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/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index 0890624be..342f832c2 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
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 de5bdbb1f..0b9f8060d 100644
Binary files a/models/monitoring_model.dlc and b/models/monitoring_model.dlc differ
diff --git a/opendbc/ESR.dbc b/opendbc/ESR.dbc
new file mode 100644
index 000000000..e3837a68b
--- /dev/null
+++ b/opendbc/ESR.dbc
@@ -0,0 +1,1080 @@
+VERSION ""
+
+
+NS_ :
+ NS_DESC_
+ CM_
+ BA_DEF_
+ BA_
+ VAL_
+ CAT_DEF_
+ CAT_
+ FILTER
+ BA_DEF_DEF_
+ EV_DATA_
+ ENVVAR_DATA_
+ SGTYPE_
+ SGTYPE_VAL_
+ BA_DEF_SGTYPE_
+ BA_SGTYPE_
+ SIG_TYPE_REF_
+ VAL_TABLE_
+ SIG_GROUP_
+ SIG_VALTYPE_
+ SIGTYPE_VALTYPE_
+ BO_TX_BU_
+ BA_DEF_REL_
+ BA_REL_
+ BA_DEF_DEF_REL_
+ BU_SG_REL_
+ BU_EV_REL_
+ BU_BO_REL_
+ SG_MUL_VAL_
+
+BS_:
+
+BU_: Gateway ESR
+VAL_TABLE_ ForwardReverse 1 "Reverse" 0 "Forward" ;
+VAL_TABLE_ LeftRight 1 "Right Clockwise" 0 "Left CounterClockwise" ;
+VAL_TABLE_ ValidInvalid 1 "Valid" 0 "Invalid" ;
+VAL_TABLE_ TrueFalse 1 "True" 0 "False" ;
+
+
+BO_ 1343 Target64: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1342 Target63: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1341 Target62: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1340 Target61: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1339 Target60: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1338 Target59: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1337 Target58: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1336 Target57: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1335 Target56: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1334 Target55: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1333 Target54: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1332 Target53: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1331 Target52: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1330 Target51: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1329 Target50: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1328 Target49: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1327 Target48: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1326 Target47: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1325 Target46: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1324 Target45: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1323 Target44: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1322 Target43: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1321 Target42: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1320 Target41: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1319 Target40: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1318 Target39: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1317 Target38: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1316 Target37: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1315 Target36: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1314 Target35: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1313 Target34: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1312 Target33: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1311 Target32: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1310 Target31: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1309 Target30: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1308 Target29: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1307 Target28: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1306 Target27: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1305 Target26: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1304 Target25: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1303 Target24: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1302 Target23: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1301 Target22: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1300 Target21: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1299 Target20: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1298 Target19: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1297 Target18: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1296 Target17: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1295 Target16: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1294 Target15: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1293 Target14: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1292 Target13: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1291 Target12: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1290 Target11: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1289 Target10: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1288 Target9: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1287 Target8: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1285 Target6: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1286 Target7: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1284 Target5: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1283 Target4: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1282 Target3: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1281 Target2: 8 Vector__XXX
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1524 VehicleData3: 8 Gateway
+ SG_ CAN_RX_YAW_RATE_BIAS_SHIFT : 15|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_WHEELBASE : 55|8@0+ (2,200) [200|710] "cm" Vector__XXX
+ SG_ CAN_RX_STEERING_GEAR_RATIO : 63|8@0+ (0.125,0) [0|31.875] "" Vector__XXX
+ SG_ CAN_RX_OVERSTEER_UNDERSTEER : 7|8@0- (1,0) [-128|127] "%" Vector__XXX
+ SG_ CAN_RX_FUNNEL_OFFSET_RIGHT : 31|8@0- (0.1,0) [-12.8|12.7] "m" Vector__XXX
+ SG_ CAN_RX_FUNNEL_OFFSET_LEFT : 23|8@0- (0.1,0) [-12.8|12.7] "m" Vector__XXX
+ SG_ CAN_RX_DISTANCE_REAR_AXLE : 47|8@0+ (2,200) [200|710] "cm" Vector__XXX
+ SG_ CAN_RX_CW_BLOCKAGE_TRESHOLD : 39|8@0+ (0.0078125,0) [0|1.9921875] "" Vector__XXX
+ SG_ CAN_RX_BEAMWIDTH_VERT : 14|7@0+ (0.0625,0) [0|7.9375] "deg" Vector__XXX
+
+BO_ 1523 FactoryAlignment: 8 Gateway
+
+BO_ 1522 Vehicle_Data2: 8 Gateway
+ SG_ CAN_RX_WHEEL_SLIP : 41|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_RX_SERV_ALIGN_UPDATES_NEED : 55|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ CAN_RX_SERV_ALIGN_TYPE : 47|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_RADAR_HEIGHT : 38|7@0+ (1,0) [0|127] "cm" Vector__XXX
+ SG_ CAN_RX_RADAR_FOV_MR : 30|7@0+ (1,0) [0|127] "deg" Vector__XXX
+ SG_ CAN_RX_RADAR_FOV_LR : 19|5@0+ (1,0) [0|31] "deg" Vector__XXX
+ SG_ CAN_RX_LONG_ACCEL_VALIDITY : 7|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_LONG_ACCEL : 12|9@0- (0.03125,0) [-8|7.96875] "m/s^2" Vector__XXX
+ SG_ CAN_RX_LAT_ACCEL_VALIDITY : 6|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_LAT_ACCEL : 5|9@0- (0.03125,0) [-8|7.96875] "m/s^2" Vector__XXX
+ SG_ CAN_RX_AUTO_ALIGN_DISABLE : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_AUTO_ALIGN_CONVERGED : 42|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_ANGLE_MOUNTING_OFFSET : 63|8@0- (0.0625,0) [-8|7.9375] "deg" Vector__XXX
+ SG_ CAN_RX_AALIGN_AVG_CTR_TOTAL : 45|3@0+ (250,250) [250|2000] "" Vector__XXX
+
+BO_ 1512 CIPV_Targets_Etc: 8 ESR
+
+BO_ 1511 ESR_History_Fault: 8 ESR
+
+BO_ 1510 ESR_Active_Fault: 8 ESR
+
+BO_ 1508 AD_Data: 8 ESR
+
+BO_ 1489 SensorValidation2: 8 ESR
+ SG_ CAN_TX_VALID_MR_SN : 7|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ CAN_TX_VALID_MR_RANGE_RATE : 31|16@0- (0.0078125,0) [-256|255.9921875] "m/s" Vector__XXX
+ SG_ CAN_TX_VALID_MR_RANGE : 15|16@0+ (0.0078125,0) [0|511.9921875] "m" Vector__XXX
+ SG_ CAN_TX_VALID_MR_POWER : 63|8@0- (1,0) [-128|127] "db" Vector__XXX
+ SG_ CAN_TX_VALID_MR_ANGLE : 40|16@1- (0.0625,0) [-2048|2047.9375] "deg" Vector__XXX
+
+BO_ 1488 SensorValidation: 8 ESR
+ SG_ CAN_TX_VALID_LR_SN : 7|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ CAN_TX_VALID_LR_RANGE_RATE : 31|16@0- (0.0078125,0) [-256|255.9921875] "m/s" Vector__XXX
+ SG_ CAN_TX_VALID_LR_RANGE : 15|16@0+ (0.0078125,0) [0|511.9921875] "m" Vector__XXX
+ SG_ CAN_TX_VALID_LR_POWER : 63|8@0- (1,0) [-128|127] "db" Vector__XXX
+ SG_ CAN_TX_VALID_LR_ANGLE : 47|16@0- (0.0625,0) [-2048|2047.9375] "deg" Vector__XXX
+
+BO_ 1344 Track_Sensor: 1 ESR
+ SG_ CAN_TX_TRACK_ROLLING_COUNT_2 : 4|1@0+ (1,0) [0|1] "" Vector__XXX
+
+BO_ 1280 Target1: 8 ESR
+ SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX
+ SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX
+ SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX
+ SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX
+ SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX
+
+BO_ 1265 SensorInput: 8 Gateway
+ SG_ CAN_RX_USE_ANGLE_MISALIGNMENT : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CAN_RX_SCAN_INDEX_ACK : 7|16@0+ (1,0) [0|65535] "" Vector__XXX
+ SG_ CAN_RX_LATERAL_MOUNTING_OFFSET : 47|8@0- (0.01563,0) [-2.00064|1.98501] "m" Vector__XXX
+ SG_ CAN_RX_WIPER_STATUS : 57|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_VOLVO_SHORT_TRACK_ROC : 31|4@0- (500,0) [-4000|3500] "m" Vector__XXX
+ SG_ CAN_RX_VEHICLE_SPEED_VALIDITY : 61|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_TURN_SIGNAL_STATUS : 63|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_RX_RAW_DATA_ENABLE : 56|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_RADAR_CMD_RADIATE : 55|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_MR_ONLY_TRANSMIT : 25|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CAN_RX_MMR_UPSIDE_DOWN : 60|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_MAXIMUM_TRACKS : 53|6@0+ (1,0) [0|63] "" Vector__XXX
+ SG_ CAN_RX_LR_ONLY_TRANSMIT : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CAN_RX_HIGH_YAW_ANGLE : 21|6@0- (1,0) [-32|31] "deg" Vector__XXX
+ SG_ CAN_RX_GROUPING_MODE : 59|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_RX_CLEAR_FAULTS : 22|1@0- (1,0) [0|0] "" Vector__XXX
+ SG_ CAN_RX_BLOCKAGE_DISABLE : 54|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_ANGLE_MISALIGNMENT : 39|8@0- (0.0625,0) [-8|7.9375] "deg" Vector__XXX
+
+BO_ 1264 Vehicle_Data: 8 Gateway
+ SG_ CAN_RX_YAW_RATE_VALIDITY : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CAN_RX_YAW_RATE : 11|12@0- (0.0625,0) [-128|127.9375] "deg/s" Vector__XXX
+ SG_ CAN_RX_VEHICLE_SPEED_DIRECTION : 12|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_VEHICLE_SPEED : 7|11@0+ (0.0625,0) [0|127.9375] "m/s" Vector__XXX
+ SG_ CAN_RX_RADIUS_CURVATURE : 29|14@0- (1,0) [-8192|8191] "m" Vector__XXX
+ SG_ CAN_RX_STEERING_VALIDITY : 47|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_STEERING_ANGLE_SIGN : 46|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_STEERING_ANGLE_RATE_SIGN : 30|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_RX_STEERING_ANGLE_RATE : 50|11@0+ (1,0) [0|2047] "deg/s" Vector__XXX
+ SG_ CAN_RX_STEERING_ANGLE : 45|11@0+ (1,0) [0|2047] "deg" Vector__XXX
+
+BO_ 1251 ESR_Output_InPath: 8 ESR
+ SG_ CAN_TX_PATH_ID_ACC_MOVE : 15|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ CAN_TX_TRUCK_TARGET_DET : 7|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_SIDELOBE_BLOCKATE : 5|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_ROLLING_COUNT_3 : 1|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_PATH_ID_FCW_STAT : 47|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ CAN_TX_PATH_ID_FCW_MOVE : 39|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ CAN_TX_PATH_ID_CMBB_STAT : 31|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ CAN_TX_PATH_ID_CMBB_MOVE : 23|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ CAN_TX_PATH_ID_ACC_STAT : 63|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ CAN_TX_PARTIAL_BLOCKAGE : 4|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_LR_ONLY_GRATING_LOBE_DET : 6|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_LMR_LR_MODE : 3|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_AUTO_ALIGN_ANGLE : 55|8@0- (0.0625,0) [-8|7.9375] "" Vector__XXX
+
+BO_ 1250 ESR_SW: 8 ESR
+ SG_ CAN_TX_SW_VERSION_PLD : 63|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ CAN_TX_SW_VERSION_HOST : 15|24@0+ (1,0) [0|16777215] "" Vector__XXX
+ SG_ CAN_TX_SERIAL_NUM : 39|24@0+ (1,0) [0|16777215] "" Vector__XXX
+ SG_ CAN_TX_INTERFACE_VERSION : 7|4@0+ (1,0) [0|15] "" Vector__XXX
+ SG_ CAN_TX_HW_VERSION : 3|4@0+ (1,0) [0|15] "" Vector__XXX
+
+BO_ 1249 ESR_Status2: 8 ESR
+ SG_ CAN_TX_YAW_RATE_BIAS : 47|8@0- (0.125,0) [-16|15.875] "" Vector__XXX
+ SG_ CAN_TX_XCVR_OPERATIONAL : 12|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_VEH_SPD_COMP_FACTOR : 39|6@0- (0.00195,1) [0.9376|1.06045] "" Vector__XXX
+ SG_ CAN_TX_TEMPERATURE : 31|8@0- (1,0) [-128|127] "degC" Vector__XXX
+ SG_ CAN_TX_SW_VERSION_DSP : 55|16@0+ (1,0) [0|65535] "" Vector__XXX
+ SG_ CAN_TX_STEERING_ANGLE_ACK : 10|11@0+ (1,0) [0|2047] "deg" Vector__XXX
+ SG_ CAN_TX_ROLLING_COUNT_2 : 1|2@0+ (1,0) [0|3] "" Vector__XXX
+ SG_ CAN_TX_RAW_DATA_MODE : 11|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_RANGE_PERF_ERROR : 14|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_OVERHEAT_ERROR : 15|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_MAXIMUM_TRACKS_ACK : 7|6@0+ (1,1) [1|64] "" Vector__XXX
+ SG_ CAN_TX_INTERNAL_ERROR : 13|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ CAN_TX_GROUPING_MODE : 33|2@0+ (1,0) [0|3] "" Vector__XXX
+
+BO_ 1248 ESR_Status: 8 ESR
+ SG_ CAN_TX_COMM_ERROR : 14|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CAN_TX_RADIUS_CURVATURE_CALC : 13|14@0- (1,0) [-8192|8191] "" Vector__XXX
+ SG_ CAN_TX_YAW_RATE_CALC : 47|12@0- (0.0625,0) [-128|127.9375] "deg/s" Vector__XXX
+ SG_ CAN_TX_VEHICLE_SPEED_CALC : 50|11@0+ (0.0625,0) [0|127.9375] "m/s" Vector__XXX
+ SG_ CAN_TX_DSP_TIMESTAMP : 5|7@0+ (2,0) [0|254] "ms" Vector__XXX
+ SG_ CAN_TX_SCAN_INDEX : 31|16@0+ (1,0) [0|65535] "" Vector__XXX
+ SG_ CAN_TX_ROLLING_COUNT_1 : 6|2@1+ (1,0) [0|3] "" Vector__XXX
+
+
+
+BA_DEF_ "BusType" STRING ;
+BA_DEF_DEF_ "BusType" "CAN";
+VAL_ 1264 CAN_RX_YAW_RATE_VALIDITY 1 "Valid" 0 "Invalid" ;
+VAL_ 1264 CAN_RX_VEHICLE_SPEED_DIRECTION 1 "Reverse" 0 "Forward" ;
+VAL_ 1264 CAN_RX_STEERING_VALIDITY 1 "True" 0 "False" ;
+VAL_ 1264 CAN_RX_STEERING_ANGLE_SIGN 1 "Right Clockwise" 0 "Left CounterClockwise" ;
+VAL_ 1264 CAN_RX_STEERING_ANGLE_RATE_SIGN 1 "Right Clockwise" 0 "Left CounterClockwise" ;
+
diff --git a/opendbc/acura_ilx_2016_can_generated.dbc b/opendbc/acura_ilx_2016_can_generated.dbc
index 592b6a5ad..dd112ca32 100644
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/acura_rdx_2018_can_generated.dbc b/opendbc/acura_rdx_2018_can_generated.dbc
index 4cbcfe182..a8e69b14e 100644
--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc b/opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
index 0c5d01c79..07c37e1fa 100644
--- a/opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
@@ -44,15 +44,15 @@ BO_ 544 a_1: 8 XXX
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 576 b_1: 8 XXX
- SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 608 a_2: 8 XXX
@@ -63,15 +63,15 @@ BO_ 608 a_2: 8 XXX
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 640 b_2: 8 XXX
- SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 644 a_3: 8 XXX
@@ -82,15 +82,15 @@ BO_ 644 a_3: 8 XXX
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 648 b_3: 8 XXX
- SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 652 a_4: 8 XXX
@@ -101,19 +101,19 @@ BO_ 652 a_4: 8 XXX
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 656 b_4: 8 XXX
- SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 512 unknown_200: 8 XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ increasing : 31|16@0+ (1,0) [0|255] "" XXX
SG_ zeros_0 : 3|12@0+ (1,0) [0|63] "" XXX
diff --git a/opendbc/generator/honda/_comma.dbc b/opendbc/generator/honda/_comma.dbc
index 0be227538..c96250bae 100644
--- a/opendbc/generator/honda/_comma.dbc
+++ b/opendbc/generator/honda/_comma.dbc
@@ -2,14 +2,14 @@ BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/generator/honda/honda_crv_hybrid_2019_can.dbc b/opendbc/generator/honda/honda_crv_hybrid_2019_can.dbc
new file mode 100644
index 000000000..2398526e0
--- /dev/null
+++ b/opendbc/generator/honda/honda_crv_hybrid_2019_can.dbc
@@ -0,0 +1,48 @@
+CM_ "IMPORT _bosch_2018.dbc"
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 344 DISTANCE_COUNTER "";
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
+CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
+CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
+
+VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/generator/toyota/_comma.dbc b/opendbc/generator/toyota/_comma.dbc
index 64d5ebc8d..aa6a55f8b 100644
--- a/opendbc/generator/toyota/_comma.dbc
+++ b/opendbc/generator/toyota/_comma.dbc
@@ -14,12 +14,14 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
new file mode 100644
index 000000000..7fb743770
--- /dev/null
+++ b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
@@ -0,0 +1,41 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ISH: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc b/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
index c21dc779e..efde86ba9 100644
--- a/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
+++ b/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
@@ -20,6 +20,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.05527,0) [-500|500] "" XXX
BO_ 610 EPS_STATUS: 8 EPS
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/honda_civic_touring_2016_can_generated.dbc b/opendbc/honda_civic_touring_2016_can_generated.dbc
index 8a281e265..7cee7c73d 100644
--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/honda_crv_hybrid_2019_can_generated.dbc b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
new file mode 100644
index 000000000..73e5a431c
--- /dev/null
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -0,0 +1,316 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2018.dbc starts here"
+VERSION ""
+
+
+NS_ :
+ NS_DESC_
+ CM_
+ BA_DEF_
+ BA_
+ VAL_
+ CAT_DEF_
+ CAT_
+ FILTER
+ BA_DEF_DEF_
+ EV_DATA_
+ ENVVAR_DATA_
+ SGTYPE_
+ SGTYPE_VAL_
+ BA_DEF_SGTYPE_
+ BA_SGTYPE_
+ SIG_TYPE_REF_
+ VAL_TABLE_
+ SIG_GROUP_
+ SIG_VALTYPE_
+ SIGTYPE_VALTYPE_
+ BO_TX_BU_
+ BA_DEF_REL_
+ BA_REL_
+ BA_DEF_DEF_REL_
+ BU_SG_REL_
+ BU_EV_REL_
+ BU_BO_REL_
+ SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+CM_ "honda_crv_hybrid_2019_can.dbc starts here"
+
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 344 DISTANCE_COUNTER "";
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
+CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
+CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
+
+VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/honda_crv_touring_2016_can_generated.dbc b/opendbc/honda_crv_touring_2016_can_generated.dbc
index dd924bf6a..aaee239b9 100644
--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/honda_fit_ex_2018_can_generated.dbc b/opendbc/honda_fit_ex_2018_can_generated.dbc
index 2cd5a1ea3..62be687b1 100644
--- a/opendbc/honda_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/honda_odyssey_exl_2018_generated.dbc b/opendbc/honda_odyssey_exl_2018_generated.dbc
index 090c9688e..6f00df2d4 100644
--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/honda_pilot_touring_2017_can_generated.dbc b/opendbc/honda_pilot_touring_2017_can_generated.dbc
index a14ad60e5..310de029b 100644
--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
index a5ce2d23d..04e1c78a2 100644
--- a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/lexus_is_2018_pt_generated.dbc b/opendbc/lexus_is_2018_pt_generated.dbc
index f5f52c02a..a207b26d6 100644
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
new file mode 100644
index 000000000..e94824670
--- /dev/null
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -0,0 +1,331 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+ NS_DESC_
+ CM_
+ BA_DEF_
+ BA_
+ VAL_
+ CAT_DEF_
+ CAT_
+ FILTER
+ BA_DEF_DEF_
+ EV_DATA_
+ ENVVAR_DATA_
+ SGTYPE_
+ SGTYPE_VAL_
+ BA_DEF_SGTYPE_
+ BA_SGTYPE_
+ SIG_TYPE_REF_
+ VAL_TABLE_
+ SIG_GROUP_
+ SIG_VALTYPE_
+ SIGTYPE_VALTYPE_
+ BO_TX_BU_
+ BA_DEF_REL_
+ BA_REL_
+ BA_DEF_DEF_REL_
+ BU_SG_REL_
+ BU_EV_REL_
+ BU_BO_REL_
+ SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
+
+
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ISH: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
index de73a6130..acbd9bb19 100644
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/mazda_cx5_gt_2017.dbc b/opendbc/mazda_cx5_gt_2017.dbc
new file mode 100644
index 000000000..d0b84c22a
--- /dev/null
+++ b/opendbc/mazda_cx5_gt_2017.dbc
@@ -0,0 +1,694 @@
+VERSION ""
+
+
+NS_ :
+ NS_DESC_
+ CM_
+ BA_DEF_
+ BA_
+ VAL_
+ CAT_DEF_
+ CAT_
+ FILTER
+ BA_DEF_DEF_
+ EV_DATA_
+ ENVVAR_DATA_
+ SGTYPE_
+ SGTYPE_VAL_
+ BA_DEF_SGTYPE_
+ BA_SGTYPE_
+ SIG_TYPE_REF_
+ VAL_TABLE_
+ SIG_GROUP_
+ SIG_VALTYPE_
+ SIGTYPE_VALTYPE_
+ BO_TX_BU_
+ BA_DEF_REL_
+ BA_REL_
+ BA_DEF_DEF_REL_
+ BU_SG_REL_
+ BU_EV_REL_
+ BU_BO_REL_
+ SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 117 STEER_RELATED: 8 XXX
+ SG_ CTR : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 49|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_5 : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE : 19|12@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_2 : 39|16@0+ (1,0) [0|131071] "" XXX
+
+BO_ 118 RPM_RELATED: 8 XXX
+ SG_ CTR : 7|8@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX
+
+BO_ 514 ENGINE_DATA: 8 XXX
+ SG_ RPM : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ CHKSUM : 56|8@1+ (1,0) [0|127] "" XXX
+ SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "KPH" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "" XXX
+
+BO_ 357 PEDALS: 8 XXX
+ SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 8|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACC_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_OFF : 2|1@1+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ STANDSTILL : 26|1@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|3] "" XXX
+ SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_BRAKE : 6|1@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_ON_2 : 7|1@1+ (1,0) [0|255] "" XXX
+ SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX
+
+BO_ 533 WHEEL_SPEEDS: 8 XXX
+ SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "" XXX
+ SG_ RL : 39|16@0+ (0.01,-100) [0|15] "" XXX
+ SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX
+
+BO_ 134 STEER2: 8 XXX
+ SG_ NEW_SIGNAL_2 : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ CTR : 22|4@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 24|3@1+ (1,0) [0|7] "" XXX
+ SG_ CTR_2 : 28|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 7|16@0+ (0.1,-1600) [-500|500] "deg" XXX
+ SG_ STEER_ANGLE_ROUGH : 39|8@0- (1,0) [0|15] "" XXX
+
+BO_ 576 STEER_TORQUE: 8 XXX
+ SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_1 : 20|4@1+ (1,0) [0|255] "" XXX
+ SG_ STEER_TORQUE_SENSOR : 7|16@0+ (0.5,-15000) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 46|20@0- (0.01,0) [-3000|3000] "deg/s" XXX
+
+BO_ 577 STEER_RATE: 8 XXX
+ SG_ STEER_ANGLE_RATE : 23|16@0+ (0.25,-8192) [0|1] "deg/s" XXX
+ SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|15] "" XXX
+ SG_ LKAS_EFFECTIVE : 39|12@0+ (1,-2048) [0|255] "" XXX
+ SG_ HANDS_OFF_5_SECONDS : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_BLOCK : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_TRACK_STATE : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 582 CAM_LANEMAYBE: 8 XXX
+ SG_ NEW_SIGNAL_4 : 40|8@1+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|16@0- (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|65535] "" XXX
+ SG_ CTR : 7|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 541 CAM_EMPTY: 8 XXX
+
+BO_ 605 CAM_PEDESTRIAN: 8 XXX
+ SG_ CTR : 17|4@0+ (1,0) [0|255] "" XXX
+ SG_ AEB_NOT_ENGAGED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ PED_WARNING : 9|1@0+ (1,0) [0|255] "" XXX
+ SG_ PED_BRAKE : 3|3@0+ (1,0) [0|7] "" XXX
+ SG_ RST_CTR : 23|6@0+ (1,0) [0|63] "" XXX
+ SG_ S1 : 29|4@0+ (1,0) [0|31] "" XXX
+
+BO_ 578 CAM_LANETRACK: 8 XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZERO : 53|6@0+ (1,0) [0|63] "" XXX
+ SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ LINE2 : 9|10@0+ (1,-686) [0|255] "" XXX
+ SG_ LANE_CURVE : 31|8@0+ (1,-127) [0|255] "" XXX
+ SG_ SIG1 : 39|8@0+ (1,-128) [0|255] "" XXX
+ SG_ SIG2 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SIG3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ LINE1 : 3|10@0+ (1,-686) [0|1] "" XXX
+
+BO_ 579 CAM_LKAS: 8 XXX
+ SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
+ SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT_2 : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 CAM_DISTANCE: 8 XXX
+ SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
+ SG_ S2 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ S3 : 16|8@1+ (1,0) [0|3] "" XXX
+ SG_ S4 : 24|8@1+ (1,0) [0|31] "" XXX
+ SG_ S5 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ DISTANCE : 47|8@0+ (1,0) [0|65535] "" XXX
+ SG_ S6 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 581 CAM_IDK3: 8 XXX
+ SG_ S1 : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ S2 : 8|6@1+ (1,0) [0|255] "" XXX
+ SG_ S3 : 15|2@0+ (1,0) [0|3] "" XXX
+ SG_ S4 : 16|8@1+ (1,0) [0|15] "" XXX
+ SG_ S5 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ S6 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ S7 : 40|8@1+ (1,0) [0|3] "" XXX
+ SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 863 CAM_STATUS: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_5 : 4|2@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
+
+BO_ 1157 CAM_Empty2: 8 XXX
+
+BO_ 1160 CAM_Empty3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
+
+BO_ 1088 CAM_LANEINFO: 8 XXX
+ SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX
+ SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX
+ SG_ S1_NOT : 54|1@0+ (1,0) [0|31] "" XXX
+ SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX
+ SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_ERR_BIT : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT2 : 13|1@0+ (1,0) [0|15] "" XXX
+ SG_ LANE_LINES : 10|3@0+ (1,0) [0|3] "" XXX
+ SG_ BIT1 : 6|1@0+ (1,0) [0|65535] "" XXX
+ SG_ LINE_NOT_VISIBLE : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 1479 NEW_MSG_470: 8 XXX
+
+BO_ 1456 NEW_MSG_300: 8 XXX
+
+BO_ 1446 NEW_MSG_a600: 8 XXX
+
+BO_ 1416 MSG_18: 8 XXX
+
+BO_ 1086 DOORS: 8 XXX
+ SG_ DOOR_OPEN : 30|1@0+ (1,0) [0|255] "" XXX
+ SG_ LEFTGATE : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 53|1@0+ (1,0) [0|255] "" XXX
+ SG_ KEYFOB_HORN : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ KEYFOB_LOCK : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ KEYFOB_UNLOCK : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR1 : 8|4@1+ (1,0) [0|3] "" XXX
+ SG_ CTR2 : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ BR : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ BL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ FR : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ FL : 37|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 977 TWO_STATES: 8 XXX
+ SG_ NEW_SIGNAL_1 : 50|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 56|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|4@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 51|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1085 MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_3 : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|8@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_6 : 40|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 159 MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 50|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1278 NEW_MSG_3: 8 XXX
+ SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ MILAGE_MAYBE : 7|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1277 NEW_MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ counter : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1275 2017_5: 8 XXX
+ SG_ counter : 4|5@0+ (1,0) [0|255] "" XXX
+
+BO_ 1274 NEW_MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR : 55|4@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_2 : 35|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|3@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 48|4@1+ (1,0) [0|7] "" XXX
+
+BO_ 1180 last_byte_roughRPM: 8 XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1078 HVAC: 8 XXX
+ SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 56|5@0+ (1,0) [0|255] "" XXX
+
+BO_ 1056 NEW_MSG_13: 8 XXX
+ SG_ BIG_COUNTER_MAYBE : 55|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 29|6@0+ (1,0) [0|255] "" XXX
+ SG_ counter_or_GEAR : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ STANDSTILL : 32|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 1045 MOVING: 8 XXX
+ SG_ NEW_SIGNAL_2 : 20|1@0+ (1,0) [0|3] "" XXX
+ SG_ CTR2 : 19|4@0+ (1,0) [0|31] "" XXX
+ SG_ CTR3 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ IS_MOVING : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ CTR1 : 53|6@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE : 55|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1034 MSG_07: 8 XXX
+ SG_ NEW_SIGNAL_1 : 6|3@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|4@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 870 NEW_MSG_16: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 867 NEW_MSG_17: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 130 STEER: 8 XXX
+ SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_2 : 35|4@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [500|-500] "deg" XXX
+
+BO_ 120 NEW_MSG_18: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 304 GEAR_RELATED: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 865 NEW_MSG_5: 8 XXX
+ SG_ SPEED_INVERSE : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ IS_MOVING : 43|3@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_2 : 46|1@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_10 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 15|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 836 NEW_MSG_19: 8 XXX
+ SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 832 SEATBELT: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ PASSENGER_SEATBELT : 26|1@1+ (1,0) [0|7] "" XXX
+ SG_ CTR1 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CTR2 : 23|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 8|4@1+ (1,0) [0|3] "" XXX
+ SG_ DRIVER_SEATBELT : 27|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 866 NEW_MSG_21: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|131071] "" XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 158 MSG_05: 8 XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 157 CRZ_BTNS: 8 XXX
+ SG_ SET_P_INV : 21|1@0+ (1,0) [0|3] "" XXX
+ SG_ CAN_OFF_INV : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ CAN_OFF : 0|1@1+ (1,0) [0|3] "" XXX
+ SG_ SET_M_INV : 22|1@0+ (1,0) [0|255] "" XXX
+ SG_ SET_M : 5|1@0+ (1,0) [0|3] "" XXX
+ SG_ SET_P : 4|1@0+ (1,0) [0|3] "" XXX
+ SG_ RES_INV : 19|1@1+ (1,0) [0|3] "" XXX
+ SG_ RES : 2|1@1+ (1,0) [0|3] "" XXX
+ SG_ DISTANCE_LESS : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISTANCE_LESS_INV : 8|1@0+ (1,0) [0|31] "" XXX
+ SG_ DISTANCE_MORE : 6|1@0+ (1,0) [0|3] "" XXX
+ SG_ DISTANCE_MORE_INV : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_Y : 13|1@1+ (1,0) [0|3] "" XXX
+ SG_ MODE_X : 14|1@0+ (1,0) [0|255] "" XXX
+ SG_ MODE_Y_INV : 30|1@0+ (1,0) [0|3] "" XXX
+ SG_ MODE_X_INV : 31|1@0+ (1,0) [0|3] "" XXX
+ SG_ CTR : 29|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 154 BLINK_INFO: 8 XXX
+ SG_ LEFT_BLINK : 18|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINK : 19|1@0+ (1,0) [0|255] "" XXX
+ SG_ REAR_WIPER_ON : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ WIPER_LO : 33|1@1+ (1,0) [0|31] "" XXX
+ SG_ WIPER_HI : 34|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 145 TURN_SWITCH: 8 XXX
+ SG_ NEW_SIGNAL_1 : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 36|1@0+ (1,0) [0|3] "" XXX
+ SG_ TURN : 38|1@0+ (1,0) [0|3] "" XXX
+ SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX
+ SG_ TURN_RIGHT_SWITCH : 12|1@1+ (1,0) [0|3] "" XXX
+ SG_ HAZARD : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR : 27|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 80 MSG_04: 8 XXX
+ SG_ NEW_SIGNAL_1 : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 978 MSG_03: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 607 NEW_MSG_25: 8 XXX
+
+BO_ 1115 MSG_02: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 2|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1067 NEW_MSG_27: 8 XXX
+ SG_ NEW_SIGNAL_2 : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 11|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_7 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_9 : 8|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 358 NEW_MSG_28: 8 XXX
+
+BO_ 608 NEW_MSG_29: 8 XXX
+ SG_ NEW_SIGNAL_1 : 8|5@1+ (1,0) [0|7] "" XXX
+
+BO_ 606 SPEED_TBD: 8 XXX
+ SG_ SPEED_TBD : 7|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|12@0- (1,0) [0|65535] "" XXX
+
+BO_ 552 GEAR: 8 XXX
+ SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 18|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 26|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 31|5@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] "" XXX
+ SG_ MORE_GEAR : 7|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 543 CRZ_EVENTS: 8 XXX
+ SG_ NEW_SIGNAL_3 : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 6|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_9 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_10 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_12 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_13 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_18 : 12|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_19 : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_20 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_21 : 23|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_24 : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL_PRESSED : 32|1@0+ (1,0) [0|255] "" XXX
+ SG_ CRZ_STARTED : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ PLUS_ONE_CRZ : 17|1@0+ (1,0) [0|255] "" XXX
+ SG_ PLUS_ONE_CRZ_2 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_MAYBE : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ NONACC_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE_CAR_MOVING : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ NONACC_RELATED : 11|1@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CAS_CMD_MAYBE : 30|7@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 43|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 542 NEW_MSG_33: 8 XXX
+ SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR2 : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 868 NEW_MSG_34: 8 XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 869 NEW_MSG_35: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 50|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 1114 NEW_MSG_4: 8 XXX
+
+BO_ 535 CURVE_CTRS: 8 XXX
+ SG_ CTR_A_1 : 4|3@0+ (1,0) [0|31] "" XXX
+ SG_ CTR_A_2 : 7|3@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_B_1 : 12|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_B_2 : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_C_1 : 20|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX
+ SG_ CURVE : 39|16@0+ (1,0) [0|7] "" XXX
+ SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SEATBELT_MAYBE : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_SEATBELT_MAYBE : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 9|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 540 CRZ_CTRL: 8 XXX
+ SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 18|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
+ SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 539 CRZ_INFO: 8 XXX
+ SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX
+ SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 37|1@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_CMD : 31|10@0- (1,0) [0|1] "" XXX
+
+BO_ 121 EPB: 8 XXX
+ SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 25|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 41|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 47|1@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_10 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_11 : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_ACTIVE : 29|1@0+ (1,0) [0|15] "" XXX
+
+BO_ 1070 2017_1: 8 XXX
+
+BO_ 1183 2017_2: 8 XXX
+
+BO_ 1243 2017_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1269 MSG_2017_4: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1178 2017_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1179 2017_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1435 2017_8: 8 XXX
+
+BO_ 253 NEW_MSG_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 61|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 359 NEW_MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 31|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 36|5@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 512 NEW_MSG_30: 8 XXX
+ SG_ NEW_SIGNAL_1 : 6|7@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 22|7@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_6 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 38|7@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_9 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CTR : 51|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_11 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 515 MSG_01: 8 XXX
+ SG_ CTR : 39|8@0+ (1,0) [0|65535] "" XXX
+ SG_ CTR_2 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 529 NEW_MSG_36: 8 XXX
+ SG_ NEW_SIGNAL_1 : 22|5@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|4@1+ (1,0) [0|3] "" XXX
+ SG_ CTR : 39|4@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_2 : 47|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 53|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 1242 NEW_MSG_37: 8 XXX
+
+BO_ 1266 MSG_09: 8 XXX
+ SG_ NEW_SIGNAL_1 : 20|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 976 MSG_15: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 61|6@0+ (1,0) [0|1] "" XXX
+
+BO_ 155 MSG_14: 8 XXX
+
+BO_ 1267 MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_1 : 40|1@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_2 : 42|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 305 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 10|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1238 TEMPERATURE: 8 XXX
+ SG_ TEMPERATURE_MAYBE : 47|8@0+ (1,0) [0|4294967295] "" XXX
+
+BO_ 1087 NEW_MSG_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1143 BSM: 8 XXX
+ SG_ BSM_OFF : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BS_3 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS1 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS3 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BS4 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS_SIDE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ IS_MOVING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS_BEHIND : 46|2@1+ (1,0) [0|16777215] "" XXX
+ SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX
+ SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1361 KEY_POSITION: 8 XXX
+
+BO_ 1283 KEY_POSITION2: 8 XXX
+
+BO_ 628 MSG_06: 8 XXX
+
+BO_ 1154 MSG_08: 8 XXX
+
+BO_ 1139 MSG_13: 8 XXX
+
+BO_ 1270 MSG_16: 8 XXX
+
+BO_ 1272 MSG_17: 8 XXX
+
+BO_ 1425 MSG_19: 8 XXX
+
+
+
+
+CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
+CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
+CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled TURN it OFF ";
+CM_ SG_ 552 GEAR "0 P/N, 12 R, 2 D M1, 4 M2, 14 Shift";
+CM_ SG_ 552 MORE_GEAR "";
diff --git a/opendbc/subaru_global_2017.dbc b/opendbc/subaru_global_2017.dbc
new file mode 100644
index 000000000..1c8b796ab
--- /dev/null
+++ b/opendbc/subaru_global_2017.dbc
@@ -0,0 +1,363 @@
+VERSION ""
+
+
+NS_ :
+ NS_DESC_
+ CM_
+ BA_DEF_
+ BA_
+ VAL_
+ CAT_DEF_
+ CAT_
+ FILTER
+ BA_DEF_DEF_
+ EV_DATA_
+ ENVVAR_DATA_
+ SGTYPE_
+ SGTYPE_VAL_
+ BA_DEF_SGTYPE_
+ BA_SGTYPE_
+ SIG_TYPE_REF_
+ VAL_TABLE_
+ SIG_GROUP_
+ SIG_VALTYPE_
+ SIGTYPE_VALTYPE_
+ BO_TX_BU_
+ BA_DEF_REL_
+ BA_REL_
+ BA_DEF_DEF_REL_
+ BU_SG_REL_
+ BU_EV_REL_
+ BU_BO_REL_
+ SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
+
+BO_ 64 Throttle: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 55|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 65 NEW_MSG_1: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
+
+BO_ 72 NEW_MSG_2: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 316 NEW_MSG_3: 8 XXX
+
+BO_ 326 NEW_MSG_4: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|2@1+ (1,0) [0|255] "" XXX
+
+BO_ 315 G_Sensor: 8 XXX
+ SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
+
+BO_ 314 Wheel_Speeds: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
+
+BO_ 73 NEW_MSG_5: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
+
+BO_ 280 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
+
+BO_ 281 Steering_Torque: 8 XXX
+ SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
+ SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
+ SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
+ SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
+
+BO_ 312 Brake_Pressure_L_R: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 313 Brake_Pedal: 8 XXX
+ SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
+
+BO_ 290 ES_LKAS: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
+ SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
+ SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 722 NEW_MSG_10: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 544 ES_Brake: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
+ SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
+
+BO_ 545 ES_Distance: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Close_Distance : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Distance_Swap : 37|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|1@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_9 : 38|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 34|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal : 33|1@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_10 : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Throttle : 16|12@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_ENABLE_BTN : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ Car_Follow : 32|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake : 36|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 546 ES_Status: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 554 ES_Blank: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
+ SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 557 NEW_MSG_14: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 576 CruiseControl: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 577 NEW_MSG_16: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
+
+BO_ 552 NEW_MSG_17: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 912 Dashlights: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 940 BodyInfo: 8 XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
+ SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 801 ES_DashStatus: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_9 : 60|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+
+BO_ 802 ES_LKAS_State: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 28|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Traffic_light_Ahead : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 56|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 805 ES_NEW_MSG_22: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 808 NEW_MSG_23: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 837 NEW_MSG_24: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 838 NEW_MSG_25: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 842 NEW_MSG_26: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 915 NEW_MSG_27: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
+
+BO_ 1788 NEW_MSG_28: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 816 NEW_MSG_29: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 826 NEW_MSG_30: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 839 NEW_MSG_31: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 2015 NEW_MSG_32: 8 XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 2024 NEW_MSG_33: 8 XXX
+ SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 1614 NEW_MSG_34: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1617 NEW_MSG_35: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1632 NEW_MSG_36: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1650 NEW_MSG_37: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1657 NEW_MSG_38: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1658 NEW_MSG_39: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 1677 NEW_MSG_40: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1743 NEW_MSG_41: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1785 NEW_MSG_42: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 1759 NEW_MSG_43: 8 XXX
+ SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 1786 NEW_MSG_44: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 1787 NEW_MSG_45: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+
+
+
+
+CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
+CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
+CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
diff --git a/opendbc/subaru_outback_2015_eyesight.dbc b/opendbc/subaru_outback_2015_eyesight.dbc
index 9f592b828..aad63e310 100644
--- a/opendbc/subaru_outback_2015_eyesight.dbc
+++ b/opendbc/subaru_outback_2015_eyesight.dbc
@@ -191,10 +191,10 @@ BO_ 354 ES_RPM: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
BO_ 356 ES_LKAS: 8 XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
- SG_ Counter : 0|3@1+ (1,0) [0|15] "" XXX
- SG_ LKAS_Active : 24|1@1+ (1,0) [0|7] "" XXX
- SG_ LKAS_Output : 8|13@1- (-1,0) [0|127] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|8] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4095] "" XXX
BO_ 358 ES_Status: 8 XXX
SG_ Counter : 39|3@0+ (1,0) [0|7] "" XXX
diff --git a/opendbc/toyota_avalon_2017_pt_generated.dbc b/opendbc/toyota_avalon_2017_pt_generated.dbc
index cef7138b2..64c39ff82 100644
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
index 6361a100a..5d4fd39a6 100644
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
@@ -316,6 +318,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.05527,0) [-500|500] "" XXX
BO_ 610 EPS_STATUS: 8 EPS
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/toyota_chr_2018_pt_generated.dbc b/opendbc/toyota_chr_2018_pt_generated.dbc
index 7ef8f3f94..a2e169f94 100644
--- a/opendbc/toyota_chr_2018_pt_generated.dbc
+++ b/opendbc/toyota_chr_2018_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc b/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
index 5fb07ee64..574d3c200 100644
--- a/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/toyota_corolla_2017_pt_generated.dbc b/opendbc/toyota_corolla_2017_pt_generated.dbc
index 2bc435c23..14aff972e 100644
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/toyota_highlander_2017_pt_generated.dbc b/opendbc/toyota_highlander_2017_pt_generated.dbc
index d263b1526..cd78b63de 100644
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
index f923c5c51..08831635d 100644
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/toyota_prius_2017_pt_generated.dbc b/opendbc/toyota_prius_2017_pt_generated.dbc
index a78a149d8..abc4f0817 100644
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/toyota_rav4_2017_pt_generated.dbc b/opendbc/toyota_rav4_2017_pt_generated.dbc
index 0448e9de2..872715625 100644
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
index eb332a27c..a75dcb3af 100644
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
index 67291ab31..32ef3f518 100644
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -18,13 +18,15 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
diff --git a/panda/.circleci/config.yml b/panda/.circleci/config.yml
index 2289ad8aa..6b98610c5 100644
--- a/panda/.circleci/config.yml
+++ b/panda/.circleci/config.yml
@@ -29,13 +29,17 @@ jobs:
command: |
docker run panda_build /bin/bash -c "cd /panda/board; make bin"
- run:
- name: Build Honda Pedal STM image
+ name: Build Panda STM bootstub image
command: |
- docker run panda_build /bin/bash -c "cd /panda/board/pedal_honda; make obj/comma.bin"
+ docker run panda_build /bin/bash -c "cd /panda/board; make obj/bootstub.panda.bin"
- run:
- name: Build Toyota Pedal STM image
+ name: Build Pedal STM image
command: |
- docker run panda_build /bin/bash -c "cd /panda/board/pedal_toyota; make obj/comma.bin"
+ docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
+ - run:
+ name: Build Pedal STM bootstub image
+ command: |
+ docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/bootstub.bin"
- run:
name: Build NEO STM image
command: |
diff --git a/panda/board/build.mk b/panda/board/build.mk
index 9f2c4250c..a84ed3fd9 100644
--- a/panda/board/build.mk
+++ b/panda/board/build.mk
@@ -2,6 +2,14 @@ CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os
CFLAGS += -Tstm32_flash.ld
+# Compile fast charge (DCP) only not on EON
+ifeq (,$(wildcard /EON))
+ BUILDER = DEV
+else
+ CFLAGS += "-DEON"
+ BUILDER = EON
+endif
+
CC = arm-none-eabi-gcc
OBJCOPY = arm-none-eabi-objcopy
OBJDUMP = arm-none-eabi-objdump
diff --git a/panda/board/gpio.h b/panda/board/gpio.h
index 6112f6f88..7bd24ecbb 100644
--- a/panda/board/gpio.h
+++ b/panda/board/gpio.h
@@ -454,6 +454,7 @@ void early() {
#ifdef PANDA
// enable the ESP, disable ESP boot mode
// unless we are on a giant panda, then there's no ESP
+ // dont disable on grey panda
if (is_giant_panda) {
set_esp_mode(ESP_DISABLED);
} else {
diff --git a/panda/board/main.c b/panda/board/main.c
index 16d64916a..8ee1bb0c8 100644
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -539,6 +539,9 @@ int main() {
} else {
// enable ESP uart
uart_init(USART1, 115200);
+ #ifdef EON
+ set_esp_mode(ESP_DISABLED);
+ #endif
}
// enable LIN
uart_init(UART5, 10400);
@@ -590,8 +593,6 @@ int main() {
uint64_t marker = 0;
#define CURRENT_THRESHOLD 0xF00
#define CLICKS 8
- // Enough clicks to ensure that enumeration happened. Should be longer than bootup time of the device connected to EON
- #define CLICKS_BOOTUP 30
#endif
for (cnt=0;;cnt++) {
@@ -618,8 +619,9 @@ int main() {
}
break;
case USB_POWER_CDP:
- // been CLICKS_BOOTUP clicks since we switched to CDP
- if ((cnt-marker) >= CLICKS_BOOTUP ) {
+#ifndef EON
+ // been CLICKS clicks since we switched to CDP
+ if ((cnt-marker) >= CLICKS) {
// measure current draw, if positive and no enumeration, switch to DCP
if (!is_enumerated && current < CURRENT_THRESHOLD) {
puts("USBP: no enumeration with current draw, switching to DCP mode\n");
@@ -631,6 +633,7 @@ int main() {
if (current >= CURRENT_THRESHOLD) {
marker = cnt;
}
+#endif
break;
case USB_POWER_DCP:
// been at least CLICKS clicks since we switched to DCP
diff --git a/panda/board/pedal_honda/.gitignore b/panda/board/pedal/.gitignore
similarity index 100%
rename from panda/board/pedal_honda/.gitignore
rename to panda/board/pedal/.gitignore
diff --git a/panda/board/pedal_honda/Makefile b/panda/board/pedal/Makefile
similarity index 85%
rename from panda/board/pedal_honda/Makefile
rename to panda/board/pedal/Makefile
index 9917e3815..37b95f90f 100644
--- a/panda/board/pedal_honda/Makefile
+++ b/panda/board/pedal/Makefile
@@ -30,12 +30,20 @@ recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
+include ../../common/version.mk
+
+obj/cert.h: ../../crypto/getcertheader.py
+ ../../crypto/getcertheader.py ../../certs/debug.pub ../../certs/release.pub > $@
+
obj/main.o: main.c ../*.h
mkdir -p obj
$(CC) $(CFLAGS) -o $@ -c $<
-obj/bootstub.o: ../bootstub.c ../*.h
+obj/bootstub.o: ../bootstub.c ../*.h obj/gitversion.h obj/cert.h
mkdir -p obj
+ mkdir -p ../obj
+ cp obj/gitversion.h ../obj/gitversion.h
+ cp obj/cert.h ../obj/cert.h
$(CC) $(CFLAGS) -o $@ -c $<
obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
diff --git a/panda/board/pedal_honda/README b/panda/board/pedal/README
similarity index 100%
rename from panda/board/pedal_honda/README
rename to panda/board/pedal/README
diff --git a/panda/board/pedal_honda/main.c b/panda/board/pedal/main.c
similarity index 83%
rename from panda/board/pedal_honda/main.c
rename to panda/board/pedal/main.c
index 5d5264791..13a221a87 100644
--- a/panda/board/pedal_honda/main.c
+++ b/panda/board/pedal/main.c
@@ -70,21 +70,24 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
#endif
-// ***************************** honda can checksum *****************************
+// ***************************** pedal can checksum *****************************
-int can_cksum(uint8_t *dat, int len, int addr, int idx) {
- int i;
- int s = 0;
- for (i = 0; i < len; i++) {
- s += (dat[i] >> 4);
- s += dat[i] & 0xF;
+uint8_t pedal_checksum(uint8_t *dat, int len) {
+ uint8_t crc = 0xFF;
+ uint8_t poly = 0xD5; // standard crc8
+ int i, j;
+ for (i = len - 1; i >= 0; i--) {
+ crc ^= dat[i];
+ for (j = 0; j < 8; j++) {
+ if ((crc & 0x80) != 0) {
+ crc = (uint8_t)((crc << 1) ^ poly);
+ }
+ else {
+ crc <<= 1;
+ }
+ }
}
- s += (addr>>0)&0xF;
- s += (addr>>4)&0xF;
- s += (addr>>8)&0xF;
- s += idx;
- s = 8-s;
- return s&0xF;
+ return crc;
}
// ***************************** can port *****************************
@@ -92,6 +95,8 @@ int can_cksum(uint8_t *dat, int len, int addr, int idx) {
// addresses to be used on CAN
#define CAN_GAS_INPUT 0x200
#define CAN_GAS_OUTPUT 0x201
+#define CAN_GAS_SIZE 6
+#define COUNTER_CYCLE 0xF
void CAN1_TX_IRQHandler() {
// clear interrupt
@@ -134,14 +139,19 @@ void CAN1_RX0_IRQHandler() {
}
// normal packet
- uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
- uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
+ uint8_t dat[8];
+ uint8_t *rdlr = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
+ uint8_t *rdhr = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
+ for (int i=0; i<4; i++) {
+ dat[i] = rdlr[i];
+ dat[i+4] = rdhr[i];
+ }
uint16_t value_0 = (dat[0] << 8) | dat[1];
uint16_t value_1 = (dat[2] << 8) | dat[3];
- uint8_t enable = (dat2[0] >> 7) & 1;
- uint8_t index = (dat2[1] >> 4) & 3;
- if (can_cksum(dat, 5, CAN_GAS_INPUT, index) == (dat2[1] & 0xF)) {
- if (((current_index+1)&3) == index) {
+ uint8_t enable = (dat[4] >> 7) & 1;
+ uint8_t index = dat[4] & COUNTER_CYCLE;
+ if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
+ if (((current_index + 1) & COUNTER_CYCLE) == index) {
#ifdef DEBUG
puts("setting gas ");
puth(value);
@@ -196,18 +206,18 @@ void TIM3_IRQHandler() {
// check timer for sending the user pedal and clearing the CAN
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
uint8_t dat[8];
- dat[0] = (pdl0>>8)&0xFF;
- dat[1] = (pdl0>>0)&0xFF;
- dat[2] = (pdl1>>8)&0xFF;
- dat[3] = (pdl1>>0)&0xFF;
- dat[4] = state;
- dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT, pkt_idx) | (pkt_idx<<4);
+ dat[0] = (pdl0>>8) & 0xFF;
+ dat[1] = (pdl0>>0) & 0xFF;
+ dat[2] = (pdl1>>8) & 0xFF;
+ dat[3] = (pdl1>>0) & 0xFF;
+ dat[4] = (state & 0xF) << 4 | pkt_idx;
+ dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
++pkt_idx;
- pkt_idx &= 3;
+ pkt_idx &= COUNTER_CYCLE;
} else {
// old can packet hasn't sent!
