabled_logs.append('carState') + if IN_CAR: + addr = "192.168.5.11" + + locationd_thread(gctx, addr, disabled_logs) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/locationd/ublox.py b/selfdrive/locationd/ublox.py index 06f174fba..70e2d2fa0 100644 --- a/selfdrive/locationd/ublox.py +++ b/selfdrive/locationd/ublox.py @@ -207,10 +207,13 @@ class UBloxDescriptor: def __init__(self, name, msg_format, - fields=[], + fields=None, count_field=None, format2=None, fields2=None): + if fields is None: + fields = [] + self.name = name self.msg_format = msg_format self.fields = fields @@ -465,7 +468,7 @@ msg_types = { (CLASS_RXM, MSG_RXM_SFRB): UBloxDescriptor('RXM_SFRB', 'UJO1miClFxa`TtYm+Ax~pP4sS_&&v5k#hghqfTtf3xO5s0O76Ldm4 z?Q4Q4*g@q>unLaSO+3`nDjx2zr^9-pEjN?E+Z zVcU+UXNkhKEhsxm__uz6`t*P)pD*7vsqMx^4%=(bYDb)Ljl;I)f9lzp4%@P4)!&+_ z>|O7$EyQ}OAcUMky$nJKtL_1#FU+7V_hBCQZeJa(6dZ_Fx`HAS_60a>l2JIy{R?-Z z6%B4uKU-*AA4KWuV->SPGx{J+*Zh)V{)(RKgF-1aS~;crbefq27WKvme{CG5uk^zl zKBwO_&s7y<(S7}p469jPKco?Fx{HNBgdhzh(zqwk=uOwK(I*fC-nD@y48VTx(m{V1 zfYdANXqi9hhg1dzeUEI*4VhNn{uxp0z9>sT!!D;Z`youW^!5U@=3Gh2MTnbG6w6@hw z{s@9vX4^%+L(mEh(e8!&Q^Xv9*MA=F3Kn0V;IUOb~L!jK_Z}n z4lNCam$d`nV&poxY3NQ$-KV3j{{4;9p1ueSR)kYWp5XD6SMRDkP+?g4_* zptL9*a}W5;YlBHF@@L=1T8!=k;(R}hvkr@2tb$Nl_p9i_Q05d}B-BD(E-|$5xJyL& zq5M$+C_QQtDi9UKj=O@-T5$|X1}O!!db5&D7aAlJt2Rmt`8VV?N!vt>Hj8wFk1IMs z8e7j}k(8o)9{cxeMyM}d%P!4~ghA~HeXJ3x_6qo->*=8qDH&T^N~9FR(H%7Y7^1C5 zr28BdcTCc#`CsUo6PSO4dh#nzNFQoBdbTiuu7Llbou^fFckyGYN=qxHS**IkQ#e^E6{T@@*zdz$+ePkS)poWZ)S&GpLn?dU5VFzcI$%DQ)t zwu~T4KPKHo|6ljWQ+R!p$c_FS8Fyy_S$@}xEJ5V$Niv^AWT31fbAxd!w>Ng1z8x&1 zJz2hqKec8hZ#+>GBC9hh4U-?4IsBs=6YvM^9{6HG;P7)+72an>I3IH>eRY{^Vp&T) zh_%aP&zP^!ohvZEC&iP`T_Inc26~#5BTvVWk)u*R&+%AvZbgfnwuN?Y#a)K&=nx-a zD0e)cN&n8p{DPhG>8Y6S_*mZMi*fB|azF1|R4hkG_$qHYBR7~xyoJqdl83ZM&L&$5 f*EP$i$*2%iC@Ks!g{^CzD(dksaKp{1#eV+)`#_UP delta 1815 zcmaKtdr(wW9LMkP>@M5|1n(7*)L0hEWkGR6(+MA}uTV*)#Yn{mx{L~wHIw$3$$`}< z8cE^$=%^`!;7~D)!#LKl$25fk;scRvM6g}3LfS?kO`(;b-?>Z6^oRZNo!>pb-|u|R z_ntlHZda|ntJdx~12G#w&&(UZl0^ayG~*nU=*~te#wIp+4(b8^V0E>SLLi397oZJN zY4-()hOJa?fD|aE>v=d!D|u*V4;z4KL7=A^v8RbPH)6JdMO=jg09tms38rabE$zGx zVdf=O+|QvRoO ze=FR84w};j1+b3YYXcL3Ogi2P3&!qvN@>@OsjTlEqE-;5Zxn@I<6-)`6Os}0m2()w zSDQ@TPAD8%oaVYXWIB8!8#QDRAv%Syd+({UMw--i4XmyM1x2lAj-|w1*fHb_Y6al2JIw{R{1} ziUudC&y#6~cpRAbo()4af(=|*{%%9Oy-B2K<#45*hAC5PZ;KHsr;jcA)^!Xl` z#`o!G%@dXRYw7MDNP@+zrU%l9FMW$e+=CDeSZMqMsQ0C-*x&<*1K)TeP3VJneZ!sf z+dg<14`o=tcL~-0Woqk(sk~|ajyT1>mG0>WgKyZyPWMBbA2hLjLog-~T4-4S>46ru zKagw*h3m{?Abp__#O_TeE*-?M=0x%cUq;jb1VnamHCX@{gEI&o*oADyIF;3bqew+dlt@%lGVJLHoE+Sc|%O#F2IP4Np zdQ<=^5EXmgi7hR~E<1wxwbYwmdPI6l%h6MX5%fv;588QLMMsnjqu-~y$`Dap>P6(1 zAzFusyg^!0Ax&acC%uKE6;fduXNUdv$Y;CI{YbUFQ4p%p_I!`Z-t9p)+PpX*jZ;~7 z?