state = FAULT_SEND;
diff --git a/panda/board/pedal_honda/obj/.gitkeep b/panda/board/pedal/obj/.gitkeep
similarity index 100%
rename from panda/board/pedal_honda/obj/.gitkeep
rename to panda/board/pedal/obj/.gitkeep
diff --git a/panda/board/pedal_toyota/.gitignore b/panda/board/pedal_toyota/.gitignore
deleted file mode 100644
index 94053f292..000000000
--- a/panda/board/pedal_toyota/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-obj/*
diff --git a/panda/board/pedal_toyota/Makefile b/panda/board/pedal_toyota/Makefile
deleted file mode 100644
index 1235cc715..000000000
--- a/panda/board/pedal_toyota/Makefile
+++ /dev/null
@@ -1,58 +0,0 @@
-# :set noet
-PROJ_NAME = comma
-
-CFLAGS = -O2 -Wall -std=gnu11 -DPEDAL
-CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
-CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
-CFLAGS += -T../stm32_flash.ld
-
-STARTUP_FILE = startup_stm32f205xx
-
-CC = arm-none-eabi-gcc
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-DFU_UTIL = "dfu-util"
-
-# pedal only uses the debug cert
-CERT = ../../certs/debug
-CFLAGS += "-DALLOW_DEBUG"
-
-canflash: obj/$(PROJ_NAME).bin
- ../../tests/pedal/enter_canloader.py $<
-
-usbflash: obj/$(PROJ_NAME).bin
- ../../tests/pedal/enter_canloader.py; sleep 0.5
- PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
-
-recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
- ../../tests/pedal/enter_canloader.py --recover; sleep 0.5
- $(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
- $(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
-
-obj/main.o: main.c ../*.h
- mkdir -p obj
- $(CC) $(CFLAGS) -o $@ -c $<
-
-obj/bootstub.o: ../bootstub.c ../*.h
- mkdir -p obj
- $(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
- $(CC) $(CFLAGS) -o $@ -c $<
-
-obj/%.o: ../../crypto/%.c
- $(CC) $(CFLAGS) -o $@ -c $<
-
-obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
- # hack
- $(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
- $(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
- SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
-
-obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
- $(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
- $(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
-
-clean:
- rm -f obj/*
diff --git a/panda/board/pedal_toyota/README b/panda/board/pedal_toyota/README
deleted file mode 100644
index f7c56c3bf..000000000
--- a/panda/board/pedal_toyota/README
+++ /dev/null
@@ -1,30 +0,0 @@
-MOVE ALL FILES TO board/pedal TO FLASH
-
-
-This is the firmware for the comma pedal. It borrows a lot from panda.
-
-The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
-
-This is the open source software. Note that it is not ready to use yet.
-
-== Test Plan ==
-
-* Startup
-** Confirm STATE_FAULT_STARTUP
-* Timeout
-** Send value
-** Confirm value is output
-** Stop sending messages
-** Confirm value is passthru after 100ms
-** Confirm STATE_FAULT_TIMEOUT
-* Random values
-** Send random 6 byte messages
-** Confirm random values cause passthru
-** Confirm STATE_FAULT_BAD_CHECKSUM
-* Same message lockout
-** Send same message repeated
-** Confirm timeout behavior
-* Don't set enable
-** Confirm no output
-* Set enable and values
-** Confirm output
diff --git a/panda/board/pedal_toyota/main.c b/panda/board/pedal_toyota/main.c
deleted file mode 100644
index a9b6cec46..000000000
--- a/panda/board/pedal_toyota/main.c
+++ /dev/null
@@ -1,291 +0,0 @@
-//#define DEBUG
-//#define CAN_LOOPBACK_MODE
-//#define USE_INTERNAL_OSC
-
-#include "../config.h"
-
-#include "drivers/drivers.h"
-#include "drivers/llgpio.h"
-#include "gpio.h"
-
-#define CUSTOM_CAN_INTERRUPTS
-
-#include "libc.h"
-#include "safety.h"
-#include "drivers/adc.h"
-#include "drivers/uart.h"
-#include "drivers/dac.h"
-#include "drivers/can.h"
-#include "drivers/timer.h"
-
-#define CAN CAN1
-
-//#define PEDAL_USB
-
-#ifdef PEDAL_USB
- #include "drivers/usb.h"
-#endif
-
-#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
-uint32_t enter_bootloader_mode;
-
-void __initialize_hardware_early() {
- early();
-}
-
-// ********************* serial debugging *********************
-
-void debug_ring_callback(uart_ring *ring) {
- char rcv;
- while (getc(ring, &rcv)) {
- putc(ring, rcv);
- }
-}
-
-#ifdef PEDAL_USB
-
-int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
-void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
-void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
-void usb_cb_enumeration_complete() {}
-
-int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
- int resp_len = 0;
- uart_ring *ur = NULL;
- switch (setup->b.bRequest) {
- // **** 0xe0: uart read
- case 0xe0:
- ur = get_ring_by_number(setup->b.wValue.w);
- if (!ur) break;
- if (ur == &esp_ring) uart_dma_drain();
- // read
- while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
- getc(ur, (char*)&resp[resp_len])) {
- ++resp_len;
- }
- break;
- }
- return resp_len;
-}
-
-#endif
-
-// ***************************** toyota can checksum ****************************
-
-int can_cksum(uint8_t *dat, uint8_t len, uint16_t addr)
-{
- uint8_t checksum = 0;
- checksum =((addr & 0xFF00) >> 8) + (addr & 0x00FF) + len + 1;
- //uint16_t temp_msg = msg;
-
- for (int ii = 0; ii < len; ii++)
- {
- checksum += (dat[ii]);
- //temp_msg = temp_msg >> 8;
- }
- //return ((msg & ~0xFF) & (checksum & 0xFF));
- return checksum;
-}
-
-// ***************************** can port *****************************
-
-// addresses to be used on CAN
-#define CAN_GAS_INPUT 0x200
-#define CAN_GAS_OUTPUT 0x201
-
-void CAN1_TX_IRQHandler() {
- // clear interrupt
- CAN->TSR |= CAN_TSR_RQCP0;
-}
-
-// two independent values
-uint16_t gas_set_0 = 0;
-uint16_t gas_set_1 = 0;
-
-#define MAX_TIMEOUT 10
-uint32_t timeout = 0;
-
-#define NO_FAULT 0
-#define FAULT_BAD_CHECKSUM 1
-#define FAULT_SEND 2
-#define FAULT_SCE 3
-#define FAULT_STARTUP 4
-#define FAULT_TIMEOUT 5
-#define FAULT_INVALID 6
-uint8_t state = FAULT_STARTUP;
-
-void CAN1_RX0_IRQHandler() {
- while (CAN->RF0R & CAN_RF0R_FMP0) {
- #ifdef DEBUG
- puts("CAN RX\n");
- #endif
- uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
- if (address == CAN_GAS_INPUT) {
- // softloader entry
- if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
- if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
- enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
- NVIC_SystemReset();
- } else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
- enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
- NVIC_SystemReset();
- }
- }
-
- // normal packet
- uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
- uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
- uint16_t value_0 = (dat[0] << 8) | dat[1];
- uint16_t value_1 = (dat[2] << 8) | dat[3];
- uint8_t enable = (dat2[0] >> 7) & 1;
- uint8_t index = 0;
- if (can_cksum(dat, 5, CAN_GAS_INPUT) == dat2[1]) {
- if (index == 0) {
- #ifdef DEBUG
- puts("setting gas ");
- puth(value);
- puts("\n");
- #endif
- if (enable) {
- gas_set_0 = value_0;
- gas_set_1 = value_1;
- } else {
- // clear the fault state if values are 0
- if (value_0 == 0 && value_1 == 0) {
- state = NO_FAULT;
- } else {
- state = FAULT_INVALID;
- }
- gas_set_0 = gas_set_1 = 0;
- }
- // clear the timeout
- timeout = 0;
- }
-
- } else {
- // wrong checksum = fault
- state = FAULT_BAD_CHECKSUM;
- }
- }
- // next
- CAN->RF0R |= CAN_RF0R_RFOM0;
- }
-}
-
-void CAN1_SCE_IRQHandler() {
- state = FAULT_SCE;
- can_sce(CAN);
-}
-
-int pdl0 = 0, pdl1 = 0;
-
-
-int led_value = 0;
-
-void TIM3_IRQHandler() {
- #ifdef DEBUG
- puth(TIM3->CNT);
- puts(" ");
- puth(pdl0);
- puts(" ");
- puth(pdl1);
- puts("\n");
- #endif
-
- // check timer for sending the user pedal and clearing the CAN
- if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
- uint8_t dat[8];
- dat[0] = (pdl0>>8)&0xFF;
- dat[1] = (pdl0>>0)&0xFF;
- dat[2] = (pdl1>>8)&0xFF;
- dat[3] = (pdl1>>0)&0xFF;
- dat[4] = state;
- dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT);
- CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
- CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
- CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
- CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
- } else {
- // old can packet hasn't sent!
- state = FAULT_SEND;
- #ifdef DEBUG
- puts("CAN MISS\n");
- #endif
- }
-
- // blink the LED
- set_led(LED_GREEN, led_value);
- led_value = !led_value;
-
- TIM3->SR = 0;
-
- // up timeout for gas set
- if (timeout == MAX_TIMEOUT) {
- state = FAULT_TIMEOUT;
- } else {
- timeout += 1;
- }
-}
-
-// ***************************** main code *****************************
-
-void pedal() {
- // read/write
- pdl0 = adc_get(ADCCHAN_ACCEL0);
- pdl1 = adc_get(ADCCHAN_ACCEL1);
-
- // write the pedal to the DAC
- if (state == NO_FAULT) {
- dac_set(0, max(gas_set_0, pdl0));
- dac_set(1, max(gas_set_1, pdl1));
- } else {
- dac_set(0, pdl0);
- dac_set(1, pdl1);
- }
-
- // feed the watchdog
- IWDG->KR = 0xAAAA;
-}
-
-int main() {
- __disable_irq();
-
- // init devices
- clock_init();
- periph_init();
- gpio_init();
-
-#ifdef PEDAL_USB
- // enable USB
- usb_init();
-#endif
-
- // pedal stuff
- dac_init();
- adc_init();
-
- // init can
- can_silent = ALL_CAN_LIVE;
- can_init(0);
-
- // 48mhz / 65536 ~= 732
- timer_init(TIM3, 15);
- NVIC_EnableIRQ(TIM3_IRQn);
-
- // setup watchdog
- IWDG->KR = 0x5555;
- IWDG->PR = 0; // divider /4
- // 0 = 0.125 ms, let's have a 50ms watchdog
- IWDG->RLR = 400 - 1;
- IWDG->KR = 0xCCCC;
-
- puts("**** INTERRUPTS ON ****\n");
- __enable_irq();
-
- // main pedal loop
- while (1) {
- pedal();
- }
-
- return 0;
-}
\ No newline at end of file
diff --git a/panda/board/safety/safety_subaru.h b/panda/board/safety/safety_subaru.h
index 3d21d2269..00fe1abf9 100644
--- a/panda/board/safety/safety_subaru.h
+++ b/panda/board/safety/safety_subaru.h
@@ -1,28 +1,110 @@
-void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
+const int SUBARU_MAX_STEER = 2047; // 1s
+// real time torque limit to prevent controls spamming
+// the real time limit is 1500/sec
+const int SUBARU_MAX_RT_DELTA = 940; // max delta torque allowed for real time checks
+const int32_t SUBARU_RT_INTERVAL = 250000; // 250ms between real time checks
+const int SUBARU_MAX_RATE_UP = 50;
+const int SUBARU_MAX_RATE_DOWN = 70;
+const int SUBARU_DRIVER_TORQUE_ALLOWANCE = 60;
+const int SUBARU_DRIVER_TORQUE_FACTOR = 10;
-// FIXME
-// *** all output safety mode ***
+int subaru_cruise_engaged_last = 0;
+int subaru_rt_torque_last = 0;
+int subaru_desired_torque_last = 0;
+uint32_t subaru_ts_last = 0;
+struct sample_t subaru_torque_driver; // last few driver torques measured
-static void subaru_init(int16_t param) {
- controls_allowed = 1;
+
+static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+ int bus_number = (to_push->RDTR >> 4) & 0xFF;
+ uint32_t addr = to_push->RIR >> 21;
+
+ if ((addr == 0x119) && (bus_number == 0)){
+ int torque_driver_new = ((to_push->RDLR >> 16) & 0x7FF);
+ torque_driver_new = to_signed(torque_driver_new, 11);
+ // update array of samples
+ update_sample(&subaru_torque_driver, torque_driver_new);
+ }
+
+ // enter controls on rising edge of ACC, exit controls on ACC off
+ if ((addr == 0x240) && (bus_number == 0)) {
+ int cruise_engaged = (to_push->RDHR >> 9) & 1;
+ if (cruise_engaged && !subaru_cruise_engaged_last) {
+ controls_allowed = 1;
+ } else if (!cruise_engaged) {
+ controls_allowed = 0;
+ }
+ subaru_cruise_engaged_last = cruise_engaged;
+ }
}
static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+ uint32_t addr = to_send->RIR >> 21;
+
+ // steer cmd checks
+ if (addr == 0x122) {
+ int desired_torque = ((to_send->RDLR >> 16) & 0x1FFF);
+ int violation = 0;
+ uint32_t ts = TIM2->CNT;
+ desired_torque = to_signed(desired_torque, 13);
+
+ if (controls_allowed) {
+
+ // *** global torque limit check ***
+ violation |= max_limit_check(desired_torque, SUBARU_MAX_STEER, -SUBARU_MAX_STEER);
+
+ // *** torque rate limit check ***
+ int desired_torque_last = subaru_desired_torque_last;
+ violation |= driver_limit_check(desired_torque, desired_torque_last, &subaru_torque_driver,
+ SUBARU_MAX_STEER, SUBARU_MAX_RATE_UP, SUBARU_MAX_RATE_DOWN,
+ SUBARU_DRIVER_TORQUE_ALLOWANCE, SUBARU_DRIVER_TORQUE_FACTOR);
+
+ // used next time
+ subaru_desired_torque_last = desired_torque;
+
+ // *** torque real time rate limit check ***
+ violation |= rt_rate_limit_check(desired_torque, subaru_rt_torque_last, SUBARU_MAX_RT_DELTA);
+
+ // every RT_INTERVAL set the new limits
+ uint32_t ts_elapsed = get_ts_elapsed(ts, subaru_ts_last);
+ if (ts_elapsed > SUBARU_RT_INTERVAL) {
+ subaru_rt_torque_last = desired_torque;
+ subaru_ts_last = ts;
+ }
+ }
+
+ // no torque if controls is not allowed
+ if (!controls_allowed && (desired_torque != 0)) {
+ violation = 1;
+ }
+
+ // reset to 0 if either controls is not allowed or there's a violation
+ if (violation || !controls_allowed) {
+ subaru_desired_torque_last = 0;
+ subaru_rt_torque_last = 0;
+ subaru_ts_last = ts;
+ }
+
+ if (violation) {
+ return false;
+ }
+
+ }
return true;
}
static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-
+
// shifts bits 29 > 11
int32_t addr = to_fwd->RIR >> 21;
// forward CAN 0 > 1
if (bus_num == 0) {
- return 1; // ES CAN
+ return 2; // ES CAN
}
// forward CAN 1 > 0, except ES_LKAS
- else if (bus_num == 1) {
-
+ else if (bus_num == 2) {
+
// outback 2015
if (addr == 0x164) {
return -1;
@@ -40,10 +122,10 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
}
const safety_hooks subaru_hooks = {
- .init = subaru_init,
+ .init = nooutput_init,
.rx = subaru_rx_hook,
.tx = subaru_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = subaru_fwd_hook,
-};
\ No newline at end of file
+};
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 9cab1512f..50d457ab6 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -79,6 +79,15 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// no IPAS in non IPAS mode
if (((to_send->RIR>>21) == 0x266) || ((to_send->RIR>>21) == 0x167)) return false;
+ // GAS PEDAL: safety check
+ if ((to_send->RIR>>21) == 0x200) {
+ if (controls_allowed && toyota_actuation_limits) {
+ // all messages are fine here
+ } else {
+ if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
+ }
+ }
+
// ACCEL: safety check on byte 1-2
if ((to_send->RIR>>21) == 0x343) {
int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
diff --git a/panda/common/version.mk b/panda/common/version.mk
index cc42223da..cc66efaa6 100644
--- a/panda/common/version.mk
+++ b/panda/common/version.mk
@@ -1,18 +1,20 @@
ifeq ($(RELEASE),1)
- BUILD_TYPE = "RELEASE"
+ BUILD_TYPE = "RELEASE"
else
- BUILD_TYPE = "DEBUG"
+ BUILD_TYPE = "DEBUG"
endif
-ifneq ($(wildcard ../.git/HEAD),)
-obj/gitversion.h: ../VERSION ../.git/HEAD ../.git/index
- echo "const uint8_t gitversion[] = \"$(shell cat ../VERSION)-$(shell git rev-parse --short=8 HEAD)-$(BUILD_TYPE)\";" > $@
+SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
+
+ifneq ($(wildcard $(SELF_DIR)/../.git/HEAD),)
+obj/gitversion.h: $(SELF_DIR)/../VERSION $(SELF_DIR)/../.git/HEAD $(SELF_DIR)/../.git/index
+ echo "const uint8_t gitversion[] = \"$(shell cat $(SELF_DIR)/../VERSION)-$(BUILDER)-$(shell git rev-parse --short=8 HEAD)-$(BUILD_TYPE)\";" > $@
else
-ifneq ($(wildcard ../../.git/modules/panda/HEAD),)
-obj/gitversion.h: ../VERSION ../../.git/modules/panda/HEAD ../../.git/modules/panda/index
- echo "const uint8_t gitversion[] = \"$(shell cat ../VERSION)-$(shell git rev-parse --short=8 HEAD)-$(BUILD_TYPE)\";" > $@
+ifneq ($(wildcard $(SELF_DIR)/../../.git/modules/panda/HEAD),)
+obj/gitversion.h: $(SELF_DIR)/../VERSION $(SELF_DIR)/../../.git/modules/panda/HEAD $(SELF_DIR)/../../.git/modules/panda/index
+ echo "const uint8_t gitversion[] = \"$(shell cat $(SELF_DIR)/../VERSION)-$(BUILDER)-$(shell git rev-parse --short=8 HEAD)-$(BUILD_TYPE)\";" > $@
else
-obj/gitversion.h: ../VERSION
- echo "const uint8_t gitversion[] = \"$(shell cat ../VERSION)-unknown-$(BUILD_TYPE)\";" > $@
+obj/gitversion.h: $(SELF_DIR)/../VERSION
+ echo "const uint8_t gitversion[] = \"$(shell cat $(SELF_DIR)/../VERSION)-$(BUILDER)-unknown-$(BUILD_TYPE)\";" > $@
endif
endif
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index 51db7a7aa..b3610e6c3 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -250,6 +250,7 @@ class Panda(object):
pass
def flash(self, fn=None, code=None, reconnect=True):
+ print("flash: main version is " + self.get_version())
if not self.bootstub:
self.reset(enter_bootstub=True)
assert(self.bootstub)
@@ -270,7 +271,7 @@ class Panda(object):
code = f.read()
# get version
- print("flash: version is "+self.get_version())
+ print("flash: bootstub version is " + self.get_version())
# do flash
Panda.flash_static(self._handle, code)
diff --git a/panda/python/update.py b/panda/python/update.py
index d393df9fb..ce730e491 100755
--- a/panda/python/update.py
+++ b/panda/python/update.py
@@ -8,6 +8,8 @@ def ensure_st_up_to_date():
with open(os.path.join(BASEDIR, "VERSION")) as f:
repo_version = f.read()
+ repo_version += "-EON" if os.path.isfile('/EON') else "-DEV"
+
panda = None
panda_dfu = None
should_flash_recover = False
@@ -24,7 +26,7 @@ def ensure_st_up_to_date():
if len(panda_dfu) > 0:
panda_dfu = PandaDFU(panda_dfu[0])
panda_dfu.recover()
-
+
print "waiting for board..."
time.sleep(1)
diff --git a/panda/tests/safety/libpandasafety_py.py b/panda/tests/safety/libpandasafety_py.py
index 53936761d..d8cb27cf8 100644
--- a/panda/tests/safety/libpandasafety_py.py
+++ b/panda/tests/safety/libpandasafety_py.py
@@ -30,25 +30,20 @@ typedef struct
uint32_t CNT;
} TIM_TypeDef;
+void set_controls_allowed(int c);
+int get_controls_allowed(void);
+void set_timer(int t);
+void reset_angle_control(void);
+
+void init_tests_toyota(void);
void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
void toyota_init(int16_t param);
-void set_controls_allowed(int c);
-void reset_angle_control(void);
-int get_controls_allowed(void);
-void init_tests_toyota(void);
-void set_timer(int t);
-void set_toyota_torque_meas(int min, int max);
-void set_cadillac_torque_driver(int min, int max);
-void set_gm_torque_driver(int min, int max);
-void set_hyundai_torque_driver(int min, int max);
-void set_chrysler_torque_meas(int min, int max);
-void set_toyota_rt_torque_last(int t);
-void set_toyota_desired_torque_last(int t);
int get_toyota_torque_meas_min(void);
int get_toyota_torque_meas_max(void);
-int get_chrysler_torque_meas_min(void);
-int get_chrysler_torque_meas_max(void);
+void set_toyota_torque_meas(int min, int max);
+void set_toyota_desired_torque_last(int t);
+void set_toyota_rt_torque_last(int t);
void init_tests_honda(void);
int get_ego_speed(void);
@@ -66,6 +61,7 @@ void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
void set_cadillac_desired_torque_last(int t);
void set_cadillac_rt_torque_last(int t);
+void set_cadillac_torque_driver(int min, int max);
void init_tests_gm(void);
void gm_init(int16_t param);
@@ -73,6 +69,7 @@ void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
void set_gm_desired_torque_last(int t);
void set_gm_rt_torque_last(int t);
+void set_gm_torque_driver(int min, int max);
void init_tests_hyundai(void);
void nooutput_init(int16_t param);
@@ -80,6 +77,7 @@ void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
void set_hyundai_desired_torque_last(int t);
void set_hyundai_rt_torque_last(int t);
+void set_hyundai_torque_driver(int min, int max);
void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
@@ -89,6 +87,16 @@ void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
void set_chrysler_desired_torque_last(int t);
void set_chrysler_rt_torque_last(int t);
+int get_chrysler_torque_meas_min(void);
+int get_chrysler_torque_meas_max(void);
+void set_chrysler_torque_meas(int min, int max);
+
+void init_tests_subaru(void);
+void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
+int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
+void set_subaru_desired_torque_last(int t);
+void set_subaru_rt_torque_last(int t);
+void set_subaru_torque_driver(int min, int max);
""")
diff --git a/panda/tests/safety/test.c b/panda/tests/safety/test.c
index b1390c41c..9b4c807d7 100644
--- a/panda/tests/safety/test.c
+++ b/panda/tests/safety/test.c
@@ -26,7 +26,8 @@ struct sample_t toyota_torque_meas;
struct sample_t cadillac_torque_driver;
struct sample_t gm_torque_driver;
struct sample_t hyundai_torque_driver;
-struct sample_t chrysler_torque_driver;
+struct sample_t chrysler_torque_meas;
+struct sample_t subaru_torque_driver;
TIM_TypeDef timer;
TIM_TypeDef *TIM2 = &timer;
@@ -87,6 +88,11 @@ void set_chrysler_torque_meas(int min, int max){
chrysler_torque_meas.max = max;
}
+void set_subaru_torque_driver(int min, int max){
+ subaru_torque_driver.min = min;
+ subaru_torque_driver.max = max;
+}
+
int get_chrysler_torque_meas_min(void){
return chrysler_torque_meas.min;
}
@@ -123,6 +129,10 @@ void set_chrysler_rt_torque_last(int t){
chrysler_rt_torque_last = t;
}
+void set_subaru_rt_torque_last(int t){
+ subaru_rt_torque_last = t;
+}
+
void set_toyota_desired_torque_last(int t){
toyota_desired_torque_last = t;
}
@@ -143,6 +153,10 @@ void set_chrysler_desired_torque_last(int t){
chrysler_desired_torque_last = t;
}
+void set_subaru_desired_torque_last(int t){
+ subaru_desired_torque_last = t;
+}
+
int get_ego_speed(void){
return ego_speed;
}
@@ -200,14 +214,23 @@ void init_tests_hyundai(void){
}
void init_tests_chrysler(void){
- chrysler_torque_driver.min = 0;
- chrysler_torque_driver.max = 0;
+ chrysler_torque_meas.min = 0;
+ chrysler_torque_meas.max = 0;
chrysler_desired_torque_last = 0;
chrysler_rt_torque_last = 0;
chrysler_ts_last = 0;
set_timer(0);
}
+void init_tests_subaru(void){
+ subaru_torque_driver.min = 0;
+ subaru_torque_driver.max = 0;
+ subaru_desired_torque_last = 0;
+ subaru_rt_torque_last = 0;
+ subaru_ts_last = 0;
+ set_timer(0);
+}
+
void init_tests_honda(void){
ego_speed = 0;
gas_interceptor_detected = 0;
diff --git a/panda/tests/safety/test_chrysler.py b/panda/tests/safety/test_chrysler.py
index 568c92aaa..0fcfc3bcf 100755
--- a/panda/tests/safety/test_chrysler.py
+++ b/panda/tests/safety/test_chrysler.py
@@ -1,4 +1,6 @@
#!/usr/bin/env python2
+import csv
+import glob
import unittest
import numpy as np
import libpandasafety_py
@@ -24,6 +26,11 @@ def sign(a):
else:
return -1
+def swap_bytes(data_str):
+ """Accepts string with hex, returns integer with order swapped for CAN."""
+ a = int(data_str, 16)
+ return ((a & 0xff) << 24) + ((a & 0xff00) << 8) + ((a & 0x00ff0000) >> 8) + ((a & 0xff000000) >> 24)
+
class TestChryslerSafety(unittest.TestCase):
@classmethod
def setUp(cls):
@@ -166,6 +173,33 @@ class TestChryslerSafety(unittest.TestCase):
self.assertEqual(0, self.safety.get_chrysler_torque_meas_max())
self.assertEqual(0, self.safety.get_chrysler_torque_meas_min())
+ def _replay_drive(self, csv_reader):
+ for row in csv_reader:
+ if len(row) != 4: # sometimes truncated at end of the file
+ continue
+ if row[0] == 'time': # skip CSV header
+ continue
+ addr = int(row[1])
+ bus = int(row[2])
+ data_str = row[3] # Example '081407ff0806e06f'
+ to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+ to_send[0].RIR = addr << 21
+ to_send[0].RDHR = swap_bytes(data_str[8:])
+ to_send[0].RDLR = swap_bytes(data_str[:8])
+ if (bus == 128):
+ self.assertTrue(self.safety.chrysler_tx_hook(to_send), msg=row)
+ else:
+ self.safety.chrysler_rx_hook(to_send)
+
+ def test_replay_drive(self):
+ # In Cabana, click "Save Log" and then put the downloaded CSV in this directory.
+ test_files = glob.glob('chrysler_*.csv')
+ for filename in test_files:
+ print 'testing %s' % filename
+ with open(filename) as csvfile:
+ reader = csv.reader(csvfile)
+ self._replay_drive(reader)
+
if __name__ == "__main__":
unittest.main()
diff --git a/panda/tests/safety/test_subaru.py b/panda/tests/safety/test_subaru.py
new file mode 100644
index 000000000..a1e03fea1
--- /dev/null
+++ b/panda/tests/safety/test_subaru.py
@@ -0,0 +1,170 @@
+#!/usr/bin/env python2
+import unittest
+import numpy as np
+import libpandasafety_py
+
+MAX_RATE_UP = 50
+MAX_RATE_DOWN = 70
+MAX_STEER = 2047
+
+MAX_RT_DELTA = 940
+RT_INTERVAL = 250000
+
+DRIVER_TORQUE_ALLOWANCE = 60;
+DRIVER_TORQUE_FACTOR = 10;
+
+def twos_comp(val, bits):
+ if val >= 0:
+ return val
+ else:
+ return (2**bits) + val
+
+def sign(a):
+ if a > 0:
+ return 1
+ else:
+ return -1
+
+class TestSubaruSafety(unittest.TestCase):
+ @classmethod
+ def setUp(cls):
+ cls.safety = libpandasafety_py.libpandasafety
+ cls.safety.nooutput_init(0)
+ cls.safety.init_tests_subaru()
+
+ def _set_prev_torque(self, t):
+ self.safety.set_subaru_desired_torque_last(t)
+ self.safety.set_subaru_rt_torque_last(t)
+
+ def _torque_driver_msg(self, torque):
+ to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+ to_send[0].RIR = 0x119 << 21
+
+ t = twos_comp(torque, 11)
+ to_send[0].RDLR = ((t & 0x7FF) << 16)
+ return to_send
+
+ def _torque_msg(self, torque):
+ to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+ to_send[0].RIR = 0x122 << 21
+
+ t = twos_comp(torque, 13)
+ to_send[0].RDLR = (t << 16)
+ return to_send
+
+ def test_default_controls_not_allowed(self):
+ self.assertFalse(self.safety.get_controls_allowed())
+
+ def test_enable_control_allowed_from_cruise(self):
+ to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+ to_push[0].RIR = 0x240 << 21
+ to_push[0].RDHR = 1 << 9
+
+ self.safety.subaru_rx_hook(to_push)
+ self.assertTrue(self.safety.get_controls_allowed())
+
+ def test_disable_control_allowed_from_cruise(self):
+ to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+ to_push[0].RIR = 0x240 << 21
+ to_push[0].RDHR = 0
+
+ self.safety.set_controls_allowed(1)
+ self.safety.subaru_rx_hook(to_push)
+ self.assertFalse(self.safety.get_controls_allowed())
+
+ def test_steer_safety_check(self):
+ for enabled in [0, 1]:
+ for t in range(-3000, 3000):
+ self.safety.set_controls_allowed(enabled)
+ self._set_prev_torque(t)
+ if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
+ self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(t)))
+ else:
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(t)))
+
+ def test_manually_enable_controls_allowed(self):
+ self.safety.set_controls_allowed(1)
+ self.assertTrue(self.safety.get_controls_allowed())
+ self.safety.set_controls_allowed(0)
+ self.assertFalse(self.safety.get_controls_allowed())
+
+ def test_non_realtime_limit_up(self):
+ self.safety.set_subaru_torque_driver(0, 0)
+ self.safety.set_controls_allowed(True)
+
+ self._set_prev_torque(0)
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(MAX_RATE_UP)))
+ self._set_prev_torque(0)
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(-MAX_RATE_UP)))
+
+ self._set_prev_torque(0)
+ self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
+ self.safety.set_controls_allowed(True)
+ self._set_prev_torque(0)
+ self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
+
+ def test_non_realtime_limit_down(self):
+ self.safety.set_subaru_torque_driver(0, 0)
+ self.safety.set_controls_allowed(True)
+
+ def test_against_torque_driver(self):
+ self.safety.set_controls_allowed(True)
+
+ for sign in [-1, 1]:
+ for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
+ t *= -sign
+ self.safety.set_subaru_torque_driver(t, t)
+ self._set_prev_torque(MAX_STEER * sign)
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(MAX_STEER * sign)))
+
+ self.safety.set_subaru_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
+ self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(-MAX_STEER)))
+
+ # spot check some individual cases
+ for sign in [-1, 1]:
+ driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
+ torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
+ delta = 1 * sign
+ self._set_prev_torque(torque_desired)
+ self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque)
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(torque_desired)))
+ self._set_prev_torque(torque_desired + delta)
+ self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque)
+ self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(torque_desired + delta)))
+
+ self._set_prev_torque(MAX_STEER * sign)
+ self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
+ self._set_prev_torque(MAX_STEER * sign)
+ self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(0)))
+ self._set_prev_torque(MAX_STEER * sign)
+ self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+ self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
+
+
+ def test_realtime_limits(self):
+ self.safety.set_controls_allowed(True)
+
+ for sign in [-1, 1]:
+ self.safety.init_tests_subaru()
+ self._set_prev_torque(0)
+ self.safety.set_subaru_torque_driver(0, 0)
+ for t in np.arange(0, MAX_RT_DELTA, 1):
+ t *= sign
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(t)))
+ self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
+
+ self._set_prev_torque(0)
+ for t in np.arange(0, MAX_RT_DELTA, 1):
+ t *= sign
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(t)))
+
+ # Increase timer to update rt_torque_last
+ self.safety.set_timer(RT_INTERVAL + 1)
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
+ self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
+
+
+if __name__ == "__main__":
+ unittest.main()
diff --git a/panda/tests/safety/test_toyota.py b/panda/tests/safety/test_toyota.py
index 40bc4bcf5..52c7015af 100644
--- a/panda/tests/safety/test_toyota.py
+++ b/panda/tests/safety/test_toyota.py
@@ -119,6 +119,13 @@ class TestToyotaSafety(unittest.TestCase):
to_send[0].RDLR = (a & 0xFF) << 8 | (a >> 8)
return to_send
+ def _gas_msg(self, gas):
+ to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+ to_send[0].RIR = 0x200 << 21
+ to_send[0].RDLR = gas
+
+ return to_send
+
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
@@ -409,6 +416,13 @@ class TestToyotaSafety(unittest.TestCase):
# reset no angle control at the end of the test
self.safety.reset_angle_control()
+ def test_gas_safety_check(self):
+ self.safety.set_controls_allowed(0)
+ self.assertTrue(self.safety.honda_tx_hook(self._gas_msg(0x0000)))
+ self.assertFalse(self.safety.honda_tx_hook(self._gas_msg(0x1000)))
+ self.safety.set_controls_allowed(1)
+ self.assertTrue(self.safety.honda_tx_hook(self._gas_msg(0x1000)))
+
if __name__ == "__main__":
unittest.main()
diff --git a/panda/tests/safety/trim_csv.py b/panda/tests/safety/trim_csv.py
new file mode 100755
index 000000000..511bd385f
--- /dev/null
+++ b/panda/tests/safety/trim_csv.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python2
+
+# This trims CAN message CSV files to just the messages relevant for Panda testing.
+# Usage:
+# cat input.csv | ./trim_csv.py > output.csv
+import fileinput
+
+addr_to_keep = [544, 0x1f4, 0x292] # For Chrysler, update to the addresses that matter for you.
+
+for line in fileinput.input():
+ line = line.strip()
+ cols = line.split(',')
+ if len(cols) != 4:
+ continue # malformed, such as at the end or every 60s.
+ (_, addr, bus, _) = cols
+ if (addr == 'addr'):
+ continue
+ if (int(bus) == 128): # Keep all messages sent by OpenPilot.
+ print line
+ elif (int(addr) in addr_to_keep):
+ print line
diff --git a/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/PKG-INFO b/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/PKG-INFO
new file mode 100644
index 000000000..035a98f8c
--- /dev/null
+++ b/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/PKG-INFO
@@ -0,0 +1,89 @@
+Metadata-Version: 1.1
+Name: backports.ssl-match-hostname
+Version: 3.7.0.1
+Summary: The ssl.match_hostname() function from Python 3.5
+Home-page: http://bitbucket.org/brandon/backports.ssl_match_hostname
+Author: Toshio Kuratomi
+Author-email: toshio@fedoraproject.org
+License: Python Software Foundation License
+Description:
+ The ssl.match_hostname() function from Python 3.7
+ =================================================
+
+ The Secure Sockets Layer is only actually *secure*
+ if you check the hostname in the certificate returned
+ by the server to which you are connecting,
+ and verify that it matches to hostname
+ that you are trying to reach.
+
+ But the matching logic, defined in `RFC2818`_,
+ can be a bit tricky to implement on your own.
+ So the ``ssl`` package in the Standard Library of Python 3.2
+ and greater now includes a ``match_hostname()`` function
+ for performing this check instead of requiring every application
+ to implement the check separately.
+
+ This backport brings ``match_hostname()`` to users
+ of earlier versions of Python.
+ Simply make this distribution a dependency of your package,
+ and then use it like this::
+
+ from backports.ssl_match_hostname import match_hostname, CertificateError
+ [...]
+ sslsock = ssl.wrap_socket(sock, ssl_version=ssl.PROTOCOL_SSLv23,
+ cert_reqs=ssl.CERT_REQUIRED, ca_certs=...)
+ try:
+ match_hostname(sslsock.getpeercert(), hostname)
+ except CertificateError, ce:
+ ...
+
+ Brandon Craig Rhodes is merely the packager of this distribution;
+ the actual code inside comes from Python 3.7 with small changes for
+ portability.
+
+
+ Requirements
+ ------------
+
+ * If you need to use this on Python versions earlier than 2.6 you will need to
+ install the `ssl module`_. From Python 2.6 upwards ``ssl`` is included in
+ the Python Standard Library so you do not need to install it separately.
+
+ .. _`ssl module`:: https://pypi.python.org/pypi/ssl
+
+ History
+ -------
+
+ * This function was introduced in python-3.2
+ * It was updated for python-3.4a1 for a CVE
+ (backports-ssl_match_hostname-3.4.0.1)
+ * It was updated from RFC2818 to RFC 6125 compliance in order to fix another
+ security flaw for python-3.3.3 and python-3.4a5
+ (backports-ssl_match_hostname-3.4.0.2)
+ * It was updated in python-3.5 to handle IPAddresses in ServerAltName fields
+ (something that backports.ssl_match_hostname will do if you also install the
+ ipaddress library from pypi).
+ * It was updated in python-3.7 to handle IPAddresses without the ipaddress library and dropped
+ support for partial wildcards
+
+ .. _`ipaddress module`:: https://pypi.python.org/pypi/ipaddress
+
+ .. _RFC2818: http://tools.ietf.org/html/rfc2818.html
+
+Platform: UNKNOWN
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: License :: OSI Approved :: Python Software Foundation License
+Classifier: Programming Language :: Python :: 2.4
+Classifier: Programming Language :: Python :: 2.5
+Classifier: Programming Language :: Python :: 2.6
+Classifier: Programming Language :: Python :: 2.7
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.0
+Classifier: Programming Language :: Python :: 3.1
+Classifier: Programming Language :: Python :: 3.2
+Classifier: Programming Language :: Python :: 3.3
+Classifier: Programming Language :: Python :: 3.4
+Classifier: Programming Language :: Python :: 3.5
+Classifier: Programming Language :: Python :: 3.6
+Classifier: Programming Language :: Python :: 3.7
+Classifier: Topic :: Security :: Cryptography
diff --git a/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/SOURCES.txt b/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/SOURCES.txt
new file mode 100644
index 000000000..95b961609
--- /dev/null
+++ b/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/SOURCES.txt
@@ -0,0 +1,8 @@
+README.txt
+setup.cfg
+backports/__init__.py
+backports.ssl_match_hostname.egg-info/PKG-INFO
+backports.ssl_match_hostname.egg-info/SOURCES.txt
+backports.ssl_match_hostname.egg-info/dependency_links.txt
+backports.ssl_match_hostname.egg-info/top_level.txt
+backports/ssl_match_hostname/__init__.py
\ No newline at end of file
diff --git a/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/dependency_links.txt b/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/dependency_links.txt
new file mode 100644
index 000000000..8b1378917
--- /dev/null
+++ b/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/installed-files.txt b/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/installed-files.txt
new file mode 100644
index 000000000..fd1aae367
--- /dev/null
+++ b/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/installed-files.txt
@@ -0,0 +1,8 @@
+../backports/__init__.py
+../backports/__init__.pyc
+../backports/ssl_match_hostname/__init__.py
+../backports/ssl_match_hostname/__init__.pyc
+PKG-INFO
+SOURCES.txt
+dependency_links.txt
+top_level.txt
diff --git a/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/top_level.txt b/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/top_level.txt
new file mode 100644
index 000000000..99d2be5b6
--- /dev/null
+++ b/pyextra/backports.ssl_match_hostname-3.7.0.1-py2.7.egg-info/top_level.txt
@@ -0,0 +1 @@
+backports
diff --git a/pyextra/backports/__init__.py b/pyextra/backports/__init__.py
new file mode 100644
index 000000000..612d32836
--- /dev/null
+++ b/pyextra/backports/__init__.py
@@ -0,0 +1,3 @@
+# This is a Python "namespace package" http://www.python.org/dev/peps/pep-0382/
+from pkgutil import extend_path
+__path__ = extend_path(__path__, __name__)
diff --git a/pyextra/backports/ssl_match_hostname/__init__.py b/pyextra/backports/ssl_match_hostname/__init__.py
new file mode 100644
index 000000000..cdfef013d
--- /dev/null
+++ b/pyextra/backports/ssl_match_hostname/__init__.py
@@ -0,0 +1,204 @@
+"""The match_hostname() function from Python 3.7.0, essential when using SSL."""
+
+import sys
+import socket as _socket
+
+try:
+ # Divergence: Python-3.7+'s _ssl has this exception type but older Pythons do not
+ from _ssl import SSLCertVerificationError
+ CertificateError = SSLCertVerificationError
+except:
+ class CertificateError(ValueError):
+ pass
+
+
+__version__ = '3.7.0.1'
+
+
+# Divergence: Added to deal with ipaddess as bytes on python2
+def _to_text(obj):
+ if isinstance(obj, str) and sys.version_info < (3,):
+ obj = unicode(obj, encoding='ascii', errors='strict')
+ elif sys.version_info >= (3,) and isinstance(obj, bytes):
+ obj = str(obj, encoding='ascii', errors='strict')
+ return obj
+
+
+def _to_bytes(obj):
+ if isinstance(obj, str) and sys.version_info >= (3,):
+ obj = bytes(obj, encoding='ascii', errors='strict')
+ elif sys.version_info < (3,) and isinstance(obj, unicode):
+ obj = obj.encode('ascii', 'strict')
+ return obj
+
+
+def _dnsname_match(dn, hostname):
+ """Matching according to RFC 6125, section 6.4.3
+
+ - Hostnames are compared lower case.
+ - For IDNA, both dn and hostname must be encoded as IDN A-label (ACE).
+ - Partial wildcards like 'www*.example.org', multiple wildcards, sole
+ wildcard or wildcards in labels other then the left-most label are not
+ supported and a CertificateError is raised.
+ - A wildcard must match at least one character.
+ """
+ if not dn:
+ return False
+
+ wildcards = dn.count('*')
+ # speed up common case w/o wildcards
+ if not wildcards:
+ return dn.lower() == hostname.lower()
+
+ if wildcards > 1:
+ # Divergence .format() to percent formatting for Python < 2.6
+ raise CertificateError(
+ "too many wildcards in certificate DNS name: %s" % repr(dn))
+
+ dn_leftmost, sep, dn_remainder = dn.partition('.')
+
+ if '*' in dn_remainder:
+ # Only match wildcard in leftmost segment.
+ # Divergence .format() to percent formatting for Python < 2.6
+ raise CertificateError(
+ "wildcard can only be present in the leftmost label: "
+ "%s." % repr(dn))
+
+ if not sep:
+ # no right side
+ # Divergence .format() to percent formatting for Python < 2.6
+ raise CertificateError(
+ "sole wildcard without additional labels are not support: "
+ "%s." % repr(dn))
+
+ if dn_leftmost != '*':
+ # no partial wildcard matching
+ # Divergence .format() to percent formatting for Python < 2.6
+ raise CertificateError(
+ "partial wildcards in leftmost label are not supported: "
+ "%s." % repr(dn))
+
+ hostname_leftmost, sep, hostname_remainder = hostname.partition('.')
+ if not hostname_leftmost or not sep:
+ # wildcard must match at least one char
+ return False
+ return dn_remainder.lower() == hostname_remainder.lower()
+
+
+def _inet_paton(ipname):
+ """Try to convert an IP address to packed binary form
+
+ Supports IPv4 addresses on all platforms and IPv6 on platforms with IPv6
+ support.
+ """
+ # inet_aton() also accepts strings like '1'
+ # Divergence: We make sure we have native string type for all python versions
+ try:
+ b_ipname = _to_bytes(ipname)
+ except UnicodeError:
+ raise ValueError("%s must be an all-ascii string." % repr(ipname))
+
+ # Set ipname in native string format
+ if sys.version_info < (3,):
+ n_ipname = b_ipname
+ else:
+ n_ipname = ipname
+
+ if n_ipname.count('.') == 3:
+ try:
+ return _socket.inet_aton(n_ipname)
+ # Divergence: OSError on late python3. socket.error earlier.
+ # Null bytes generate ValueError on python3(we want to raise
+ # ValueError anyway), TypeError # earlier
+ except (OSError, _socket.error, TypeError):
+ pass
+
+ try:
+ return _socket.inet_pton(_socket.AF_INET6, n_ipname)
+ # Divergence: OSError on late python3. socket.error earlier.
+ # Null bytes generate ValueError on python3(we want to raise
+ # ValueError anyway), TypeError # earlier
+ except (OSError, _socket.error, TypeError):
+ # Divergence .format() to percent formatting for Python < 2.6
+ raise ValueError("%s is neither an IPv4 nor an IP6 "
+ "address." % repr(ipname))
+ except AttributeError:
+ # AF_INET6 not available
+ pass
+
+ # Divergence .format() to percent formatting for Python < 2.6
+ raise ValueError("%s is not an IPv4 address." % repr(ipname))
+
+
+def _ipaddress_match(ipname, host_ip):
+ """Exact matching of IP addresses.
+
+ RFC 6125 explicitly doesn't define an algorithm for this
+ (section 1.7.2 - "Out of Scope").
+ """
+ # OpenSSL may add a trailing newline to a subjectAltName's IP address
+ ip = _inet_paton(ipname.rstrip())
+ return ip == host_ip
+
+
+def match_hostname(cert, hostname):
+ """Verify that *cert* (in decoded format as returned by
+ SSLSocket.getpeercert()) matches the *hostname*. RFC 2818 and RFC 6125
+ rules are followed.
+
+ The function matches IP addresses rather than dNSNames if hostname is a
+ valid ipaddress string. IPv4 addresses are supported on all platforms.
+ IPv6 addresses are supported on platforms with IPv6 support (AF_INET6
+ and inet_pton).
+
+ CertificateError is raised on failure. On success, the function
+ returns nothing.
+ """
+ if not cert:
+ raise ValueError("empty or no certificate, match_hostname needs a "
+ "SSL socket or SSL context with either "
+ "CERT_OPTIONAL or CERT_REQUIRED")
+ try:
+ # Divergence: Deal with hostname as bytes
+ host_ip = _inet_paton(_to_text(hostname))
+ except ValueError:
+ # Not an IP address (common case)
+ host_ip = None
+ except UnicodeError:
+ # Divergence: Deal with hostname as byte strings.
+ # IP addresses should be all ascii, so we consider it not
+ # an IP address if this fails
+ host_ip = None
+ dnsnames = []
+ san = cert.get('subjectAltName', ())
+ for key, value in san:
+ if key == 'DNS':
+ if host_ip is None and _dnsname_match(value, hostname):
+ return
+ dnsnames.append(value)
+ elif key == 'IP Address':
+ if host_ip is not None and _ipaddress_match(value, host_ip):
+ return
+ dnsnames.append(value)
+ if not dnsnames:
+ # The subject is only checked when there is no dNSName entry
+ # in subjectAltName
+ for sub in cert.get('subject', ()):
+ for key, value in sub:
+ # XXX according to RFC 2818, the most specific Common Name
+ # must be used.
+ if key == 'commonName':
+ if _dnsname_match(value, hostname):
+ return
+ dnsnames.append(value)
+ if len(dnsnames) > 1:
+ raise CertificateError("hostname %r "
+ "doesn't match either of %s"
+ % (hostname, ', '.join(map(repr, dnsnames))))
+ elif len(dnsnames) == 1:
+ raise CertificateError("hostname %r "
+ "doesn't match %r"
+ % (hostname, dnsnames[0]))
+ else:
+ raise CertificateError("no appropriate commonName or "
+ "subjectAltName fields were found")
diff --git a/pyextra/bin/wsdump.py b/pyextra/bin/wsdump.py
new file mode 100755
index 000000000..246d15050
--- /dev/null
+++ b/pyextra/bin/wsdump.py
@@ -0,0 +1,201 @@
+#!/usr/local/bin/python
+
+import argparse
+import code
+import sys
+import threading
+import time
+import ssl
+
+import six
+from six.moves.urllib.parse import urlparse
+
+import websocket
+
+try:
+ import readline
+except ImportError:
+ pass
+
+
+def get_encoding():
+ encoding = getattr(sys.stdin, "encoding", "")
+ if not encoding:
+ return "utf-8"
+ else:
+ return encoding.lower()
+
+
+OPCODE_DATA = (websocket.ABNF.OPCODE_TEXT, websocket.ABNF.OPCODE_BINARY)
+ENCODING = get_encoding()
+
+
+class VAction(argparse.Action):
+
+ def __call__(self, parser, args, values, option_string=None):
+ if values is None:
+ values = "1"
+ try:
+ values = int(values)
+ except ValueError:
+ values = values.count("v") + 1
+ setattr(args, self.dest, values)
+
+
+def parse_args():
+ parser = argparse.ArgumentParser(description="WebSocket Simple Dump Tool")
+ parser.add_argument("url", metavar="ws_url",
+ help="websocket url. ex. ws://echo.websocket.org/")
+ parser.add_argument("-p", "--proxy",
+ help="proxy url. ex. http://127.0.0.1:8080")
+ parser.add_argument("-v", "--verbose", default=0, nargs='?', action=VAction,
+ dest="verbose",
+ help="set verbose mode. If set to 1, show opcode. "
+ "If set to 2, enable to trace websocket module")
+ parser.add_argument("-n", "--nocert", action='store_true',
+ help="Ignore invalid SSL cert")
+ parser.add_argument("-r", "--raw", action="store_true",
+ help="raw output")
+ parser.add_argument("-s", "--subprotocols", nargs='*',
+ help="Set subprotocols")
+ parser.add_argument("-o", "--origin",
+ help="Set origin")
+ parser.add_argument("--eof-wait", default=0, type=int,
+ help="wait time(second) after 'EOF' received.")
+ parser.add_argument("-t", "--text",
+ help="Send initial text")
+ parser.add_argument("--timings", action="store_true",
+ help="Print timings in seconds")
+ parser.add_argument("--headers",
+ help="Set custom headers. Use ',' as separator")
+
+ return parser.parse_args()
+
+
+class RawInput:
+
+ def raw_input(self, prompt):
+ if six.PY3:
+ line = input(prompt)
+ else:
+ line = raw_input(prompt)
+
+ if ENCODING and ENCODING != "utf-8" and not isinstance(line, six.text_type):
+ line = line.decode(ENCODING).encode("utf-8")
+ elif isinstance(line, six.text_type):
+ line = line.encode("utf-8")
+
+ return line
+
+
+class InteractiveConsole(RawInput, code.InteractiveConsole):
+
+ def write(self, data):
+ sys.stdout.write("\033[2K\033[E")
+ # sys.stdout.write("\n")
+ sys.stdout.write("\033[34m< " + data + "\033[39m")
+ sys.stdout.write("\n> ")
+ sys.stdout.flush()
+
+ def read(self):
+ return self.raw_input("> ")
+
+
+class NonInteractive(RawInput):
+
+ def write(self, data):
+ sys.stdout.write(data)
+ sys.stdout.write("\n")
+ sys.stdout.flush()
+
+ def read(self):
+ return self.raw_input("")
+
+
+def main():
+ start_time = time.time()
+ args = parse_args()
+ if args.verbose > 1:
+ websocket.enableTrace(True)
+ options = {}
+ if args.proxy:
+ p = urlparse(args.proxy)
+ options["http_proxy_host"] = p.hostname
+ options["http_proxy_port"] = p.port
+ if args.origin:
+ options["origin"] = args.origin
+ if args.subprotocols:
+ options["subprotocols"] = args.subprotocols
+ opts = {}
+ if args.nocert:
+ opts = {"cert_reqs": ssl.CERT_NONE, "check_hostname": False}
+ if args.headers:
+ options['header'] = map(str.strip, args.headers.split(','))
+ ws = websocket.create_connection(args.url, sslopt=opts, **options)
+ if args.raw:
+ console = NonInteractive()
+ else:
+ console = InteractiveConsole()
+ print("Press Ctrl+C to quit")
+
+ def recv():
+ try:
+ frame = ws.recv_frame()
+ except websocket.WebSocketException:
+ return websocket.ABNF.OPCODE_CLOSE, None
+ if not frame:
+ raise websocket.WebSocketException("Not a valid frame %s" % frame)
+ elif frame.opcode in OPCODE_DATA:
+ return frame.opcode, frame.data
+ elif frame.opcode == websocket.ABNF.OPCODE_CLOSE:
+ ws.send_close()
+ return frame.opcode, None
+ elif frame.opcode == websocket.ABNF.OPCODE_PING:
+ ws.pong(frame.data)
+ return frame.opcode, frame.data
+
+ return frame.opcode, frame.data
+
+ def recv_ws():
+ while True:
+ opcode, data = recv()
+ msg = None
+ if six.PY3 and opcode == websocket.ABNF.OPCODE_TEXT and isinstance(data, bytes):
+ data = str(data, "utf-8")
+ if not args.verbose and opcode in OPCODE_DATA:
+ msg = data
+ elif args.verbose:
+ msg = "%s: %s" % (websocket.ABNF.OPCODE_MAP.get(opcode), data)
+
+ if msg is not None:
+ if args.timings:
+ console.write(str(time.time() - start_time) + ": " + msg)
+ else:
+ console.write(msg)
+
+ if opcode == websocket.ABNF.OPCODE_CLOSE:
+ break
+
+ thread = threading.Thread(target=recv_ws)
+ thread.daemon = True
+ thread.start()
+
+ if args.text:
+ ws.send(args.text)
+
+ while True:
+ try:
+ message = console.read()
+ ws.send(message)
+ except KeyboardInterrupt:
+ return
+ except EOFError:
+ time.sleep(args.eof_wait)
+ return
+
+
+if __name__ == "__main__":
+ try:
+ main()
+ except Exception as e:
+ print(e)
diff --git a/pyextra/json_rpc-1.12.1-py2.7.egg-info/PKG-INFO b/pyextra/json_rpc-1.12.1-py2.7.egg-info/PKG-INFO
new file mode 100644
index 000000000..c185d0b73
--- /dev/null
+++ b/pyextra/json_rpc-1.12.1-py2.7.egg-info/PKG-INFO
@@ -0,0 +1,187 @@
+Metadata-Version: 1.1
+Name: json-rpc
+Version: 1.12.1
+Summary: JSON-RPC transport implementation
+Home-page: https://github.com/pavlov99/json-rpc
+Author: Kirill Pavlov
+Author-email: k@p99.io
+License: MIT
+Description: json-rpc
+ ========
+
+ .. image:: https://circleci.com/gh/pavlov99/json-rpc/tree/master.svg?style=svg
+ :target: https://circleci.com/gh/pavlov99/json-rpc/tree/master
+ :alt: Build Status
+
+ .. image:: https://codecov.io/gh/pavlov99/json-rpc/branch/master/graph/badge.svg
+ :target: https://codecov.io/gh/pavlov99/json-rpc
+ :alt: Coverage Status
+
+ .. image:: https://readthedocs.org/projects/json-rpc/badge/?version=latest
+ :target: http://json-rpc.readthedocs.io/en/latest/?badge=latest
+
+ .. image:: https://img.shields.io/pypi/v/json-rpc.svg
+ :target: https://pypi.org/project/json-rpc/
+ :alt: Latest PyPI version
+
+ .. image:: https://img.shields.io/pypi/pyversions/json-rpc.svg
+ :target: https://pypi.org/project/json-rpc/
+ :alt: Supported Python versions
+
+ .. image:: https://badges.gitter.im/pavlov99/json-rpc.svg
+ :target: https://gitter.im/pavlov99/json-rpc
+ :alt: Gitter
+
+
+ .. image:: https://opencollective.com/json-rpc/tiers/backer/badge.svg?label=backer&color=brightgreen
+ :target: https://opencollective.com/json-rpc
+ :alt: Bakers
+
+ .. image:: https://opencollective.com/json-rpc/tiers/backer/badge.svg?label=sponsor&color=brightgreen
+ :target: https://opencollective.com/json-rpc
+ :alt: Sponsors
+
+ `JSON-RPC2.0 `_ and `JSON-RPC1.0 `_ transport specification implementation.
+ Supports Python 2.6+, Python 3.3+, PyPy. Has optional Django and Flask support. 200+ tests.
+
+ Features
+ --------
+
+ This implementation does not have any transport functionality realization, only protocol.
+ Any client or server implementation is easy based on current code, but requires transport libraries, such as requests, gevent or zmq, see `examples `_.
+
+ - Vanilla Python, no dependencies.
+ - 200+ tests for multiple edge cases.
+ - Optional backend support for Django, Flask.
+ - json-rpc 1.1 and 2.0 support.
+
+ Install
+ -------
+
+ .. code-block:: python
+
+ pip install json-rpc
+
+ Tests
+ -----
+
+ Quickstart
+ ^^^^^^^^^^
+ This is an essential part of the library as there are a lot of edge cases in JSON-RPC standard. To manage a variety of supported python versions as well as optional backends json-rpc uses `tox`:
+
+ .. code-block:: bash
+
+ tox
+
+ .. TIP::
+ During local development use your python version with tox runner. For example, if your are using Python 3.6 run `tox -e py36`. It is easier to develop functionality for specific version first and then expands it to all of the supported versions.
+
+ Continuous integration
+ ^^^^^^^^^^^^^^^^^^^^^^
+ This project uses `CircleCI `_ for continuous integration. All of the python supported versions are managed via `tox.ini` and `.circleci/config.yml` files. Master branch test status is displayed on the badge in the beginning of this document.
+
+ Test matrix
+ ^^^^^^^^^^^
+ json-rpc supports multiple python versions: 2.6+, 3.3+, pypy. This introduces difficulties with testing libraries and optional dependencies management. For example, python before version 3.3 does not support `mock` and there is a limited support for `unittest2`. Every dependency translates into *if-then* blocks in the source code and adds complexity to it. Hence, while cross-python support is a core feature of this library, cross-Django or cross-Flask support is limited. In general, json-rpc uses latest stable release which supports current python version. For example, python 2.6 is compatible with Django 1.6 and not compatible with any future versions.
+
+ Below is a testing matrix:
+
+ +--------+-------+-----------+--------+--------+
+ | Python | mock | unittest | Django | Flask |
+ +========+=======+===========+========+========+
+ | 2.6 | 2.0.0 | unittest2 | 1.6 | 0.12.2 |
+ +--------+-------+-----------+--------+--------+
+ | 2.7 | 2.0.0 | | 1.11 | 0.12.2 |
+ +--------+-------+-----------+--------+--------+
+ | 3.3 | | | 1.11 | 0.12.2 |
+ +--------+-------+-----------+--------+--------+
+ | 3.4 | | | 1.11 | 0.12.2 |
+ +--------+-------+-----------+--------+--------+
+ | 3.5 | | | 1.11 | 0.12.2 |
+ +--------+-------+-----------+--------+--------+
+ | 3.6 | | | 1.11 | 0.12.2 |
+ +--------+-------+-----------+--------+--------+
+ | pypy | 2.0.0 | | 1.11 | 0.12.2 |
+ +--------+-------+-----------+--------+--------+
+ | pypy3 | | | 1.11 | 0.12.2 |
+ +--------+-------+-----------+--------+--------+
+
+ Quickstart
+ ----------
+ Server (uses `Werkzeug `_)
+
+ .. code-block:: python
+
+ from werkzeug.wrappers import Request, Response
+ from werkzeug.serving import run_simple
+
+ from jsonrpc import JSONRPCResponseManager, dispatcher
+
+
+ @dispatcher.add_method
+ def foobar(**kwargs):
+ return kwargs["foo"] + kwargs["bar"]
+
+
+ @Request.application
+ def application(request):
+ # Dispatcher is dictionary {: callable}
+ dispatcher["echo"] = lambda s: s
+ dispatcher["add"] = lambda a, b: a + b
+
+ response = JSONRPCResponseManager.handle(
+ request.data, dispatcher)
+ return Response(response.json, mimetype='application/json')
+
+
+ if __name__ == '__main__':
+ run_simple('localhost', 4000, application)
+
+ Client (uses `requests `_)
+
+ .. code-block:: python
+
+ import requests
+ import json
+
+
+ def main():
+ url = "http://localhost:4000/jsonrpc"
+ headers = {'content-type': 'application/json'}
+
+ # Example echo method
+ payload = {
+ "method": "echo",
+ "params": ["echome!"],
+ "jsonrpc": "2.0",
+ "id": 0,
+ }
+ response = requests.post(
+ url, data=json.dumps(payload), headers=headers).json()
+
+ assert response["result"] == "echome!"
+ assert response["jsonrpc"]
+ assert response["id"] == 0
+
+ if __name__ == "__main__":
+ main()
+
+ Competitors
+ -----------
+ There are `several libraries `_ implementing JSON-RPC protocol. List below represents python libraries, none of the supports python3. tinyrpc looks better than others.
+
+Platform: UNKNOWN
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: Environment :: Console
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Natural Language :: English
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 2.6
+Classifier: Programming Language :: Python :: 2.7
+Classifier: Programming Language :: Python :: 3.3
+Classifier: Programming Language :: Python :: 3.4
+Classifier: Programming Language :: Python :: 3.5
+Classifier: Programming Language :: Python :: 3.6
+Classifier: Programming Language :: Python :: 3.7
+Classifier: Programming Language :: Python :: Implementation :: PyPy
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
diff --git a/pyextra/json_rpc-1.12.1-py2.7.egg-info/SOURCES.txt b/pyextra/json_rpc-1.12.1-py2.7.egg-info/SOURCES.txt
new file mode 100644
index 000000000..87d35af62
--- /dev/null
+++ b/pyextra/json_rpc-1.12.1-py2.7.egg-info/SOURCES.txt
@@ -0,0 +1,42 @@
+LICENSE.txt
+MANIFEST.in
+README.rst
+get-pip.py
+setup.cfg
+setup.py
+json_rpc.egg-info/PKG-INFO
+json_rpc.egg-info/SOURCES.txt
+json_rpc.egg-info/dependency_links.txt
+json_rpc.egg-info/top_level.txt
+jsonrpc/__init__.py
+jsonrpc/base.py
+jsonrpc/dispatcher.py
+jsonrpc/exceptions.py
+jsonrpc/jsonrpc.py
+jsonrpc/jsonrpc1.py
+jsonrpc/jsonrpc2.py
+jsonrpc/manager.py
+jsonrpc/six.py
+jsonrpc/utils.py
+jsonrpc/backend/__init__.py
+jsonrpc/backend/django.py
+jsonrpc/backend/flask.py
+jsonrpc/tests/__init__.py
+jsonrpc/tests/py35_utils.py
+jsonrpc/tests/test_base.py
+jsonrpc/tests/test_bug29.py
+jsonrpc/tests/test_dispatcher.py
+jsonrpc/tests/test_examples20.py
+jsonrpc/tests/test_jsonrpc.py
+jsonrpc/tests/test_jsonrpc1.py
+jsonrpc/tests/test_jsonrpc2.py
+jsonrpc/tests/test_jsonrpc_errors.py
+jsonrpc/tests/test_manager.py
+jsonrpc/tests/test_pep3107.py
+jsonrpc/tests/test_utils.py
+jsonrpc/tests/test_backend_django/__init__.py
+jsonrpc/tests/test_backend_django/settings.py
+jsonrpc/tests/test_backend_django/tests.py
+jsonrpc/tests/test_backend_django/urls.py
+jsonrpc/tests/test_backend_flask/__init__.py
+jsonrpc/tests/test_backend_flask/tests.py
\ No newline at end of file
diff --git a/pyextra/json_rpc-1.12.1-py2.7.egg-info/dependency_links.txt b/pyextra/json_rpc-1.12.1-py2.7.egg-info/dependency_links.txt
new file mode 100644
index 000000000..8b1378917
--- /dev/null
+++ b/pyextra/json_rpc-1.12.1-py2.7.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/pyextra/json_rpc-1.12.1-py2.7.egg-info/installed-files.txt b/pyextra/json_rpc-1.12.1-py2.7.egg-info/installed-files.txt
new file mode 100644
index 000000000..e0a921633
--- /dev/null
+++ b/pyextra/json_rpc-1.12.1-py2.7.egg-info/installed-files.txt
@@ -0,0 +1,68 @@
+../jsonrpc/__init__.py
+../jsonrpc/__init__.pyc
+../jsonrpc/backend/__init__.py
+../jsonrpc/backend/__init__.pyc
+../jsonrpc/backend/django.py
+../jsonrpc/backend/django.pyc
+../jsonrpc/backend/flask.py
+../jsonrpc/backend/flask.pyc
+../jsonrpc/base.py
+../jsonrpc/base.pyc
+../jsonrpc/dispatcher.py
+../jsonrpc/dispatcher.pyc
+../jsonrpc/exceptions.py
+../jsonrpc/exceptions.pyc
+../jsonrpc/jsonrpc.py
+../jsonrpc/jsonrpc.pyc
+../jsonrpc/jsonrpc1.py
+../jsonrpc/jsonrpc1.pyc
+../jsonrpc/jsonrpc2.py
+../jsonrpc/jsonrpc2.pyc
+../jsonrpc/manager.py
+../jsonrpc/manager.pyc
+../jsonrpc/six.py
+../jsonrpc/six.pyc
+../jsonrpc/tests/__init__.py
+../jsonrpc/tests/__init__.pyc
+../jsonrpc/tests/py35_utils.py
+../jsonrpc/tests/py35_utils.pyc
+../jsonrpc/tests/test_backend_django/__init__.py
+../jsonrpc/tests/test_backend_django/__init__.pyc
+../jsonrpc/tests/test_backend_django/settings.py
+../jsonrpc/tests/test_backend_django/settings.pyc
+../jsonrpc/tests/test_backend_django/tests.py
+../jsonrpc/tests/test_backend_django/tests.pyc
+../jsonrpc/tests/test_backend_django/urls.py
+../jsonrpc/tests/test_backend_django/urls.pyc
+../jsonrpc/tests/test_backend_flask/__init__.py
+../jsonrpc/tests/test_backend_flask/__init__.pyc
+../jsonrpc/tests/test_backend_flask/tests.py
+../jsonrpc/tests/test_backend_flask/tests.pyc
+../jsonrpc/tests/test_base.py
+../jsonrpc/tests/test_base.pyc
+../jsonrpc/tests/test_bug29.py
+../jsonrpc/tests/test_bug29.pyc
+../jsonrpc/tests/test_dispatcher.py
+../jsonrpc/tests/test_dispatcher.pyc
+../jsonrpc/tests/test_examples20.py
+../jsonrpc/tests/test_examples20.pyc
+../jsonrpc/tests/test_jsonrpc.py
+../jsonrpc/tests/test_jsonrpc.pyc
+../jsonrpc/tests/test_jsonrpc1.py
+../jsonrpc/tests/test_jsonrpc1.pyc
+../jsonrpc/tests/test_jsonrpc2.py
+../jsonrpc/tests/test_jsonrpc2.pyc
+../jsonrpc/tests/test_jsonrpc_errors.py
+../jsonrpc/tests/test_jsonrpc_errors.pyc
+../jsonrpc/tests/test_manager.py
+../jsonrpc/tests/test_manager.pyc
+../jsonrpc/tests/test_pep3107.py
+../jsonrpc/tests/test_pep3107.pyc
+../jsonrpc/tests/test_utils.py
+../jsonrpc/tests/test_utils.pyc
+../jsonrpc/utils.py
+../jsonrpc/utils.pyc
+PKG-INFO
+SOURCES.txt
+dependency_links.txt
+top_level.txt
diff --git a/pyextra/json_rpc-1.12.1-py2.7.egg-info/top_level.txt b/pyextra/json_rpc-1.12.1-py2.7.egg-info/top_level.txt
new file mode 100644
index 000000000..1d0ccdd1d
--- /dev/null
+++ b/pyextra/json_rpc-1.12.1-py2.7.egg-info/top_level.txt
@@ -0,0 +1 @@
+jsonrpc
diff --git a/pyextra/jsonrpc/__init__.py b/pyextra/jsonrpc/__init__.py
new file mode 100644
index 000000000..a4095b933
--- /dev/null
+++ b/pyextra/jsonrpc/__init__.py
@@ -0,0 +1,11 @@
+from .manager import JSONRPCResponseManager
+from .dispatcher import Dispatcher
+
+__version = (1, 12, 1)
+
+__version__ = version = '.'.join(map(str, __version))
+__project__ = PROJECT = __name__
+
+dispatcher = Dispatcher()
+
+# lint_ignore=W0611,W0401
diff --git a/panda/board/pedal_toyota/obj/.gitkeep b/pyextra/jsonrpc/backend/__init__.py
similarity index 100%
rename from panda/board/pedal_toyota/obj/.gitkeep
rename to pyextra/jsonrpc/backend/__init__.py
diff --git a/pyextra/jsonrpc/backend/django.py b/pyextra/jsonrpc/backend/django.py
new file mode 100644
index 000000000..5357fb003
--- /dev/null
+++ b/pyextra/jsonrpc/backend/django.py
@@ -0,0 +1,89 @@
+from __future__ import absolute_import
+
+from django.views.decorators.csrf import csrf_exempt
+from django.conf.urls import url
+from django.conf import settings
+from django.http import HttpResponse, HttpResponseNotAllowed
+import copy
+import json
+import logging
+import time
+
+from ..exceptions import JSONRPCInvalidRequestException
+from ..jsonrpc import JSONRPCRequest
+from ..manager import JSONRPCResponseManager
+from ..utils import DatetimeDecimalEncoder
+from ..dispatcher import Dispatcher
+
+
+logger = logging.getLogger(__name__)
+
+
+def response_serialize(obj):
+ """ Serializes response's data object to JSON. """
+ return json.dumps(obj, cls=DatetimeDecimalEncoder)
+
+
+class JSONRPCAPI(object):
+ def __init__(self, dispatcher=None):
+ self.dispatcher = dispatcher if dispatcher is not None \
+ else Dispatcher()
+
+ @property
+ def urls(self):
+ urls = [
+ url(r'^$', self.jsonrpc, name='endpoint'),
+ ]
+
+ if getattr(settings, 'JSONRPC_MAP_VIEW_ENABLED', settings.DEBUG):
+ urls.append(
+ url(r'^map$', self.jsonrpc_map, name='map')
+ )
+
+ return urls
+
+ @csrf_exempt
+ def jsonrpc(self, request):
+ """ JSON-RPC 2.0 handler."""
+ if request.method != "POST":
+ return HttpResponseNotAllowed(["POST"])
+
+ request_str = request.body.decode('utf8')
+ try:
+ jsonrpc_request = JSONRPCRequest.from_json(request_str)
+ except (TypeError, ValueError, JSONRPCInvalidRequestException):
+ response = JSONRPCResponseManager.handle(
+ request_str, self.dispatcher)
+ else:
+ jsonrpc_request.params = jsonrpc_request.params or {}
+ jsonrpc_request_params = copy.copy(jsonrpc_request.params)
+ if isinstance(jsonrpc_request.params, dict):
+ jsonrpc_request.params.update(request=request)
+
+ t1 = time.time()
+ response = JSONRPCResponseManager.handle_request(
+ jsonrpc_request, self.dispatcher)
+ t2 = time.time()
+ logger.info('{0}({1}) {2:.2f} sec'.format(
+ jsonrpc_request.method, jsonrpc_request_params, t2 - t1))
+
+ if response:
+ response.serialize = response_serialize
+ response = response.json
+
+ return HttpResponse(response, content_type="application/json")
+
+ def jsonrpc_map(self, request):
+ """ Map of json-rpc available calls.
+
+ :return str:
+
+ """
+ result = "JSON-RPC map
{0}".format("\n\n".join([
+ "{0}: {1}".format(fname, f.__doc__)
+ for fname, f in self.dispatcher.items()
+ ]))
+ return HttpResponse(result)
+
+
+api = JSONRPCAPI()
diff --git a/pyextra/jsonrpc/backend/flask.py b/pyextra/jsonrpc/backend/flask.py
new file mode 100644
index 000000000..133752ceb
--- /dev/null
+++ b/pyextra/jsonrpc/backend/flask.py
@@ -0,0 +1,85 @@
+from __future__ import absolute_import
+
+import copy
+import json
+import logging
+import time
+from uuid import uuid4
+
+from flask import Blueprint, request, Response
+
+from ..exceptions import JSONRPCInvalidRequestException
+from ..jsonrpc import JSONRPCRequest
+from ..manager import JSONRPCResponseManager
+from ..utils import DatetimeDecimalEncoder
+from ..dispatcher import Dispatcher
+
+
+logger = logging.getLogger(__name__)
+
+
+class JSONRPCAPI(object):
+ def __init__(self, dispatcher=None, check_content_type=True):
+ """
+
+ :param dispatcher: methods dispatcher
+ :param check_content_type: if True - content-type must be
+ "application/json"
+ :return:
+
+ """
+ self.dispatcher = dispatcher if dispatcher is not None \
+ else Dispatcher()
+ self.check_content_type = check_content_type
+
+ def as_blueprint(self, name=None):
+ blueprint = Blueprint(name if name else str(uuid4()), __name__)
+ blueprint.add_url_rule(
+ '/', view_func=self.jsonrpc, methods=['POST'])
+ blueprint.add_url_rule(
+ '/map', view_func=self.jsonrpc_map, methods=['GET'])
+ return blueprint
+
+ def as_view(self):
+ return self.jsonrpc
+
+ def jsonrpc(self):
+ request_str = self._get_request_str()
+ try:
+ jsonrpc_request = JSONRPCRequest.from_json(request_str)
+ except (TypeError, ValueError, JSONRPCInvalidRequestException):
+ response = JSONRPCResponseManager.handle(
+ request_str, self.dispatcher)
+ else:
+ response = JSONRPCResponseManager.handle_request(
+ jsonrpc_request, self.dispatcher)
+
+ if response:
+ response.serialize = self._serialize
+ response = response.json
+
+ return Response(response, content_type="application/json")
+
+ def jsonrpc_map(self):
+ """ Map of json-rpc available calls.
+
+ :return str:
+
+ """
+ result = "JSON-RPC map
{0}".format("\n\n".join([
+ "{0}: {1}".format(fname, f.__doc__)
+ for fname, f in self.dispatcher.items()
+ ]))
+ return Response(result)
+
+ def _get_request_str(self):
+ if self.check_content_type or request.data:
+ return request.data
+ return list(request.form.keys())[0]
+
+ @staticmethod
+ def _serialize(s):
+ return json.dumps(s, cls=DatetimeDecimalEncoder)
+
+
+api = JSONRPCAPI()
diff --git a/pyextra/jsonrpc/base.py b/pyextra/jsonrpc/base.py
new file mode 100644
index 000000000..f9d419673
--- /dev/null
+++ b/pyextra/jsonrpc/base.py
@@ -0,0 +1,87 @@
+from .utils import JSONSerializable
+
+
+class JSONRPCBaseRequest(JSONSerializable):
+
+ """ Base class for JSON-RPC 1.0 and JSON-RPC 2.0 requests."""
+
+ def __init__(self, method=None, params=None, _id=None,
+ is_notification=None):
+ self.data = dict()
+ self.method = method
+ self.params = params
+ self._id = _id
+ self.is_notification = is_notification
+
+ @property
+ def data(self):
+ return self._data
+
+ @data.setter
+ def data(self, value):
+ if not isinstance(value, dict):
+ raise ValueError("data should be dict")
+
+ self._data = value
+
+ @property
+ def args(self):
+ """ Method position arguments.
+
+ :return tuple args: method position arguments.
+
+ """
+ return tuple(self.params) if isinstance(self.params, list) else ()
+
+ @property
+ def kwargs(self):
+ """ Method named arguments.
+
+ :return dict kwargs: method named arguments.
+
+ """
+ return self.params if isinstance(self.params, dict) else {}
+
+ @property
+ def json(self):
+ return self.serialize(self.data)
+
+
+class JSONRPCBaseResponse(JSONSerializable):
+
+ """ Base class for JSON-RPC 1.0 and JSON-RPC 2.0 responses."""
+
+ def __init__(self, **kwargs):
+ self.data = dict()
+
+ try:
+ self.result = kwargs['result']
+ except KeyError:
+ pass
+
+ try:
+ self.error = kwargs['error']
+ except KeyError:
+ pass
+
+ self._id = kwargs.get('_id')
+
+ if 'result' not in kwargs and 'error' not in kwargs:
+ raise ValueError("Either result or error should be used")
+
+ self.request = None # type: JSONRPCBaseRequest
+
+ @property
+ def data(self):
+ return self._data
+
+ @data.setter
+ def data(self, value):
+ if not isinstance(value, dict):
+ raise ValueError("data should be dict")
+
+ self._data = value
+
+ @property
+ def json(self):
+ return self.serialize(self.data)
diff --git a/pyextra/jsonrpc/dispatcher.py b/pyextra/jsonrpc/dispatcher.py
new file mode 100644
index 000000000..94e7635e9
--- /dev/null
+++ b/pyextra/jsonrpc/dispatcher.py
@@ -0,0 +1,132 @@
+""" Dispatcher is used to add methods (functions) to the server.
+
+For usage examples see :meth:`Dispatcher.add_method`
+
+"""
+import functools
+import collections
+
+
+class Dispatcher(collections.MutableMapping):
+
+ """ Dictionary like object which maps method_name to method."""
+
+ def __init__(self, prototype=None):
+ """ Build method dispatcher.
+
+ Parameters
+ ----------
+ prototype : object or dict, optional
+ Initial method mapping.
+
+ Examples
+ --------
+
+ Init object with method dictionary.
+
+ >>> Dispatcher({"sum": lambda a, b: a + b})
+ None
+
+ """
+ self.method_map = dict()
+
+ if prototype is not None:
+ self.build_method_map(prototype)
+
+ def __getitem__(self, key):
+ return self.method_map[key]
+
+ def __setitem__(self, key, value):
+ self.method_map[key] = value
+
+ def __delitem__(self, key):
+ del self.method_map[key]
+
+ def __len__(self):
+ return len(self.method_map)
+
+ def __iter__(self):
+ return iter(self.method_map)
+
+ def __repr__(self):
+ return repr(self.method_map)
+
+ def add_class(self, cls):
+ prefix = cls.__name__.lower() + '.'
+ self.build_method_map(cls(), prefix)
+
+ def add_object(self, obj):
+ prefix = obj.__class__.__name__.lower() + '.'
+ self.build_method_map(obj, prefix)
+
+ def add_dict(self, dict, prefix=''):
+ if prefix:
+ prefix += '.'
+ self.build_method_map(dict, prefix)
+
+ def add_method(self, f=None, name=None):
+ """ Add a method to the dispatcher.
+
+ Parameters
+ ----------
+ f : callable
+ Callable to be added.
+ name : str, optional
+ Name to register (the default is function **f** name)
+
+ Notes
+ -----
+ When used as a decorator keeps callable object unmodified.
+
+ Examples
+ --------
+
+ Use as method
+
+ >>> d = Dispatcher()
+ >>> d.add_method(lambda a, b: a + b, name="sum")
+ >
+
+ Or use as decorator
+
+ >>> d = Dispatcher()
+ >>> @d.add_method
+ def mymethod(*args, **kwargs):
+ print(args, kwargs)
+
+ Or use as a decorator with a different function name
+ >>> d = Dispatcher()
+ >>> @d.add_method(name="my.method")
+ def mymethod(*args, **kwargs):
+ print(args, kwargs)
+
+ """
+ if name and not f:
+ return functools.partial(self.add_method, name=name)
+
+ self.method_map[name or f.__name__] = f
+ return f
+
+ def build_method_map(self, prototype, prefix=''):
+ """ Add prototype methods to the dispatcher.
+
+ Parameters
+ ----------
+ prototype : object or dict
+ Initial method mapping.
+ If given prototype is a dictionary then all callable objects will
+ be added to dispatcher.
+ If given prototype is an object then all public methods will
+ be used.
+ prefix: string, optional
+ Prefix of methods
+
+ """
+ if not isinstance(prototype, dict):
+ prototype = dict((method, getattr(prototype, method))
+ for method in dir(prototype)
+ if not method.startswith('_'))
+
+ for attr, method in prototype.items():
+ if callable(method):
+ self[prefix + attr] = method
diff --git a/pyextra/jsonrpc/exceptions.py b/pyextra/jsonrpc/exceptions.py
new file mode 100644
index 000000000..175ba9248
--- /dev/null
+++ b/pyextra/jsonrpc/exceptions.py
@@ -0,0 +1,185 @@
+""" JSON-RPC Exceptions."""
+from . import six
+import json
+
+
+class JSONRPCError(object):
+
+ """ Error for JSON-RPC communication.
+
+ When a rpc call encounters an error, the Response Object MUST contain the
+ error member with a value that is a Object with the following members:
+
+ Parameters
+ ----------
+ code: int
+ A Number that indicates the error type that occurred.
+ This MUST be an integer.
+ The error codes from and including -32768 to -32000 are reserved for
+ pre-defined errors. Any code within this range, but not defined
+ explicitly below is reserved for future use. The error codes are nearly
+ the same as those suggested for XML-RPC at the following
+ url: http://xmlrpc-epi.sourceforge.net/specs/rfc.fault_codes.php
+
+ message: str
+ A String providing a short description of the error.
+ The message SHOULD be limited to a concise single sentence.
+
+ data: int or str or dict or list, optional
+ A Primitive or Structured value that contains additional
+ information about the error.
+ This may be omitted.
+ The value of this member is defined by the Server (e.g. detailed error
+ information, nested errors etc.).
+
+ """
+
+ serialize = staticmethod(json.dumps)
+ deserialize = staticmethod(json.loads)
+
+ def __init__(self, code=None, message=None, data=None):
+ self._data = dict()
+ self.code = getattr(self.__class__, "CODE", code)
+ self.message = getattr(self.__class__, "MESSAGE", message)
+ self.data = data
+
+ def __get_code(self):
+ return self._data["code"]
+
+ def __set_code(self, value):
+ if not isinstance(value, six.integer_types):
+ raise ValueError("Error code should be integer")
+
+ self._data["code"] = value
+
+ code = property(__get_code, __set_code)
+
+ def __get_message(self):
+ return self._data["message"]
+
+ def __set_message(self, value):
+ if not isinstance(value, six.string_types):
+ raise ValueError("Error message should be string")
+
+ self._data["message"] = value
+
+ message = property(__get_message, __set_message)
+
+ def __get_data(self):
+ return self._data.get("data")
+
+ def __set_data(self, value):
+ if value is not None:
+ self._data["data"] = value
+
+ data = property(__get_data, __set_data)
+
+ @classmethod
+ def from_json(cls, json_str):
+ data = cls.deserialize(json_str)
+ return cls(
+ code=data["code"], message=data["message"], data=data.get("data"))
+
+ @property
+ def json(self):
+ return self.serialize(self._data)
+
+
+class JSONRPCParseError(JSONRPCError):
+
+ """ Parse Error.
+
+ Invalid JSON was received by the server.
+ An error occurred on the server while parsing the JSON text.
+
+ """
+
+ CODE = -32700
+ MESSAGE = "Parse error"
+
+
+class JSONRPCInvalidRequest(JSONRPCError):
+
+ """ Invalid Request.
+
+ The JSON sent is not a valid Request object.
+
+ """
+
+ CODE = -32600
+ MESSAGE = "Invalid Request"
+
+
+class JSONRPCMethodNotFound(JSONRPCError):
+
+ """ Method not found.
+
+ The method does not exist / is not available.
+
+ """
+
+ CODE = -32601
+ MESSAGE = "Method not found"
+
+
+class JSONRPCInvalidParams(JSONRPCError):
+
+ """ Invalid params.
+
+ Invalid method parameter(s).
+
+ """
+
+ CODE = -32602
+ MESSAGE = "Invalid params"
+
+
+class JSONRPCInternalError(JSONRPCError):
+
+ """ Internal error.
+
+ Internal JSON-RPC error.
+
+ """
+
+ CODE = -32603
+ MESSAGE = "Internal error"
+
+
+class JSONRPCServerError(JSONRPCError):
+
+ """ Server error.
+
+ Reserved for implementation-defined server-errors.
+
+ """
+
+ CODE = -32000
+ MESSAGE = "Server error"
+
+
+class JSONRPCException(Exception):
+
+ """ JSON-RPC Exception."""
+
+ pass
+
+
+class JSONRPCInvalidRequestException(JSONRPCException):
+
+ """ Request is not valid."""
+
+ pass
+
+
+class JSONRPCDispatchException(JSONRPCException):
+
+ """ JSON-RPC Dispatch Exception.
+
+ Should be thrown in dispatch methods.
+
+ """
+
+ def __init__(self, code=None, message=None, data=None, *args, **kwargs):
+ super(JSONRPCDispatchException, self).__init__(args, kwargs)
+ self.error = JSONRPCError(code=code, data=data, message=message)
diff --git a/pyextra/jsonrpc/jsonrpc.py b/pyextra/jsonrpc/jsonrpc.py
new file mode 100644
index 000000000..f02126e2f
--- /dev/null
+++ b/pyextra/jsonrpc/jsonrpc.py
@@ -0,0 +1,28 @@
+""" JSON-RPC wrappers for version 1.0 and 2.0.
+
+Objects diring init operation try to choose JSON-RPC 2.0 and in case of error
+JSON-RPC 1.0.
+from_json methods could decide what format is it by presence of 'jsonrpc'
+attribute.
+
+"""
+from .utils import JSONSerializable
+from .jsonrpc1 import JSONRPC10Request
+from .jsonrpc2 import JSONRPC20Request
+
+
+class JSONRPCRequest(JSONSerializable):
+
+ """ JSONRPC Request."""
+
+ @classmethod
+ def from_json(cls, json_str):
+ data = cls.deserialize(json_str)
+ return cls.from_data(data)
+
+ @classmethod
+ def from_data(cls, data):
+ if isinstance(data, dict) and "jsonrpc" not in data:
+ return JSONRPC10Request.from_data(data)
+ else:
+ return JSONRPC20Request.from_data(data)
diff --git a/pyextra/jsonrpc/jsonrpc1.py b/pyextra/jsonrpc/jsonrpc1.py
new file mode 100644
index 000000000..3fcbe9bf6
--- /dev/null
+++ b/pyextra/jsonrpc/jsonrpc1.py
@@ -0,0 +1,151 @@
+from . import six
+
+from .base import JSONRPCBaseRequest, JSONRPCBaseResponse
+from .exceptions import JSONRPCInvalidRequestException, JSONRPCError
+
+
+class JSONRPC10Request(JSONRPCBaseRequest):
+
+ """ JSON-RPC 1.0 Request.
+
+ A remote method is invoked by sending a request to a remote service.
+ The request is a single object serialized using json.
+
+ :param str method: The name of the method to be invoked.
+ :param list params: An Array of objects to pass as arguments to the method.
+ :param _id: This can be of any type. It is used to match the response with
+ the request that it is replying to.
+ :param bool is_notification: whether request notification or not.