$E{oWCaaLH_`v+o$@$dA0%>p07u6EGJ-7s)rTxb1oJzSz4@Fa^40Mm(!?xz0*3S~mGV)R*P?SXTI94%v|}^Qip)lb z_zIq!;d}=DI|uW#x5>xDG2i;0yxkw;^1X5o@0(jB8zj8S>r3T26FkQzU64KahjidX hlBFQ^ii{eA3Pp`Yg`vi=)GOg)5a`+Jo8d+Je*jWmkUszb diff --git a/selfdrive/manager.py b/selfdrive/manager.py index 0eddc4509..a1b84cafd 100755 --- a/selfdrive/manager.py +++ b/selfdrive/manager.py @@ -102,10 +102,12 @@ managed_processes = { "pandad": "selfdrive.pandad", "ui": ("selfdrive/ui", ["./start.sh"]), "calibrationd": "selfdrive.locationd.calibrationd", + "locationd": "selfdrive.locationd.locationd_local", "visiond": ("selfdrive/visiond", ["./visiond"]), "sensord": ("selfdrive/sensord", ["./sensord"]), "gpsd": ("selfdrive/sensord", ["./gpsd"]), "updated": "selfdrive.updated", + "athena": "selfdrive.athena.athenad", } android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame") @@ -128,6 +130,7 @@ persistent_processes = [ 'ui', 'gpsd', 'updated', + 'athena' ] car_started_processes = [ @@ -137,6 +140,7 @@ car_started_processes = [ 'sensord', 'radard', 'calibrationd', + 'locationd', 'visiond', 'proclogd', 'ubloxd', diff --git a/selfdrive/mapd/default_speeds.json b/selfdrive/mapd/default_speeds.json index e2d760cc6..7126c27fc 100644 --- a/selfdrive/mapd/default_speeds.json +++ b/selfdrive/mapd/default_speeds.json @@ -29,6 +29,7 @@ "DK:rural": "80", "DK:motorway": "130", "DE:living_street": "7", + "DE:residential": "30", "DE:urban": "50", "DE:rural": "100", "DE:trunk": "none", diff --git a/selfdrive/mapd/default_speeds_by_region.json b/selfdrive/mapd/default_speeds_by_region.json deleted file mode 100644 index aa830a098..000000000 --- a/selfdrive/mapd/default_speeds_by_region.json +++ /dev/null @@ -1,454 +0,0 @@ -{ - "CA": { - "Default": [ - { - "speed": "100", - "tags": { - "highway": "motorway" - } - }, - { - "speed": "80", - "tags": { - "highway": "trunk" - } - }, - { - "speed": "80", - "tags": { - "highway": "primary" - } - }, - { - "speed": "50", - "tags": { - "highway": "secondary" - } - }, - { - "speed": "50", - "tags": { - "highway": "tertiary" - } - }, - { - "speed": "80", - "tags": { - "highway": "unclassified" - } - }, - { - "speed": "40", - "tags": { - "highway": "residential" - } - }, - { - "speed": "40", - "tags": { - "highway": "service" - } - }, - { - "speed": "90", - "tags": { - "highway": "motorway_link" - } - }, - { - "speed": "80", - "tags": { - "highway": "trunk_link" - } - }, - { - "speed": "80", - "tags": { - "highway": "primary_link" - } - }, - { - "speed": "50", - "tags": { - "highway": "secondary_link" - } - }, - { - "speed": "50", - "tags": { - "highway": "tertiary_link" - } - }, - { - "speed": "20", - "tags": { - "highway": "living_street" - } - } - ] - }, - "DE": { - "Default": [ - { - "speed": "none", - "tags": { - "highway": "motorway" - } - }, - { - "speed": "10", - "tags": { - "highway": "living_street" - } - }, - { - "speed": "100", - "tags": { - "zone:traffic": "DE:rural" - } - }, - { - "speed": "50", - "tags": { - "zone:traffic": "DE:urban" - } - }, - { - "speed": "30", - "tags": { - "bicycle_road": "yes" - } - } - ] - }, - "AU": { - "Default": [ - { - "speed": "100", - "tags": { - "highway": "motorway" - } - }, - { - "speed": "80", - "tags": { - "highway": "trunk" - } - }, - { - "speed": "80", - "tags": { - "highway": "primary" - } - }, - { - "speed": "50", - "tags": { - "highway": "secondary" - } - }, - { - "speed": "50", - "tags": { - "highway": "tertiary" - } - }, - { - "speed": "80", - "tags": { - "highway": "unclassified" - } - }, - { - "speed": "50", - "tags": { - "highway": "residential" - } - }, - { - "speed": "40", - "tags": { - "highway": "service" - } - }, - { - "speed": "90", - "tags": { - "highway": "motorway_link" - } - }, - { - "speed": "80", - "tags": { - "highway": "trunk_link" - } - }, - { - "speed": "80", - "tags": { - "highway": "primary_link" - } - }, - { - "speed": "50", - "tags": { - "highway": "secondary_link" - } - }, - { - "speed": "50", - "tags": { - "highway": "tertiary_link" - } - }, - { - "speed": "30", - "tags": { - "highway": "living_street" - } - } - ] - }, - "US": { - "South Dakota": [ - { - "speed": "80 mph", - "tags": { - "highway": "motorway" - } - }, - { - "speed": "70 mph", - "tags": { - "highway": "trunk" - } - }, - { - "speed": "65 mph", - "tags": { - "highway": "primary" - } - }, - { - "speed": "70 mph", - "tags": { - "highway": "trunk_link" - } - }, - { - "speed": "65 mph", - "tags": { - "highway": "primary_link" - } - } - ], - "Wisconsin": [ - { - "speed": "65 mph", - "tags": { - "highway": "trunk" - } - }, - { - "speed": "45 mph", - "tags": { - "highway": "tertiary" - } - }, - { - "speed": "35 mph", - "tags": { - "highway": "unclassified" - } - }, - { - "speed": "65 mph", - "tags": { - "highway": "trunk_link" - } - }, - { - "speed": "45 mph", - "tags": { - "highway": "tertiary_link" - } - } - ], - "Default": [ - { - "speed": "65 mph", - "tags": { - "highway": "motorway" - } - }, - { - "speed": "55 mph", - "tags": { - "highway": "trunk" - } - }, - { - "speed": "55 mph", - "tags": { - "highway": "primary" - } - }, - { - "speed": "45 mph", - "tags": { - "highway": "secondary" - } - }, - { - "speed": "35 mph", - "tags": { - "highway": "tertiary" - } - }, - { - "speed": "55 mph", - "tags": { - "highway": "unclassified" - } - }, - { - "speed": "25 mph", - "tags": { - "highway": "residential" - } - }, - { - "speed": "25 mph", - "tags": { - "highway": "service" - } - }, - { - "speed": "55 mph", - "tags": { - "highway": "motorway_link" - } - }, - { - "speed": "55 mph", - "tags": { - "highway": "trunk_link" - } - }, - { - "speed": "55 mph", - "tags": { - "highway": "primary_link" - } - }, - { - "speed": "45 mph", - "tags": { - "highway": "secondary_link" - } - }, - { - "speed": "35 