+
+ """
+
+ JSONRPC_VERSION = "1.0"
+ REQUIRED_FIELDS = set(["method", "params", "id"])
+ POSSIBLE_FIELDS = set(["method", "params", "id"])
+
+ @property
+ def data(self):
+ data = dict((k, v) for k, v in self._data.items())
+ data["id"] = None if self.is_notification else data["id"]
+ return data
+
+ @data.setter
+ def data(self, value):
+ if not isinstance(value, dict):
+ raise ValueError("data should be dict")
+
+ self._data = value
+
+ @property
+ def method(self):
+ return self._data.get("method")
+
+ @method.setter
+ def method(self, value):
+ if not isinstance(value, six.string_types):
+ raise ValueError("Method should be string")
+
+ self._data["method"] = str(value)
+
+ @property
+ def params(self):
+ return self._data.get("params")
+
+ @params.setter
+ def params(self, value):
+ if not isinstance(value, (list, tuple)):
+ raise ValueError("Incorrect params {0}".format(value))
+
+ self._data["params"] = list(value)
+
+ @property
+ def _id(self):
+ return self._data.get("id")
+
+ @_id.setter
+ def _id(self, value):
+ self._data["id"] = value
+
+ @property
+ def is_notification(self):
+ return self._data["id"] is None or self._is_notification
+
+ @is_notification.setter
+ def is_notification(self, value):
+ if value is None:
+ value = self._id is None
+
+ if self._id is None and not value:
+ raise ValueError("Can not set attribute is_notification. " +
+ "Request id should not be None")
+
+ self._is_notification = value
+
+ @classmethod
+ def from_json(cls, json_str):
+ data = cls.deserialize(json_str)
+ return cls.from_data(data)
+
+ @classmethod
+ def from_data(cls, data):
+ if not isinstance(data, dict):
+ raise ValueError("data should be dict")
+
+ if cls.REQUIRED_FIELDS <= set(data.keys()) <= cls.POSSIBLE_FIELDS:
+ return cls(
+ method=data["method"], params=data["params"], _id=data["id"]
+ )
+ else:
+ extra = set(data.keys()) - cls.POSSIBLE_FIELDS
+ missed = cls.REQUIRED_FIELDS - set(data.keys())
+ msg = "Invalid request. Extra fields: {0}, Missed fields: {1}"
+ raise JSONRPCInvalidRequestException(msg.format(extra, missed))
+
+
+class JSONRPC10Response(JSONRPCBaseResponse):
+
+ JSONRPC_VERSION = "1.0"
+
+ @property
+ def data(self):
+ data = dict((k, v) for k, v in self._data.items())
+ return data
+
+ @data.setter
+ def data(self, value):
+ if not isinstance(value, dict):
+ raise ValueError("data should be dict")
+
+ self._data = value
+
+ @property
+ def result(self):
+ return self._data.get("result")
+
+ @result.setter
+ def result(self, value):
+ if self.error:
+ raise ValueError("Either result or error should be used")
+ self._data["result"] = value
+
+ @property
+ def error(self):
+ return self._data.get("error")
+
+ @error.setter
+ def error(self, value):
+ self._data.pop('value', None)
+ if value:
+ self._data["error"] = value
+ # Test error
+ JSONRPCError(**value)
+
+ @property
+ def _id(self):
+ return self._data.get("id")
+
+ @_id.setter
+ def _id(self, value):
+ if value is None:
+ raise ValueError("id could not be null for JSON-RPC1.0 Response")
+ self._data["id"] = value
diff --git a/pyextra/jsonrpc/jsonrpc2.py b/pyextra/jsonrpc/jsonrpc2.py
new file mode 100644
index 000000000..66ca45125
--- /dev/null
+++ b/pyextra/jsonrpc/jsonrpc2.py
@@ -0,0 +1,267 @@
+from . import six
+import json
+
+from .exceptions import JSONRPCError, JSONRPCInvalidRequestException
+from .base import JSONRPCBaseRequest, JSONRPCBaseResponse
+
+
+class JSONRPC20Request(JSONRPCBaseRequest):
+
+ """ A rpc call is represented by sending a Request object to a Server.
+
+ :param str method: A String containing the name of the method to be
+ invoked. Method names that begin with the word rpc followed by a
+ period character (U+002E or ASCII 46) are reserved for rpc-internal
+ methods and extensions and MUST NOT be used for anything else.
+
+ :param params: A Structured value that holds the parameter values to be
+ used during the invocation of the method. This member MAY be omitted.
+ :type params: iterable or dict
+
+ :param _id: An identifier established by the Client that MUST contain a
+ String, Number, or NULL value if included. If it is not included it is
+ assumed to be a notification. The value SHOULD normally not be Null
+ [1] and Numbers SHOULD NOT contain fractional parts [2].
+ :type _id: str or int or None
+
+ :param bool is_notification: Whether request is notification or not. If
+ value is True, _id is not included to request. It allows to create
+ requests with id = null.
+
+ The Server MUST reply with the same value in the Response object if
+ included. This member is used to correlate the context between the two
+ objects.
+
+ [1] The use of Null as a value for the id member in a Request object is
+ discouraged, because this specification uses a value of Null for Responses
+ with an unknown id. Also, because JSON-RPC 1.0 uses an id value of Null
+ for Notifications this could cause confusion in handling.
+
+ [2] Fractional parts may be problematic, since many decimal fractions
+ cannot be represented exactly as binary fractions.
+
+ """
+
+ JSONRPC_VERSION = "2.0"
+ REQUIRED_FIELDS = set(["jsonrpc", "method"])
+ POSSIBLE_FIELDS = set(["jsonrpc", "method", "params", "id"])
+
+ @property
+ def data(self):
+ data = dict(
+ (k, v) for k, v in self._data.items()
+ if not (k == "id" and self.is_notification)
+ )
+ data["jsonrpc"] = self.JSONRPC_VERSION
+ return data
+
+ @data.setter
+ def data(self, value):
+ if not isinstance(value, dict):
+ raise ValueError("data should be dict")
+
+ self._data = value
+
+ @property
+ def method(self):
+ return self._data.get("method")
+
+ @method.setter
+ def method(self, value):
+ if not isinstance(value, six.string_types):
+ raise ValueError("Method should be string")
+
+ if value.startswith("rpc."):
+ raise ValueError(
+ "Method names that begin with the word rpc followed by a " +
+ "period character (U+002E or ASCII 46) are reserved for " +
+ "rpc-internal methods and extensions and MUST NOT be used " +
+ "for anything else.")
+
+ self._data["method"] = str(value)
+
+ @property
+ def params(self):
+ return self._data.get("params")
+
+ @params.setter
+ def params(self, value):
+ if value is not None and not isinstance(value, (list, tuple, dict)):
+ raise ValueError("Incorrect params {0}".format(value))
+
+ value = list(value) if isinstance(value, tuple) else value
+
+ if value is not None:
+ self._data["params"] = value
+
+ @property
+ def _id(self):
+ return self._data.get("id")
+
+ @_id.setter
+ def _id(self, value):
+ if value is not None and \
+ not isinstance(value, six.string_types + six.integer_types):
+ raise ValueError("id should be string or integer")
+
+ self._data["id"] = value
+
+ @classmethod
+ def from_json(cls, json_str):
+ data = cls.deserialize(json_str)
+ return cls.from_data(data)
+
+ @classmethod
+ def from_data(cls, data):
+ is_batch = isinstance(data, list)
+ data = data if is_batch else [data]
+
+ if not data:
+ raise JSONRPCInvalidRequestException("[] value is not accepted")
+
+ if not all(isinstance(d, dict) for d in data):
+ raise JSONRPCInvalidRequestException(
+ "Each request should be an object (dict)")
+
+ result = []
+ for d in data:
+ if not cls.REQUIRED_FIELDS <= set(d.keys()) <= cls.POSSIBLE_FIELDS:
+ extra = set(d.keys()) - cls.POSSIBLE_FIELDS
+ missed = cls.REQUIRED_FIELDS - set(d.keys())
+ msg = "Invalid request. Extra fields: {0}, Missed fields: {1}"
+ raise JSONRPCInvalidRequestException(msg.format(extra, missed))
+
+ try:
+ result.append(JSONRPC20Request(
+ method=d["method"], params=d.get("params"),
+ _id=d.get("id"), is_notification="id" not in d,
+ ))
+ except ValueError as e:
+ raise JSONRPCInvalidRequestException(str(e))
+
+ return JSONRPC20BatchRequest(*result) if is_batch else result[0]
+
+
+class JSONRPC20BatchRequest(object):
+
+ """ Batch JSON-RPC 2.0 Request.
+
+ :param JSONRPC20Request *requests: requests
+
+ """
+
+ JSONRPC_VERSION = "2.0"
+
+ def __init__(self, *requests):
+ self.requests = requests
+
+ @classmethod
+ def from_json(cls, json_str):
+ return JSONRPC20Request.from_json(json_str)
+
+ @property
+ def json(self):
+ return json.dumps([r.data for r in self.requests])
+
+ def __iter__(self):
+ return iter(self.requests)
+
+
+class JSONRPC20Response(JSONRPCBaseResponse):
+
+ """ JSON-RPC response object to JSONRPC20Request.
+
+ When a rpc call is made, the Server MUST reply with a Response, except for
+ in the case of Notifications. The Response is expressed as a single JSON
+ Object, with the following members:
+
+ :param str jsonrpc: A String specifying the version of the JSON-RPC
+ protocol. MUST be exactly "2.0".
+
+ :param result: This member is REQUIRED on success.
+ This member MUST NOT exist if there was an error invoking the method.
+ The value of this member is determined by the method invoked on the
+ Server.
+
+ :param dict error: This member is REQUIRED on error.
+ This member MUST NOT exist if there was no error triggered during
+ invocation. The value for this member MUST be an Object.
+
+ :param id: This member is REQUIRED.
+ It MUST be the same as the value of the id member in the Request
+ Object. If there was an error in detecting the id in the Request
+ object (e.g. Parse error/Invalid Request), it MUST be Null.
+ :type id: str or int or None
+
+ Either the result member or error member MUST be included, but both
+ members MUST NOT be included.
+
+ """
+
+ JSONRPC_VERSION = "2.0"
+
+ @property
+ def data(self):
+ data = dict((k, v) for k, v in self._data.items())
+ data["jsonrpc"] = self.JSONRPC_VERSION
+ return data
+
+ @data.setter
+ def data(self, value):
+ if not isinstance(value, dict):
+ raise ValueError("data should be dict")
+ self._data = value
+
+ @property
+ def result(self):
+ return self._data.get("result")
+
+ @result.setter
+ def result(self, value):
+ if self.error:
+ raise ValueError("Either result or error should be used")
+ self._data["result"] = value
+
+ @property
+ def error(self):
+ return self._data.get("error")
+
+ @error.setter
+ def error(self, value):
+ self._data.pop('value', None)
+ if value:
+ self._data["error"] = value
+ # Test error
+ JSONRPCError(**value)
+
+ @property
+ def _id(self):
+ return self._data.get("id")
+
+ @_id.setter
+ def _id(self, value):
+ if value is not None and \
+ not isinstance(value, six.string_types + six.integer_types):
+ raise ValueError("id should be string or integer")
+
+ self._data["id"] = value
+
+
+class JSONRPC20BatchResponse(object):
+
+ JSONRPC_VERSION = "2.0"
+
+ def __init__(self, *responses):
+ self.responses = responses
+ self.request = None # type: JSONRPC20BatchRequest
+
+ @property
+ def data(self):
+ return [r.data for r in self.responses]
+
+ @property
+ def json(self):
+ return json.dumps(self.data)
+
+ def __iter__(self):
+ return iter(self.responses)
diff --git a/pyextra/jsonrpc/manager.py b/pyextra/jsonrpc/manager.py
new file mode 100644
index 000000000..cdb8689af
--- /dev/null
+++ b/pyextra/jsonrpc/manager.py
@@ -0,0 +1,136 @@
+import json
+import logging
+from .utils import is_invalid_params
+from .exceptions import (
+ JSONRPCInvalidParams,
+ JSONRPCInvalidRequest,
+ JSONRPCInvalidRequestException,
+ JSONRPCMethodNotFound,
+ JSONRPCParseError,
+ JSONRPCServerError,
+ JSONRPCDispatchException,
+)
+from .jsonrpc1 import JSONRPC10Response
+from .jsonrpc2 import (
+ JSONRPC20BatchRequest,
+ JSONRPC20BatchResponse,
+ JSONRPC20Response,
+)
+from .jsonrpc import JSONRPCRequest
+
+logger = logging.getLogger(__name__)
+
+
+class JSONRPCResponseManager(object):
+
+ """ JSON-RPC response manager.
+
+ Method brings syntactic sugar into library. Given dispatcher it handles
+ request (both single and batch) and handles errors.
+ Request could be handled in parallel, it is server responsibility.
+
+ :param str request_str: json string. Will be converted into
+ JSONRPC20Request, JSONRPC20BatchRequest or JSONRPC10Request
+
+ :param dict dispather: dict.
+
+ """
+
+ RESPONSE_CLASS_MAP = {
+ "1.0": JSONRPC10Response,
+ "2.0": JSONRPC20Response,
+ }
+
+ @classmethod
+ def handle(cls, request_str, dispatcher):
+ if isinstance(request_str, bytes):
+ request_str = request_str.decode("utf-8")
+
+ try:
+ data = json.loads(request_str)
+ except (TypeError, ValueError):
+ return JSONRPC20Response(error=JSONRPCParseError()._data)
+
+ try:
+ request = JSONRPCRequest.from_data(data)
+ except JSONRPCInvalidRequestException:
+ return JSONRPC20Response(error=JSONRPCInvalidRequest()._data)
+
+ return cls.handle_request(request, dispatcher)
+
+ @classmethod
+ def handle_request(cls, request, dispatcher):
+ """ Handle request data.
+
+ At this moment request has correct jsonrpc format.
+
+ :param dict request: data parsed from request_str.
+ :param jsonrpc.dispatcher.Dispatcher dispatcher:
+
+ .. versionadded: 1.8.0
+
+ """
+ rs = request if isinstance(request, JSONRPC20BatchRequest) \
+ else [request]
+ responses = [r for r in cls._get_responses(rs, dispatcher)
+ if r is not None]
+
+ # notifications
+ if not responses:
+ return
+
+ if isinstance(request, JSONRPC20BatchRequest):
+ response = JSONRPC20BatchResponse(*responses)
+ response.request = request
+ return response
+ else:
+ return responses[0]
+
+ @classmethod
+ def _get_responses(cls, requests, dispatcher):
+ """ Response to each single JSON-RPC Request.
+
+ :return iterator(JSONRPC20Response):
+
+ .. versionadded: 1.9.0
+ TypeError inside the function is distinguished from Invalid Params.
+
+ """
+ for request in requests:
+ def make_response(**kwargs):
+ response = cls.RESPONSE_CLASS_MAP[request.JSONRPC_VERSION](
+ _id=request._id, **kwargs)
+ response.request = request
+ return response
+
+ output = None
+ try:
+ method = dispatcher[request.method]
+ except KeyError:
+ output = make_response(error=JSONRPCMethodNotFound()._data)
+ else:
+ try:
+ result = method(*request.args, **request.kwargs)
+ except JSONRPCDispatchException as e:
+ output = make_response(error=e.error._data)
+ except Exception as e:
+ data = {
+ "type": e.__class__.__name__,
+ "args": e.args,
+ "message": str(e),
+ }
+
+ logger.exception("API Exception: {0}".format(data))
+
+ if isinstance(e, TypeError) and is_invalid_params(
+ method, *request.args, **request.kwargs):
+ output = make_response(
+ error=JSONRPCInvalidParams(data=data)._data)
+ else:
+ output = make_response(
+ error=JSONRPCServerError(data=data)._data)
+ else:
+ output = make_response(result=result)
+ finally:
+ if not request.is_notification:
+ yield output
diff --git a/pyextra/jsonrpc/six.py b/pyextra/jsonrpc/six.py
new file mode 100644
index 000000000..59145fed2
--- /dev/null
+++ b/pyextra/jsonrpc/six.py
@@ -0,0 +1,584 @@
+"""Utilities for writing code that runs on Python 2 and 3"""
+
+# Copyright (c) 2010-2013 Benjamin Peterson
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+import operator
+import sys
+import types
+
+__author__ = "Benjamin Peterson "
+__version__ = "1.4.1"
+
+
+# Useful for very coarse version differentiation.
+PY2 = sys.version_info[0] == 2
+PY3 = sys.version_info[0] == 3
+
+if PY3:
+ string_types = str,
+ integer_types = int,
+ class_types = type,
+ text_type = str
+ binary_type = bytes
+
+ MAXSIZE = sys.maxsize
+else:
+ string_types = basestring,
+ integer_types = (int, long)
+ class_types = (type, types.ClassType)
+ text_type = unicode
+ binary_type = str
+
+ if sys.platform.startswith("java"):
+ # Jython always uses 32 bits.
+ MAXSIZE = int((1 << 31) - 1)
+ else:
+ # It's possible to have sizeof(long) != sizeof(Py_ssize_t).
+ class X(object):
+ def __len__(self):
+ return 1 << 31
+ try:
+ len(X())
+ except OverflowError:
+ # 32-bit
+ MAXSIZE = int((1 << 31) - 1)
+ else:
+ # 64-bit
+ MAXSIZE = int((1 << 63) - 1)
+ del X
+
+
+def _add_doc(func, doc):
+ """Add documentation to a function."""
+ func.__doc__ = doc
+
+
+def _import_module(name):
+ """Import module, returning the module after the last dot."""
+ __import__(name)
+ return sys.modules[name]
+
+
+class _LazyDescr(object):
+
+ def __init__(self, name):
+ self.name = name
+
+ def __get__(self, obj, tp):
+ result = self._resolve()
+ setattr(obj, self.name, result)
+ # This is a bit ugly, but it avoids running this again.
+ delattr(tp, self.name)
+ return result
+
+
+class MovedModule(_LazyDescr):
+
+ def __init__(self, name, old, new=None):
+ super(MovedModule, self).__init__(name)
+ if PY3:
+ if new is None:
+ new = name
+ self.mod = new
+ else:
+ self.mod = old
+
+ def _resolve(self):
+ return _import_module(self.mod)
+
+
+class MovedAttribute(_LazyDescr):
+
+ def __init__(self, name, old_mod, new_mod, old_attr=None, new_attr=None):
+ super(MovedAttribute, self).__init__(name)
+ if PY3:
+ if new_mod is None:
+ new_mod = name
+ self.mod = new_mod
+ if new_attr is None:
+ if old_attr is None:
+ new_attr = name
+ else:
+ new_attr = old_attr
+ self.attr = new_attr
+ else:
+ self.mod = old_mod
+ if old_attr is None:
+ old_attr = name
+ self.attr = old_attr
+
+ def _resolve(self):
+ module = _import_module(self.mod)
+ return getattr(module, self.attr)
+
+
+
+class _MovedItems(types.ModuleType):
+ """Lazy loading of moved objects"""
+
+
+_moved_attributes = [
+ MovedAttribute("cStringIO", "cStringIO", "io", "StringIO"),
+ MovedAttribute("filter", "itertools", "builtins", "ifilter", "filter"),
+ MovedAttribute("filterfalse", "itertools", "itertools", "ifilterfalse", "filterfalse"),
+ MovedAttribute("input", "__builtin__", "builtins", "raw_input", "input"),
+ MovedAttribute("map", "itertools", "builtins", "imap", "map"),
+ MovedAttribute("range", "__builtin__", "builtins", "xrange", "range"),
+ MovedAttribute("reload_module", "__builtin__", "imp", "reload"),
+ MovedAttribute("reduce", "__builtin__", "functools"),
+ MovedAttribute("StringIO", "StringIO", "io"),
+ MovedAttribute("UserString", "UserString", "collections"),
+ MovedAttribute("xrange", "__builtin__", "builtins", "xrange", "range"),
+ MovedAttribute("zip", "itertools", "builtins", "izip", "zip"),
+ MovedAttribute("zip_longest", "itertools", "itertools", "izip_longest", "zip_longest"),
+
+ MovedModule("builtins", "__builtin__"),
+ MovedModule("configparser", "ConfigParser"),
+ MovedModule("copyreg", "copy_reg"),
+ MovedModule("dbm_gnu", "gdbm", "dbm.gnu"),
+ MovedModule("http_cookiejar", "cookielib", "http.cookiejar"),
+ MovedModule("http_cookies", "Cookie", "http.cookies"),
+ MovedModule("html_entities", "htmlentitydefs", "html.entities"),
+ MovedModule("html_parser", "HTMLParser", "html.parser"),
+ MovedModule("http_client", "httplib", "http.client"),
+ MovedModule("email_mime_multipart", "email.MIMEMultipart", "email.mime.multipart"),
+ MovedModule("email_mime_text", "email.MIMEText", "email.mime.text"),
+ MovedModule("email_mime_base", "email.MIMEBase", "email.mime.base"),
+ MovedModule("BaseHTTPServer", "BaseHTTPServer", "http.server"),
+ MovedModule("CGIHTTPServer", "CGIHTTPServer", "http.server"),
+ MovedModule("SimpleHTTPServer", "SimpleHTTPServer", "http.server"),
+ MovedModule("cPickle", "cPickle", "pickle"),
+ MovedModule("queue", "Queue"),
+ MovedModule("reprlib", "repr"),
+ MovedModule("socketserver", "SocketServer"),
+ MovedModule("_thread", "thread", "_thread"),
+ MovedModule("tkinter", "Tkinter"),
+ MovedModule("tkinter_dialog", "Dialog", "tkinter.dialog"),
+ MovedModule("tkinter_filedialog", "FileDialog", "tkinter.filedialog"),
+ MovedModule("tkinter_scrolledtext", "ScrolledText", "tkinter.scrolledtext"),
+ MovedModule("tkinter_simpledialog", "SimpleDialog", "tkinter.simpledialog"),
+ MovedModule("tkinter_tix", "Tix", "tkinter.tix"),
+ MovedModule("tkinter_constants", "Tkconstants", "tkinter.constants"),
+ MovedModule("tkinter_dnd", "Tkdnd", "tkinter.dnd"),
+ MovedModule("tkinter_colorchooser", "tkColorChooser",
+ "tkinter.colorchooser"),
+ MovedModule("tkinter_commondialog", "tkCommonDialog",
+ "tkinter.commondialog"),
+ MovedModule("tkinter_tkfiledialog", "tkFileDialog", "tkinter.filedialog"),
+ MovedModule("tkinter_font", "tkFont", "tkinter.font"),
+ MovedModule("tkinter_messagebox", "tkMessageBox", "tkinter.messagebox"),
+ MovedModule("tkinter_tksimpledialog", "tkSimpleDialog",
+ "tkinter.simpledialog"),
+ MovedModule("urllib_parse", __name__ + ".moves.urllib_parse", "urllib.parse"),
+ MovedModule("urllib_error", __name__ + ".moves.urllib_error", "urllib.error"),
+ MovedModule("urllib", __name__ + ".moves.urllib", __name__ + ".moves.urllib"),
+ MovedModule("urllib_robotparser", "robotparser", "urllib.robotparser"),
+ MovedModule("winreg", "_winreg"),
+]
+for attr in _moved_attributes:
+ setattr(_MovedItems, attr.name, attr)
+del attr
+
+moves = sys.modules[__name__ + ".moves"] = _MovedItems(__name__ + ".moves")
+
+
+
+class Module_six_moves_urllib_parse(types.ModuleType):
+ """Lazy loading of moved objects in six.moves.urllib_parse"""
+
+
+_urllib_parse_moved_attributes = [
+ MovedAttribute("ParseResult", "urlparse", "urllib.parse"),
+ MovedAttribute("parse_qs", "urlparse", "urllib.parse"),
+ MovedAttribute("parse_qsl", "urlparse", "urllib.parse"),
+ MovedAttribute("urldefrag", "urlparse", "urllib.parse"),
+ MovedAttribute("urljoin", "urlparse", "urllib.parse"),
+ MovedAttribute("urlparse", "urlparse", "urllib.parse"),
+ MovedAttribute("urlsplit", "urlparse", "urllib.parse"),
+ MovedAttribute("urlunparse", "urlparse", "urllib.parse"),
+ MovedAttribute("urlunsplit", "urlparse", "urllib.parse"),
+ MovedAttribute("quote", "urllib", "urllib.parse"),
+ MovedAttribute("quote_plus", "urllib", "urllib.parse"),
+ MovedAttribute("unquote", "urllib", "urllib.parse"),
+ MovedAttribute("unquote_plus", "urllib", "urllib.parse"),
+ MovedAttribute("urlencode", "urllib", "urllib.parse"),
+]
+for attr in _urllib_parse_moved_attributes:
+ setattr(Module_six_moves_urllib_parse, attr.name, attr)
+del attr
+
+sys.modules[__name__ + ".moves.urllib_parse"] = Module_six_moves_urllib_parse(__name__ + ".moves.urllib_parse")
+sys.modules[__name__ + ".moves.urllib.parse"] = Module_six_moves_urllib_parse(__name__ + ".moves.urllib.parse")
+
+
+class Module_six_moves_urllib_error(types.ModuleType):
+ """Lazy loading of moved objects in six.moves.urllib_error"""
+
+
+_urllib_error_moved_attributes = [
+ MovedAttribute("URLError", "urllib2", "urllib.error"),
+ MovedAttribute("HTTPError", "urllib2", "urllib.error"),
+ MovedAttribute("ContentTooShortError", "urllib", "urllib.error"),
+]
+for attr in _urllib_error_moved_attributes:
+ setattr(Module_six_moves_urllib_error, attr.name, attr)
+del attr
+
+sys.modules[__name__ + ".moves.urllib_error"] = Module_six_moves_urllib_error(__name__ + ".moves.urllib_error")
+sys.modules[__name__ + ".moves.urllib.error"] = Module_six_moves_urllib_error(__name__ + ".moves.urllib.error")
+
+
+class Module_six_moves_urllib_request(types.ModuleType):
+ """Lazy loading of moved objects in six.moves.urllib_request"""
+
+
+_urllib_request_moved_attributes = [
+ MovedAttribute("urlopen", "urllib2", "urllib.request"),
+ MovedAttribute("install_opener", "urllib2", "urllib.request"),
+ MovedAttribute("build_opener", "urllib2", "urllib.request"),
+ MovedAttribute("pathname2url", "urllib", "urllib.request"),
+ MovedAttribute("url2pathname", "urllib", "urllib.request"),
+ MovedAttribute("getproxies", "urllib", "urllib.request"),
+ MovedAttribute("Request", "urllib2", "urllib.request"),
+ MovedAttribute("OpenerDirector", "urllib2", "urllib.request"),
+ MovedAttribute("HTTPDefaultErrorHandler", "urllib2", "urllib.request"),
+ MovedAttribute("HTTPRedirectHandler", "urllib2", "urllib.request"),
+ MovedAttribute("HTTPCookieProcessor", "urllib2", "urllib.request"),
+ MovedAttribute("ProxyHandler", "urllib2", "urllib.request"),
+ MovedAttribute("BaseHandler", "urllib2", "urllib.request"),
+ MovedAttribute("HTTPPasswordMgr", "urllib2", "urllib.request"),
+ MovedAttribute("HTTPPasswordMgrWithDefaultRealm", "urllib2", "urllib.request"),
+ MovedAttribute("AbstractBasicAuthHandler", "urllib2", "urllib.request"),
+ MovedAttribute("HTTPBasicAuthHandler", "urllib2", "urllib.request"),
+ MovedAttribute("ProxyBasicAuthHandler", "urllib2", "urllib.request"),
+ MovedAttribute("AbstractDigestAuthHandler", "urllib2", "urllib.request"),
+ MovedAttribute("HTTPDigestAuthHandler", "urllib2", "urllib.request"),
+ MovedAttribute("ProxyDigestAuthHandler", "urllib2", "urllib.request"),
+ MovedAttribute("HTTPHandler", "urllib2", "urllib.request"),
+ MovedAttribute("HTTPSHandler", "urllib2", "urllib.request"),
+ MovedAttribute("FileHandler", "urllib2", "urllib.request"),
+ MovedAttribute("FTPHandler", "urllib2", "urllib.request"),
+ MovedAttribute("CacheFTPHandler", "urllib2", "urllib.request"),
+ MovedAttribute("UnknownHandler", "urllib2", "urllib.request"),
+ MovedAttribute("HTTPErrorProcessor", "urllib2", "urllib.request"),
+ MovedAttribute("urlretrieve", "urllib", "urllib.request"),
+ MovedAttribute("urlcleanup", "urllib", "urllib.request"),
+ MovedAttribute("URLopener", "urllib", "urllib.request"),
+ MovedAttribute("FancyURLopener", "urllib", "urllib.request"),
+]
+for attr in _urllib_request_moved_attributes:
+ setattr(Module_six_moves_urllib_request, attr.name, attr)
+del attr
+
+sys.modules[__name__ + ".moves.urllib_request"] = Module_six_moves_urllib_request(__name__ + ".moves.urllib_request")
+sys.modules[__name__ + ".moves.urllib.request"] = Module_six_moves_urllib_request(__name__ + ".moves.urllib.request")
+
+
+class Module_six_moves_urllib_response(types.ModuleType):
+ """Lazy loading of moved objects in six.moves.urllib_response"""
+
+
+_urllib_response_moved_attributes = [
+ MovedAttribute("addbase", "urllib", "urllib.response"),
+ MovedAttribute("addclosehook", "urllib", "urllib.response"),
+ MovedAttribute("addinfo", "urllib", "urllib.response"),
+ MovedAttribute("addinfourl", "urllib", "urllib.response"),
+]
+for attr in _urllib_response_moved_attributes:
+ setattr(Module_six_moves_urllib_response, attr.name, attr)
+del attr
+
+sys.modules[__name__ + ".moves.urllib_response"] = Module_six_moves_urllib_response(__name__ + ".moves.urllib_response")
+sys.modules[__name__ + ".moves.urllib.response"] = Module_six_moves_urllib_response(__name__ + ".moves.urllib.response")
+
+
+class Module_six_moves_urllib_robotparser(types.ModuleType):
+ """Lazy loading of moved objects in six.moves.urllib_robotparser"""
+
+
+_urllib_robotparser_moved_attributes = [
+ MovedAttribute("RobotFileParser", "robotparser", "urllib.robotparser"),
+]
+for attr in _urllib_robotparser_moved_attributes:
+ setattr(Module_six_moves_urllib_robotparser, attr.name, attr)
+del attr
+
+sys.modules[__name__ + ".moves.urllib_robotparser"] = Module_six_moves_urllib_robotparser(__name__ + ".moves.urllib_robotparser")
+sys.modules[__name__ + ".moves.urllib.robotparser"] = Module_six_moves_urllib_robotparser(__name__ + ".moves.urllib.robotparser")
+
+
+class Module_six_moves_urllib(types.ModuleType):
+ """Create a six.moves.urllib namespace that resembles the Python 3 namespace"""
+ parse = sys.modules[__name__ + ".moves.urllib_parse"]
+ error = sys.modules[__name__ + ".moves.urllib_error"]
+ request = sys.modules[__name__ + ".moves.urllib_request"]
+ response = sys.modules[__name__ + ".moves.urllib_response"]
+ robotparser = sys.modules[__name__ + ".moves.urllib_robotparser"]
+
+
+sys.modules[__name__ + ".moves.urllib"] = Module_six_moves_urllib(__name__ + ".moves.urllib")
+
+
+def add_move(move):
+ """Add an item to six.moves."""
+ setattr(_MovedItems, move.name, move)
+
+
+def remove_move(name):
+ """Remove item from six.moves."""
+ try:
+ delattr(_MovedItems, name)
+ except AttributeError:
+ try:
+ del moves.__dict__[name]
+ except KeyError:
+ raise AttributeError("no such move, %r" % (name,))
+
+
+if PY3:
+ _meth_func = "__func__"
+ _meth_self = "__self__"
+
+ _func_closure = "__closure__"
+ _func_code = "__code__"
+ _func_defaults = "__defaults__"
+ _func_globals = "__globals__"
+
+ _iterkeys = "keys"
+ _itervalues = "values"
+ _iteritems = "items"
+ _iterlists = "lists"
+else:
+ _meth_func = "im_func"
+ _meth_self = "im_self"
+
+ _func_closure = "func_closure"
+ _func_code = "func_code"
+ _func_defaults = "func_defaults"
+ _func_globals = "func_globals"
+
+ _iterkeys = "iterkeys"
+ _itervalues = "itervalues"
+ _iteritems = "iteritems"
+ _iterlists = "iterlists"
+
+
+try:
+ advance_iterator = next
+except NameError:
+ def advance_iterator(it):
+ return it.next()
+next = advance_iterator
+
+
+try:
+ callable = callable
+except NameError:
+ def callable(obj):
+ return any("__call__" in klass.__dict__ for klass in type(obj).__mro__)
+
+
+if PY3:
+ def get_unbound_function(unbound):
+ return unbound
+
+ create_bound_method = types.MethodType
+
+ Iterator = object
+else:
+ def get_unbound_function(unbound):
+ return unbound.im_func
+
+ def create_bound_method(func, obj):
+ return types.MethodType(func, obj, obj.__class__)
+
+ class Iterator(object):
+
+ def next(self):
+ return type(self).__next__(self)
+
+ callable = callable
+_add_doc(get_unbound_function,
+ """Get the function out of a possibly unbound function""")
+
+
+get_method_function = operator.attrgetter(_meth_func)
+get_method_self = operator.attrgetter(_meth_self)
+get_function_closure = operator.attrgetter(_func_closure)
+get_function_code = operator.attrgetter(_func_code)
+get_function_defaults = operator.attrgetter(_func_defaults)
+get_function_globals = operator.attrgetter(_func_globals)
+
+
+def iterkeys(d, **kw):
+ """Return an iterator over the keys of a dictionary."""
+ return iter(getattr(d, _iterkeys)(**kw))
+
+def itervalues(d, **kw):
+ """Return an iterator over the values of a dictionary."""
+ return iter(getattr(d, _itervalues)(**kw))
+
+def iteritems(d, **kw):
+ """Return an iterator over the (key, value) pairs of a dictionary."""
+ return iter(getattr(d, _iteritems)(**kw))
+
+def iterlists(d, **kw):
+ """Return an iterator over the (key, [values]) pairs of a dictionary."""
+ return iter(getattr(d, _iterlists)(**kw))
+
+
+if PY3:
+ def b(s):
+ return s.encode("latin-1")
+ def u(s):
+ return s
+ unichr = chr
+ if sys.version_info[1] <= 1:
+ def int2byte(i):
+ return bytes((i,))
+ else:
+ # This is about 2x faster than the implementation above on 3.2+
+ int2byte = operator.methodcaller("to_bytes", 1, "big")
+ byte2int = operator.itemgetter(0)
+ indexbytes = operator.getitem
+ iterbytes = iter
+ import io
+ StringIO = io.StringIO
+ BytesIO = io.BytesIO
+else:
+ def b(s):
+ return s
+ def u(s):
+ return unicode(s, "unicode_escape")
+ unichr = unichr
+ int2byte = chr
+ def byte2int(bs):
+ return ord(bs[0])
+ def indexbytes(buf, i):
+ return ord(buf[i])
+ def iterbytes(buf):
+ return (ord(byte) for byte in buf)
+ import StringIO
+ StringIO = BytesIO = StringIO.StringIO
+_add_doc(b, """Byte literal""")
+_add_doc(u, """Text literal""")
+
+
+if PY3:
+ exec_ = getattr(moves.builtins, "exec")
+
+
+ def reraise(tp, value, tb=None):
+ if value.__traceback__ is not tb:
+ raise value.with_traceback(tb)
+ raise value
+
+else:
+ def exec_(_code_, _globs_=None, _locs_=None):
+ """Execute code in a namespace."""
+ if _globs_ is None:
+ frame = sys._getframe(1)
+ _globs_ = frame.f_globals
+ if _locs_ is None:
+ _locs_ = frame.f_locals
+ del frame
+ elif _locs_ is None:
+ _locs_ = _globs_
+ exec("""exec _code_ in _globs_, _locs_""")
+
+
+ exec_("""def reraise(tp, value, tb=None):
+ raise tp, value, tb
+""")
+
+
+print_ = getattr(moves.builtins, "print", None)
+if print_ is None:
+ def print_(*args, **kwargs):
+ """The new-style print function for Python 2.4 and 2.5."""
+ fp = kwargs.pop("file", sys.stdout)
+ if fp is None:
+ return
+ def write(data):
+ if not isinstance(data, basestring):
+ data = str(data)
+ # If the file has an encoding, encode unicode with it.
+ if (isinstance(fp, file) and
+ isinstance(data, unicode) and
+ fp.encoding is not None):
+ errors = getattr(fp, "errors", None)
+ if errors is None:
+ errors = "strict"
+ data = data.encode(fp.encoding, errors)
+ fp.write(data)
+ want_unicode = False
+ sep = kwargs.pop("sep", None)
+ if sep is not None:
+ if isinstance(sep, unicode):
+ want_unicode = True
+ elif not isinstance(sep, str):
+ raise TypeError("sep must be None or a string")
+ end = kwargs.pop("end", None)
+ if end is not None:
+ if isinstance(end, unicode):
+ want_unicode = True
+ elif not isinstance(end, str):
+ raise TypeError("end must be None or a string")
+ if kwargs:
+ raise TypeError("invalid keyword arguments to print()")
+ if not want_unicode:
+ for arg in args:
+ if isinstance(arg, unicode):
+ want_unicode = True
+ break
+ if want_unicode:
+ newline = unicode("\n")
+ space = unicode(" ")
+ else:
+ newline = "\n"
+ space = " "
+ if sep is None:
+ sep = space
+ if end is None:
+ end = newline
+ for i, arg in enumerate(args):
+ if i:
+ write(sep)
+ write(arg)
+ write(end)
+
+_add_doc(reraise, """Reraise an exception.""")
+
+
+def with_metaclass(meta, *bases):
+ """Create a base class with a metaclass."""
+ return meta("NewBase", bases, {})
+
+def add_metaclass(metaclass):
+ """Class decorator for creating a class with a metaclass."""
+ def wrapper(cls):
+ orig_vars = cls.__dict__.copy()
+ orig_vars.pop('__dict__', None)
+ orig_vars.pop('__weakref__', None)
+ for slots_var in orig_vars.get('__slots__', ()):
+ orig_vars.pop(slots_var)
+ return metaclass(cls.__name__, cls.__bases__, orig_vars)
+ return wrapper
\ No newline at end of file
diff --git a/pyextra/jsonrpc/tests/__init__.py b/pyextra/jsonrpc/tests/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/pyextra/jsonrpc/tests/py35_utils.py b/pyextra/jsonrpc/tests/py35_utils.py
new file mode 100644
index 000000000..e880150be
--- /dev/null
+++ b/pyextra/jsonrpc/tests/py35_utils.py
@@ -0,0 +1,7 @@
+# Python3.5+ code.
+# This won't even parse in earlier versions, so it's kept in a separate file
+# and imported when needed.
+
+
+def distance(a: float, b: float) -> float:
+ return (a ** 2 + b ** 2) ** 0.5
diff --git a/pyextra/jsonrpc/tests/test_backend_django/__init__.py b/pyextra/jsonrpc/tests/test_backend_django/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/pyextra/jsonrpc/tests/test_backend_django/settings.py b/pyextra/jsonrpc/tests/test_backend_django/settings.py
new file mode 100644
index 000000000..987139e1b
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_backend_django/settings.py
@@ -0,0 +1,11 @@
+SECRET_KEY = 'secret'
+ROOT_URLCONF = 'jsonrpc.tests.test_backend_django.urls'
+ALLOWED_HOSTS = ['testserver']
+DATABASE_ENGINE = 'django.db.backends.sqlite3'
+DATABASES = {
+ 'default': {
+ 'ENGINE': 'django.db.backends.sqlite3',
+ 'NAME': ':memory:',
+ }
+}
+JSONRPC_MAP_VIEW_ENABLED = True
diff --git a/pyextra/jsonrpc/tests/test_backend_django/tests.py b/pyextra/jsonrpc/tests/test_backend_django/tests.py
new file mode 100644
index 000000000..9a30fa0b6
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_backend_django/tests.py
@@ -0,0 +1,89 @@
+""" Test Django Backend."""
+from __future__ import absolute_import
+import os
+
+try:
+ from django.core.urlresolvers import RegexURLPattern
+ from django.test import TestCase
+except ImportError:
+ import unittest
+ raise unittest.SkipTest('Django not found for testing')
+
+from ...backend.django import JSONRPCAPI, api
+import json
+
+
+class TestDjangoBackend(TestCase):
+ @classmethod
+ def setUpClass(cls):
+ os.environ['DJANGO_SETTINGS_MODULE'] = \
+ 'jsonrpc.tests.test_backend_django.settings'
+ super(TestDjangoBackend, cls).setUpClass()
+
+ def test_urls(self):
+ self.assertTrue(isinstance(api.urls, list))
+ for api_url in api.urls:
+ self.assertTrue(isinstance(api_url, RegexURLPattern))
+
+ def test_client(self):
+ @api.dispatcher.add_method
+ def dummy(request):
+ return ""
+
+ json_data = {
+ "id": "0",
+ "jsonrpc": "2.0",
+ "method": "dummy",
+ }
+ response = self.client.post(
+ '',
+ json.dumps(json_data),
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 200)
+ data = json.loads(response.content.decode('utf8'))
+ self.assertEqual(data['result'], '')
+
+ def test_method_not_allowed(self):
+ response = self.client.get(
+ '',
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 405, "Should allow only POST")
+
+ def test_invalid_request(self):
+ response = self.client.post(
+ '',
+ '{',
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 200)
+ data = json.loads(response.content.decode('utf8'))
+ self.assertEqual(data['error']['code'], -32700)
+ self.assertEqual(data['error']['message'], 'Parse error')
+
+ def test_resource_map(self):
+ response = self.client.get('/map')
+ self.assertEqual(response.status_code, 200)
+ data = response.content.decode('utf8')
+ self.assertIn("JSON-RPC map", data)
+
+ def test_method_not_allowed_prefix(self):
+ response = self.client.get(
+ '/prefix/',
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 405)
+
+ def test_resource_map_prefix(self):
+ response = self.client.get('/prefix/map')
+ self.assertEqual(response.status_code, 200)
+
+ def test_empty_initial_dispatcher(self):
+ class SubDispatcher(type(api.dispatcher)):
+ pass
+
+ custom_dispatcher = SubDispatcher()
+ custom_api = JSONRPCAPI(custom_dispatcher)
+ self.assertEqual(type(custom_api.dispatcher), SubDispatcher)
+ self.assertEqual(id(custom_api.dispatcher), id(custom_dispatcher))
diff --git a/pyextra/jsonrpc/tests/test_backend_django/urls.py b/pyextra/jsonrpc/tests/test_backend_django/urls.py
new file mode 100644
index 000000000..c0a22465e
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_backend_django/urls.py
@@ -0,0 +1,7 @@
+from django.conf.urls import url, include
+from jsonrpc.backend.django import api
+
+urlpatterns = [
+ url(r'', include(api.urls)),
+ url(r'^prefix/', include(api.urls)),
+]
diff --git a/pyextra/jsonrpc/tests/test_backend_flask/__init__.py b/pyextra/jsonrpc/tests/test_backend_flask/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/pyextra/jsonrpc/tests/test_backend_flask/tests.py b/pyextra/jsonrpc/tests/test_backend_flask/tests.py
new file mode 100644
index 000000000..fdb862348
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_backend_flask/tests.py
@@ -0,0 +1,182 @@
+import json
+import sys
+
+if sys.version_info < (3, 3):
+ from mock import patch
+else:
+ from unittest.mock import patch
+
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+# Flask is supported only for python2 and python3.3+
+if sys.version_info < (3, 0) or sys.version_info >= (3, 3):
+ try:
+ from flask import Flask
+ except ImportError:
+ raise unittest.SkipTest('Flask not found for testing')
+
+ from ...backend.flask import JSONRPCAPI, api
+
+ @api.dispatcher.add_method
+ def dummy():
+ return ""
+
+
+@unittest.skipIf((3, 0) <= sys.version_info < (3, 3),
+ 'Flask does not support python 3.0 - 3.2')
+class TestFlaskBackend(unittest.TestCase):
+ REQUEST = json.dumps({
+ "id": "0",
+ "jsonrpc": "2.0",
+ "method": "dummy",
+ })
+
+ def setUp(self):
+ self.client = self._get_test_client(JSONRPCAPI())
+
+ def _get_test_client(self, api):
+ @api.dispatcher.add_method
+ def dummy():
+ return ""
+
+ app = Flask(__name__)
+ app.config["TESTING"] = True
+ app.register_blueprint(api.as_blueprint())
+ return app.test_client()
+
+ def test_client(self):
+ response = self.client.post(
+ '/',
+ data=self.REQUEST,
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 200)
+ data = json.loads(response.data.decode('utf8'))
+ self.assertEqual(data['result'], '')
+
+ def test_method_not_allowed(self):
+ response = self.client.get(
+ '/',
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 405, "Should allow only POST")
+
+ def test_parse_error(self):
+ response = self.client.post(
+ '/',
+ data='{',
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 200)
+ data = json.loads(response.data.decode('utf8'))
+ self.assertEqual(data['error']['code'], -32700)
+ self.assertEqual(data['error']['message'], 'Parse error')
+
+ def test_wrong_content_type(self):
+ response = self.client.post(
+ '/',
+ data=self.REQUEST,
+ content_type='application/x-www-form-urlencoded',
+ )
+ self.assertEqual(response.status_code, 200)
+ data = json.loads(response.data.decode('utf8'))
+ self.assertEqual(data['error']['code'], -32700)
+ self.assertEqual(data['error']['message'], 'Parse error')
+
+ def test_invalid_request(self):
+ response = self.client.post(
+ '/',
+ data='{"method": "dummy", "id": 1}',
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 200)
+ data = json.loads(response.data.decode('utf8'))
+ self.assertEqual(data['error']['code'], -32600)
+ self.assertEqual(data['error']['message'], 'Invalid Request')
+
+ def test_method_not_found(self):
+ data = {
+ "jsonrpc": "2.0",
+ "method": "dummy2",
+ "id": 1
+ }
+ response = self.client.post(
+ '/',
+ data=json.dumps(data),
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 200)
+ data = json.loads(response.data.decode('utf8'))
+ self.assertEqual(data['error']['code'], -32601)
+ self.assertEqual(data['error']['message'], 'Method not found')
+
+ def test_invalid_parameters(self):
+ data = {
+ "jsonrpc": "2.0",
+ "method": "dummy",
+ "params": [42],
+ "id": 1
+ }
+ response = self.client.post(
+ '/',
+ data=json.dumps(data),
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 200)
+ data = json.loads(response.data.decode('utf8'))
+ self.assertEqual(data['error']['code'], -32602)
+ self.assertEqual(data['error']['message'], 'Invalid params')
+
+ def test_resource_map(self):
+ response = self.client.get('/map')
+ self.assertEqual(response.status_code, 200)
+ self.assertTrue("JSON-RPC map" in response.data.decode('utf8'))
+
+ def test_method_not_allowed_prefix(self):
+ response = self.client.get(
+ '/',
+ content_type='application/json',
+ )
+ self.assertEqual(response.status_code, 405)
+
+ def test_resource_map_prefix(self):
+ response = self.client.get('/map')
+ self.assertEqual(response.status_code, 200)
+
+ def test_as_view(self):
+ api = JSONRPCAPI()
+ with patch.object(api, 'jsonrpc') as mock_jsonrpc:
+ self.assertIs(api.as_view(), mock_jsonrpc)
+
+ def test_not_check_content_type(self):
+ client = self._get_test_client(JSONRPCAPI(check_content_type=False))
+ response = client.post(
+ '/',
+ data=self.REQUEST,
+ )
+ self.assertEqual(response.status_code, 200)
+ data = json.loads(response.data.decode('utf8'))
+ self.assertEqual(data['result'], '')
+
+ def test_check_content_type(self):
+ client = self._get_test_client(JSONRPCAPI(check_content_type=False))
+ response = client.post(
+ '/',
+ data=self.REQUEST,
+ content_type="application/x-www-form-urlencoded"
+ )
+ self.assertEqual(response.status_code, 200)
+ data = json.loads(response.data.decode('utf8'))
+ self.assertEqual(data['result'], '')
+
+ def test_empty_initial_dispatcher(self):
+ class SubDispatcher(type(api.dispatcher)):
+ pass
+
+ custom_dispatcher = SubDispatcher()
+ custom_api = JSONRPCAPI(custom_dispatcher)
+ self.assertEqual(type(custom_api.dispatcher), SubDispatcher)
+ self.assertEqual(id(custom_api.dispatcher), id(custom_dispatcher))
diff --git a/pyextra/jsonrpc/tests/test_base.py b/pyextra/jsonrpc/tests/test_base.py
new file mode 100644
index 000000000..6a0ff85b0
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_base.py
@@ -0,0 +1,39 @@
+""" Test base JSON-RPC classes."""
+import sys
+
+from ..base import JSONRPCBaseRequest, JSONRPCBaseResponse
+
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+
+class TestJSONRPCBaseRequest(unittest.TestCase):
+
+ """ Test JSONRPCBaseRequest functionality."""
+
+ def test_data(self):
+ request = JSONRPCBaseRequest()
+ self.assertEqual(request.data, {})
+
+ with self.assertRaises(ValueError):
+ request.data = []
+
+ with self.assertRaises(ValueError):
+ request.data = None
+
+
+class TestJSONRPCBaseResponse(unittest.TestCase):
+
+ """ Test JSONRPCBaseResponse functionality."""
+
+ def test_data(self):
+ response = JSONRPCBaseResponse(result="")
+ self.assertEqual(response.data, {})
+
+ with self.assertRaises(ValueError):
+ response.data = []
+
+ with self.assertRaises(ValueError):
+ response.data = None
diff --git a/pyextra/jsonrpc/tests/test_bug29.py b/pyextra/jsonrpc/tests/test_bug29.py
new file mode 100644
index 000000000..7019bce3b
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_bug29.py
@@ -0,0 +1,34 @@
+""" Exmples of usage with tests.
+
+Tests in this file represent examples taken from JSON-RPC specification.
+http://www.jsonrpc.org/specification#examples
+
+"""
+import sys
+import json
+
+from ..manager import JSONRPCResponseManager
+
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+
+def isjsonequal(json1, json2):
+ return json.loads(json1) == json.loads(json2)
+
+
+class TestJSONRPCExamples(unittest.TestCase):
+ def setUp(self):
+ self.dispatcher = {
+ "return_none": lambda: None,
+ }
+
+ def test_none_as_result(self):
+ req = '{"jsonrpc": "2.0", "method": "return_none", "id": 0}'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "result": null, "id": 0}'
+ ))
diff --git a/pyextra/jsonrpc/tests/test_dispatcher.py b/pyextra/jsonrpc/tests/test_dispatcher.py
new file mode 100644
index 000000000..888526ff6
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_dispatcher.py
@@ -0,0 +1,142 @@
+from ..dispatcher import Dispatcher
+import sys
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+
+class Math:
+
+ def sum(self, a, b):
+ return a + b
+
+ def diff(self, a, b):
+ return a - b
+
+
+class TestDispatcher(unittest.TestCase):
+
+ """ Test Dispatcher functionality."""
+
+ def test_getter(self):
+ d = Dispatcher()
+
+ with self.assertRaises(KeyError):
+ d["method"]
+
+ d["add"] = lambda *args: sum(args)
+ self.assertEqual(d["add"](1, 1), 2)
+
+ def test_in(self):
+ d = Dispatcher()
+ d["method"] = lambda: ""
+ self.assertIn("method", d)
+
+ def test_add_method(self):
+ d = Dispatcher()
+
+ @d.add_method
+ def add(x, y):
+ return x + y
+
+ self.assertIn("add", d)
+ self.assertEqual(d["add"](1, 1), 2)
+
+ def test_add_method_with_name(self):
+ d = Dispatcher()
+
+ @d.add_method(name="this.add")
+ def add(x, y):
+ return x + y
+
+ self.assertNotIn("add", d)
+ self.assertIn("this.add", d)
+ self.assertEqual(d["this.add"](1, 1), 2)
+
+ def test_add_class(self):
+ d = Dispatcher()
+ d.add_class(Math)
+
+ self.assertIn("math.sum", d)
+ self.assertIn("math.diff", d)
+ self.assertEqual(d["math.sum"](3, 8), 11)
+ self.assertEqual(d["math.diff"](6, 9), -3)
+
+ def test_add_object(self):
+ d = Dispatcher()
+ d.add_object(Math())
+
+ self.assertIn("math.sum", d)
+ self.assertIn("math.diff", d)
+ self.assertEqual(d["math.sum"](5, 2), 7)
+ self.assertEqual(d["math.diff"](15, 9), 6)
+
+ def test_add_dict(self):
+ d = Dispatcher()
+ d.add_dict({"sum": lambda *args: sum(args)}, "util")
+
+ self.assertIn("util.sum", d)
+ self.assertEqual(d["util.sum"](13, -2), 11)
+
+ def test_add_method_keep_function_definitions(self):
+
+ d = Dispatcher()
+
+ @d.add_method
+ def one(x):
+ return x
+
+ self.assertIsNotNone(one)
+
+ def test_del_method(self):
+ d = Dispatcher()
+ d["method"] = lambda: ""
+ self.assertIn("method", d)
+
+ del d["method"]
+ self.assertNotIn("method", d)
+
+ def test_to_dict(self):
+ d = Dispatcher()
+
+ def func():
+ return ""
+
+ d["method"] = func
+ self.assertEqual(dict(d), {"method": func})
+
+ def test_init_from_object_instance(self):
+
+ class Dummy():
+
+ def one(self):
+ pass
+
+ def two(self):
+ pass
+
+ dummy = Dummy()
+
+ d = Dispatcher(dummy)
+
+ self.assertIn("one", d)
+ self.assertIn("two", d)
+ self.assertNotIn("__class__", d)
+
+ def test_init_from_dictionary(self):
+
+ dummy = {
+ 'one': lambda x: x,
+ 'two': lambda x: x,
+ }
+
+ d = Dispatcher(dummy)
+
+ self.assertIn("one", d)
+ self.assertIn("two", d)
+
+ def test_dispatcher_representation(self):
+
+ d = Dispatcher()
+ self.assertEqual('{}', repr(d))
diff --git a/pyextra/jsonrpc/tests/test_examples20.py b/pyextra/jsonrpc/tests/test_examples20.py
new file mode 100644
index 000000000..42d10fd91
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_examples20.py
@@ -0,0 +1,206 @@
+""" Exmples of usage with tests.
+
+Tests in this file represent examples taken from JSON-RPC specification.
+http://www.jsonrpc.org/specification#examples
+
+"""
+import sys
+import json
+
+from ..manager import JSONRPCResponseManager
+from ..jsonrpc2 import JSONRPC20Request, JSONRPC20BatchRequest
+
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+
+def isjsonequal(json1, json2):
+ return json.loads(json1) == json.loads(json2)
+
+
+class TestJSONRPCExamples(unittest.TestCase):
+ def setUp(self):
+ self.dispatcher = {
+ "subtract": lambda a, b: a - b,
+ }
+
+ def test_rpc_call_with_positional_parameters(self):
+ req = '{"jsonrpc": "2.0", "method": "subtract", "params": [42, 23], "id": 1}' # noqa
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "result": 19, "id": 1}'
+ ))
+
+ req = '{"jsonrpc": "2.0", "method": "subtract", "params": [23, 42], "id": 2}' # noqa
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "result": -19, "id": 2}'
+ ))
+
+ def test_rpc_call_with_named_parameters(self):
+ def subtract(minuend=None, subtrahend=None):
+ return minuend - subtrahend
+
+ dispatcher = {
+ "subtract": subtract,
+ "sum": lambda *args: sum(args),
+ "get_data": lambda: ["hello", 5],
+ }
+
+ req = '{"jsonrpc": "2.0", "method": "subtract", "params": {"subtrahend": 23, "minuend": 42}, "id": 3}' # noqa
+ response = JSONRPCResponseManager.handle(req, dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "result": 19, "id": 3}'
+ ))
+
+ req = '{"jsonrpc": "2.0", "method": "subtract", "params": {"minuend": 42, "subtrahend": 23}, "id": 4}' # noqa
+ response = JSONRPCResponseManager.handle(req, dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "result": 19, "id": 4}',
+ ))
+
+ def test_notification(self):
+ req = '{"jsonrpc": "2.0", "method": "update", "params": [1,2,3,4,5]}'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertEqual(response, None)
+
+ req = '{"jsonrpc": "2.0", "method": "foobar"}'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertEqual(response, None)
+
+ def test_rpc_call_of_non_existent_method(self):
+ req = '{"jsonrpc": "2.0", "method": "foobar", "id": "1"}'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "error": {"code": -32601, "message": "Method not found"}, "id": "1"}' # noqa
+ ))
+
+ def test_rpc_call_with_invalid_json(self):
+ req = '{"jsonrpc": "2.0", "method": "foobar, "params": "bar", "baz]'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "error": {"code": -32700, "message": "Parse error"}, "id": null}' # noqa
+ ))
+
+ def test_rpc_call_with_invalid_request_object(self):
+ req = '{"jsonrpc": "2.0", "method": 1, "params": "bar"}'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "error": {"code": -32600, "message": "Invalid Request"}, "id": null}' # noqa
+ ))
+
+ def test_rpc_call_batch_invalid_json(self):
+ req = """[
+ {"jsonrpc": "2.0", "method": "sum", "params": [1,2,4], "id": "1"},
+ {"jsonrpc": "2.0", "method"
+ ]"""
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "error": {"code": -32700, "message": "Parse error"}, "id": null}' # noqa
+ ))
+
+ def test_rpc_call_with_an_empty_array(self):
+ req = '[]'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "error": {"code": -32600, "message": "Invalid Request"}, "id": null}' # noqa
+ ))
+
+ def test_rpc_call_with_rpc_call_with_an_invalid_batch_but_not_empty(self):
+ req = '[1]'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isjsonequal(
+ response.json,
+ '{"jsonrpc": "2.0", "error": {"code": -32600, "message": "Invalid Request"}, "id": null}' # noqa
+ ))
+
+ def test_rpc_call_with_invalid_batch(self):
+ req = '[1,2,3]'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(
+ response,
+ json.loads("""[
+ {"jsonrpc": "2.0", "error": {"code": -32600,
+ "message": "Invalid Request"}, "id": null},
+ {"jsonrpc": "2.0", "error": {"code": -32600,
+ "message": "Invalid Request"}, "id": null},
+ {"jsonrpc": "2.0", "error": {"code": -32600,
+ "message": "Invalid Request"}, "id": null}
+ ]""")
+ )
+
+ def test_rpc_call_batch(self):
+ req = """[
+ {"jsonrpc": "2.0", "method": "sum", "params": [1,2,4], "id": "1"},
+ {"jsonrpc": "2.0", "method": "notify_hello", "params": [7]},
+ {"jsonrpc": "2.0", "method": "subtract",
+ "params": [42,23], "id": "2"},
+ {"foo": "boo"},
+ {"jsonrpc": "2.0", "method": "foo.get",
+ "params": {"name": "myself"}, "id": "5"},
+ {"jsonrpc": "2.0", "method": "get_data", "id": "9"}
+ ]"""
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(
+ response,
+ json.loads("""[
+ {"jsonrpc": "2.0", "result": 7, "id": "1"},
+ {"jsonrpc": "2.0", "result": 19, "id": "2"},
+ {"jsonrpc": "2.0", "error": {"code": -32600,
+ "message": "Invalid Request"}, "id": null},
+ {"jsonrpc": "2.0", "error": {"code": -32601,
+ "message": "Method not found"}, "id": "5"},
+ {"jsonrpc": "2.0", "result": ["hello", 5], "id": "9"}
+ ]""")
+ )
+
+ def test_rpc_call_batch_all_notifications(self):
+ req = """[
+ {"jsonrpc": "2.0", "method": "notify_sum", "params": [1,2,4]},
+ {"jsonrpc": "2.0", "method": "notify_hello", "params": [7]}
+ ]"""
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertEqual(response, None)
+
+ def test_rpc_call_response_request(self):
+ req = '{"jsonrpc": "2.0", "method": "subtract", "params": [42, 23], "id": 1}' # noqa
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isinstance(
+ response.request,
+ JSONRPC20Request
+ ))
+ self.assertTrue(isjsonequal(
+ response.request.json,
+ req
+ ))
+
+ def test_rpc_call_response_request_batch(self):
+ req = """[
+ {"jsonrpc": "2.0", "method": "sum", "params": [1,2,4], "id": "1"},
+ {"jsonrpc": "2.0", "method": "notify_hello", "params": [7]},
+ {"jsonrpc": "2.0", "method": "subtract",
+ "params": [42,23], "id": "2"},
+ {"jsonrpc": "2.0", "method": "foo.get",
+ "params": {"name": "myself"}, "id": "5"},
+ {"jsonrpc": "2.0", "method": "get_data", "id": "9"}
+ ]"""
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isinstance(
+ response.request,
+ JSONRPC20BatchRequest
+ ))
+ self.assertTrue(isjsonequal(
+ response.request.json,
+ req
+ ))
diff --git a/pyextra/jsonrpc/tests/test_jsonrpc.py b/pyextra/jsonrpc/tests/test_jsonrpc.py
new file mode 100644
index 000000000..820ee3111
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_jsonrpc.py
@@ -0,0 +1 @@
+""" Tets base JSON-RPC structures."""
diff --git a/pyextra/jsonrpc/tests/test_jsonrpc1.py b/pyextra/jsonrpc/tests/test_jsonrpc1.py
new file mode 100644
index 000000000..c66f04545
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_jsonrpc1.py
@@ -0,0 +1,429 @@
+import json
+import sys
+
+from ..exceptions import JSONRPCInvalidRequestException
+from ..jsonrpc1 import (
+ JSONRPC10Request,
+ JSONRPC10Response,
+)
+
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+
+class TestJSONRPC10Request(unittest.TestCase):
+
+ """ Test JSONRPC10Request functionality."""
+
+ def setUp(self):
+ self.request_params = {
+ "method": "add",
+ "params": [1, 2],
+ "_id": 1,
+ }
+
+ def test_correct_init(self):
+ """ Test object is created."""
+ JSONRPC10Request(**self.request_params)
+
+ def test_validation_incorrect_no_parameters(self):
+ with self.assertRaises(ValueError):
+ JSONRPC10Request()
+
+ def test_method_validation_str(self):
+ self.request_params.update({"method": "add"})
+ JSONRPC10Request(**self.request_params)
+
+ def test_method_validation_not_str(self):
+ self.request_params.update({"method": []})
+ with self.assertRaises(ValueError):
+ JSONRPC10Request(**self.request_params)
+
+ self.request_params.update({"method": {}})
+ with self.assertRaises(ValueError):
+ JSONRPC10Request(**self.request_params)
+
+ self.request_params.update({"method": None})
+ with self.assertRaises(ValueError):
+ JSONRPC10Request(**self.request_params)
+
+ def test_params_validation_list(self):
+ self.request_params.update({"params": []})
+ JSONRPC10Request(**self.request_params)
+
+ self.request_params.update({"params": [0]})
+ JSONRPC10Request(**self.request_params)
+
+ def test_params_validation_tuple(self):
+ self.request_params.update({"params": ()})
+ JSONRPC10Request(**self.request_params)
+
+ self.request_params.update({"params": tuple([0])})
+ JSONRPC10Request(**self.request_params)
+
+ def test_params_validation_dict(self):
+ self.request_params.update({"params": {}})
+ with self.assertRaises(ValueError):
+ JSONRPC10Request(**self.request_params)
+
+ self.request_params.update({"params": {"a": 0}})
+ with self.assertRaises(ValueError):
+ JSONRPC10Request(**self.request_params)
+
+ def test_params_validation_none(self):
+ self.request_params.update({"params": None})
+ with self.assertRaises(ValueError):
+ JSONRPC10Request(**self.request_params)
+
+ def test_params_validation_incorrect(self):
+ self.request_params.update({"params": "str"})
+ with self.assertRaises(ValueError):
+ JSONRPC10Request(**self.request_params)
+
+ def test_request_args(self):
+ self.assertEqual(JSONRPC10Request("add", []).args, ())
+ self.assertEqual(JSONRPC10Request("add", [1, 2]).args, (1, 2))
+
+ def test_id_validation_string(self):
+ self.request_params.update({"_id": "id"})
+ JSONRPC10Request(**self.request_params)
+
+ def test_id_validation_int(self):
+ self.request_params.update({"_id": 0})
+ JSONRPC10Request(**self.request_params)
+
+ def test_id_validation_null(self):
+ self.request_params.update({"_id": "null"})
+ JSONRPC10Request(**self.request_params)
+
+ def test_id_validation_none(self):
+ self.request_params.update({"_id": None})
+ JSONRPC10Request(**self.request_params)
+
+ def test_id_validation_float(self):
+ self.request_params.update({"_id": 0.1})
+ JSONRPC10Request(**self.request_params)
+
+ def test_id_validation_list_tuple(self):
+ self.request_params.update({"_id": []})
+ JSONRPC10Request(**self.request_params)
+
+ self.request_params.update({"_id": ()})
+ JSONRPC10Request(**self.request_params)
+
+ def test_id_validation_default_id_none(self):
+ del self.request_params["_id"]
+ JSONRPC10Request(**self.request_params)
+
+ def test_data_method_1(self):
+ r = JSONRPC10Request("add", [])
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_data_method_2(self):
+ r = JSONRPC10Request(method="add", params=[])
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_data_params_1(self):
+ r = JSONRPC10Request("add", params=[], _id=None)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_data_params_2(self):
+ r = JSONRPC10Request("add", ())
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_data_params_3(self):
+ r = JSONRPC10Request("add", (1, 2))
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [1, 2],
+ "id": None,
+ })
+
+ def test_data_id_1(self):
+ r = JSONRPC10Request("add", [], _id="null")
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": "null",
+ })
+
+ def test_data_id_1_notification(self):
+ r = JSONRPC10Request("add", [], _id="null", is_notification=True)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_data_id_2(self):
+ r = JSONRPC10Request("add", [], _id=None)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_data_id_2_notification(self):
+ r = JSONRPC10Request("add", [], _id=None, is_notification=True)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_data_id_3(self):
+ r = JSONRPC10Request("add", [], _id="id")
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": "id",
+ })
+
+ def test_data_id_3_notification(self):
+ r = JSONRPC10Request("add", [], _id="id", is_notification=True)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_data_id_4(self):
+ r = JSONRPC10Request("add", [], _id=0)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": 0,
+ })
+
+ def test_data_id_4_notification(self):
+ r = JSONRPC10Request("add", [], _id=0, is_notification=True)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_is_notification(self):
+ r = JSONRPC10Request("add", [])
+ self.assertTrue(r.is_notification)
+
+ r = JSONRPC10Request("add", [], _id=None)
+ self.assertTrue(r.is_notification)
+
+ r = JSONRPC10Request("add", [], _id="null")
+ self.assertFalse(r.is_notification)
+
+ r = JSONRPC10Request("add", [], _id=0)
+ self.assertFalse(r.is_notification)
+
+ r = JSONRPC10Request("add", [], is_notification=True)
+ self.assertTrue(r.is_notification)
+
+ r = JSONRPC10Request("add", [], is_notification=True, _id=None)
+ self.assertTrue(r.is_notification)
+
+ r = JSONRPC10Request("add", [], is_notification=True, _id=0)
+ self.assertTrue(r.is_notification)
+
+ def test_set_unset_notification_keep_id(self):
+ r = JSONRPC10Request("add", [], is_notification=True, _id=0)
+ self.assertTrue(r.is_notification)
+ self.assertEqual(r.data["id"], None)
+
+ r.is_notification = False
+ self.assertFalse(r.is_notification)
+ self.assertEqual(r.data["id"], 0)
+
+ def test_error_if_notification_true_but_id_none(self):
+ r = JSONRPC10Request("add", [], is_notification=True, _id=None)
+ with self.assertRaises(ValueError):
+ r.is_notification = False
+
+ def test_from_json_invalid_request_method(self):
+ str_json = json.dumps({
+ "params": [1, 2],
+ "id": 0,
+ })
+
+ with self.assertRaises(JSONRPCInvalidRequestException):
+ JSONRPC10Request.from_json(str_json)
+
+ def test_from_json_invalid_request_params(self):
+ str_json = json.dumps({
+ "method": "add",
+ "id": 0,
+ })
+
+ with self.assertRaises(JSONRPCInvalidRequestException):
+ JSONRPC10Request.from_json(str_json)
+
+ def test_from_json_invalid_request_id(self):
+ str_json = json.dumps({
+ "method": "add",
+ "params": [1, 2],
+ })
+
+ with self.assertRaises(JSONRPCInvalidRequestException):
+ JSONRPC10Request.from_json(str_json)
+
+ def test_from_json_invalid_request_extra_data(self):
+ str_json = json.dumps({
+ "method": "add",
+ "params": [1, 2],
+ "id": 0,
+ "is_notification": True,
+ })
+
+ with self.assertRaises(JSONRPCInvalidRequestException):
+ JSONRPC10Request.from_json(str_json)
+
+ def test_from_json_request(self):
+ str_json = json.dumps({
+ "method": "add",
+ "params": [1, 2],
+ "id": 0,
+ })
+
+ request = JSONRPC10Request.from_json(str_json)
+ self.assertTrue(isinstance(request, JSONRPC10Request))
+ self.assertEqual(request.method, "add")
+ self.assertEqual(request.params, [1, 2])
+ self.assertEqual(request._id, 0)
+ self.assertFalse(request.is_notification)
+
+ def test_from_json_request_notification(self):
+ str_json = json.dumps({
+ "method": "add",
+ "params": [1, 2],
+ "id": None,
+ })
+
+ request = JSONRPC10Request.from_json(str_json)
+ self.assertTrue(isinstance(request, JSONRPC10Request))
+ self.assertEqual(request.method, "add")
+ self.assertEqual(request.params, [1, 2])
+ self.assertEqual(request._id, None)
+ self.assertTrue(request.is_notification)
+
+ def test_from_json_string_not_dict(self):
+ with self.assertRaises(ValueError):
+ JSONRPC10Request.from_json("[]")
+
+ with self.assertRaises(ValueError):
+ JSONRPC10Request.from_json("0")
+
+ def test_data_setter(self):
+ request = JSONRPC10Request(**self.request_params)
+ with self.assertRaises(ValueError):
+ request.data = []
+
+ with self.assertRaises(ValueError):
+ request.data = ""
+
+ with self.assertRaises(ValueError):
+ request.data = None
+
+
+class TestJSONRPC10Response(unittest.TestCase):
+
+ """ Test JSONRPC10Response functionality."""
+
+ def setUp(self):
+ self.response_success_params = {
+ "result": "",
+ "error": None,
+ "_id": 1,
+ }
+ self.response_error_params = {
+ "result": None,
+ "error": {
+ "code": 1,
+ "message": "error",
+ },
+ "_id": 1,
+ }
+
+ def test_correct_init(self):
+ """ Test object is created."""
+ JSONRPC10Response(**self.response_success_params)
+ JSONRPC10Response(**self.response_error_params)
+
+ def test_validation_incorrect_no_parameters(self):
+ with self.assertRaises(ValueError):
+ JSONRPC10Response()
+
+ def test_validation_success_incorrect(self):
+ wrong_params = self.response_success_params
+ del wrong_params["_id"]
+ with self.assertRaises(ValueError):
+ JSONRPC10Response(**wrong_params)
+
+ def test_validation_error_incorrect(self):
+ wrong_params = self.response_error_params
+ del wrong_params["_id"]
+ with self.assertRaises(ValueError):
+ JSONRPC10Response(**wrong_params)
+
+ def _test_validation_incorrect_result_and_error(self):
+ # @todo: remove
+ # It is OK because result is an mepty string, it is still result
+ with self.assertRaises(ValueError):
+ JSONRPC10Response(result="", error="", _id=0)
+
+ response = JSONRPC10Response(error="", _id=0)
+ with self.assertRaises(ValueError):
+ response.result = ""
+
+ def test_data(self):
+ r = JSONRPC10Response(result="", _id=0)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "result": "",
+ "id": 0,
+ })
+
+ def test_data_setter(self):
+ response = JSONRPC10Response(**self.response_success_params)
+ with self.assertRaises(ValueError):
+ response.data = []
+
+ with self.assertRaises(ValueError):
+ response.data = ""
+
+ with self.assertRaises(ValueError):
+ response.data = None
+
+ def test_validation_id(self):
+ response = JSONRPC10Response(**self.response_success_params)
+ self.assertEqual(response._id, self.response_success_params["_id"])
diff --git a/pyextra/jsonrpc/tests/test_jsonrpc2.py b/pyextra/jsonrpc/tests/test_jsonrpc2.py
new file mode 100644
index 000000000..32c1639ab
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_jsonrpc2.py
@@ -0,0 +1,728 @@
+import json
+import sys
+
+from ..exceptions import JSONRPCInvalidRequestException
+from ..jsonrpc2 import (
+ JSONRPC20Request,
+ JSONRPC20BatchRequest,
+ JSONRPC20Response,
+ JSONRPC20BatchResponse,
+)
+
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+
+class TestJSONRPC20Request(unittest.TestCase):
+
+ """ Test JSONRPC20Request functionality."""
+
+ def setUp(self):
+ self.request_params = {
+ "method": "add",
+ "params": [1, 2],
+ "_id": 1,
+ }
+
+ def test_correct_init(self):
+ """ Test object is created."""
+ JSONRPC20Request(**self.request_params)
+
+ def test_validation_incorrect_no_parameters(self):
+ with self.assertRaises(ValueError):
+ JSONRPC20Request()
+
+ def test_method_validation_str(self):
+ self.request_params.update({"method": "add"})
+ JSONRPC20Request(**self.request_params)
+
+ def test_method_validation_not_str(self):
+ self.request_params.update({"method": []})
+ with self.assertRaises(ValueError):
+ JSONRPC20Request(**self.request_params)
+
+ self.request_params.update({"method": {}})
+ with self.assertRaises(ValueError):
+ JSONRPC20Request(**self.request_params)
+
+ def test_method_validation_str_rpc_prefix(self):
+ """ Test method SHOULD NOT starts with rpc. """
+ self.request_params.update({"method": "rpc."})
+ with self.assertRaises(ValueError):
+ JSONRPC20Request(**self.request_params)
+
+ self.request_params.update({"method": "rpc.test"})
+ with self.assertRaises(ValueError):
+ JSONRPC20Request(**self.request_params)
+
+ self.request_params.update({"method": "rpccorrect"})
+ JSONRPC20Request(**self.request_params)
+
+ self.request_params.update({"method": "rpc"})
+ JSONRPC20Request(**self.request_params)
+
+ def test_params_validation_list(self):
+ self.request_params.update({"params": []})
+ JSONRPC20Request(**self.request_params)
+
+ self.request_params.update({"params": [0]})
+ JSONRPC20Request(**self.request_params)
+
+ def test_params_validation_tuple(self):
+ self.request_params.update({"params": ()})
+ JSONRPC20Request(**self.request_params)
+
+ self.request_params.update({"params": tuple([0])})
+ JSONRPC20Request(**self.request_params)
+
+ def test_params_validation_dict(self):
+ self.request_params.update({"params": {}})
+ JSONRPC20Request(**self.request_params)
+
+ self.request_params.update({"params": {"a": 0}})
+ JSONRPC20Request(**self.request_params)
+
+ def test_params_validation_none(self):
+ self.request_params.update({"params": None})
+ JSONRPC20Request(**self.request_params)
+
+ def test_params_validation_incorrect(self):
+ self.request_params.update({"params": "str"})
+ with self.assertRaises(ValueError):
+ JSONRPC20Request(**self.request_params)
+
+ def test_request_args(self):
+ self.assertEqual(JSONRPC20Request("add").args, ())
+ self.assertEqual(JSONRPC20Request("add", []).args, ())
+ self.assertEqual(JSONRPC20Request("add", {"a": 1}).args, ())
+ self.assertEqual(JSONRPC20Request("add", [1, 2]).args, (1, 2))
+
+ def test_request_kwargs(self):
+ self.assertEqual(JSONRPC20Request("add").kwargs, {})
+ self.assertEqual(JSONRPC20Request("add", [1, 2]).kwargs, {})
+ self.assertEqual(JSONRPC20Request("add", {}).kwargs, {})
+ self.assertEqual(JSONRPC20Request("add", {"a": 1}).kwargs, {"a": 1})
+
+ def test_id_validation_string(self):
+ self.request_params.update({"_id": "id"})
+ JSONRPC20Request(**self.request_params)
+
+ def test_id_validation_int(self):
+ self.request_params.update({"_id": 0})
+ JSONRPC20Request(**self.request_params)
+
+ def test_id_validation_null(self):
+ self.request_params.update({"_id": "null"})
+ JSONRPC20Request(**self.request_params)
+
+ def test_id_validation_none(self):
+ self.request_params.update({"_id": None})
+ JSONRPC20Request(**self.request_params)
+
+ def test_id_validation_float(self):
+ self.request_params.update({"_id": 0.1})
+ with self.assertRaises(ValueError):
+ JSONRPC20Request(**self.request_params)
+
+ def test_id_validation_incorrect(self):
+ self.request_params.update({"_id": []})
+ with self.assertRaises(ValueError):
+ JSONRPC20Request(**self.request_params)
+
+ self.request_params.update({"_id": ()})
+ with self.assertRaises(ValueError):
+ JSONRPC20Request(**self.request_params)
+
+ def test_data_method_1(self):
+ r = JSONRPC20Request("add")
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": None,
+ })
+
+ def test_data_method_2(self):
+ r = JSONRPC20Request(method="add")
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": None,
+ })
+
+ def test_data_method_3(self):
+ r = JSONRPC20Request("add", None)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": None,
+ })
+
+ def test_data_params_1(self):
+ r = JSONRPC20Request("add", params=None, _id=None)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": None,
+ })
+
+ def test_data_params_2(self):
+ r = JSONRPC20Request("add", [])
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_data_params_3(self):
+ r = JSONRPC20Request("add", ())
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "params": [],
+ "id": None,
+ })
+
+ def test_data_params_4(self):
+ r = JSONRPC20Request("add", (1, 2))
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "params": [1, 2],
+ "id": None,
+ })
+
+ def test_data_params_5(self):
+ r = JSONRPC20Request("add", {"a": 0})
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "params": {"a": 0},
+ "id": None,
+ })
+
+ def test_data_id_1(self):
+ r = JSONRPC20Request("add", _id="null")
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": "null",
+ })
+
+ def test_data_id_1_notification(self):
+ r = JSONRPC20Request("add", _id="null", is_notification=True)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ })
+
+ def test_data_id_2(self):
+ r = JSONRPC20Request("add", _id=None)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": None,
+ })
+
+ def test_data_id_2_notification(self):
+ r = JSONRPC20Request("add", _id=None, is_notification=True)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ })
+
+ def test_data_id_3(self):
+ r = JSONRPC20Request("add", _id="id")
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": "id",
+ })
+
+ def test_data_id_3_notification(self):
+ r = JSONRPC20Request("add", _id="id", is_notification=True)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ })
+
+ def test_data_id_4(self):
+ r = JSONRPC20Request("add", _id=0)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": 0,
+ })
+
+ def test_data_id_4_notification(self):
+ r = JSONRPC20Request("add", _id=0, is_notification=True)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "method": "add",
+ })
+
+ def test_is_notification(self):
+ r = JSONRPC20Request("add")
+ self.assertFalse(r.is_notification)
+
+ r = JSONRPC20Request("add", _id=None)
+ self.assertFalse(r.is_notification)
+
+ r = JSONRPC20Request("add", _id="null")
+ self.assertFalse(r.is_notification)
+
+ r = JSONRPC20Request("add", _id=0)
+ self.assertFalse(r.is_notification)
+
+ r = JSONRPC20Request("add", is_notification=True)
+ self.assertTrue(r.is_notification)
+
+ r = JSONRPC20Request("add", is_notification=True, _id=None)
+ self.assertTrue(r.is_notification)
+ self.assertNotIn("id", r.data)
+
+ r = JSONRPC20Request("add", is_notification=True, _id=0)
+ self.assertTrue(r.is_notification)
+ self.assertNotIn("id", r.data)
+
+ def test_set_unset_notification_keep_id(self):
+ r = JSONRPC20Request("add", is_notification=True, _id=0)
+ self.assertTrue(r.is_notification)
+ self.assertFalse("id" in r.data)
+
+ r.is_notification = False
+ self.assertFalse(r.is_notification)
+ self.assertTrue("id" in r.data)
+ self.assertEqual(r.data["id"], 0)
+
+ def test_serialize_method_1(self):
+ r = JSONRPC20Request("add")
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": None,
+ }, json.loads(r.json))
+
+ def test_serialize_method_2(self):
+ r = JSONRPC20Request(method="add")
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": None,
+ }, json.loads(r.json))
+
+ def test_serialize_method_3(self):
+ r = JSONRPC20Request("add", None)
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": None,
+ }, json.loads(r.json))
+
+ def test_serialize_params_1(self):
+ r = JSONRPC20Request("add", params=None, _id=None)
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": None,
+ }, json.loads(r.json))
+
+ def test_serialize_params_2(self):
+ r = JSONRPC20Request("add", [])
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "params": [],
+ "id": None,
+ }, json.loads(r.json))
+
+ def test_serialize_params_3(self):
+ r = JSONRPC20Request("add", ())
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "params": [],
+ "id": None,
+ }, json.loads(r.json))
+
+ def test_serialize_params_4(self):
+ r = JSONRPC20Request("add", (1, 2))
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "params": [1, 2],
+ "id": None,
+ }, json.loads(r.json))
+
+ def test_serialize_params_5(self):
+ r = JSONRPC20Request("add", {"a": 0})
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "params": {"a": 0},
+ "id": None,
+ }, json.loads(r.json))
+
+ def test_serialize_id_1(self):
+ r = JSONRPC20Request("add", _id="null")
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": "null",
+ }, json.loads(r.json))
+
+ def test_serialize_id_2(self):
+ r = JSONRPC20Request("add", _id=None)
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": None,
+ }, json.loads(r.json))
+
+ def test_serialize_id_3(self):
+ r = JSONRPC20Request("add", _id="id")
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": "id",
+ }, json.loads(r.json))
+
+ def test_serialize_id_4(self):
+ r = JSONRPC20Request("add", _id=0)
+ self.assertTrue({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "id": 0,
+ }, json.loads(r.json))
+
+ def test_from_json_request_no_id(self):
+ str_json = json.dumps({
+ "method": "add",
+ "params": [1, 2],
+ "jsonrpc": "2.0",
+ })
+
+ request = JSONRPC20Request.from_json(str_json)
+ self.assertTrue(isinstance(request, JSONRPC20Request))
+ self.assertEqual(request.method, "add")
+ self.assertEqual(request.params, [1, 2])
+ self.assertEqual(request._id, None)
+ self.assertTrue(request.is_notification)
+
+ def test_from_json_request_no_params(self):
+ str_json = json.dumps({
+ "method": "add",
+ "jsonrpc": "2.0",
+ })
+
+ request = JSONRPC20Request.from_json(str_json)
+ self.assertTrue(isinstance(request, JSONRPC20Request))
+ self.assertEqual(request.method, "add")
+ self.assertEqual(request.params, None)
+ self.assertEqual(request._id, None)
+ self.assertTrue(request.is_notification)
+
+ def test_from_json_request_null_id(self):
+ str_json = json.dumps({
+ "method": "add",
+ "jsonrpc": "2.0",
+ "id": None,
+ })
+
+ request = JSONRPC20Request.from_json(str_json)
+ self.assertTrue(isinstance(request, JSONRPC20Request))
+ self.assertEqual(request.method, "add")
+ self.assertEqual(request.params, None)
+ self.assertEqual(request._id, None)
+ self.assertFalse(request.is_notification)
+
+ def test_from_json_request(self):
+ str_json = json.dumps({
+ "method": "add",
+ "params": [0, 1],
+ "jsonrpc": "2.0",
+ "id": "id",
+ })
+
+ request = JSONRPC20Request.from_json(str_json)
+ self.assertTrue(isinstance(request, JSONRPC20Request))
+ self.assertEqual(request.method, "add")
+ self.assertEqual(request.params, [0, 1])
+ self.assertEqual(request._id, "id")
+ self.assertFalse(request.is_notification)
+
+ def test_from_json_invalid_request_jsonrpc(self):
+ str_json = json.dumps({
+ "method": "add",
+ })
+
+ with self.assertRaises(JSONRPCInvalidRequestException):
+ JSONRPC20Request.from_json(str_json)
+
+ def test_from_json_invalid_request_method(self):
+ str_json = json.dumps({
+ "jsonrpc": "2.0",
+ })
+
+ with self.assertRaises(JSONRPCInvalidRequestException):
+ JSONRPC20Request.from_json(str_json)
+
+ def test_from_json_invalid_request_extra_data(self):
+ str_json = json.dumps({
+ "jsonrpc": "2.0",
+ "method": "add",
+ "is_notification": True,
+ })
+
+ with self.assertRaises(JSONRPCInvalidRequestException):
+ JSONRPC20Request.from_json(str_json)
+
+ def test_data_setter(self):
+ request = JSONRPC20Request(**self.request_params)
+ with self.assertRaises(ValueError):
+ request.data = []
+
+ with self.assertRaises(ValueError):
+ request.data = ""
+
+ with self.assertRaises(ValueError):
+ request.data = None
+
+
+class TestJSONRPC20BatchRequest(unittest.TestCase):
+
+ """ Test JSONRPC20BatchRequest functionality."""
+
+ def test_batch_request(self):
+ request = JSONRPC20BatchRequest(
+ JSONRPC20Request("devide", {"num": 1, "denom": 2}, _id=1),
+ JSONRPC20Request("devide", {"num": 3, "denom": 2}, _id=2),
+ )
+ self.assertEqual(json.loads(request.json), [
+ {"method": "devide", "params": {"num": 1, "denom": 2}, "id": 1,
+ "jsonrpc": "2.0"},
+ {"method": "devide", "params": {"num": 3, "denom": 2}, "id": 2,
+ "jsonrpc": "2.0"},
+ ])
+
+ def test_from_json_batch(self):
+ str_json = json.dumps([
+ {"method": "add", "params": [1, 2], "jsonrpc": "2.0"},
+ {"method": "mul", "params": [1, 2], "jsonrpc": "2.0"},
+ ])
+
+ requests = JSONRPC20BatchRequest.from_json(str_json)
+ self.assertTrue(isinstance(requests, JSONRPC20BatchRequest))
+ for r in requests:
+ self.assertTrue(isinstance(r, JSONRPC20Request))
+ self.assertTrue(r.method in ["add", "mul"])
+ self.assertEqual(r.params, [1, 2])
+ self.assertEqual(r._id, None)
+ self.assertTrue(r.is_notification)
+
+ def test_from_json_batch_one(self):
+ str_json = json.dumps([
+ {"method": "add", "params": [1, 2], "jsonrpc": "2.0", "id": None},
+ ])
+
+ requests = JSONRPC20Request.from_json(str_json)
+ self.assertTrue(isinstance(requests, JSONRPC20BatchRequest))
+ requests = list(requests)
+ self.assertEqual(len(requests), 1)
+ r = requests[0]
+ self.assertTrue(isinstance(r, JSONRPC20Request))
+ self.assertEqual(r.method, "add")
+ self.assertEqual(r.params, [1, 2])
+ self.assertEqual(r._id, None)
+ self.assertFalse(r.is_notification)
+
+ def test_response_iterator(self):
+ requests = JSONRPC20BatchRequest(
+ JSONRPC20Request("devide", {"num": 1, "denom": 2}, _id=1),
+ JSONRPC20Request("devide", {"num": 3, "denom": 2}, _id=2),
+ )
+ for request in requests:
+ self.assertTrue(isinstance(request, JSONRPC20Request))
+ self.assertEqual(request.method, "devide")
+
+
+class TestJSONRPC20Response(unittest.TestCase):
+
+ """ Test JSONRPC20Response functionality."""
+
+ def setUp(self):
+ self.response_success_params = {
+ "result": "",
+ "_id": 1,
+ }
+ self.response_error_params = {
+ "error": {
+ "code": 1,
+ "message": "error",
+ },
+ "_id": 1,
+ }
+
+ def test_correct_init(self):
+ """ Test object is created."""
+ JSONRPC20Response(**self.response_success_params)
+
+ def test_validation_incorrect_no_parameters(self):
+ with self.assertRaises(ValueError):
+ JSONRPC20Response()
+
+ def test_validation_incorrect_result_and_error(self):
+ response = JSONRPC20Response(error={"code": 1, "message": ""})
+ with self.assertRaises(ValueError):
+ response.result = ""
+
+ def test_validation_error_correct(self):
+ JSONRPC20Response(**self.response_error_params)
+
+ def test_validation_error_incorrect(self):
+ self.response_error_params["error"].update({"code": "str"})
+ with self.assertRaises(ValueError):
+ JSONRPC20Response(**self.response_error_params)
+
+ def test_validation_error_incorrect_no_code(self):
+ del self.response_error_params["error"]["code"]
+ with self.assertRaises(ValueError):
+ JSONRPC20Response(**self.response_error_params)
+
+ def test_validation_error_incorrect_no_message(self):
+ del self.response_error_params["error"]["message"]
+ with self.assertRaises(ValueError):
+ JSONRPC20Response(**self.response_error_params)
+
+ def test_validation_error_incorrect_message_not_str(self):
+ self.response_error_params["error"].update({"message": 0})
+ with self.assertRaises(ValueError):
+ JSONRPC20Response(**self.response_error_params)
+
+ def test_validation_id(self):
+ response = JSONRPC20Response(**self.response_success_params)
+ self.assertEqual(response._id, self.response_success_params["_id"])
+
+ def test_validation_id_incorrect_type(self):
+ response = JSONRPC20Response(**self.response_success_params)
+
+ with self.assertRaises(ValueError):
+ response._id = []
+
+ with self.assertRaises(ValueError):
+ response._id = {}
+
+ with self.assertRaises(ValueError):
+ response._id = 0.1
+
+ def test_data_result(self):
+ r = JSONRPC20Response(result="")
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "result": "",
+ "id": None,
+ })
+
+ def test_data_result_id_none(self):
+ r = JSONRPC20Response(result="", _id=None)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "result": "",
+ "id": None,
+ })
+
+ def test_data_result_id(self):
+ r = JSONRPC20Response(result="", _id=0)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "result": "",
+ "id": 0,
+ })
+
+ def test_data_error(self):
+ r = JSONRPC20Response(error={"code": 0, "message": ""})
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "error": {
+ "code": 0,
+ "message": "",
+ },
+ "id": None,
+ })
+
+ def test_data_error_id_none(self):
+ r = JSONRPC20Response(error={"code": 0, "message": ""}, _id=None)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "error": {
+ "code": 0,
+ "message": "",
+ },
+ "id": None,
+ })
+
+ def test_data_error_id(self):
+ r = JSONRPC20Response(error={"code": 0, "message": ""}, _id=0)
+ self.assertEqual(json.loads(r.json), r.data)
+ self.assertEqual(r.data, {
+ "jsonrpc": "2.0",
+ "error": {
+ "code": 0,
+ "message": "",
+ },
+ "id": 0,
+ })
+
+ def test_data_setter(self):
+ response = JSONRPC20Response(**self.response_success_params)
+ with self.assertRaises(ValueError):
+ response.data = []
+
+ with self.assertRaises(ValueError):
+ response.data = ""
+
+ with self.assertRaises(ValueError):
+ response.data = None
+
+
+class TestJSONRPC20BatchResponse(unittest.TestCase):
+
+ """ Test JSONRPC20BatchResponse functionality."""
+
+ def test_batch_response(self):
+ response = JSONRPC20BatchResponse(
+ JSONRPC20Response(result="result", _id=1),
+ JSONRPC20Response(error={"code": 0, "message": ""}, _id=2),
+ )
+ self.assertEqual(json.loads(response.json), [
+ {"result": "result", "id": 1, "jsonrpc": "2.0"},
+ {"error": {"code": 0, "message": ""}, "id": 2, "jsonrpc": "2.0"},
+ ])
+
+ def test_response_iterator(self):
+ responses = JSONRPC20BatchResponse(
+ JSONRPC20Response(result="result", _id=1),
+ JSONRPC20Response(result="result", _id=2),
+ )
+ for response in responses:
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.result, "result")
+
+ def test_batch_response_data(self):
+ response = JSONRPC20BatchResponse(
+ JSONRPC20Response(result="result", _id=1),
+ JSONRPC20Response(result="result", _id=2),
+ JSONRPC20Response(result="result"),
+ )
+ self.assertEqual(response.data, [
+ {"id": 1, "jsonrpc": "2.0", "result": "result"},
+ {"id": 2, "jsonrpc": "2.0", "result": "result"},
+ {"id": None, "jsonrpc": "2.0", "result": "result"},
+ ])
diff --git a/pyextra/jsonrpc/tests/test_jsonrpc_errors.py b/pyextra/jsonrpc/tests/test_jsonrpc_errors.py
new file mode 100644
index 000000000..abc559fe0
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_jsonrpc_errors.py
@@ -0,0 +1,150 @@
+import json
+import sys
+
+from ..exceptions import (
+ JSONRPCError,
+ JSONRPCInternalError,
+ JSONRPCInvalidParams,
+ JSONRPCInvalidRequest,
+ JSONRPCMethodNotFound,
+ JSONRPCParseError,
+ JSONRPCServerError,
+ JSONRPCDispatchException,
+)
+
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+
+class TestJSONRPCError(unittest.TestCase):
+ def setUp(self):
+ self.error_params = {
+ "code": 0,
+ "message": "",
+ }
+
+ def test_correct_init(self):
+ """ Test object is created."""