mph", - "tags": { - "highway": "tertiary_link" - } - }, - { - "speed": "15 mph", - "tags": { - "highway": "living_street" - } - } - ], - "Michigan": [ - { - "speed": "70 mph", - "tags": { - "highway": "motorway" - } - } - ], - "Oregon": [ - { - "speed": "55 mph", - "tags": { - "highway": "motorway" - } - }, - { - "speed": "35 mph", - "tags": { - "highway": "secondary" - } - }, - { - "speed": "30 mph", - "tags": { - "highway": "tertiary" - } - }, - { - "speed": "15 mph", - "tags": { - "highway": "service" - } - }, - { - "speed": "35 mph", - "tags": { - "highway": "secondary_link" - } - }, - { - "speed": "30 mph", - "tags": { - "highway": "tertiary_link" - } - } - ], - "New York": [ - { - "speed": "45 mph", - "tags": { - "highway": "primary" - } - }, - { - "speed": "55 mph", - "tags": { - "highway": "secondary" - } - }, - { - "speed": "55 mph", - "tags": { - "highway": "tertiary" - } - }, - { - "speed": "30 mph", - "tags": { - "highway": "residential" - } - }, - { - "speed": "45 mph", - "tags": { - "highway": "primary_link" - } - }, - { - "speed": "55 mph", - "tags": { - "highway": "secondary_link" - } - }, - { - "speed": "55 mph", - "tags": { - "highway": "tertiary_link" - } - } - ] - } -} \ No newline at end of file diff --git a/selfdrive/mapd/default_speeds_generator.py b/selfdrive/mapd/default_speeds_generator.py index 59436a7b7..c98225bd7 100755 --- a/selfdrive/mapd/default_speeds_generator.py +++ b/selfdrive/mapd/default_speeds_generator.py @@ -1,9 +1,9 @@ #!/usr/bin/env python import json -OUTPUT_FILENAME = "default_speeds_by_region.json" +DEFAULT_OUTPUT_FILENAME = "default_speeds_by_region.json" -def main(): +def main(filename = DEFAULT_OUTPUT_FILENAME): countries = [] """ @@ -137,27 +137,33 @@ def main(): """ Default rules """ DE.add_rule({"highway": "motorway"}, "none") DE.add_rule({"highway": "living_street"}, "10") + DE.add_rule({"highway": "residential"}, "30") DE.add_rule({"zone:traffic": "DE:rural"}, "100") DE.add_rule({"zone:traffic": "DE:urban"}, "50") + DE.add_rule({"zone:maxspeed": "DE:30"}, "30") + DE.add_rule({"zone:maxspeed": "DE:urban"}, "50") + DE.add_rule({"zone:maxspeed": "DE:rural"}, "100") + DE.add_rule({"zone:maxspeed": "DE:motorway"}, "none") DE.add_rule({"bicycle_road": "yes"}, "30") + """ --- DO NOT MODIFY CODE BELOW THIS LINE --- """ """ --- ADD YOUR COUNTRY OR STATE ABOVE --- """ # Final step - write_json(countries) + write_json(countries, filename) -def write_json(countries): +def write_json(countries, filename = DEFAULT_OUTPUT_FILENAME): out_dict = {} for country in countries: out_dict.update(country.jsonify()) json_string = json.dumps(out_dict, indent=2) - with open(OUTPUT_FILENAME, "wb") as f: + with open(filename, "wb") as f: f.write(json_string) class Region(object): - ALLOWABLE_TAG_KEYS = ["highway", "zone:traffic", "bicycle_road"] + ALLOWABLE_TAG_KEYS = ["highway", "zone:traffic", "bicycle_road", "zone:maxspeed"] ALLOWABLE_HIGHWAY_TYPES = ["motorway", "trunk", "primary", "secondary", "tertiary", "unclassified", "residential", "service", "motorway_link", "trunk_link", "primary_link", "secondary_link", "tertiary_link", "living_street"] def __init__(self, name): self.name = name diff --git a/selfdrive/mapd/mapd.py b/selfdrive/mapd/mapd.py index 4ac0c092e..85303857a 100755 --- a/selfdrive/mapd/mapd.py +++ b/selfdrive/mapd/mapd.py @@ -1,12 +1,13 @@ #!/usr/bin/env python # Add phonelibs openblas to LD_LIBRARY_PATH if import fails +from common.basedir import BASEDIR try: from scipy import spatial except ImportError as e: import os import sys - from common.basedir import BASEDIR + openblas_path = os.path.join(BASEDIR, "phonelibs/openblas/") os.environ['LD_LIBRARY_PATH'] += ':' + openblas_path @@ -15,6 +16,10 @@ except ImportError as e: args.extend(sys.argv) os.execv(sys.executable, args) +DEFAULT_SPEEDS_BY_REGION_JSON_FILE = BASEDIR + "/selfdrive/mapd/default_speeds_by_region.json" +import default_speeds_generator +default_speeds_generator.main(DEFAULT_SPEEDS_BY_REGION_JSON_FILE) + import os import sys import time @@ -45,31 +50,6 @@ last_query_result = None last_query_pos = None cache_valid = False - -def setup_thread_excepthook(): - """ - Workaround for `sys.excepthook` thread bug from: - http://bugs.python.org/issue1230540 - Call once from the main thread before creating any threads. - Source: https://stackoverflow.com/a/31622038 - """ - init_original = threading.Thread.__init__ - - def init(self, *args, **kwargs): - init_original(self, *args, **kwargs) - run_original = self.run - - def run_with_except_hook(*args2, **kwargs2): - try: - run_original(*args2, **kwargs2) - except Exception: - sys.excepthook(*sys.exc_info()) - - self.run = run_with_except_hook - - threading.Thread.__init__ = init - - def build_way_query(lat, lon, radius=50): """Builds a query to find all highways within a given radius around a point""" pos = " (around:%f,%f,%f)" % (radius, lat, lon) @@ -301,7 +281,6 @@ def main(gctx=None): crash.bind_extra(version=version, dirty=dirty, is_eon=True) crash.install() - setup_thread_excepthook() main_thread = threading.Thread(target=mapsd_thread) main_thread.daemon = True main_thread.start() diff --git a/selfdrive/sensord/gpsd b/selfdrive/sensord/gpsd index 7c4dc911060d8745b63b8d0df7151ca843d0f108..540f9b161a28a3cfb4d05ff726262ff00015b382 100755 GIT binary patch delta 128 zcmca{!2QMn_l7Nucas<&Ouv`JD9`w#{a+Fz5HkTWGZ3=?F)I+W0Wmuea{w_X5OV=B z_x68DJo@t`4GnaQQgc!hi&Gh#eOw*=7*aBeN-7ynBu@8Z;#HcSz{JbZUckf)#C$-^ O55xl73z!67+ywxObTg#@ delta 113 zcmca{!2QMn_l7Nucas?JOuv`JD9`w%{a+Fz5HkTWGZ3=?F)I+W0Wmuea{w_X5OV=B z_x68DJo@t)EvM@<@rp7toJgGR$Hc2NJ%NdrqrHHM7l`?Qm>-A*wihr7zPJkjZ|N

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