+ JSONRPCError(**self.error_params)
+
+ def test_validation_incorrect_no_parameters(self):
+ with self.assertRaises(ValueError):
+ JSONRPCError()
+
+ def test_code_validation_int(self):
+ self.error_params.update({"code": 32000})
+ JSONRPCError(**self.error_params)
+
+ def test_code_validation_no_code(self):
+ del self.error_params["code"]
+ with self.assertRaises(ValueError):
+ JSONRPCError(**self.error_params)
+
+ def test_code_validation_str(self):
+ self.error_params.update({"code": "0"})
+ with self.assertRaises(ValueError):
+ JSONRPCError(**self.error_params)
+
+ def test_message_validation_str(self):
+ self.error_params.update({"message": ""})
+ JSONRPCError(**self.error_params)
+
+ def test_message_validation_none(self):
+ del self.error_params["message"]
+ with self.assertRaises(ValueError):
+ JSONRPCError(**self.error_params)
+
+ def test_message_validation_int(self):
+ self.error_params.update({"message": 0})
+ with self.assertRaises(ValueError):
+ JSONRPCError(**self.error_params)
+
+ def test_data_validation_none(self):
+ self.error_params.update({"data": None})
+ JSONRPCError(**self.error_params)
+
+ def test_data_validation(self):
+ self.error_params.update({"data": {}})
+ JSONRPCError(**self.error_params)
+
+ self.error_params.update({"data": ""})
+ JSONRPCError(**self.error_params)
+
+ def test_json(self):
+ error = JSONRPCError(**self.error_params)
+ self.assertEqual(
+ json.loads(error.json),
+ self.error_params,
+ )
+
+ def test_from_json(self):
+ str_json = json.dumps({
+ "code": 0,
+ "message": "",
+ "data": {},
+ })
+
+ request = JSONRPCError.from_json(str_json)
+ self.assertTrue(isinstance(request, JSONRPCError))
+ self.assertEqual(request.code, 0)
+ self.assertEqual(request.message, "")
+ self.assertEqual(request.data, {})
+
+
+class TestJSONRPCParseError(unittest.TestCase):
+ def test_code_message(self):
+ error = JSONRPCParseError()
+ self.assertEqual(error.code, -32700)
+ self.assertEqual(error.message, "Parse error")
+ self.assertEqual(error.data, None)
+
+
+class TestJSONRPCServerError(unittest.TestCase):
+ def test_code_message(self):
+ error = JSONRPCServerError()
+ self.assertEqual(error.code, -32000)
+ self.assertEqual(error.message, "Server error")
+ self.assertEqual(error.data, None)
+
+
+class TestJSONRPCInternalError(unittest.TestCase):
+ def test_code_message(self):
+ error = JSONRPCInternalError()
+ self.assertEqual(error.code, -32603)
+ self.assertEqual(error.message, "Internal error")
+ self.assertEqual(error.data, None)
+
+
+class TestJSONRPCInvalidParams(unittest.TestCase):
+ def test_code_message(self):
+ error = JSONRPCInvalidParams()
+ self.assertEqual(error.code, -32602)
+ self.assertEqual(error.message, "Invalid params")
+ self.assertEqual(error.data, None)
+
+
+class TestJSONRPCInvalidRequest(unittest.TestCase):
+ def test_code_message(self):
+ error = JSONRPCInvalidRequest()
+ self.assertEqual(error.code, -32600)
+ self.assertEqual(error.message, "Invalid Request")
+ self.assertEqual(error.data, None)
+
+
+class TestJSONRPCMethodNotFound(unittest.TestCase):
+ def test_code_message(self):
+ error = JSONRPCMethodNotFound()
+ self.assertEqual(error.code, -32601)
+ self.assertEqual(error.message, "Method not found")
+ self.assertEqual(error.data, None)
+
+
+class TestJSONRPCDispatchException(unittest.TestCase):
+ def test_code_message(self):
+ error = JSONRPCDispatchException(message="message",
+ code=400, data={"param": 1})
+ self.assertEqual(error.error.code, 400)
+ self.assertEqual(error.error.message, "message")
+ self.assertEqual(error.error.data, {"param": 1})
diff --git a/pyextra/jsonrpc/tests/test_manager.py b/pyextra/jsonrpc/tests/test_manager.py
new file mode 100644
index 000000000..bda108e1c
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_manager.py
@@ -0,0 +1,175 @@
+import sys
+
+from ..manager import JSONRPCResponseManager
+from ..jsonrpc2 import (
+ JSONRPC20BatchRequest,
+ JSONRPC20BatchResponse,
+ JSONRPC20Request,
+ JSONRPC20Response,
+)
+from ..jsonrpc1 import JSONRPC10Request, JSONRPC10Response
+from ..exceptions import JSONRPCDispatchException
+
+if sys.version_info < (3, 3):
+ from mock import MagicMock
+else:
+ from unittest.mock import MagicMock
+
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+
+class TestJSONRPCResponseManager(unittest.TestCase):
+ def setUp(self):
+ def raise_(e):
+ raise e
+
+ self.long_time_method = MagicMock()
+ self.dispatcher = {
+ "add": sum,
+ "multiply": lambda a, b: a * b,
+ "list_len": len,
+ "101_base": lambda **kwargs: int("101", **kwargs),
+ "error": lambda: raise_(KeyError("error_explanation")),
+ "type_error": lambda: raise_(TypeError("TypeError inside method")),
+ "long_time_method": self.long_time_method,
+ "dispatch_error": lambda x: raise_(
+ JSONRPCDispatchException(code=4000, message="error",
+ data={"param": 1})),
+ }
+
+ def test_dispatch_error(self):
+ request = JSONRPC20Request("dispatch_error", ["test"], _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "error")
+ self.assertEqual(response.error["code"], 4000)
+ self.assertEqual(response.error["data"], {"param": 1})
+
+ def test_returned_type_response(self):
+ request = JSONRPC20Request("add", [[]], _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+
+ def test_returned_type_butch_response(self):
+ request = JSONRPC20BatchRequest(
+ JSONRPC20Request("add", [[]], _id=0))
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20BatchResponse))
+
+ def test_returned_type_response_rpc10(self):
+ request = JSONRPC10Request("add", [[]], _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC10Response))
+
+ def test_parse_error(self):
+ req = '{"jsonrpc": "2.0", "method": "foobar, "params": "bar", "baz]'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Parse error")
+ self.assertEqual(response.error["code"], -32700)
+
+ def test_invalid_request(self):
+ req = '{"jsonrpc": "2.0", "method": 1, "params": "bar"}'
+ response = JSONRPCResponseManager.handle(req, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Invalid Request")
+ self.assertEqual(response.error["code"], -32600)
+
+ def test_method_not_found(self):
+ request = JSONRPC20Request("does_not_exist", [[]], _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Method not found")
+ self.assertEqual(response.error["code"], -32601)
+
+ def test_invalid_params(self):
+ request = JSONRPC20Request("add", {"a": 0}, _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Invalid params")
+ self.assertEqual(response.error["code"], -32602)
+ self.assertIn(response.error["data"]["message"], [
+ 'sum() takes no keyword arguments',
+ "sum() got an unexpected keyword argument 'a'",
+ ])
+
+ def test_invalid_params_custom_function(self):
+ request = JSONRPC20Request("multiply", [0], _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Invalid params")
+ self.assertEqual(response.error["code"], -32602)
+
+ request = JSONRPC20Request("multiply", [0, 1, 2], _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Invalid params")
+ self.assertEqual(response.error["code"], -32602)
+
+ request = JSONRPC20Request("multiply", {"a": 1}, _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Invalid params")
+ self.assertEqual(response.error["code"], -32602)
+
+ request = JSONRPC20Request("multiply", {"a": 1, "b": 2, "c": 3}, _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Invalid params")
+ self.assertEqual(response.error["code"], -32602)
+
+ def test_server_error(self):
+ request = JSONRPC20Request("error", _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Server error")
+ self.assertEqual(response.error["code"], -32000)
+ self.assertEqual(response.error["data"]['type'], "KeyError")
+ self.assertEqual(
+ response.error["data"]['args'], ('error_explanation',))
+ self.assertEqual(
+ response.error["data"]['message'], "'error_explanation'")
+
+ def test_notification_calls_method(self):
+ request = JSONRPC20Request("long_time_method", is_notification=True)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertEqual(response, None)
+ self.long_time_method.assert_called_once_with()
+
+ def test_notification_does_not_return_error_does_not_exist(self):
+ request = JSONRPC20Request("does_not_exist", is_notification=True)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertEqual(response, None)
+
+ def test_notification_does_not_return_error_invalid_params(self):
+ request = JSONRPC20Request("add", {"a": 0}, is_notification=True)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertEqual(response, None)
+
+ def test_notification_does_not_return_error(self):
+ request = JSONRPC20Request("error", is_notification=True)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertEqual(response, None)
+
+ def test_type_error_inside_method(self):
+ request = JSONRPC20Request("type_error", _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Server error")
+ self.assertEqual(response.error["code"], -32000)
+ self.assertEqual(response.error["data"]['type'], "TypeError")
+ self.assertEqual(
+ response.error["data"]['args'], ('TypeError inside method',))
+ self.assertEqual(
+ response.error["data"]['message'], 'TypeError inside method')
+
+ def test_invalid_params_before_dispatcher_error(self):
+ request = JSONRPC20Request(
+ "dispatch_error", ["invalid", "params"], _id=0)
+ response = JSONRPCResponseManager.handle(request.json, self.dispatcher)
+ self.assertTrue(isinstance(response, JSONRPC20Response))
+ self.assertEqual(response.error["message"], "Invalid params")
+ self.assertEqual(response.error["code"], -32602)
diff --git a/pyextra/jsonrpc/tests/test_pep3107.py b/pyextra/jsonrpc/tests/test_pep3107.py
new file mode 100644
index 000000000..6af14b729
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_pep3107.py
@@ -0,0 +1,28 @@
+from ..manager import JSONRPCResponseManager
+
+import sys
+
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+
+class TestJSONRPCResponseManager(unittest.TestCase):
+ @unittest.skipIf(sys.version_info < (3, 5), "Test Py3.5+ functionality")
+ def test_typeerror_with_annotations(self):
+ """If a function has Python3 annotations and is called with improper
+ arguments, make sure the framework doesn't fail with inspect.getargspec
+ """
+ from .py35_utils import distance
+
+ dispatcher = {
+ "distance": distance,
+ }
+
+ req = '{"jsonrpc": "2.0", "method": "distance", "params": [], "id": 1}'
+ result = JSONRPCResponseManager.handle(req, dispatcher)
+
+ # Make sure this returns JSONRPCInvalidParams rather than raising
+ # UnboundLocalError
+ self.assertEqual(result.error['code'], -32602)
diff --git a/pyextra/jsonrpc/tests/test_utils.py b/pyextra/jsonrpc/tests/test_utils.py
new file mode 100644
index 000000000..9d0c76d81
--- /dev/null
+++ b/pyextra/jsonrpc/tests/test_utils.py
@@ -0,0 +1,130 @@
+""" Test utility functionality."""
+from ..utils import JSONSerializable, DatetimeDecimalEncoder, is_invalid_params
+
+import datetime
+import decimal
+import json
+import sys
+
+if sys.version_info < (3, 3):
+ from mock import patch
+else:
+ from unittest.mock import patch
+
+if sys.version_info < (2, 7):
+ import unittest2 as unittest
+else:
+ import unittest
+
+
+class TestJSONSerializable(unittest.TestCase):
+
+ """ Test JSONSerializable functionality."""
+
+ def setUp(self):
+ class A(JSONSerializable):
+ @property
+ def json(self):
+ pass
+
+ self._class = A
+
+ def test_abstract_class(self):
+ with self.assertRaises(TypeError):
+ JSONSerializable()
+
+ self._class()
+
+ def test_definse_serialize_deserialize(self):
+ """ Test classmethods of inherited class."""
+ self.assertEqual(self._class.serialize({}), "{}")
+ self.assertEqual(self._class.deserialize("{}"), {})
+
+ def test_from_json(self):
+ self.assertTrue(isinstance(self._class.from_json('{}'), self._class))
+
+ def test_from_json_incorrect(self):
+ with self.assertRaises(ValueError):
+ self._class.from_json('[]')
+
+
+class TestDatetimeDecimalEncoder(unittest.TestCase):
+
+ """ Test DatetimeDecimalEncoder functionality."""
+
+ def test_date_encoder(self):
+ obj = datetime.date.today()
+
+ with self.assertRaises(TypeError):
+ json.dumps(obj)
+
+ self.assertEqual(
+ json.dumps(obj, cls=DatetimeDecimalEncoder),
+ '"{0}"'.format(obj.isoformat()),
+ )
+
+ def test_datetime_encoder(self):
+ obj = datetime.datetime.now()
+
+ with self.assertRaises(TypeError):
+ json.dumps(obj)
+
+ self.assertEqual(
+ json.dumps(obj, cls=DatetimeDecimalEncoder),
+ '"{0}"'.format(obj.isoformat()),
+ )
+
+ def test_decimal_encoder(self):
+ obj = decimal.Decimal('0.1')
+
+ with self.assertRaises(TypeError):
+ json.dumps(obj)
+
+ result = json.dumps(obj, cls=DatetimeDecimalEncoder)
+ self.assertTrue(isinstance(result, str))
+ self.assertEqual(float(result), float(0.1))
+
+ def test_default(self):
+ encoder = DatetimeDecimalEncoder()
+ with patch.object(json.JSONEncoder, 'default') as json_default:
+ encoder.default("")
+
+ self.assertEqual(json_default.call_count, 1)
+
+
+class TestUtils(unittest.TestCase):
+
+ """ Test utils functions."""
+
+ def test_is_invalid_params_builtin(self):
+ self.assertTrue(is_invalid_params(sum, 0, 0))
+ # NOTE: builtin functions could not be recognized by inspect.isfunction
+ # It would raise TypeError if parameters are incorrect already.
+ # self.assertFalse(is_invalid_params(sum, [0, 0])) # <- fails
+
+ def test_is_invalid_params_args(self):
+ self.assertTrue(is_invalid_params(lambda a, b: None, 0))
+ self.assertTrue(is_invalid_params(lambda a, b: None, 0, 1, 2))
+
+ def test_is_invalid_params_kwargs(self):
+ self.assertTrue(is_invalid_params(lambda a: None, **{}))
+ self.assertTrue(is_invalid_params(lambda a: None, **{"a": 0, "b": 1}))
+
+ def test_invalid_params_correct(self):
+ self.assertFalse(is_invalid_params(lambda: None))
+ self.assertFalse(is_invalid_params(lambda a: None, 0))
+ self.assertFalse(is_invalid_params(lambda a, b=0: None, 0))
+ self.assertFalse(is_invalid_params(lambda a, b=0: None, 0, 0))
+
+ def test_is_invalid_params_mixed(self):
+ self.assertFalse(is_invalid_params(lambda a, b: None, 0, **{"b": 1}))
+ self.assertFalse(is_invalid_params(
+ lambda a, b, c=0: None, 0, **{"b": 1}))
+
+ def test_is_invalid_params_py2(self):
+ with patch('jsonrpc.utils.sys') as mock_sys:
+ mock_sys.version_info = (2, 7)
+ with patch('jsonrpc.utils.is_invalid_params_py2') as mock_func:
+ is_invalid_params(lambda a: None, 0)
+
+ assert mock_func.call_count == 1
diff --git a/pyextra/jsonrpc/utils.py b/pyextra/jsonrpc/utils.py
new file mode 100644
index 000000000..cdac317b2
--- /dev/null
+++ b/pyextra/jsonrpc/utils.py
@@ -0,0 +1,135 @@
+""" Utility functions for package."""
+from abc import ABCMeta, abstractmethod
+import datetime
+import decimal
+import inspect
+import json
+import sys
+
+from . import six
+
+
+class JSONSerializable(six.with_metaclass(ABCMeta, object)):
+
+ """ Common functionality for json serializable objects."""
+
+ serialize = staticmethod(json.dumps)
+ deserialize = staticmethod(json.loads)
+
+ @abstractmethod
+ def json(self):
+ raise NotImplementedError()
+
+ @classmethod
+ def from_json(cls, json_str):
+ data = cls.deserialize(json_str)
+
+ if not isinstance(data, dict):
+ raise ValueError("data should be dict")
+
+ return cls(**data)
+
+
+class DatetimeDecimalEncoder(json.JSONEncoder):
+
+ """ Encoder for datetime and decimal serialization.
+
+ Usage: json.dumps(object, cls=DatetimeDecimalEncoder)
+ NOTE: _iterencode does not work
+
+ """
+
+ def default(self, o):
+ """ Encode JSON.
+
+ :return str: A JSON encoded string
+
+ """
+ if isinstance(o, decimal.Decimal):
+ return float(o)
+
+ if isinstance(o, (datetime.datetime, datetime.date)):
+ return o.isoformat()
+
+ return json.JSONEncoder.default(self, o)
+
+
+def is_invalid_params_py2(func, *args, **kwargs):
+ """ Check, whether function 'func' accepts parameters 'args', 'kwargs'.
+
+ NOTE: Method is called after funct(*args, **kwargs) generated TypeError,
+ it is aimed to destinguish TypeError because of invalid parameters from
+ TypeError from inside the function.
+
+ .. versionadded: 1.9.0
+
+ """
+ funcargs, varargs, varkwargs, defaults = inspect.getargspec(func)
+
+ unexpected = set(kwargs.keys()) - set(funcargs)
+ if len(unexpected) > 0:
+ return True
+
+ params = [funcarg for funcarg in funcargs if funcarg not in kwargs]
+ funcargs_required = funcargs[:-len(defaults)] \
+ if defaults is not None \
+ else funcargs
+ params_required = [
+ funcarg for funcarg in funcargs_required
+ if funcarg not in kwargs
+ ]
+
+ return not (len(params_required) <= len(args) <= len(params))
+
+
+def is_invalid_params_py3(func, *args, **kwargs):
+ """
+ Use inspect.signature instead of inspect.getargspec or
+ inspect.getfullargspec (based on inspect.signature itself) as it provides
+ more information about function parameters.
+
+ .. versionadded: 1.11.2
+
+ """
+ signature = inspect.signature(func)
+ parameters = signature.parameters
+
+ unexpected = set(kwargs.keys()) - set(parameters.keys())
+ if len(unexpected) > 0:
+ return True
+
+ params = [
+ parameter for name, parameter in parameters.items()
+ if name not in kwargs
+ ]
+ params_required = [
+ param for param in params
+ if param.default is param.empty
+ ]
+
+ return not (len(params_required) <= len(args) <= len(params))
+
+
+def is_invalid_params(func, *args, **kwargs):
+ """
+ Method:
+ Validate pre-defined criteria, if any is True - function is invalid
+ 0. func should be callable
+ 1. kwargs should not have unexpected keywords
+ 2. remove kwargs.keys from func.parameters
+ 3. number of args should be <= remaining func.parameters
+ 4. number of args should be >= remaining func.parameters less default
+ """
+ # For builtin functions inspect.getargspec(funct) return error. If builtin
+ # function generates TypeError, it is because of wrong parameters.
+ if not inspect.isfunction(func):
+ return True
+
+ if sys.version_info >= (3, 3):
+ return is_invalid_params_py3(func, *args, **kwargs)
+ else:
+ # NOTE: use Python2 method for Python 3.2 as well. Starting from Python
+ # 3.3 it is recommended to use inspect.signature instead.
+ # In Python 3.0 - 3.2 inspect.getfullargspec is preferred but these
+ # versions are almost not supported. Users should consider upgrading.
+ return is_invalid_params_py2(func, *args, **kwargs)
diff --git a/pyextra/websocket/__init__.py b/pyextra/websocket/__init__.py
new file mode 100644
index 000000000..7c3154da2
--- /dev/null
+++ b/pyextra/websocket/__init__.py
@@ -0,0 +1,29 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+from ._abnf import *
+from ._app import WebSocketApp
+from ._core import *
+from ._exceptions import *
+from ._logging import *
+from ._socket import *
+
+__version__ = "0.55.0"
diff --git a/pyextra/websocket/_abnf.py b/pyextra/websocket/_abnf.py
new file mode 100644
index 000000000..a0000fa1c
--- /dev/null
+++ b/pyextra/websocket/_abnf.py
@@ -0,0 +1,447 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+import array
+import os
+import struct
+
+import six
+
+from ._exceptions import *
+from ._utils import validate_utf8
+from threading import Lock
+
+try:
+ if six.PY3:
+ import numpy
+ else:
+ numpy = None
+except ImportError:
+ numpy = None
+
+try:
+ # If wsaccel is available we use compiled routines to mask data.
+ if not numpy:
+ from wsaccel.xormask import XorMaskerSimple
+
+ def _mask(_m, _d):
+ return XorMaskerSimple(_m).process(_d)
+except ImportError:
+ # wsaccel is not available, we rely on python implementations.
+ def _mask(_m, _d):
+ for i in range(len(_d)):
+ _d[i] ^= _m[i % 4]
+
+ if six.PY3:
+ return _d.tobytes()
+ else:
+ return _d.tostring()
+
+
+__all__ = [
+ 'ABNF', 'continuous_frame', 'frame_buffer',
+ 'STATUS_NORMAL',
+ 'STATUS_GOING_AWAY',
+ 'STATUS_PROTOCOL_ERROR',
+ 'STATUS_UNSUPPORTED_DATA_TYPE',
+ 'STATUS_STATUS_NOT_AVAILABLE',
+ 'STATUS_ABNORMAL_CLOSED',
+ 'STATUS_INVALID_PAYLOAD',
+ 'STATUS_POLICY_VIOLATION',
+ 'STATUS_MESSAGE_TOO_BIG',
+ 'STATUS_INVALID_EXTENSION',
+ 'STATUS_UNEXPECTED_CONDITION',
+ 'STATUS_BAD_GATEWAY',
+ 'STATUS_TLS_HANDSHAKE_ERROR',
+]
+
+# closing frame status codes.
+STATUS_NORMAL = 1000
+STATUS_GOING_AWAY = 1001
+STATUS_PROTOCOL_ERROR = 1002
+STATUS_UNSUPPORTED_DATA_TYPE = 1003
+STATUS_STATUS_NOT_AVAILABLE = 1005
+STATUS_ABNORMAL_CLOSED = 1006
+STATUS_INVALID_PAYLOAD = 1007
+STATUS_POLICY_VIOLATION = 1008
+STATUS_MESSAGE_TOO_BIG = 1009
+STATUS_INVALID_EXTENSION = 1010
+STATUS_UNEXPECTED_CONDITION = 1011
+STATUS_BAD_GATEWAY = 1014
+STATUS_TLS_HANDSHAKE_ERROR = 1015
+
+VALID_CLOSE_STATUS = (
+ STATUS_NORMAL,
+ STATUS_GOING_AWAY,
+ STATUS_PROTOCOL_ERROR,
+ STATUS_UNSUPPORTED_DATA_TYPE,
+ STATUS_INVALID_PAYLOAD,
+ STATUS_POLICY_VIOLATION,
+ STATUS_MESSAGE_TOO_BIG,
+ STATUS_INVALID_EXTENSION,
+ STATUS_UNEXPECTED_CONDITION,
+ STATUS_BAD_GATEWAY,
+)
+
+
+class ABNF(object):
+ """
+ ABNF frame class.
+ see http://tools.ietf.org/html/rfc5234
+ and http://tools.ietf.org/html/rfc6455#section-5.2
+ """
+
+ # operation code values.
+ OPCODE_CONT = 0x0
+ OPCODE_TEXT = 0x1
+ OPCODE_BINARY = 0x2
+ OPCODE_CLOSE = 0x8
+ OPCODE_PING = 0x9
+ OPCODE_PONG = 0xa
+
+ # available operation code value tuple
+ OPCODES = (OPCODE_CONT, OPCODE_TEXT, OPCODE_BINARY, OPCODE_CLOSE,
+ OPCODE_PING, OPCODE_PONG)
+
+ # opcode human readable string
+ OPCODE_MAP = {
+ OPCODE_CONT: "cont",
+ OPCODE_TEXT: "text",
+ OPCODE_BINARY: "binary",
+ OPCODE_CLOSE: "close",
+ OPCODE_PING: "ping",
+ OPCODE_PONG: "pong"
+ }
+
+ # data length threshold.
+ LENGTH_7 = 0x7e
+ LENGTH_16 = 1 << 16
+ LENGTH_63 = 1 << 63
+
+ def __init__(self, fin=0, rsv1=0, rsv2=0, rsv3=0,
+ opcode=OPCODE_TEXT, mask=1, data=""):
+ """
+ Constructor for ABNF.
+ please check RFC for arguments.
+ """
+ self.fin = fin
+ self.rsv1 = rsv1
+ self.rsv2 = rsv2
+ self.rsv3 = rsv3
+ self.opcode = opcode
+ self.mask = mask
+ if data is None:
+ data = ""
+ self.data = data
+ self.get_mask_key = os.urandom
+
+ def validate(self, skip_utf8_validation=False):
+ """
+ validate the ABNF frame.
+ skip_utf8_validation: skip utf8 validation.
+ """
+ if self.rsv1 or self.rsv2 or self.rsv3:
+ raise WebSocketProtocolException("rsv is not implemented, yet")
+
+ if self.opcode not in ABNF.OPCODES:
+ raise WebSocketProtocolException("Invalid opcode %r", self.opcode)
+
+ if self.opcode == ABNF.OPCODE_PING and not self.fin:
+ raise WebSocketProtocolException("Invalid ping frame.")
+
+ if self.opcode == ABNF.OPCODE_CLOSE:
+ l = len(self.data)
+ if not l:
+ return
+ if l == 1 or l >= 126:
+ raise WebSocketProtocolException("Invalid close frame.")
+ if l > 2 and not skip_utf8_validation and not validate_utf8(self.data[2:]):
+ raise WebSocketProtocolException("Invalid close frame.")
+
+ code = 256 * \
+ six.byte2int(self.data[0:1]) + six.byte2int(self.data[1:2])
+ if not self._is_valid_close_status(code):
+ raise WebSocketProtocolException("Invalid close opcode.")
+
+ @staticmethod
+ def _is_valid_close_status(code):
+ return code in VALID_CLOSE_STATUS or (3000 <= code < 5000)
+
+ def __str__(self):
+ return "fin=" + str(self.fin) \
+ + " opcode=" + str(self.opcode) \
+ + " data=" + str(self.data)
+
+ @staticmethod
+ def create_frame(data, opcode, fin=1):
+ """
+ create frame to send text, binary and other data.
+
+ data: data to send. This is string value(byte array).
+ if opcode is OPCODE_TEXT and this value is unicode,
+ data value is converted into unicode string, automatically.
+
+ opcode: operation code. please see OPCODE_XXX.
+
+ fin: fin flag. if set to 0, create continue fragmentation.
+ """
+ if opcode == ABNF.OPCODE_TEXT and isinstance(data, six.text_type):
+ data = data.encode("utf-8")
+ # mask must be set if send data from client
+ return ABNF(fin, 0, 0, 0, opcode, 1, data)
+
+ def format(self):
+ """
+ format this object to string(byte array) to send data to server.
+ """
+ if any(x not in (0, 1) for x in [self.fin, self.rsv1, self.rsv2, self.rsv3]):
+ raise ValueError("not 0 or 1")
+ if self.opcode not in ABNF.OPCODES:
+ raise ValueError("Invalid OPCODE")
+ length = len(self.data)
+ if length >= ABNF.LENGTH_63:
+ raise ValueError("data is too long")
+
+ frame_header = chr(self.fin << 7
+ | self.rsv1 << 6 | self.rsv2 << 5 | self.rsv3 << 4
+ | self.opcode)
+ if length < ABNF.LENGTH_7:
+ frame_header += chr(self.mask << 7 | length)
+ frame_header = six.b(frame_header)
+ elif length < ABNF.LENGTH_16:
+ frame_header += chr(self.mask << 7 | 0x7e)
+ frame_header = six.b(frame_header)
+ frame_header += struct.pack("!H", length)
+ else:
+ frame_header += chr(self.mask << 7 | 0x7f)
+ frame_header = six.b(frame_header)
+ frame_header += struct.pack("!Q", length)
+
+ if not self.mask:
+ return frame_header + self.data
+ else:
+ mask_key = self.get_mask_key(4)
+ return frame_header + self._get_masked(mask_key)
+
+ def _get_masked(self, mask_key):
+ s = ABNF.mask(mask_key, self.data)
+
+ if isinstance(mask_key, six.text_type):
+ mask_key = mask_key.encode('utf-8')
+
+ return mask_key + s
+
+ @staticmethod
+ def mask(mask_key, data):
+ """
+ mask or unmask data. Just do xor for each byte
+
+ mask_key: 4 byte string(byte).
+
+ data: data to mask/unmask.
+ """
+ if data is None:
+ data = ""
+
+ if isinstance(mask_key, six.text_type):
+ mask_key = six.b(mask_key)
+
+ if isinstance(data, six.text_type):
+ data = six.b(data)
+
+ if numpy:
+ origlen = len(data)
+ _mask_key = mask_key[3] << 24 | mask_key[2] << 16 | mask_key[1] << 8 | mask_key[0]
+
+ # We need data to be a multiple of four...
+ data += bytes(" " * (4 - (len(data) % 4)), "us-ascii")
+ a = numpy.frombuffer(data, dtype="uint32")
+ masked = numpy.bitwise_xor(a, [_mask_key]).astype("uint32")
+ if len(data) > origlen:
+ return masked.tobytes()[:origlen]
+ return masked.tobytes()
+ else:
+ _m = array.array("B", mask_key)
+ _d = array.array("B", data)
+ return _mask(_m, _d)
+
+
+class frame_buffer(object):
+ _HEADER_MASK_INDEX = 5
+ _HEADER_LENGTH_INDEX = 6
+
+ def __init__(self, recv_fn, skip_utf8_validation):
+ self.recv = recv_fn
+ self.skip_utf8_validation = skip_utf8_validation
+ # Buffers over the packets from the layer beneath until desired amount
+ # bytes of bytes are received.
+ self.recv_buffer = []
+ self.clear()
+ self.lock = Lock()
+
+ def clear(self):
+ self.header = None
+ self.length = None
+ self.mask = None
+
+ def has_received_header(self):
+ return self.header is None
+
+ def recv_header(self):
+ header = self.recv_strict(2)
+ b1 = header[0]
+
+ if six.PY2:
+ b1 = ord(b1)
+
+ fin = b1 >> 7 & 1
+ rsv1 = b1 >> 6 & 1
+ rsv2 = b1 >> 5 & 1
+ rsv3 = b1 >> 4 & 1
+ opcode = b1 & 0xf
+ b2 = header[1]
+
+ if six.PY2:
+ b2 = ord(b2)
+
+ has_mask = b2 >> 7 & 1
+ length_bits = b2 & 0x7f
+
+ self.header = (fin, rsv1, rsv2, rsv3, opcode, has_mask, length_bits)
+
+ def has_mask(self):
+ if not self.header:
+ return False
+ return self.header[frame_buffer._HEADER_MASK_INDEX]
+
+ def has_received_length(self):
+ return self.length is None
+
+ def recv_length(self):
+ bits = self.header[frame_buffer._HEADER_LENGTH_INDEX]
+ length_bits = bits & 0x7f
+ if length_bits == 0x7e:
+ v = self.recv_strict(2)
+ self.length = struct.unpack("!H", v)[0]
+ elif length_bits == 0x7f:
+ v = self.recv_strict(8)
+ self.length = struct.unpack("!Q", v)[0]
+ else:
+ self.length = length_bits
+
+ def has_received_mask(self):
+ return self.mask is None
+
+ def recv_mask(self):
+ self.mask = self.recv_strict(4) if self.has_mask() else ""
+
+ def recv_frame(self):
+
+ with self.lock:
+ # Header
+ if self.has_received_header():
+ self.recv_header()
+ (fin, rsv1, rsv2, rsv3, opcode, has_mask, _) = self.header
+
+ # Frame length
+ if self.has_received_length():
+ self.recv_length()
+ length = self.length
+
+ # Mask
+ if self.has_received_mask():
+ self.recv_mask()
+ mask = self.mask
+
+ # Payload
+ payload = self.recv_strict(length)
+ if has_mask:
+ payload = ABNF.mask(mask, payload)
+
+ # Reset for next frame
+ self.clear()
+
+ frame = ABNF(fin, rsv1, rsv2, rsv3, opcode, has_mask, payload)
+ frame.validate(self.skip_utf8_validation)
+
+ return frame
+
+ def recv_strict(self, bufsize):
+ shortage = bufsize - sum(len(x) for x in self.recv_buffer)
+ while shortage > 0:
+ # Limit buffer size that we pass to socket.recv() to avoid
+ # fragmenting the heap -- the number of bytes recv() actually
+ # reads is limited by socket buffer and is relatively small,
+ # yet passing large numbers repeatedly causes lots of large
+ # buffers allocated and then shrunk, which results in
+ # fragmentation.
+ bytes_ = self.recv(min(16384, shortage))
+ self.recv_buffer.append(bytes_)
+ shortage -= len(bytes_)
+
+ unified = six.b("").join(self.recv_buffer)
+
+ if shortage == 0:
+ self.recv_buffer = []
+ return unified
+ else:
+ self.recv_buffer = [unified[bufsize:]]
+ return unified[:bufsize]
+
+
+class continuous_frame(object):
+
+ def __init__(self, fire_cont_frame, skip_utf8_validation):
+ self.fire_cont_frame = fire_cont_frame
+ self.skip_utf8_validation = skip_utf8_validation
+ self.cont_data = None
+ self.recving_frames = None
+
+ def validate(self, frame):
+ if not self.recving_frames and frame.opcode == ABNF.OPCODE_CONT:
+ raise WebSocketProtocolException("Illegal frame")
+ if self.recving_frames and \
+ frame.opcode in (ABNF.OPCODE_TEXT, ABNF.OPCODE_BINARY):
+ raise WebSocketProtocolException("Illegal frame")
+
+ def add(self, frame):
+ if self.cont_data:
+ self.cont_data[1] += frame.data
+ else:
+ if frame.opcode in (ABNF.OPCODE_TEXT, ABNF.OPCODE_BINARY):
+ self.recving_frames = frame.opcode
+ self.cont_data = [frame.opcode, frame.data]
+
+ if frame.fin:
+ self.recving_frames = None
+
+ def is_fire(self, frame):
+ return frame.fin or self.fire_cont_frame
+
+ def extract(self, frame):
+ data = self.cont_data
+ self.cont_data = None
+ frame.data = data[1]
+ if not self.fire_cont_frame and data[0] == ABNF.OPCODE_TEXT and not self.skip_utf8_validation and not validate_utf8(frame.data):
+ raise WebSocketPayloadException(
+ "cannot decode: " + repr(frame.data))
+
+ return [data[0], frame]
diff --git a/pyextra/websocket/_app.py b/pyextra/websocket/_app.py
new file mode 100644
index 000000000..81aa1fcd9
--- /dev/null
+++ b/pyextra/websocket/_app.py
@@ -0,0 +1,351 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+
+"""
+WebSocketApp provides higher level APIs.
+"""
+import inspect
+import select
+import sys
+import threading
+import time
+import traceback
+
+import six
+
+from ._abnf import ABNF
+from ._core import WebSocket, getdefaulttimeout
+from ._exceptions import *
+from . import _logging
+
+
+__all__ = ["WebSocketApp"]
+
+class Dispatcher:
+ def __init__(self, app, ping_timeout):
+ self.app = app
+ self.ping_timeout = ping_timeout
+
+ def read(self, sock, read_callback, check_callback):
+ while self.app.sock.connected:
+ r, w, e = select.select(
+ (self.app.sock.sock, ), (), (), self.ping_timeout)
+ if r:
+ if not read_callback():
+ break
+ check_callback()
+
+class SSLDispacther:
+ def __init__(self, app, ping_timeout):
+ self.app = app
+ self.ping_timeout = ping_timeout
+
+ def read(self, sock, read_callback, check_callback):
+ while self.app.sock.connected:
+ r = self.select()
+ if r:
+ if not read_callback():
+ break
+ check_callback()
+
+ def select(self):
+ sock = self.app.sock.sock
+ if sock.pending():
+ return [sock,]
+
+ r, w, e = select.select((sock, ), (), (), self.ping_timeout)
+ return r
+
+class WebSocketApp(object):
+ """
+ Higher level of APIs are provided.
+ The interface is like JavaScript WebSocket object.
+ """
+
+ def __init__(self, url, header=None,
+ on_open=None, on_message=None, on_error=None,
+ on_close=None, on_ping=None, on_pong=None,
+ on_cont_message=None,
+ keep_running=True, get_mask_key=None, cookie=None,
+ subprotocols=None,
+ on_data=None):
+ """
+ url: websocket url.
+ header: custom header for websocket handshake.
+ on_open: callable object which is called at opening websocket.
+ this function has one argument. The argument is this class object.
+ on_message: callable object which is called when received data.
+ on_message has 2 arguments.
+ The 1st argument is this class object.
+ The 2nd argument is utf-8 string which we get from the server.
+ on_error: callable object which is called when we get error.
+ on_error has 2 arguments.
+ The 1st argument is this class object.
+ The 2nd argument is exception object.
+ on_close: callable object which is called when closed the connection.
+ this function has one argument. The argument is this class object.
+ on_cont_message: callback object which is called when receive continued
+ frame data.
+ on_cont_message has 3 arguments.
+ The 1st argument is this class object.
+ The 2nd argument is utf-8 string which we get from the server.
+ The 3rd argument is continue flag. if 0, the data continue
+ to next frame data
+ on_data: callback object which is called when a message received.
+ This is called before on_message or on_cont_message,
+ and then on_message or on_cont_message is called.
+ on_data has 4 argument.
+ The 1st argument is this class object.
+ The 2nd argument is utf-8 string which we get from the server.
+ The 3rd argument is data type. ABNF.OPCODE_TEXT or ABNF.OPCODE_BINARY will be came.
+ The 4th argument is continue flag. if 0, the data continue
+ keep_running: this parameter is obsolete and ignored.
+ get_mask_key: a callable to produce new mask keys,
+ see the WebSocket.set_mask_key's docstring for more information
+ subprotocols: array of available sub protocols. default is None.
+ """
+ self.url = url
+ self.header = header if header is not None else []
+ self.cookie = cookie
+
+ self.on_open = on_open
+ self.on_message = on_message
+ self.on_data = on_data
+ self.on_error = on_error
+ self.on_close = on_close
+ self.on_ping = on_ping
+ self.on_pong = on_pong
+ self.on_cont_message = on_cont_message
+ self.keep_running = False
+ self.get_mask_key = get_mask_key
+ self.sock = None
+ self.last_ping_tm = 0
+ self.last_pong_tm = 0
+ self.subprotocols = subprotocols
+
+ def send(self, data, opcode=ABNF.OPCODE_TEXT):
+ """
+ send message.
+ data: message to send. If you set opcode to OPCODE_TEXT,
+ data must be utf-8 string or unicode.
+ opcode: operation code of data. default is OPCODE_TEXT.
+ """
+
+ if not self.sock or self.sock.send(data, opcode) == 0:
+ raise WebSocketConnectionClosedException(
+ "Connection is already closed.")
+
+ def close(self, **kwargs):
+ """
+ close websocket connection.
+ """
+ self.keep_running = False
+ if self.sock:
+ self.sock.close(**kwargs)
+ self.sock = None
+
+ def _send_ping(self, interval, event):
+ while not event.wait(interval):
+ self.last_ping_tm = time.time()
+ if self.sock:
+ try:
+ self.sock.ping()
+ except Exception as ex:
+ _logging.warning("send_ping routine terminated: {}".format(ex))
+ break
+
+ def run_forever(self, sockopt=None, sslopt=None,
+ ping_interval=0, ping_timeout=None,
+ http_proxy_host=None, http_proxy_port=None,
+ http_no_proxy=None, http_proxy_auth=None,
+ skip_utf8_validation=False,
+ host=None, origin=None, dispatcher=None,
+ suppress_origin = False, proxy_type=None):
+ """
+ run event loop for WebSocket framework.
+ This loop is infinite loop and is alive during websocket is available.
+ sockopt: values for socket.setsockopt.
+ sockopt must be tuple
+ and each element is argument of sock.setsockopt.
+ sslopt: ssl socket optional dict.
+ ping_interval: automatically send "ping" command
+ every specified period(second)
+ if set to 0, not send automatically.
+ ping_timeout: timeout(second) if the pong message is not received.
+ http_proxy_host: http proxy host name.
+ http_proxy_port: http proxy port. If not set, set to 80.
+ http_no_proxy: host names, which doesn't use proxy.
+ skip_utf8_validation: skip utf8 validation.
+ host: update host header.
+ origin: update origin header.
+ dispatcher: customize reading data from socket.
+ suppress_origin: suppress outputting origin header.
+
+ Returns
+ -------
+ False if caught KeyboardInterrupt
+ True if other exception was raised during a loop
+ """
+
+ if ping_timeout is not None and ping_timeout <= 0:
+ ping_timeout = None
+ if ping_timeout and ping_interval and ping_interval <= ping_timeout:
+ raise WebSocketException("Ensure ping_interval > ping_timeout")
+ if not sockopt:
+ sockopt = []
+ if not sslopt:
+ sslopt = {}
+ if self.sock:
+ raise WebSocketException("socket is already opened")
+ thread = None
+ self.keep_running = True
+ self.last_ping_tm = 0
+ self.last_pong_tm = 0
+
+ def teardown(close_frame=None):
+ """
+ Tears down the connection.
+ If close_frame is set, we will invoke the on_close handler with the
+ statusCode and reason from there.
+ """
+ if thread and thread.isAlive():
+ event.set()
+ thread.join()
+ self.keep_running = False
+ if self.sock:
+ self.sock.close()
+ close_args = self._get_close_args(
+ close_frame.data if close_frame else None)
+ self._callback(self.on_close, *close_args)
+ self.sock = None
+
+ try:
+ self.sock = WebSocket(
+ self.get_mask_key, sockopt=sockopt, sslopt=sslopt,
+ fire_cont_frame=self.on_cont_message is not None,
+ skip_utf8_validation=skip_utf8_validation,
+ enable_multithread=True if ping_interval else False)
+ self.sock.settimeout(getdefaulttimeout())
+ self.sock.connect(
+ self.url, header=self.header, cookie=self.cookie,
+ http_proxy_host=http_proxy_host,
+ http_proxy_port=http_proxy_port, http_no_proxy=http_no_proxy,
+ http_proxy_auth=http_proxy_auth, subprotocols=self.subprotocols,
+ host=host, origin=origin, suppress_origin=suppress_origin,
+ proxy_type=proxy_type)
+ if not dispatcher:
+ dispatcher = self.create_dispatcher(ping_timeout)
+
+ self._callback(self.on_open)
+
+ if ping_interval:
+ event = threading.Event()
+ thread = threading.Thread(
+ target=self._send_ping, args=(ping_interval, event))
+ thread.setDaemon(True)
+ thread.start()
+
+ def read():
+ if not self.keep_running:
+ return teardown()
+
+ op_code, frame = self.sock.recv_data_frame(True)
+ if op_code == ABNF.OPCODE_CLOSE:
+ return teardown(frame)
+ elif op_code == ABNF.OPCODE_PING:
+ self._callback(self.on_ping, frame.data)
+ elif op_code == ABNF.OPCODE_PONG:
+ self.last_pong_tm = time.time()
+ self._callback(self.on_pong, frame.data)
+ elif op_code == ABNF.OPCODE_CONT and self.on_cont_message:
+ self._callback(self.on_data, frame.data,
+ frame.opcode, frame.fin)
+ self._callback(self.on_cont_message,
+ frame.data, frame.fin)
+ else:
+ data = frame.data
+ if six.PY3 and op_code == ABNF.OPCODE_TEXT:
+ data = data.decode("utf-8")
+ self._callback(self.on_data, data, frame.opcode, True)
+ self._callback(self.on_message, data)
+
+ return True
+
+ def check():
+ if (ping_timeout):
+ has_timeout_expired = time.time() - self.last_ping_tm > ping_timeout
+ has_pong_not_arrived_after_last_ping = self.last_pong_tm - self.last_ping_tm < 0
+ has_pong_arrived_too_late = self.last_pong_tm - self.last_ping_tm > ping_timeout
+
+ if (self.last_ping_tm
+ and has_timeout_expired
+ and (has_pong_not_arrived_after_last_ping or has_pong_arrived_too_late)):
+ raise WebSocketTimeoutException("ping/pong timed out")
+ return True
+
+ dispatcher.read(self.sock.sock, read, check)
+ except (Exception, KeyboardInterrupt, SystemExit) as e:
+ self._callback(self.on_error, e)
+ if isinstance(e, SystemExit):
+ # propagate SystemExit further
+ raise
+ teardown()
+ return not isinstance(e, KeyboardInterrupt)
+
+ def create_dispatcher(self, ping_timeout):
+ timeout = ping_timeout or 10
+ if self.sock.is_ssl():
+ return SSLDispacther(self, timeout)
+
+ return Dispatcher(self, timeout)
+
+ def _get_close_args(self, data):
+ """ this functions extracts the code, reason from the close body
+ if they exists, and if the self.on_close except three arguments """
+ # if the on_close callback is "old", just return empty list
+ if sys.version_info < (3, 0):
+ if not self.on_close or len(inspect.getargspec(self.on_close).args) != 3:
+ return []
+ else:
+ if not self.on_close or len(inspect.getfullargspec(self.on_close).args) != 3:
+ return []
+
+ if data and len(data) >= 2:
+ code = 256 * six.byte2int(data[0:1]) + six.byte2int(data[1:2])
+ reason = data[2:].decode('utf-8')
+ return [code, reason]
+
+ return [None, None]
+
+ def _callback(self, callback, *args):
+ if callback:
+ try:
+ if inspect.ismethod(callback):
+ callback(*args)
+ else:
+ callback(self, *args)
+
+ except Exception as e:
+ _logging.error("error from callback {}: {}".format(callback, e))
+ if _logging.isEnabledForDebug():
+ _, _, tb = sys.exc_info()
+ traceback.print_tb(tb)
diff --git a/pyextra/websocket/_cookiejar.py b/pyextra/websocket/_cookiejar.py
new file mode 100644
index 000000000..3efeb0fd2
--- /dev/null
+++ b/pyextra/websocket/_cookiejar.py
@@ -0,0 +1,52 @@
+try:
+ import Cookie
+except:
+ import http.cookies as Cookie
+
+
+class SimpleCookieJar(object):
+ def __init__(self):
+ self.jar = dict()
+
+ def add(self, set_cookie):
+ if set_cookie:
+ try:
+ simpleCookie = Cookie.SimpleCookie(set_cookie)
+ except:
+ simpleCookie = Cookie.SimpleCookie(set_cookie.encode('ascii', 'ignore'))
+
+ for k, v in simpleCookie.items():
+ domain = v.get("domain")
+ if domain:
+ if not domain.startswith("."):
+ domain = "." + domain
+ cookie = self.jar.get(domain) if self.jar.get(domain) else Cookie.SimpleCookie()
+ cookie.update(simpleCookie)
+ self.jar[domain.lower()] = cookie
+
+ def set(self, set_cookie):
+ if set_cookie:
+ try:
+ simpleCookie = Cookie.SimpleCookie(set_cookie)
+ except:
+ simpleCookie = Cookie.SimpleCookie(set_cookie.encode('ascii', 'ignore'))
+
+ for k, v in simpleCookie.items():
+ domain = v.get("domain")
+ if domain:
+ if not domain.startswith("."):
+ domain = "." + domain
+ self.jar[domain.lower()] = simpleCookie
+
+ def get(self, host):
+ if not host:
+ return ""
+
+ cookies = []
+ for domain, simpleCookie in self.jar.items():
+ host = host.lower()
+ if host.endswith(domain) or host == domain[1:]:
+ cookies.append(self.jar.get(domain))
+
+ return "; ".join(filter(None, ["%s=%s" % (k, v.value) for cookie in filter(None, sorted(cookies)) for k, v in
+ sorted(cookie.items())]))
diff --git a/pyextra/websocket/_core.py b/pyextra/websocket/_core.py
new file mode 100644
index 000000000..0f914c21e
--- /dev/null
+++ b/pyextra/websocket/_core.py
@@ -0,0 +1,515 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+from __future__ import print_function
+
+import socket
+import struct
+import threading
+import time
+
+import six
+
+# websocket modules
+from ._abnf import *
+from ._exceptions import *
+from ._handshake import *
+from ._http import *
+from ._logging import *
+from ._socket import *
+from ._ssl_compat import *
+from ._utils import *
+
+__all__ = ['WebSocket', 'create_connection']
+
+"""
+websocket python client.
+=========================
+
+This version support only hybi-13.
+Please see http://tools.ietf.org/html/rfc6455 for protocol.
+"""
+
+
+class WebSocket(object):
+ """
+ Low level WebSocket interface.
+ This class is based on
+ The WebSocket protocol draft-hixie-thewebsocketprotocol-76
+ http://tools.ietf.org/html/draft-hixie-thewebsocketprotocol-76
+
+ We can connect to the websocket server and send/receive data.
+ The following example is an echo client.
+
+ >>> import websocket
+ >>> ws = websocket.WebSocket()
+ >>> ws.connect("ws://echo.websocket.org")
+ >>> ws.send("Hello, Server")
+ >>> ws.recv()
+ 'Hello, Server'
+ >>> ws.close()
+
+ get_mask_key: a callable to produce new mask keys, see the set_mask_key
+ function's docstring for more details
+ sockopt: values for socket.setsockopt.
+ sockopt must be tuple and each element is argument of sock.setsockopt.
+ sslopt: dict object for ssl socket option.
+ fire_cont_frame: fire recv event for each cont frame. default is False
+ enable_multithread: if set to True, lock send method.
+ skip_utf8_validation: skip utf8 validation.
+ """
+
+ def __init__(self, get_mask_key=None, sockopt=None, sslopt=None,
+ fire_cont_frame=False, enable_multithread=False,
+ skip_utf8_validation=False, **_):
+ """
+ Initialize WebSocket object.
+ """
+ self.sock_opt = sock_opt(sockopt, sslopt)
+ self.handshake_response = None
+ self.sock = None
+
+ self.connected = False
+ self.get_mask_key = get_mask_key
+ # These buffer over the build-up of a single frame.
+ self.frame_buffer = frame_buffer(self._recv, skip_utf8_validation)
+ self.cont_frame = continuous_frame(
+ fire_cont_frame, skip_utf8_validation)
+
+ if enable_multithread:
+ self.lock = threading.Lock()
+ self.readlock = threading.Lock()
+ else:
+ self.lock = NoLock()
+ self.readlock = NoLock()
+
+ def __iter__(self):
+ """
+ Allow iteration over websocket, implying sequential `recv` executions.
+ """
+ while True:
+ yield self.recv()
+
+ def __next__(self):
+ return self.recv()
+
+ def next(self):
+ return self.__next__()
+
+ def fileno(self):
+ return self.sock.fileno()
+
+ def set_mask_key(self, func):
+ """
+ set function to create musk key. You can customize mask key generator.
+ Mainly, this is for testing purpose.
+
+ func: callable object. the func takes 1 argument as integer.
+ The argument means length of mask key.
+ This func must return string(byte array),
+ which length is argument specified.
+ """
+ self.get_mask_key = func
+
+ def gettimeout(self):
+ """
+ Get the websocket timeout(second).
+ """
+ return self.sock_opt.timeout
+
+ def settimeout(self, timeout):
+ """
+ Set the timeout to the websocket.
+
+ timeout: timeout time(second).
+ """
+ self.sock_opt.timeout = timeout
+ if self.sock:
+ self.sock.settimeout(timeout)
+
+ timeout = property(gettimeout, settimeout)
+
+ def getsubprotocol(self):
+ """
+ get subprotocol
+ """
+ if self.handshake_response:
+ return self.handshake_response.subprotocol
+ else:
+ return None
+
+ subprotocol = property(getsubprotocol)
+
+ def getstatus(self):
+ """
+ get handshake status
+ """
+ if self.handshake_response:
+ return self.handshake_response.status
+ else:
+ return None
+
+ status = property(getstatus)
+
+ def getheaders(self):
+ """
+ get handshake response header
+ """
+ if self.handshake_response:
+ return self.handshake_response.headers
+ else:
+ return None
+
+ def is_ssl(self):
+ return isinstance(self.sock, ssl.SSLSocket)
+
+ headers = property(getheaders)
+
+ def connect(self, url, **options):
+ """
+ Connect to url. url is websocket url scheme.
+ ie. ws://host:port/resource
+ You can customize using 'options'.
+ If you set "header" list object, you can set your own custom header.
+
+ >>> ws = WebSocket()
+ >>> ws.connect("ws://echo.websocket.org/",
+ ... header=["User-Agent: MyProgram",
+ ... "x-custom: header"])
+
+ timeout: socket timeout time. This value is integer.
+ if you set None for this value,
+ it means "use default_timeout value"
+
+ options: "header" -> custom http header list or dict.
+ "cookie" -> cookie value.
+ "origin" -> custom origin url.
+ "suppress_origin" -> suppress outputting origin header.
+ "host" -> custom host header string.
+ "http_proxy_host" - http proxy host name.
+ "http_proxy_port" - http proxy port. If not set, set to 80.
+ "http_no_proxy" - host names, which doesn't use proxy.
+ "http_proxy_auth" - http proxy auth information.
+ tuple of username and password.
+ default is None
+ "redirect_limit" -> number of redirects to follow.
+ "subprotocols" - array of available sub protocols.
+ default is None.
+ "socket" - pre-initialized stream socket.
+
+ """
+ # FIXME: "subprotocols" are getting lost, not passed down
+ # FIXME: "header", "cookie", "origin" and "host" too
+ self.sock_opt.timeout = options.get('timeout', self.sock_opt.timeout)
+ self.sock, addrs = connect(url, self.sock_opt, proxy_info(**options),
+ options.pop('socket', None))
+
+ try:
+ self.handshake_response = handshake(self.sock, *addrs, **options)
+ for attempt in range(options.pop('redirect_limit', 3)):
+ if self.handshake_response.status in SUPPORTED_REDIRECT_STATUSES:
+ url = self.handshake_response.headers['location']
+ self.sock.close()
+ self.sock, addrs = connect(url, self.sock_opt, proxy_info(**options),
+ options.pop('socket', None))
+ self.handshake_response = handshake(self.sock, *addrs, **options)
+ self.connected = True
+ except:
+ if self.sock:
+ self.sock.close()
+ self.sock = None
+ raise
+
+ def send(self, payload, opcode=ABNF.OPCODE_TEXT):
+ """
+ Send the data as string.
+
+ payload: Payload must be utf-8 string or unicode,
+ if the opcode is OPCODE_TEXT.
+ Otherwise, it must be string(byte array)
+
+ opcode: operation code to send. Please see OPCODE_XXX.
+ """
+
+ frame = ABNF.create_frame(payload, opcode)
+ return self.send_frame(frame)
+
+ def send_frame(self, frame):
+ """
+ Send the data frame.
+
+ frame: frame data created by ABNF.create_frame
+
+ >>> ws = create_connection("ws://echo.websocket.org/")
+ >>> frame = ABNF.create_frame("Hello", ABNF.OPCODE_TEXT)
+ >>> ws.send_frame(frame)
+ >>> cont_frame = ABNF.create_frame("My name is ", ABNF.OPCODE_CONT, 0)
+ >>> ws.send_frame(frame)
+ >>> cont_frame = ABNF.create_frame("Foo Bar", ABNF.OPCODE_CONT, 1)
+ >>> ws.send_frame(frame)
+
+ """
+ if self.get_mask_key:
+ frame.get_mask_key = self.get_mask_key
+ data = frame.format()
+ length = len(data)
+ trace("send: " + repr(data))
+
+ with self.lock:
+ while data:
+ l = self._send(data)
+ data = data[l:]
+
+ return length
+
+ def send_binary(self, payload):
+ return self.send(payload, ABNF.OPCODE_BINARY)
+
+ def ping(self, payload=""):
+ """
+ send ping data.
+
+ payload: data payload to send server.
+ """
+ if isinstance(payload, six.text_type):
+ payload = payload.encode("utf-8")
+ self.send(payload, ABNF.OPCODE_PING)
+
+ def pong(self, payload):
+ """
+ send pong data.
+
+ payload: data payload to send server.
+ """
+ if isinstance(payload, six.text_type):
+ payload = payload.encode("utf-8")
+ self.send(payload, ABNF.OPCODE_PONG)
+
+ def recv(self):
+ """
+ Receive string data(byte array) from the server.
+
+ return value: string(byte array) value.
+ """
+ with self.readlock:
+ opcode, data = self.recv_data()
+ if six.PY3 and opcode == ABNF.OPCODE_TEXT:
+ return data.decode("utf-8")
+ elif opcode == ABNF.OPCODE_TEXT or opcode == ABNF.OPCODE_BINARY:
+ return data
+ else:
+ return ''
+
+ def recv_data(self, control_frame=False):
+ """
+ Receive data with operation code.
+
+ control_frame: a boolean flag indicating whether to return control frame
+ data, defaults to False
+
+ return value: tuple of operation code and string(byte array) value.
+ """
+ opcode, frame = self.recv_data_frame(control_frame)
+ return opcode, frame.data
+
+ def recv_data_frame(self, control_frame=False):
+ """
+ Receive data with operation code.
+
+ control_frame: a boolean flag indicating whether to return control frame
+ data, defaults to False
+
+ return value: tuple of operation code and string(byte array) value.
+ """
+ while True:
+ frame = self.recv_frame()
+ if not frame:
+ # handle error:
+ # 'NoneType' object has no attribute 'opcode'
+ raise WebSocketProtocolException(
+ "Not a valid frame %s" % frame)
+ elif frame.opcode in (ABNF.OPCODE_TEXT, ABNF.OPCODE_BINARY, ABNF.OPCODE_CONT):
+ self.cont_frame.validate(frame)
+ self.cont_frame.add(frame)
+
+ if self.cont_frame.is_fire(frame):
+ return self.cont_frame.extract(frame)
+
+ elif frame.opcode == ABNF.OPCODE_CLOSE:
+ self.send_close()
+ return frame.opcode, frame
+ elif frame.opcode == ABNF.OPCODE_PING:
+ if len(frame.data) < 126:
+ self.pong(frame.data)
+ else:
+ raise WebSocketProtocolException(
+ "Ping message is too long")
+ if control_frame:
+ return frame.opcode, frame
+ elif frame.opcode == ABNF.OPCODE_PONG:
+ if control_frame:
+ return frame.opcode, frame
+
+ def recv_frame(self):
+ """
+ receive data as frame from server.
+
+ return value: ABNF frame object.
+ """
+ return self.frame_buffer.recv_frame()
+
+ def send_close(self, status=STATUS_NORMAL, reason=six.b("")):
+ """
+ send close data to the server.
+
+ status: status code to send. see STATUS_XXX.
+
+ reason: the reason to close. This must be string or bytes.
+ """
+ if status < 0 or status >= ABNF.LENGTH_16:
+ raise ValueError("code is invalid range")
+ self.connected = False
+ self.send(struct.pack('!H', status) + reason, ABNF.OPCODE_CLOSE)
+
+ def close(self, status=STATUS_NORMAL, reason=six.b(""), timeout=3):
+ """
+ Close Websocket object
+
+ status: status code to send. see STATUS_XXX.
+
+ reason: the reason to close. This must be string.
+
+ timeout: timeout until receive a close frame.
+ If None, it will wait forever until receive a close frame.
+ """
+ if self.connected:
+ if status < 0 or status >= ABNF.LENGTH_16:
+ raise ValueError("code is invalid range")
+
+ try:
+ self.connected = False
+ self.send(struct.pack('!H', status) +
+ reason, ABNF.OPCODE_CLOSE)
+ sock_timeout = self.sock.gettimeout()
+ self.sock.settimeout(timeout)
+ start_time = time.time()
+ while timeout is None or time.time() - start_time < timeout:
+ try:
+ frame = self.recv_frame()
+ if frame.opcode != ABNF.OPCODE_CLOSE:
+ continue
+ if isEnabledForError():
+ recv_status = struct.unpack("!H", frame.data[0:2])[0]
+ if recv_status != STATUS_NORMAL:
+ error("close status: " + repr(recv_status))
+ break
+ except:
+ break
+ self.sock.settimeout(sock_timeout)
+ self.sock.shutdown(socket.SHUT_RDWR)
+ except:
+ pass
+
+ self.shutdown()
+
+ def abort(self):
+ """
+ Low-level asynchronous abort, wakes up other threads that are waiting in recv_*
+ """
+ if self.connected:
+ self.sock.shutdown(socket.SHUT_RDWR)
+
+ def shutdown(self):
+ """close socket, immediately."""
+ if self.sock:
+ self.sock.close()
+ self.sock = None
+ self.connected = False
+
+ def _send(self, data):
+ return send(self.sock, data)
+
+ def _recv(self, bufsize):
+ try:
+ return recv(self.sock, bufsize)
+ except WebSocketConnectionClosedException:
+ if self.sock:
+ self.sock.close()
+ self.sock = None
+ self.connected = False
+ raise
+
+
+def create_connection(url, timeout=None, class_=WebSocket, **options):
+ """
+ connect to url and return websocket object.
+
+ Connect to url and return the WebSocket object.
+ Passing optional timeout parameter will set the timeout on the socket.
+ If no timeout is supplied,
+ the global default timeout setting returned by getdefauttimeout() is used.
+ You can customize using 'options'.
+ If you set "header" list object, you can set your own custom header.
+
+ >>> conn = create_connection("ws://echo.websocket.org/",
+ ... header=["User-Agent: MyProgram",
+ ... "x-custom: header"])
+
+
+ timeout: socket timeout time. This value is integer.
+ if you set None for this value,
+ it means "use default_timeout value"
+
+ class_: class to instantiate when creating the connection. It has to implement
+ settimeout and connect. It's __init__ should be compatible with
+ WebSocket.__init__, i.e. accept all of it's kwargs.
+ options: "header" -> custom http header list or dict.
+ "cookie" -> cookie value.
+ "origin" -> custom origin url.
+ "suppress_origin" -> suppress outputting origin header.
+ "host" -> custom host header string.
+ "http_proxy_host" - http proxy host name.
+ "http_proxy_port" - http proxy port. If not set, set to 80.
+ "http_no_proxy" - host names, which doesn't use proxy.
+ "http_proxy_auth" - http proxy auth information.
+ tuple of username and password.
+ default is None
+ "enable_multithread" -> enable lock for multithread.
+ "redirect_limit" -> number of redirects to follow.
+ "sockopt" -> socket options
+ "sslopt" -> ssl option
+ "subprotocols" - array of available sub protocols.
+ default is None.
+ "skip_utf8_validation" - skip utf8 validation.
+ "socket" - pre-initialized stream socket.
+ """
+ sockopt = options.pop("sockopt", [])
+ sslopt = options.pop("sslopt", {})
+ fire_cont_frame = options.pop("fire_cont_frame", False)
+ enable_multithread = options.pop("enable_multithread", False)
+ skip_utf8_validation = options.pop("skip_utf8_validation", False)
+ websock = class_(sockopt=sockopt, sslopt=sslopt,
+ fire_cont_frame=fire_cont_frame,
+ enable_multithread=enable_multithread,
+ skip_utf8_validation=skip_utf8_validation, **options)
+ websock.settimeout(timeout if timeout is not None else getdefaulttimeout())
+ websock.connect(url, **options)
+ return websock
diff --git a/pyextra/websocket/_exceptions.py b/pyextra/websocket/_exceptions.py
new file mode 100644
index 000000000..b7a61d3f6
--- /dev/null
+++ b/pyextra/websocket/_exceptions.py
@@ -0,0 +1,87 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+
+
+"""
+define websocket exceptions
+"""
+
+
+class WebSocketException(Exception):
+ """
+ websocket exception class.
+ """
+ pass
+
+
+class WebSocketProtocolException(WebSocketException):
+ """
+ If the websocket protocol is invalid, this exception will be raised.
+ """
+ pass
+
+
+class WebSocketPayloadException(WebSocketException):
+ """
+ If the websocket payload is invalid, this exception will be raised.
+ """
+ pass
+
+
+class WebSocketConnectionClosedException(WebSocketException):
+ """
+ If remote host closed the connection or some network error happened,
+ this exception will be raised.
+ """
+ pass
+
+
+class WebSocketTimeoutException(WebSocketException):
+ """
+ WebSocketTimeoutException will be raised at socket timeout during read/write data.
+ """
+ pass
+
+
+class WebSocketProxyException(WebSocketException):
+ """
+ WebSocketProxyException will be raised when proxy error occurred.
+ """
+ pass
+
+
+class WebSocketBadStatusException(WebSocketException):
+ """
+ WebSocketBadStatusException will be raised when we get bad handshake status code.
+ """
+
+ def __init__(self, message, status_code, status_message=None, resp_headers=None):
+ msg = message % (status_code, status_message)
+ super(WebSocketBadStatusException, self).__init__(msg)
+ self.status_code = status_code
+ self.resp_headers = resp_headers
+
+class WebSocketAddressException(WebSocketException):
+ """
+ If the websocket address info cannot be found, this exception will be raised.
+ """
+ pass
diff --git a/pyextra/websocket/_handshake.py b/pyextra/websocket/_handshake.py
new file mode 100644
index 000000000..809a8c989
--- /dev/null
+++ b/pyextra/websocket/_handshake.py
@@ -0,0 +1,205 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+import hashlib
+import hmac
+import os
+
+import six
+
+from ._cookiejar import SimpleCookieJar
+from ._exceptions import *
+from ._http import *
+from ._logging import *
+from ._socket import *
+
+if six.PY3:
+ from base64 import encodebytes as base64encode
+else:
+ from base64 import encodestring as base64encode
+
+if six.PY3:
+ if six.PY34:
+ from http import client as HTTPStatus
+ else:
+ from http import HTTPStatus
+else:
+ import httplib as HTTPStatus
+
+__all__ = ["handshake_response", "handshake", "SUPPORTED_REDIRECT_STATUSES"]
+
+if hasattr(hmac, "compare_digest"):
+ compare_digest = hmac.compare_digest
+else:
+ def compare_digest(s1, s2):
+ return s1 == s2
+
+# websocket supported version.
+VERSION = 13
+
+SUPPORTED_REDIRECT_STATUSES = [HTTPStatus.MOVED_PERMANENTLY, HTTPStatus.FOUND, HTTPStatus.SEE_OTHER]
+
+CookieJar = SimpleCookieJar()
+
+
+class handshake_response(object):
+
+ def __init__(self, status, headers, subprotocol):
+ self.status = status
+ self.headers = headers
+ self.subprotocol = subprotocol
+ CookieJar.add(headers.get("set-cookie"))
+
+
+def handshake(sock, hostname, port, resource, **options):
+ headers, key = _get_handshake_headers(resource, hostname, port, options)
+
+ header_str = "\r\n".join(headers)
+ send(sock, header_str)
+ dump("request header", header_str)
+
+ status, resp = _get_resp_headers(sock)
+ if status in SUPPORTED_REDIRECT_STATUSES:
+ return handshake_response(status, resp, None)
+ success, subproto = _validate(resp, key, options.get("subprotocols"))
+ if not success:
+ raise WebSocketException("Invalid WebSocket Header")
+
+ return handshake_response(status, resp, subproto)
+
+def _pack_hostname(hostname):
+ # IPv6 address
+ if ':' in hostname:
+ return '[' + hostname + ']'
+
+ return hostname
+
+def _get_handshake_headers(resource, host, port, options):
+ headers = [
+ "GET %s HTTP/1.1" % resource,
+ "Upgrade: websocket",
+ "Connection: Upgrade"
+ ]
+ if port == 80 or port == 443:
+ hostport = _pack_hostname(host)
+ else:
+ hostport = "%s:%d" % (_pack_hostname(host), port)
+
+ if "host" in options and options["host"] is not None:
+ headers.append("Host: %s" % options["host"])
+ else:
+ headers.append("Host: %s" % hostport)
+
+ if "suppress_origin" not in options or not options["suppress_origin"]:
+ if "origin" in options and options["origin"] is not None:
+ headers.append("Origin: %s" % options["origin"])
+ else:
+ headers.append("Origin: http://%s" % hostport)
+
+ key = _create_sec_websocket_key()
+
+ # Append Sec-WebSocket-Key & Sec-WebSocket-Version if not manually specified
+ if not 'header' in options or 'Sec-WebSocket-Key' not in options['header']:
+ key = _create_sec_websocket_key()
+ headers.append("Sec-WebSocket-Key: %s" % key)
+ else:
+ key = options['header']['Sec-WebSocket-Key']
+
+ if not 'header' in options or 'Sec-WebSocket-Version' not in options['header']:
+ headers.append("Sec-WebSocket-Version: %s" % VERSION)
+
+ subprotocols = options.get("subprotocols")
+ if subprotocols:
+ headers.append("Sec-WebSocket-Protocol: %s" % ",".join(subprotocols))
+
+ if "header" in options:
+ header = options["header"]
+ if isinstance(header, dict):
+ header = [
+ ": ".join([k, v])
+ for k, v in header.items()
+ if v is not None
+ ]
+ headers.extend(header)
+
+ server_cookie = CookieJar.get(host)
+ client_cookie = options.get("cookie", None)
+
+ cookie = "; ".join(filter(None, [server_cookie, client_cookie]))
+
+ if cookie:
+ headers.append("Cookie: %s" % cookie)
+
+ headers.append("")
+ headers.append("")
+
+ return headers, key
+
+
+def _get_resp_headers(sock, success_statuses=(101, 301, 302, 303)):
+ status, resp_headers, status_message = read_headers(sock)
+ if status not in success_statuses:
+ raise WebSocketBadStatusException("Handshake status %d %s", status, status_message, resp_headers)
+ return status, resp_headers
+
+_HEADERS_TO_CHECK = {
+ "upgrade": "websocket",
+ "connection": "upgrade",
+}
+
+
+def _validate(headers, key, subprotocols):
+ subproto = None
+ for k, v in _HEADERS_TO_CHECK.items():
+ r = headers.get(k, None)
+ if not r:
+ return False, None
+ r = r.lower()
+ if v != r:
+ return False, None
+
+ if subprotocols:
+ subproto = headers.get("sec-websocket-protocol", None).lower()
+ if not subproto or subproto not in [s.lower() for s in subprotocols]:
+ error("Invalid subprotocol: " + str(subprotocols))
+ return False, None
+
+ result = headers.get("sec-websocket-accept", None)
+ if not result:
+ return False, None
+ result = result.lower()
+
+ if isinstance(result, six.text_type):
+ result = result.encode('utf-8')
+
+ value = (key + "258EAFA5-E914-47DA-95CA-C5AB0DC85B11").encode('utf-8')
+ hashed = base64encode(hashlib.sha1(value).digest()).strip().lower()
+ success = compare_digest(hashed, result)
+
+ if success:
+ return True, subproto
+ else:
+ return False, None
+
+
+def _create_sec_websocket_key():
+ randomness = os.urandom(16)
+ return base64encode(randomness).decode('utf-8').strip()
diff --git a/pyextra/websocket/_http.py b/pyextra/websocket/_http.py
new file mode 100644
index 000000000..818068746
--- /dev/null
+++ b/pyextra/websocket/_http.py
@@ -0,0 +1,328 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+import errno
+import os
+import socket
+import sys
+
+import six
+
+from ._exceptions import *
+from ._logging import *
+from ._socket import*
+from ._ssl_compat import *
+from ._url import *
+
+if six.PY3:
+ from base64 import encodebytes as base64encode
+else:
+ from base64 import encodestring as base64encode
+
+__all__ = ["proxy_info", "connect", "read_headers"]
+
+try:
+ import socks
+ ProxyConnectionError = socks.ProxyConnectionError
+ HAS_PYSOCKS = True
+except:
+ class ProxyConnectionError(BaseException):
+ pass
+ HAS_PYSOCKS = False
+
+class proxy_info(object):
+
+ def __init__(self, **options):
+ self.type = options.get("proxy_type") or "http"
+ if not(self.type in ['http', 'socks4', 'socks5', 'socks5h']):
+ raise ValueError("proxy_type must be 'http', 'socks4', 'socks5' or 'socks5h'")
+ self.host = options.get("http_proxy_host", None)
+ if self.host:
+ self.port = options.get("http_proxy_port", 0)
+ self.auth = options.get("http_proxy_auth", None)
+ self.no_proxy = options.get("http_no_proxy", None)
+ else:
+ self.port = 0
+ self.auth = None
+ self.no_proxy = None
+
+def _open_proxied_socket(url, options, proxy):
+ hostname, port, resource, is_secure = parse_url(url)
+
+ if not HAS_PYSOCKS:
+ raise WebSocketException("PySocks module not found.")
+
+ ptype = socks.SOCKS5
+ rdns = False
+ if proxy.type == "socks4":
+ ptype = socks.SOCKS4
+ if proxy.type == "http":
+ ptype = socks.HTTP
+ if proxy.type[-1] == "h":
+ rdns = True
+
+ sock = socks.create_connection(
+ (hostname, port),
+ proxy_type = ptype,
+ proxy_addr = proxy.host,
+ proxy_port = proxy.port,
+ proxy_rdns = rdns,
+ proxy_username = proxy.auth[0] if proxy.auth else None,
+ proxy_password = proxy.auth[1] if proxy.auth else None,
+ timeout = options.timeout,
+ socket_options = DEFAULT_SOCKET_OPTION + options.sockopt
+ )
+
+ if is_secure:
+ if HAVE_SSL:
+ sock = _ssl_socket(sock, options.sslopt, hostname)
+ else:
+ raise WebSocketException("SSL not available.")
+
+ return sock, (hostname, port, resource)
+
+
+def connect(url, options, proxy, socket):
+ if proxy.host and not socket and not (proxy.type == 'http'):
+ return _open_proxied_socket(url, options, proxy)
+
+ hostname, port, resource, is_secure = parse_url(url)
+
+ if socket:
+ return socket, (hostname, port, resource)
+
+ addrinfo_list, need_tunnel, auth = _get_addrinfo_list(
+ hostname, port, is_secure, proxy)
+ if not addrinfo_list:
+ raise WebSocketException(
+ "Host not found.: " + hostname + ":" + str(port))
+
+ sock = None
+ try:
+ sock = _open_socket(addrinfo_list, options.sockopt, options.timeout)
+ if need_tunnel:
+ sock = _tunnel(sock, hostname, port, auth)
+
+ if is_secure:
+ if HAVE_SSL:
+ sock = _ssl_socket(sock, options.sslopt, hostname)
+ else:
+ raise WebSocketException("SSL not available.")
+
+ return sock, (hostname, port, resource)
+ except:
+ if sock:
+ sock.close()
+ raise
+
+
+def _get_addrinfo_list(hostname, port, is_secure, proxy):
+ phost, pport, pauth = get_proxy_info(
+ hostname, is_secure, proxy.host, proxy.port, proxy.auth, proxy.no_proxy)
+ try:
+ if not phost:
+ addrinfo_list = [ai for ai in socket.getaddrinfo(
+ hostname, port, 0, 0, socket.SOL_TCP)
+ if (ai[0] == socket.AF_INET6 and socket.has_ipv6) or ai[0] != socket.AF_INET6
+ ]
+ return addrinfo_list, False, None
+ else:
+ pport = pport and pport or 80
+ # when running on windows 10, the getaddrinfo used above
+ # returns a socktype 0. This generates an error exception:
+ #_on_error: exception Socket type must be stream or datagram, not 0
+ # Force the socket type to SOCK_STREAM
+ addrinfo_list = socket.getaddrinfo(phost, pport, 0, socket.SOCK_STREAM, socket.SOL_TCP)
+ return addrinfo_list, True, pauth
+ except socket.gaierror as e:
+ raise WebSocketAddressException(e)
+
+
+def _open_socket(addrinfo_list, sockopt, timeout):
+ err = None
+ for addrinfo in addrinfo_list:
+ family, socktype, proto = addrinfo[:3]
+ sock = socket.socket(family, socktype, proto)
+ sock.settimeout(timeout)
+ for opts in DEFAULT_SOCKET_OPTION:
+ sock.setsockopt(*opts)
+ for opts in sockopt:
+ sock.setsockopt(*opts)
+
+ address = addrinfo[4]
+ err = None
+ while not err:
+ try:
+ sock.connect(address)
+ except ProxyConnectionError as error:
+ err = WebSocketProxyException(str(error))
+ err.remote_ip = str(address[0])
+ continue
+ except socket.error as error:
+ error.remote_ip = str(address[0])
+ try:
+ eConnRefused = (errno.ECONNREFUSED, errno.WSAECONNREFUSED)
+ except:
+ eConnRefused = (errno.ECONNREFUSED, )
+ if error.errno == errno.EINTR:
+ continue
+ elif error.errno in eConnRefused:
+ err = error
+ continue
+ else:
+ raise error
+ else:
+ break
+ else:
+ continue
+ break
+ else:
+ if err:
+ raise err
+
+ return sock
+
+
+def _can_use_sni():
+ return six.PY2 and sys.version_info >= (2, 7, 9) or sys.version_info >= (3, 2)
+
+
+def _wrap_sni_socket(sock, sslopt, hostname, check_hostname):
+ context = ssl.SSLContext(sslopt.get('ssl_version', ssl.PROTOCOL_SSLv23))
+
+ if sslopt.get('cert_reqs', ssl.CERT_NONE) != ssl.CERT_NONE:
+ cafile = sslopt.get('ca_certs', None)
+ capath = sslopt.get('ca_cert_path', None)
+ if cafile or capath:
+ context.load_verify_locations(cafile=cafile, capath=capath)
+ elif hasattr(context, 'load_default_certs'):
+ context.load_default_certs(ssl.Purpose.SERVER_AUTH)
+ if sslopt.get('certfile', None):
+ context.load_cert_chain(
+ sslopt['certfile'],
+ sslopt.get('keyfile', None),
+ sslopt.get('password', None),
+ )
+ # see
+ # https://github.com/liris/websocket-client/commit/b96a2e8fa765753e82eea531adb19716b52ca3ca#commitcomment-10803153
+ context.verify_mode = sslopt['cert_reqs']
+ if HAVE_CONTEXT_CHECK_HOSTNAME:
+ context.check_hostname = check_hostname
+ if 'ciphers' in sslopt:
+ context.set_ciphers(sslopt['ciphers'])
+ if 'cert_chain' in sslopt:
+ certfile, keyfile, password = sslopt['cert_chain']
+ context.load_cert_chain(certfile, keyfile, password)
+ if 'ecdh_curve' in sslopt:
+ context.set_ecdh_curve(sslopt['ecdh_curve'])
+
+ return context.wrap_socket(
+ sock,
+ do_handshake_on_connect=sslopt.get('do_handshake_on_connect', True),
+ suppress_ragged_eofs=sslopt.get('suppress_ragged_eofs', True),
+ server_hostname=hostname,
+ )
+
+
+def _ssl_socket(sock, user_sslopt, hostname):
+ sslopt = dict(cert_reqs=ssl.CERT_REQUIRED)
+ sslopt.update(user_sslopt)
+
+ certPath = os.environ.get('WEBSOCKET_CLIENT_CA_BUNDLE')
+ if certPath and os.path.isfile(certPath) \
+ and user_sslopt.get('ca_certs', None) is None \
+ and user_sslopt.get('ca_cert', None) is None:
+ sslopt['ca_certs'] = certPath
+ elif certPath and os.path.isdir(certPath) \
+ and user_sslopt.get('ca_cert_path', None) is None:
+ sslopt['ca_cert_path'] = certPath
+
+ check_hostname = sslopt["cert_reqs"] != ssl.CERT_NONE and sslopt.pop(
+ 'check_hostname', True)
+
+ if _can_use_sni():
+ sock = _wrap_sni_socket(sock, sslopt, hostname, check_hostname)
+ else:
+ sslopt.pop('check_hostname', True)
+ sock = ssl.wrap_socket(sock, **sslopt)
+
+ if not HAVE_CONTEXT_CHECK_HOSTNAME and check_hostname:
+ match_hostname(sock.getpeercert(), hostname)
+
+ return sock
+
+
+def _tunnel(sock, host, port, auth):
+ debug("Connecting proxy...")
+ connect_header = "CONNECT %s:%d HTTP/1.0\r\n" % (host, port)
+ # TODO: support digest auth.
+ if auth and auth[0]:
+ auth_str = auth[0]
+ if auth[1]:
+ auth_str += ":" + auth[1]
+ encoded_str = base64encode(auth_str.encode()).strip().decode()
+ connect_header += "Proxy-Authorization: Basic %s\r\n" % encoded_str
+ connect_header += "\r\n"
+ dump("request header", connect_header)
+
+ send(sock, connect_header)
+
+ try:
+ status, resp_headers, status_message = read_headers(sock)
+ except Exception as e:
+ raise WebSocketProxyException(str(e))
+
+ if status != 200:
+ raise WebSocketProxyException(
+ "failed CONNECT via proxy status: %r" % status)
+
+ return sock
+
+
+def read_headers(sock):
+ status = None
+ status_message = None
+ headers = {}
+ trace("--- response header ---")
+
+ while True:
+ line = recv_line(sock)
+ line = line.decode('utf-8').strip()
+ if not line:
+ break
+ trace(line)
+ if not status:
+
+ status_info = line.split(" ", 2)
+ status = int(status_info[1])
+ if len(status_info) > 2:
+ status_message = status_info[2]
+ else:
+ kv = line.split(":", 1)
+ if len(kv) == 2:
+ key, value = kv
+ headers[key.lower()] = value.strip()
+ else:
+ raise WebSocketException("Invalid header")
+
+ trace("-----------------------")
+
+ return status, headers, status_message
diff --git a/pyextra/websocket/_logging.py b/pyextra/websocket/_logging.py
new file mode 100644
index 000000000..70a6271d9
--- /dev/null
+++ b/pyextra/websocket/_logging.py
@@ -0,0 +1,82 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+import logging
+
+_logger = logging.getLogger('websocket')
+try:
+ from logging import NullHandler
+except ImportError:
+ class NullHandler(logging.Handler):
+ def emit(self, record):
+ pass
+
+_logger.addHandler(NullHandler())
+
+_traceEnabled = False
+
+__all__ = ["enableTrace", "dump", "error", "warning", "debug", "trace",
+ "isEnabledForError", "isEnabledForDebug"]
+
+
+def enableTrace(traceable, handler = logging.StreamHandler()):
+ """
+ turn on/off the traceability.
+
+ traceable: boolean value. if set True, traceability is enabled.
+ """
+ global _traceEnabled
+ _traceEnabled = traceable
+ if traceable:
+ _logger.addHandler(handler)
+ _logger.setLevel(logging.DEBUG)
+
+
+def dump(title, message):
+ if _traceEnabled:
+ _logger.debug("--- " + title + " ---")
+ _logger.debug(message)
+ _logger.debug("-----------------------")
+
+
+def error(msg):
+ _logger.error(msg)
+
+
+def warning(msg):
+ _logger.warning(msg)
+
+
+def debug(msg):
+ _logger.debug(msg)
+
+
+def trace(msg):
+ if _traceEnabled:
+ _logger.debug(msg)
+
+
+def isEnabledForError():
+ return _logger.isEnabledFor(logging.ERROR)
+
+
+def isEnabledForDebug():
+ return _logger.isEnabledFor(logging.DEBUG)
diff --git a/pyextra/websocket/_socket.py b/pyextra/websocket/_socket.py
new file mode 100644
index 000000000..d811c21d9
--- /dev/null
+++ b/pyextra/websocket/_socket.py
@@ -0,0 +1,160 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+import errno
+import select
+import socket
+
+import six
+import sys
+
+from ._exceptions import *
+from ._ssl_compat import *
+from ._utils import *
+
+DEFAULT_SOCKET_OPTION = [(socket.SOL_TCP, socket.TCP_NODELAY, 1)]
+if hasattr(socket, "SO_KEEPALIVE"):
+ DEFAULT_SOCKET_OPTION.append((socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1))
+if hasattr(socket, "TCP_KEEPIDLE"):
+ DEFAULT_SOCKET_OPTION.append((socket.SOL_TCP, socket.TCP_KEEPIDLE, 30))
+if hasattr(socket, "TCP_KEEPINTVL"):
+ DEFAULT_SOCKET_OPTION.append((socket.SOL_TCP, socket.TCP_KEEPINTVL, 10))
+if hasattr(socket, "TCP_KEEPCNT"):
+ DEFAULT_SOCKET_OPTION.append((socket.SOL_TCP, socket.TCP_KEEPCNT, 3))
+
+_default_timeout = None
+
+__all__ = ["DEFAULT_SOCKET_OPTION", "sock_opt", "setdefaulttimeout", "getdefaulttimeout",
+ "recv", "recv_line", "send"]
+
+
+class sock_opt(object):
+
+ def __init__(self, sockopt, sslopt):
+ if sockopt is None:
+ sockopt = []
+ if sslopt is None:
+ sslopt = {}
+ self.sockopt = sockopt
+ self.sslopt = sslopt
+ self.timeout = None
+
+
+def setdefaulttimeout(timeout):
+ """
+ Set the global timeout setting to connect.
+
+ timeout: default socket timeout time. This value is second.
+ """
+ global _default_timeout
+ _default_timeout = timeout
+
+
+def getdefaulttimeout():
+ """
+ Return the global timeout setting(second) to connect.
+ """
+ return _default_timeout
+
+
+def recv(sock, bufsize):
+ if not sock:
+ raise WebSocketConnectionClosedException("socket is already closed.")
+
+ def _recv():
+ try:
+ return sock.recv(bufsize)
+ except SSLWantReadError:
+ pass
+ except socket.error as exc:
+ error_code = extract_error_code(exc)
+ if error_code is None:
+ raise
+ if error_code != errno.EAGAIN or error_code != errno.EWOULDBLOCK:
+ raise
+
+ r, w, e = select.select((sock, ), (), (), sock.gettimeout())
+ if r:
+ return sock.recv(bufsize)
+
+ try:
+ bytes_ = _recv()
+ except socket.timeout as e:
+ message = extract_err_message(e)
+ raise WebSocketTimeoutException(message)
+ except SSLError as e:
+ message = extract_err_message(e)
+ if isinstance(message, str) and 'timed out' in message:
+ raise WebSocketTimeoutException(message)
+ else:
+ raise
+
+ if not bytes_:
+ raise WebSocketConnectionClosedException(
+ "Connection is already closed.")
+
+ return bytes_
+
+
+def recv_line(sock):
+ line = []
+ while True:
+ c = recv(sock, 1)
+ line.append(c)
+ if c == six.b("\n"):
+ break
+ return six.b("").join(line)
+
+
+def send(sock, data):
+ if isinstance(data, six.text_type):
+ data = data.encode('utf-8')
+
+ if not sock:
+ raise WebSocketConnectionClosedException("socket is already closed.")
+
+ def _send():
+ try:
+ return sock.send(data)
+ except SSLWantWriteError:
+ pass
+ except socket.error as exc:
+ error_code = extract_error_code(exc)
+ if error_code is None:
+ raise
+ if error_code != errno.EAGAIN or error_code != errno.EWOULDBLOCK:
+ raise
+
+ r, w, e = select.select((), (sock, ), (), sock.gettimeout())
+ if w:
+ return sock.send(data)
+
+ try:
+ return _send()
+ except socket.timeout as e:
+ message = extract_err_message(e)
+ raise WebSocketTimeoutException(message)
+ except Exception as e:
+ message = extract_err_message(e)
+ if isinstance(message, str) and "timed out" in message:
+ raise WebSocketTimeoutException(message)
+ else:
+ raise
diff --git a/pyextra/websocket/_ssl_compat.py b/pyextra/websocket/_ssl_compat.py
new file mode 100644
index 000000000..5b3c413c8
--- /dev/null
+++ b/pyextra/websocket/_ssl_compat.py
@@ -0,0 +1,52 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+__all__ = ["HAVE_SSL", "ssl", "SSLError", "SSLWantReadError", "SSLWantWriteError"]
+
+try:
+ import ssl
+ from ssl import SSLError
+ from ssl import SSLWantReadError
+ from ssl import SSLWantWriteError
+ if hasattr(ssl, 'SSLContext') and hasattr(ssl.SSLContext, 'check_hostname'):
+ HAVE_CONTEXT_CHECK_HOSTNAME = True
+ else:
+ HAVE_CONTEXT_CHECK_HOSTNAME = False
+ if hasattr(ssl, "match_hostname"):
+ from ssl import match_hostname
+ else:
+ from backports.ssl_match_hostname import match_hostname
+ __all__.append("match_hostname")
+ __all__.append("HAVE_CONTEXT_CHECK_HOSTNAME")
+
+ HAVE_SSL = True
+except ImportError:
+ # dummy class of SSLError for ssl none-support environment.
+ class SSLError(Exception):
+ pass
+
+ class SSLWantReadError(Exception):
+ pass
+
+ class SSLWantWriteError(Exception):
+ pass
+
+ HAVE_SSL = False
diff --git a/pyextra/websocket/_url.py b/pyextra/websocket/_url.py
new file mode 100644
index 000000000..ae46d6c40
--- /dev/null
+++ b/pyextra/websocket/_url.py
@@ -0,0 +1,163 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+
+import os
+import socket
+import struct
+
+from six.moves.urllib.parse import urlparse
+
+
+__all__ = ["parse_url", "get_proxy_info"]
+
+
+def parse_url(url):
+ """
+ parse url and the result is tuple of
+ (hostname, port, resource path and the flag of secure mode)
+
+ url: url string.
+ """
+ if ":" not in url:
+ raise ValueError("url is invalid")
+
+ scheme, url = url.split(":", 1)
+
+ parsed = urlparse(url, scheme="ws")
+ if parsed.hostname:
+ hostname = parsed.hostname
+ else:
+ raise ValueError("hostname is invalid")
+ port = 0
+ if parsed.port:
+ port = parsed.port
+
+ is_secure = False
+ if scheme == "ws":
+ if not port:
+ port = 80
+ elif scheme == "wss":
+ is_secure = True
+ if not port:
+ port = 443
+ else:
+ raise ValueError("scheme %s is invalid" % scheme)
+
+ if parsed.path:
+ resource = parsed.path
+ else:
+ resource = "/"
+
+ if parsed.query:
+ resource += "?" + parsed.query
+
+ return hostname, port, resource, is_secure
+
+
+DEFAULT_NO_PROXY_HOST = ["localhost", "127.0.0.1"]
+
+
+def _is_ip_address(addr):
+ try:
+ socket.inet_aton(addr)
+ except socket.error:
+ return False
+ else:
+ return True
+
+
+def _is_subnet_address(hostname):
+ try:
+ addr, netmask = hostname.split("/")
+ return _is_ip_address(addr) and 0 <= int(netmask) < 32
+ except ValueError:
+ return False
+
+
+def _is_address_in_network(ip, net):
+ ipaddr = struct.unpack('I', socket.inet_aton(ip))[0]
+ netaddr, bits = net.split('/')
+ netmask = struct.unpack('I', socket.inet_aton(netaddr))[0] & ((2 << int(bits) - 1) - 1)
+ return ipaddr & netmask == netmask
+
+
+def _is_no_proxy_host(hostname, no_proxy):
+ if not no_proxy:
+ v = os.environ.get("no_proxy", "").replace(" ", "")
+ no_proxy = v.split(",")
+ if not no_proxy:
+ no_proxy = DEFAULT_NO_PROXY_HOST
+
+ if hostname in no_proxy:
+ return True
+ elif _is_ip_address(hostname):
+ return any([_is_address_in_network(hostname, subnet) for subnet in no_proxy if _is_subnet_address(subnet)])
+
+ return False
+
+
+def get_proxy_info(
+ hostname, is_secure, proxy_host=None, proxy_port=0, proxy_auth=None,
+ no_proxy=None, proxy_type='http'):
+ """
+ try to retrieve proxy host and port from environment
+ if not provided in options.
+ result is (proxy_host, proxy_port, proxy_auth).
+ proxy_auth is tuple of username and password
+ of proxy authentication information.
+
+ hostname: websocket server name.
+
+ is_secure: is the connection secure? (wss)
+ looks for "https_proxy" in env
+ before falling back to "http_proxy"
+
+ options: "http_proxy_host" - http proxy host name.
+ "http_proxy_port" - http proxy port.
+ "http_no_proxy" - host names, which doesn't use proxy.
+ "http_proxy_auth" - http proxy auth information.
+ tuple of username and password.
+ default is None
+ "proxy_type" - if set to "socks5" PySocks wrapper
+ will be used in place of a http proxy.
+ default is "http"
+ """
+ if _is_no_proxy_host(hostname, no_proxy):
+ return None, 0, None
+
+ if proxy_host:
+ port = proxy_port
+ auth = proxy_auth
+ return proxy_host, port, auth
+
+ env_keys = ["http_proxy"]
+ if is_secure:
+ env_keys.insert(0, "https_proxy")
+
+ for key in env_keys:
+ value = os.environ.get(key, None)
+ if value:
+ proxy = urlparse(value)
+ auth = (proxy.username, proxy.password) if proxy.username else None
+ return proxy.hostname, proxy.port, auth
+
+ return None, 0, None
diff --git a/pyextra/websocket/_utils.py b/pyextra/websocket/_utils.py
new file mode 100644
index 000000000..8eddabf9c
--- /dev/null
+++ b/pyextra/websocket/_utils.py
@@ -0,0 +1,110 @@
+"""
+websocket - WebSocket client library for Python
+
+Copyright (C) 2010 Hiroki Ohtani(liris)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor,
+ Boston, MA 02110-1335 USA
+
+"""
+import six
+
+__all__ = ["NoLock", "validate_utf8", "extract_err_message", "extract_error_code"]
+
+
+class NoLock(object):
+
+ def __enter__(self):
+ pass
+
+ def __exit__(self, exc_type, exc_value, traceback):
+ pass
+
+try:
+ # If wsaccel is available we use compiled routines to validate UTF-8
+ # strings.
+ from wsaccel.utf8validator import Utf8Validator
+
+ def _validate_utf8(utfbytes):
+ return Utf8Validator().validate(utfbytes)[0]
+
+except ImportError:
+ # UTF-8 validator
+ # python implementation of http://bjoern.hoehrmann.de/utf-8/decoder/dfa/
+
+ _UTF8_ACCEPT = 0
+ _UTF8_REJECT = 12
+
+ _UTF8D = [
+ # The first part of the table maps bytes to character classes that
+ # to reduce the size of the transition table and create bitmasks.
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1, 9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,
+ 7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7, 7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,
+ 8,8,2,2,2,2,2,2,2,2,2,2,2,2,2,2, 2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,
+ 10,3,3,3,3,3,3,3,3,3,3,3,3,4,3,3, 11,6,6,6,5,8,8,8,8,8,8,8,8,8,8,8,
+
+ # The second part is a transition table that maps a combination
+ # of a state of the automaton and a character class to a state.
+ 0,12,24,36,60,96,84,12,12,12,48,72, 12,12,12,12,12,12,12,12,12,12,12,12,
+ 12, 0,12,12,12,12,12, 0,12, 0,12,12, 12,24,12,12,12,12,12,24,12,24,12,12,
+ 12,12,12,12,12,12,12,24,12,12,12,12, 12,24,12,12,12,12,12,12,12,24,12,12,
+ 12,12,12,12,12,12,12,36,12,36,12,12, 12,36,12,12,12,12,12,36,12,36,12,12,
+ 12,36,12,12,12,12,12,12,12,12,12,12, ]
+
+ def _decode(state, codep, ch):
+ tp = _UTF8D[ch]
+
+ codep = (ch & 0x3f) | (codep << 6) if (
+ state != _UTF8_ACCEPT) else (0xff >> tp) & ch
+ state = _UTF8D[256 + state + tp]
+
+ return state, codep
+
+ def _validate_utf8(utfbytes):
+ state = _UTF8_ACCEPT
+ codep = 0
+ for i in utfbytes:
+ if six.PY2:
+ i = ord(i)
+ state, codep = _decode(state, codep, i)
+ if state == _UTF8_REJECT:
+ return False
+
+ return True
+
+
+def validate_utf8(utfbytes):
+ """
+ validate utf8 byte string.
+ utfbytes: utf byte string to check.
+ return value: if valid utf8 string, return true. Otherwise, return false.
+ """
+ return _validate_utf8(utfbytes)
+
+
+def extract_err_message(exception):
+ if exception.args:
+ return exception.args[0]
+ else:
+ return None
+
+
+def extract_error_code(exception):
+ if exception.args and len(exception.args) > 1:
+ return exception.args[0] if isinstance(exception.args[0], int) else None
diff --git a/pyextra/websocket/tests/__init__.py b/pyextra/websocket/tests/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/pyextra/websocket/tests/data/header01.txt b/pyextra/websocket/tests/data/header01.txt
new file mode 100644
index 000000000..3142b43b3
--- /dev/null
+++ b/pyextra/websocket/tests/data/header01.txt
@@ -0,0 +1,6 @@
+HTTP/1.1 101 WebSocket Protocol Handshake
+Connection: Upgrade
+Upgrade: WebSocket
+Sec-WebSocket-Accept: Kxep+hNu9n51529fGidYu7a3wO0=
+some_header: something
+
diff --git a/pyextra/websocket/tests/data/header02.txt b/pyextra/websocket/tests/data/header02.txt
new file mode 100644
index 000000000..a9dd2ce3e
--- /dev/null
+++ b/pyextra/websocket/tests/data/header02.txt
@@ -0,0 +1,6 @@
+HTTP/1.1 101 WebSocket Protocol Handshake
+Connection: Upgrade
+Upgrade WebSocket
+Sec-WebSocket-Accept: Kxep+hNu9n51529fGidYu7a3wO0=
+some_header: something
+
diff --git a/pyextra/websocket/tests/test_cookiejar.py b/pyextra/websocket/tests/test_cookiejar.py
new file mode 100644
index 000000000..c40a00bd2
--- /dev/null
+++ b/pyextra/websocket/tests/test_cookiejar.py
@@ -0,0 +1,98 @@
+import unittest
+
+from websocket._cookiejar import SimpleCookieJar
+
+try:
+ import Cookie
+except:
+ import http.cookies as Cookie
+
+
+class CookieJarTest(unittest.TestCase):
+ def testAdd(self):
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.add("")
+ self.assertFalse(cookie_jar.jar, "Cookie with no domain should not be added to the jar")
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.add("a=b")
+ self.assertFalse(cookie_jar.jar, "Cookie with no domain should not be added to the jar")
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.add("a=b; domain=.abc")
+ self.assertTrue(".abc" in cookie_jar.jar)
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.add("a=b; domain=abc")
+ self.assertTrue(".abc" in cookie_jar.jar)
+ self.assertTrue("abc" not in cookie_jar.jar)
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.add("a=b; c=d; domain=abc")
+ self.assertEquals(cookie_jar.get("abc"), "a=b; c=d")
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.add("a=b; c=d; domain=abc")
+ cookie_jar.add("e=f; domain=abc")
+ self.assertEquals(cookie_jar.get("abc"), "a=b; c=d; e=f")
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.add("a=b; c=d; domain=abc")
+ cookie_jar.add("e=f; domain=.abc")
+ self.assertEquals(cookie_jar.get("abc"), "a=b; c=d; e=f")
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.add("a=b; c=d; domain=abc")
+ cookie_jar.add("e=f; domain=xyz")
+ self.assertEquals(cookie_jar.get("abc"), "a=b; c=d")
+ self.assertEquals(cookie_jar.get("xyz"), "e=f")
+ self.assertEquals(cookie_jar.get("something"), "")
+
+ def testSet(self):
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.set("a=b")
+ self.assertFalse(cookie_jar.jar, "Cookie with no domain should not be added to the jar")
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.set("a=b; domain=.abc")
+ self.assertTrue(".abc" in cookie_jar.jar)
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.set("a=b; domain=abc")
+ self.assertTrue(".abc" in cookie_jar.jar)
+ self.assertTrue("abc" not in cookie_jar.jar)
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.set("a=b; c=d; domain=abc")
+ self.assertEquals(cookie_jar.get("abc"), "a=b; c=d")
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.set("a=b; c=d; domain=abc")
+ cookie_jar.set("e=f; domain=abc")
+ self.assertEquals(cookie_jar.get("abc"), "e=f")
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.set("a=b; c=d; domain=abc")
+ cookie_jar.set("e=f; domain=.abc")
+ self.assertEquals(cookie_jar.get("abc"), "e=f")
+
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.set("a=b; c=d; domain=abc")
+ cookie_jar.set("e=f; domain=xyz")
+ self.assertEquals(cookie_jar.get("abc"), "a=b; c=d")
+ self.assertEquals(cookie_jar.get("xyz"), "e=f")
+ self.assertEquals(cookie_jar.get("something"), "")
+
+ def testGet(self):
+ cookie_jar = SimpleCookieJar()
+ cookie_jar.set("a=b; c=d; domain=abc.com")
+ self.assertEquals(cookie_jar.get("abc.com"), "a=b; c=d")
+ self.assertEquals(cookie_jar.get("x.abc.com"), "a=b; c=d")
+ self.assertEquals(cookie_jar.get("abc.com.es"), "")
+ self.assertEquals(cookie_jar.get("xabc.com"), "")
+
+ cookie_jar.set("a=b; c=d; domain=.abc.com")
+ self.assertEquals(cookie_jar.get("abc.com"), "a=b; c=d")
+ self.assertEquals(cookie_jar.get("x.abc.com"), "a=b; c=d")
+ self.assertEquals(cookie_jar.get("abc.com.es"), "")
+ self.assertEquals(cookie_jar.get("xabc.com"), "")
diff --git a/pyextra/websocket/tests/test_websocket.py b/pyextra/websocket/tests/test_websocket.py
new file mode 100644
index 000000000..f49a89398
--- /dev/null
+++ b/pyextra/websocket/tests/test_websocket.py
@@ -0,0 +1,662 @@
+# -*- coding: utf-8 -*-
+#
+
+import sys
+sys.path[0:0] = [""]
+
+import os
+import os.path
+import socket
+
+import six
+
+# websocket-client
+import websocket as ws
+from websocket._handshake import _create_sec_websocket_key, \
+ _validate as _validate_header
+from websocket._http import read_headers
+from websocket._url import get_proxy_info, parse_url
+from websocket._utils import validate_utf8
+
+if six.PY3:
+ from base64 import decodebytes as base64decode
+else:
+ from base64 import decodestring as base64decode
+
+if sys.version_info[0] == 2 and sys.version_info[1] < 7:
+ import unittest2 as unittest
+else:
+ import unittest
+
+try:
+ from ssl import SSLError
+except ImportError:
+ # dummy class of SSLError for ssl none-support environment.
+ class SSLError(Exception):
+ pass
+
+# Skip test to access the internet.
+TEST_WITH_INTERNET = os.environ.get('TEST_WITH_INTERNET', '0') == '1'
+
+# Skip Secure WebSocket test.
+TEST_SECURE_WS = True
+TRACEABLE = True
+
+
+def create_mask_key(_):
+ return "abcd"
+
+
+class SockMock(object):
+ def __init__(self):
+ self.data = []
+ self.sent = []
+
+ def add_packet(self, data):
+ self.data.append(data)
+
+ def recv(self, bufsize):
+ if self.data:
+ e = self.data.pop(0)
+ if isinstance(e, Exception):
+ raise e
+ if len(e) > bufsize:
+ self.data.insert(0, e[bufsize:])
+ return e[:bufsize]
+
+ def send(self, data):
+ self.sent.append(data)
+ return len(data)
+
+ def close(self):
+ pass
+
+
+class HeaderSockMock(SockMock):
+
+ def __init__(self, fname):
+ SockMock.__init__(self)
+ path = os.path.join(os.path.dirname(__file__), fname)
+ with open(path, "rb") as f:
+ self.add_packet(f.read())
+
+
+class WebSocketTest(unittest.TestCase):
+ def setUp(self):
+ ws.enableTrace(TRACEABLE)
+
+ def tearDown(self):
+ pass
+
+ def testDefaultTimeout(self):
+ self.assertEqual(ws.getdefaulttimeout(), None)
+ ws.setdefaulttimeout(10)
+ self.assertEqual(ws.getdefaulttimeout(), 10)
+ ws.setdefaulttimeout(None)
+
+ def testParseUrl(self):
+ p = parse_url("ws://www.example.com/r")
+ self.assertEqual(p[0], "www.example.com")
+ self.assertEqual(p[1], 80)
+ self.assertEqual(p[2], "/r")
+ self.assertEqual(p[3], False)
+
+ p = parse_url("ws://www.example.com/r/")
+ self.assertEqual(p[0], "www.example.com")
+ self.assertEqual(p[1], 80)
+ self.assertEqual(p[2], "/r/")
+ self.assertEqual(p[3], False)
+
+ p = parse_url("ws://www.example.com/")
+ self.assertEqual(p[0], "www.example.com")
+ self.assertEqual(p[1], 80)
+ self.assertEqual(p[2], "/")
+ self.assertEqual(p[3], False)
+
+ p = parse_url("ws://www.example.com")
+ self.assertEqual(p[0], "www.example.com")
+ self.assertEqual(p[1], 80)
+ self.assertEqual(p[2], "/")
+ self.assertEqual(p[3], False)
+
+ p = parse_url("ws://www.example.com:8080/r")
+ self.assertEqual(p[0], "www.example.com")
+ self.assertEqual(p[1], 8080)
+ self.assertEqual(p[2], "/r")
+ self.assertEqual(p[3], False)
+
+ p = parse_url("ws://www.example.com:8080/")
+ self.assertEqual(p[0], "www.example.com")
+ self.assertEqual(p[1], 8080)
+ self.assertEqual(p[2], "/")
+ self.assertEqual(p[3], False)
+
+ p = parse_url("ws://www.example.com:8080")
+ self.assertEqual(p[0], "www.example.com")
+ self.assertEqual(p[1], 8080)
+ self.assertEqual(p[2], "/")
+ self.assertEqual(p[3], False)
+
+ p = parse_url("wss://www.example.com:8080/r")
+ self.assertEqual(p[0], "www.example.com")
+ self.assertEqual(p[1], 8080)
+ self.assertEqual(p[2], "/r")
+ self.assertEqual(p[3], True)
+
+ p = parse_url("wss://www.example.com:8080/r?key=value")
+ self.assertEqual(p[0], "www.example.com")
+ self.assertEqual(p[1], 8080)
+ self.assertEqual(p[2], "/r?key=value")
+ self.assertEqual(p[3], True)
+
+ self.assertRaises(ValueError, parse_url, "http://www.example.com/r")
+
+ if sys.version_info[0] == 2 and sys.version_info[1] < 7:
+ return
+
+ p = parse_url("ws://[2a03:4000:123:83::3]/r")
+ self.assertEqual(p[0], "2a03:4000:123:83::3")
+ self.assertEqual(p[1], 80)
+ self.assertEqual(p[2], "/r")
+ self.assertEqual(p[3], False)
+
+ p = parse_url("ws://[2a03:4000:123:83::3]:8080/r")
+ self.assertEqual(p[0], "2a03:4000:123:83::3")
+ self.assertEqual(p[1], 8080)
+ self.assertEqual(p[2], "/r")
+ self.assertEqual(p[3], False)
+
+ p = parse_url("wss://[2a03:4000:123:83::3]/r")
+ self.assertEqual(p[0], "2a03:4000:123:83::3")
+ self.assertEqual(p[1], 443)
+ self.assertEqual(p[2], "/r")
+ self.assertEqual(p[3], True)
+
+ p = parse_url("wss://[2a03:4000:123:83::3]:8080/r")
+ self.assertEqual(p[0], "2a03:4000:123:83::3")
+ self.assertEqual(p[1], 8080)
+ self.assertEqual(p[2], "/r")
+ self.assertEqual(p[3], True)
+
+ def testWSKey(self):
+ key = _create_sec_websocket_key()
+ self.assertTrue(key != 24)
+ self.assertTrue(six.u("¥n") not in key)
+
+ def testWsUtils(self):
+ key = "c6b8hTg4EeGb2gQMztV1/g=="
+ required_header = {
+ "upgrade": "websocket",
+ "connection": "upgrade",
+ "sec-websocket-accept": "Kxep+hNu9n51529fGidYu7a3wO0=",
+ }
+ self.assertEqual(_validate_header(required_header, key, None), (True, None))
+
+ header = required_header.copy()
+ header["upgrade"] = "http"
+ self.assertEqual(_validate_header(header, key, None), (False, None))
+ del header["upgrade"]
+ self.assertEqual(_validate_header(header, key, None), (False, None))
+
+ header = required_header.copy()
+ header["connection"] = "something"
+ self.assertEqual(_validate_header(header, key, None), (False, None))
+ del header["connection"]
+ self.assertEqual(_validate_header(header, key, None), (False, None))
+
+ header = required_header.copy()
+ header["sec-websocket-accept"] = "something"
+ self.assertEqual(_validate_header(header, key, None), (False, None))
+ del header["sec-websocket-accept"]
+ self.assertEqual(_validate_header(header, key, None), (False, None))
+
+ header = required_header.copy()
+ header["sec-websocket-protocol"] = "sub1"
+ self.assertEqual(_validate_header(header, key, ["sub1", "sub2"]), (True, "sub1"))
+ self.assertEqual(_validate_header(header, key, ["sub2", "sub3"]), (False, None))
+
+ header = required_header.copy()
+ header["sec-websocket-protocol"] = "sUb1"
+ self.assertEqual(_validate_header(header, key, ["Sub1", "suB2"]), (True, "sub1"))
+
+
+ def testReadHeader(self):
+ status, header, status_message = read_headers(HeaderSockMock("data/header01.txt"))
+ self.assertEqual(status, 101)
+ self.assertEqual(header["connection"], "Upgrade")
+
+ HeaderSockMock("data/header02.txt")
+ self.assertRaises(ws.WebSocketException, read_headers, HeaderSockMock("data/header02.txt"))
+
+ def testSend(self):
+ # TODO: add longer frame data
+ sock = ws.WebSocket()
+ sock.set_mask_key(create_mask_key)
+ s = sock.sock = HeaderSockMock("data/header01.txt")
+ sock.send("Hello")
+ self.assertEqual(s.sent[0], six.b("\x81\x85abcd)\x07\x0f\x08\x0e"))
+
+ sock.send("こんにちは")
+ self.assertEqual(s.sent[1], six.b("\x81\x8fabcd\x82\xe3\xf0\x87\xe3\xf1\x80\xe5\xca\x81\xe2\xc5\x82\xe3\xcc"))
+
+ sock.send(u"こんにちは")
+ self.assertEqual(s.sent[1], six.b("\x81\x8fabcd\x82\xe3\xf0\x87\xe3\xf1\x80\xe5\xca\x81\xe2\xc5\x82\xe3\xcc"))
+
+ sock.send("x" * 127)
+
+ def testRecv(self):
+ # TODO: add longer frame data
+ sock = ws.WebSocket()
+ s = sock.sock = SockMock()
+ something = six.b("\x81\x8fabcd\x82\xe3\xf0\x87\xe3\xf1\x80\xe5\xca\x81\xe2\xc5\x82\xe3\xcc")
+ s.add_packet(something)
+ data = sock.recv()
+ self.assertEqual(data, "こんにちは")
+
+ s.add_packet(six.b("\x81\x85abcd)\x07\x0f\x08\x0e"))
+ data = sock.recv()
+ self.assertEqual(data, "Hello")
+
+ @unittest.skipUnless(TEST_WITH_INTERNET, "Internet-requiring tests are disabled")
+ def testIter(self):
+ count = 2
+ for _ in ws.create_connection('ws://stream.meetup.com/2/rsvps'):
+ count -= 1
+ if count == 0:
+ break
+
+ @unittest.skipUnless(TEST_WITH_INTERNET, "Internet-requiring tests are disabled")
+ def testNext(self):
+ sock = ws.create_connection('ws://stream.meetup.com/2/rsvps')
+ self.assertEqual(str, type(next(sock)))
+
+ def testInternalRecvStrict(self):
+ sock = ws.WebSocket()
+ s = sock.sock = SockMock()
+ s.add_packet(six.b("foo"))
+ s.add_packet(socket.timeout())
+ s.add_packet(six.b("bar"))
+ # s.add_packet(SSLError("The read operation timed out"))
+ s.add_packet(six.b("baz"))
+ with self.assertRaises(ws.WebSocketTimeoutException):
+ sock.frame_buffer.recv_strict(9)
+ # if six.PY2:
+ # with self.assertRaises(ws.WebSocketTimeoutException):
+ # data = sock._recv_strict(9)
+ # else:
+ # with self.assertRaises(SSLError):
+ # data = sock._recv_strict(9)
+ data = sock.frame_buffer.recv_strict(9)
+ self.assertEqual(data, six.b("foobarbaz"))
+ with self.assertRaises(ws.WebSocketConnectionClosedException):
+ sock.frame_buffer.recv_strict(1)
+
+ def testRecvTimeout(self):
+ sock = ws.WebSocket()
+ s = sock.sock = SockMock()
+ s.add_packet(six.b("\x81"))
+ s.add_packet(socket.timeout())
+ s.add_packet(six.b("\x8dabcd\x29\x07\x0f\x08\x0e"))
+ s.add_packet(socket.timeout())
+ s.add_packet(six.b("\x4e\x43\x33\x0e\x10\x0f\x00\x40"))
+ with self.assertRaises(ws.WebSocketTimeoutException):
+ sock.recv()
+ with self.assertRaises(ws.WebSocketTimeoutException):
+ sock.recv()
+ data = sock.recv()
+ self.assertEqual(data, "Hello, World!")
+ with self.assertRaises(ws.WebSocketConnectionClosedException):
+ sock.recv()
+
+ def testRecvWithSimpleFragmentation(self):
+ sock = ws.WebSocket()
+ s = sock.sock = SockMock()
+ # OPCODE=TEXT, FIN=0, MSG="Brevity is "
+ s.add_packet(six.b("\x01\x8babcd#\x10\x06\x12\x08\x16\x1aD\x08\x11C"))
+ # OPCODE=CONT, FIN=1, MSG="the soul of wit"
+ s.add_packet(six.b("\x80\x8fabcd\x15\n\x06D\x12\r\x16\x08A\r\x05D\x16\x0b\x17"))
+ data = sock.recv()
+ self.assertEqual(data, "Brevity is the soul of wit")
+ with self.assertRaises(ws.WebSocketConnectionClosedException):
+ sock.recv()
+
+ def testRecvWithFireEventOfFragmentation(self):
+ sock = ws.WebSocket(fire_cont_frame=True)
+ s = sock.sock = SockMock()
+ # OPCODE=TEXT, FIN=0, MSG="Brevity is "
+ s.add_packet(six.b("\x01\x8babcd#\x10\x06\x12\x08\x16\x1aD\x08\x11C"))
+ # OPCODE=CONT, FIN=0, MSG="Brevity is "
+ s.add_packet(six.b("\x00\x8babcd#\x10\x06\x12\x08\x16\x1aD\x08\x11C"))
+ # OPCODE=CONT, FIN=1, MSG="the soul of wit"
+ s.add_packet(six.b("\x80\x8fabcd\x15\n\x06D\x12\r\x16\x08A\r\x05D\x16\x0b\x17"))
+
+ _, data = sock.recv_data()
+ self.assertEqual(data, six.b("Brevity is "))
+ _, data = sock.recv_data()
+ self.assertEqual(data, six.b("Brevity is "))
+ _, data = sock.recv_data()
+ self.assertEqual(data, six.b("the soul of wit"))
+
+ # OPCODE=CONT, FIN=0, MSG="Brevity is "
+ s.add_packet(six.b("\x80\x8babcd#\x10\x06\x12\x08\x16\x1aD\x08\x11C"))
+
+ with self.assertRaises(ws.WebSocketException):
+ sock.recv_data()
+
+ with self.assertRaises(ws.WebSocketConnectionClosedException):
+ sock.recv()
+
+ def testClose(self):
+ sock = ws.WebSocket()
+ sock.sock = SockMock()
+ sock.connected = True
+ sock.close()
+ self.assertEqual(sock.connected, False)
+
+ sock = ws.WebSocket()
+ s = sock.sock = SockMock()
+ sock.connected = True
+ s.add_packet(six.b('\x88\x80\x17\x98p\x84'))
+ sock.recv()
+ self.assertEqual(sock.connected, False)
+
+ def testRecvContFragmentation(self):
+ sock = ws.WebSocket()
+ s = sock.sock = SockMock()
+ # OPCODE=CONT, FIN=1, MSG="the soul of wit"
+ s.add_packet(six.b("\x80\x8fabcd\x15\n\x06D\x12\r\x16\x08A\r\x05D\x16\x0b\x17"))
+ self.assertRaises(ws.WebSocketException, sock.recv)
+
+ def testRecvWithProlongedFragmentation(self):
+ sock = ws.WebSocket()
+ s = sock.sock = SockMock()
+ # OPCODE=TEXT, FIN=0, MSG="Once more unto the breach, "
+ s.add_packet(six.b("\x01\x9babcd.\x0c\x00\x01A\x0f\x0c\x16\x04B\x16\n\x15"
+ "\rC\x10\t\x07C\x06\x13\x07\x02\x07\tNC"))
+ # OPCODE=CONT, FIN=0, MSG="dear friends, "
+ s.add_packet(six.b("\x00\x8eabcd\x05\x07\x02\x16A\x04\x11\r\x04\x0c\x07"
+ "\x17MB"))
+ # OPCODE=CONT, FIN=1, MSG="once more"
+ s.add_packet(six.b("\x80\x89abcd\x0e\x0c\x00\x01A\x0f\x0c\x16\x04"))
+ data = sock.recv()
+ self.assertEqual(
+ data,
+ "Once more unto the breach, dear friends, once more")
+ with self.assertRaises(ws.WebSocketConnectionClosedException):
+ sock.recv()
+
+ def testRecvWithFragmentationAndControlFrame(self):
+ sock = ws.WebSocket()
+ sock.set_mask_key(create_mask_key)
+ s = sock.sock = SockMock()
+ # OPCODE=TEXT, FIN=0, MSG="Too much "
+ s.add_packet(six.b("\x01\x89abcd5\r\x0cD\x0c\x17\x00\x0cA"))
+ # OPCODE=PING, FIN=1, MSG="Please PONG this"
+ s.add_packet(six.b("\x89\x90abcd1\x0e\x06\x05\x12\x07C4.,$D\x15\n\n\x17"))
+ # OPCODE=CONT, FIN=1, MSG="of a good thing"
+ s.add_packet(six.b("\x80\x8fabcd\x0e\x04C\x05A\x05\x0c\x0b\x05B\x17\x0c"
+ "\x08\x0c\x04"))
+ data = sock.recv()
+ self.assertEqual(data, "Too much of a good thing")
+ with self.assertRaises(ws.WebSocketConnectionClosedException):
+ sock.recv()
+ self.assertEqual(
+ s.sent[0],
+ six.b("\x8a\x90abcd1\x0e\x06\x05\x12\x07C4.,$D\x15\n\n\x17"))
+
+ @unittest.skipUnless(TEST_WITH_INTERNET, "Internet-requiring tests are disabled")
+ def testWebSocket(self):
+ s = ws.create_connection("ws://echo.websocket.org/")
+ self.assertNotEqual(s, None)
+ s.send("Hello, World")
+ result = s.recv()
+ self.assertEqual(result, "Hello, World")
+
+ s.send(u"こにゃにゃちは、世界")
+ result = s.recv()
+ self.assertEqual(result, "こにゃにゃちは、世界")
+ s.close()
+
+ @unittest.skipUnless(TEST_WITH_INTERNET, "Internet-requiring tests are disabled")
+ def testPingPong(self):
+ s = ws.create_connection("ws://echo.websocket.org/")
+ self.assertNotEqual(s, None)
+ s.ping("Hello")
+ s.pong("Hi")
+ s.close()
+
+ @unittest.skipUnless(TEST_WITH_INTERNET, "Internet-requiring tests are disabled")
+ @unittest.skipUnless(TEST_SECURE_WS, "wss://echo.websocket.org doesn't work well.")
+ def testSecureWebSocket(self):
+ if 1:
+ import ssl
+ s = ws.create_connection("wss://echo.websocket.org/")
+ self.assertNotEqual(s, None)
+ self.assertTrue(isinstance(s.sock, ssl.SSLSocket))
+ s.send("Hello, World")
+ result = s.recv()
+ self.assertEqual(result, "Hello, World")
+ s.send(u"こにゃにゃちは、世界")
+ result = s.recv()
+ self.assertEqual(result, "こにゃにゃちは、世界")
+ s.close()
+ #except:
+ # pass
+
+ @unittest.skipUnless(TEST_WITH_INTERNET, "Internet-requiring tests are disabled")
+ def testWebSocketWihtCustomHeader(self):
+ s = ws.create_connection("ws://echo.websocket.org/",
+ headers={"User-Agent": "PythonWebsocketClient"})
+ self.assertNotEqual(s, None)
+ s.send("Hello, World")
+ result = s.recv()
+ self.assertEqual(result, "Hello, World")
+ s.close()
+
+ @unittest.skipUnless(TEST_WITH_INTERNET, "Internet-requiring tests are disabled")
+ def testAfterClose(self):
+ s = ws.create_connection("ws://echo.websocket.org/")
+ self.assertNotEqual(s, None)
+ s.close()
+ self.assertRaises(ws.WebSocketConnectionClosedException, s.send, "Hello")
+ self.assertRaises(ws.WebSocketConnectionClosedException, s.recv)
+
+ def testNonce(self):
+ """ WebSocket key should be a random 16-byte nonce.
+ """
+ key = _create_sec_websocket_key()
+ nonce = base64decode(key.encode("utf-8"))
+ self.assertEqual(16, len(nonce))
+
+
+class WebSocketAppTest(unittest.TestCase):
+
+ class NotSetYet(object):
+ """ A marker class for signalling that a value hasn't been set yet.
+ """
+
+ def setUp(self):
+ ws.enableTrace(TRACEABLE)
+
+ WebSocketAppTest.keep_running_open = WebSocketAppTest.NotSetYet()
+ WebSocketAppTest.keep_running_close = WebSocketAppTest.NotSetYet()
+ WebSocketAppTest.get_mask_key_id = WebSocketAppTest.NotSetYet()
+
+ def tearDown(self):
+ WebSocketAppTest.keep_running_open = WebSocketAppTest.NotSetYet()
+ WebSocketAppTest.keep_running_close = WebSocketAppTest.NotSetYet()
+ WebSocketAppTest.get_mask_key_id = WebSocketAppTest.NotSetYet()
+
+ @unittest.skipUnless(TEST_WITH_INTERNET, "Internet-requiring tests are disabled")
+ def testKeepRunning(self):
+ """ A WebSocketApp should keep running as long as its self.keep_running
+ is not False (in the boolean context).
+ """
+
+ def on_open(self, *args, **kwargs):
+ """ Set the keep_running flag for later inspection and immediately
+ close the connection.
+ """
+ WebSocketAppTest.keep_running_open = self.keep_running
+
+ self.close()
+
+ def on_close(self, *args, **kwargs):
+ """ Set the keep_running flag for the test to use.
+ """
+ WebSocketAppTest.keep_running_close = self.keep_running
+
+ app = ws.WebSocketApp('ws://echo.websocket.org/', on_open=on_open, on_close=on_close)
+ app.run_forever()
+
+ # if numpy is installed, this assertion fail
+ # self.assertFalse(isinstance(WebSocketAppTest.keep_running_open,
+ # WebSocketAppTest.NotSetYet))
+
+ # self.assertFalse(isinstance(WebSocketAppTest.keep_running_close,
+ # WebSocketAppTest.NotSetYet))
+
+ # self.assertEqual(True, WebSocketAppTest.keep_running_open)
+ # self.assertEqual(False, WebSocketAppTest.keep_running_close)
+
+ @unittest.skipUnless(TEST_WITH_INTERNET, "Internet-requiring tests are disabled")
+ def testSockMaskKey(self):
+ """ A WebSocketApp should forward the received mask_key function down
+ to the actual socket.
+ """
+
+ def my_mask_key_func():
+ pass
+
+ def on_open(self, *args, **kwargs):
+ """ Set the value so the test can use it later on and immediately
+ close the connection.
+ """
+ WebSocketAppTest.get_mask_key_id = id(self.get_mask_key)
+ self.close()
+
+ app = ws.WebSocketApp('ws://echo.websocket.org/', on_open=on_open, get_mask_key=my_mask_key_func)
+ app.run_forever()
+
+ # if numpu is installed, this assertion fail
+ # Note: We can't use 'is' for comparing the functions directly, need to use 'id'.
+ # self.assertEqual(WebSocketAppTest.get_mask_key_id, id(my_mask_key_func))
+
+
+class SockOptTest(unittest.TestCase):
+ @unittest.skipUnless(TEST_WITH_INTERNET, "Internet-requiring tests are disabled")
+ def testSockOpt(self):
+ sockopt = ((socket.IPPROTO_TCP, socket.TCP_NODELAY, 1),)
+ s = ws.create_connection("ws://echo.websocket.org", sockopt=sockopt)
+ self.assertNotEqual(s.sock.getsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY), 0)
+ s.close()
+
+
+class UtilsTest(unittest.TestCase):
+ def testUtf8Validator(self):
+ state = validate_utf8(six.b('\xf0\x90\x80\x80'))
+ self.assertEqual(state, True)
+ state = validate_utf8(six.b('\xce\xba\xe1\xbd\xb9\xcf\x83\xce\xbc\xce\xb5\xed\xa0\x80edited'))
+ self.assertEqual(state, False)
+ state = validate_utf8(six.b(''))
+ self.assertEqual(state, True)
+
+
+class ProxyInfoTest(unittest.TestCase):
+ def setUp(self):
+ self.http_proxy = os.environ.get("http_proxy", None)
+ self.https_proxy = os.environ.get("https_proxy", None)
+ if "http_proxy" in os.environ:
+ del os.environ["http_proxy"]
+ if "https_proxy" in os.environ:
+ del os.environ["https_proxy"]
+
+ def tearDown(self):
+ if self.http_proxy:
+ os.environ["http_proxy"] = self.http_proxy
+ elif "http_proxy" in os.environ:
+ del os.environ["http_proxy"]
+
+ if self.https_proxy:
+ os.environ["https_proxy"] = self.https_proxy
+ elif "https_proxy" in os.environ:
+ del os.environ["https_proxy"]
+
+ def testProxyFromArgs(self):
+ self.assertEqual(get_proxy_info("echo.websocket.org", False, proxy_host="localhost"), ("localhost", 0, None))
+ self.assertEqual(get_proxy_info("echo.websocket.org", False, proxy_host="localhost", proxy_port=3128), ("localhost", 3128, None))
+ self.assertEqual(get_proxy_info("echo.websocket.org", True, proxy_host="localhost"), ("localhost", 0, None))
+ self.assertEqual(get_proxy_info("echo.websocket.org", True, proxy_host="localhost", proxy_port=3128), ("localhost", 3128, None))
+
+ self.assertEqual(get_proxy_info("echo.websocket.org", False, proxy_host="localhost", proxy_auth=("a", "b")),
+ ("localhost", 0, ("a", "b")))
+ self.assertEqual(get_proxy_info("echo.websocket.org", False, proxy_host="localhost", proxy_port=3128, proxy_auth=("a", "b")),
+ ("localhost", 3128, ("a", "b")))
+ self.assertEqual(get_proxy_info("echo.websocket.org", True, proxy_host="localhost", proxy_auth=("a", "b")),
+ ("localhost", 0, ("a", "b")))
+ self.assertEqual(get_proxy_info("echo.websocket.org", True, proxy_host="localhost", proxy_port=3128, proxy_auth=("a", "b")),
+ ("localhost", 3128, ("a", "b")))
+
+ self.assertEqual(get_proxy_info("echo.websocket.org", True, proxy_host="localhost", proxy_port=3128, no_proxy=["example.com"], proxy_auth=("a", "b")),
+ ("localhost", 3128, ("a", "b")))
+ self.assertEqual(get_proxy_info("echo.websocket.org", True, proxy_host="localhost", proxy_port=3128, no_proxy=["echo.websocket.org"], proxy_auth=("a", "b")),
+ (None, 0, None))
+
+ def testProxyFromEnv(self):
+ os.environ["http_proxy"] = "http://localhost/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", False), ("localhost", None, None))
+ os.environ["http_proxy"] = "http://localhost:3128/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", False), ("localhost", 3128, None))
+
+ os.environ["http_proxy"] = "http://localhost/"
+ os.environ["https_proxy"] = "http://localhost2/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", False), ("localhost", None, None))
+ os.environ["http_proxy"] = "http://localhost:3128/"
+ os.environ["https_proxy"] = "http://localhost2:3128/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", False), ("localhost", 3128, None))
+
+ os.environ["http_proxy"] = "http://localhost/"
+ os.environ["https_proxy"] = "http://localhost2/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", True), ("localhost2", None, None))
+ os.environ["http_proxy"] = "http://localhost:3128/"
+ os.environ["https_proxy"] = "http://localhost2:3128/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", True), ("localhost2", 3128, None))
+
+
+ os.environ["http_proxy"] = "http://a:b@localhost/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", False), ("localhost", None, ("a", "b")))
+ os.environ["http_proxy"] = "http://a:b@localhost:3128/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", False), ("localhost", 3128, ("a", "b")))
+
+ os.environ["http_proxy"] = "http://a:b@localhost/"
+ os.environ["https_proxy"] = "http://a:b@localhost2/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", False), ("localhost", None, ("a", "b")))
+ os.environ["http_proxy"] = "http://a:b@localhost:3128/"
+ os.environ["https_proxy"] = "http://a:b@localhost2:3128/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", False), ("localhost", 3128, ("a", "b")))
+
+ os.environ["http_proxy"] = "http://a:b@localhost/"
+ os.environ["https_proxy"] = "http://a:b@localhost2/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", True), ("localhost2", None, ("a", "b")))
+ os.environ["http_proxy"] = "http://a:b@localhost:3128/"
+ os.environ["https_proxy"] = "http://a:b@localhost2:3128/"
+ self.assertEqual(get_proxy_info("echo.websocket.org", True), ("localhost2", 3128, ("a", "b")))
+
+ os.environ["http_proxy"] = "http://a:b@localhost/"
+ os.environ["https_proxy"] = "http://a:b@localhost2/"
+ os.environ["no_proxy"] = "example1.com,example2.com"
+ self.assertEqual(get_proxy_info("example.1.com", True), ("localhost2", None, ("a", "b")))
+ os.environ["http_proxy"] = "http://a:b@localhost:3128/"
+ os.environ["https_proxy"] = "http://a:b@localhost2:3128/"
+ os.environ["no_proxy"] = "example1.com,example2.com, echo.websocket.org"
+ self.assertEqual(get_proxy_info("echo.websocket.org", True), (None, 0, None))
+
+ os.environ["http_proxy"] = "http://a:b@localhost:3128/"
+ os.environ["https_proxy"] = "http://a:b@localhost2:3128/"
+ os.environ["no_proxy"] = "127.0.0.0/8, 192.168.0.0/16"
+ self.assertEqual(get_proxy_info("127.0.0.1", False), (None, 0, None))
+ self.assertEqual(get_proxy_info("192.168.1.1", False), (None, 0, None))
+
+
+if __name__ == "__main__":
+ unittest.main()
diff --git a/pyextra/websocket_client-0.55.0-py2.7.egg-info/PKG-INFO b/pyextra/websocket_client-0.55.0-py2.7.egg-info/PKG-INFO
new file mode 100644
index 000000000..d9ae55980
--- /dev/null
+++ b/pyextra/websocket_client-0.55.0-py2.7.egg-info/PKG-INFO
@@ -0,0 +1,305 @@
+Metadata-Version: 1.2
+Name: websocket-client
+Version: 0.55.0
+Summary: WebSocket client for Python. hybi13 is supported.
+Home-page: https://github.com/websocket-client/websocket-client.git
+Author: liris
+Author-email: liris.pp@gmail.com
+License: BSD
+Description: =================
+ websocket-client
+ =================
+
+ websocket-client module is WebSocket client for python. This provide the low level APIs for WebSocket. All APIs are the synchronous functions.
+
+ websocket-client supports only hybi-13.
+
+
+ License
+ =======
+
+ - BSD
+
+ Installation
+ ============
+
+ This module is tested on Python 2.7 and Python 3.4+.
+
+ Type "python setup.py install" or "pip install websocket-client" to install.
+
+ .. CAUTION::
+
+ from v0.16.0, we can install by "pip install websocket-client" for Python 3.
+
+ This module depends on
+
+ - six
+ - backports.ssl_match_hostname for Python 2.x
+
+ Performance
+ -----------
+
+ The "send" and "validate_utf8" methods are too slow on pure python. If you want to get better performace, please install both numpy and wsaccel.
+
+
+ How about Python 3
+ ==================
+
+ Now, we support Python 3 on single source code from version 0.14.0. Thanks, @battlemidget and @ralphbean.
+
+ HTTP Proxy
+ ==========
+
+ Support websocket access via http proxy.
+ The proxy server must allow "CONNECT" method to websocket port.
+ Default squid setting is "ALLOWED TO CONNECT ONLY HTTPS PORT".
+
+ Current implementation of websocket-client is using "CONNECT" method via proxy.
+
+
+ example
+
+ .. code:: python
+
+ import websocket
+ ws = websocket.WebSocket()
+ ws.connect("ws://example.com/websocket", http_proxy_host="proxy_host_name", http_proxy_port=3128)
+
+
+
+ Examples
+ ========
+
+ Long-lived connection
+ ---------------------
+ This example is similar to how WebSocket code looks in browsers using JavaScript.
+
+ .. code:: python
+
+ import websocket
+ try:
+ import thread
+ except ImportError:
+ import _thread as thread
+ import time
+
+ def on_message(ws, message):
+ print(message)
+
+ def on_error(ws, error):
+ print(error)
+
+ def on_close(ws):
+ print("### closed ###")
+
+ def on_open(ws):
+ def run(*args):
+ for i in range(3):
+ time.sleep(1)
+ ws.send("Hello %d" % i)
+ time.sleep(1)
+ ws.close()
+ print("thread terminating...")
+ thread.start_new_thread(run, ())
+
+
+ if __name__ == "__main__":
+ websocket.enableTrace(True)
+ ws = websocket.WebSocketApp("ws://echo.websocket.org/",
+ on_message = on_message,
+ on_error = on_error,
+ on_close = on_close)
+ ws.on_open = on_open
+ ws.run_forever()
+
+
+
+ Short-lived one-off send-receive
+ --------------------------------
+ This is if you want to communicate a short message and disconnect immediately when done.
+
+ .. code:: python
+
+ from websocket import create_connection
+ ws = create_connection("ws://echo.websocket.org/")
+ print("Sending 'Hello, World'...")
+ ws.send("Hello, World")
+ print("Sent")
+ print("Receiving...")
+ result = ws.recv()
+ print("Received '%s'" % result)
+ ws.close()
+
+
+ If you want to customize socket options, set sockopt.
+
+ sockopt example
+
+ .. code:: python
+
+ from websocket import create_connection
+ ws = create_connection("ws://echo.websocket.org/",
+ sockopt=((socket.IPPROTO_TCP, socket.TCP_NODELAY),))
+
+
+ More advanced: Custom class
+ ---------------------------
+ You can also write your own class for the connection, if you want to handle the nitty-gritty details yourself.
+
+ .. code:: python
+
+ import socket
+ from websocket import create_connection, WebSocket
+ class MyWebSocket(WebSocket):
+ def recv_frame(self):
+ frame = super().recv_frame()
+ print('yay! I got this frame: ', frame)
+ return frame
+
+ ws = create_connection("ws://echo.websocket.org/",
+ sockopt=((socket.IPPROTO_TCP, socket.TCP_NODELAY, 1),), class_=MyWebSocket)
+
+
+ FAQ
+ ===
+
+ How to disable ssl cert verification?
+ -------------------------------------
+
+ Please set sslopt to {"cert_reqs": ssl.CERT_NONE}.
+
+ WebSocketApp sample
+
+ .. code:: python
+
+ ws = websocket.WebSocketApp("wss://echo.websocket.org")
+ ws.run_forever(sslopt={"cert_reqs": ssl.CERT_NONE})
+
+
+ create_connection sample
+
+ .. code:: python
+
+ ws = websocket.create_connection("wss://echo.websocket.org",
+ sslopt={"cert_reqs": ssl.CERT_NONE})
+
+
+ WebSocket sample
+
+ .. code:: python
+
+ ws = websocket.WebSocket(sslopt={"cert_reqs": ssl.CERT_NONE})
+ ws.connect("wss://echo.websocket.org")
+
+
+ How to disable hostname verification?
+ -------------------------------------
+
+ Please set sslopt to {"check_hostname": False}.
+ (since v0.18.0)
+
+ WebSocketApp sample
+
+ .. code:: python
+
+ ws = websocket.WebSocketApp("wss://echo.websocket.org")
+ ws.run_forever(sslopt={"check_hostname": False})
+
+
+ create_connection sample
+
+ .. code:: python
+
+ ws = websocket.create_connection("wss://echo.websocket.org",
+ sslopt={"check_hostname": False})
+
+
+ WebSocket sample
+
+ .. code:: python
+
+ ws = websocket.WebSocket(sslopt={"check_hostname": False})
+ ws.connect("wss://echo.websocket.org")
+
+
+ How to enable `SNI `_?
+ ---------------------------------------------------------------------------
+
+ SNI support is available for Python 2.7.9+ and 3.2+. It will be enabled automatically whenever possible.
+
+
+ Sub Protocols.
+ --------------
+
+ The server needs to support sub protocols, please set the subprotocol like this.
+
+
+ Subprotocol sample
+
+ .. code:: python
+
+ ws = websocket.create_connection("ws://example.com/websocket", subprotocols=["binary", "base64"])
+
+
+
+ wsdump.py
+ =========
+
+ wsdump.py is simple WebSocket test(debug) tool.
+
+ sample for echo.websocket.org::
+
+ $ wsdump.py ws://echo.websocket.org/
+ Press Ctrl+C to quit
+ > Hello, WebSocket
+ < Hello, WebSocket
+ > How are you?
+ < How are you?
+
+
+ Usage
+ -----
+
+ usage::
+
+ wsdump.py [-h] [-v [VERBOSE]] ws_url
+
+
+ WebSocket Simple Dump Tool
+
+ positional arguments:
+ ws_url websocket url. ex. ws://echo.websocket.org/
+
+
+ optional arguments:
+ -h, --help show this help message and exit
+ WebSocketApp
+ -v VERBOSE, --verbose VERBOSE set verbose mode. If set to 1, show opcode. If set to 2, enable to trace websocket module
+
+
+ example::
+
+ $ wsdump.py ws://echo.websocket.org/
+ $ wsdump.py ws://echo.websocket.org/ -v
+ $ wsdump.py ws://echo.websocket.org/ -vv
+
+Keywords: websockets
+Platform: UNKNOWN
+Classifier: Development Status :: 4 - Beta
+Classifier: License :: OSI Approved :: BSD License
+Classifier: Programming Language :: Python
+Classifier: Programming Language :: Python :: 2
+Classifier: Programming Language :: Python :: 2.6
+Classifier: Programming Language :: Python :: 2.7
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.4
+Classifier: Programming Language :: Python :: 3.5
+Classifier: Programming Language :: Python :: 3.6
+Classifier: Programming Language :: Python :: 3.7
+Classifier: Operating System :: MacOS :: MacOS X
+Classifier: Operating System :: POSIX
+Classifier: Operating System :: Microsoft :: Windows
+Classifier: Topic :: Internet
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Classifier: Intended Audience :: Developers
+Requires-Python: >=2.6, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*
diff --git a/pyextra/websocket_client-0.55.0-py2.7.egg-info/SOURCES.txt b/pyextra/websocket_client-0.55.0-py2.7.egg-info/SOURCES.txt
new file mode 100644
index 000000000..d003db826
--- /dev/null
+++ b/pyextra/websocket_client-0.55.0-py2.7.egg-info/SOURCES.txt
@@ -0,0 +1,32 @@
+ChangeLog
+LICENSE
+MANIFEST.in
+README.rst
+setup.cfg
+setup.py
+bin/wsdump.py
+examples/echo_client.py
+examples/echoapp_client.py
+websocket/__init__.py
+websocket/_abnf.py
+websocket/_app.py
+websocket/_cookiejar.py
+websocket/_core.py
+websocket/_exceptions.py
+websocket/_handshake.py
+websocket/_http.py
+websocket/_logging.py
+websocket/_socket.py
+websocket/_ssl_compat.py
+websocket/_url.py
+websocket/_utils.py
+websocket/tests/__init__.py
+websocket/tests/test_cookiejar.py
+websocket/tests/test_websocket.py
+websocket/tests/data/header01.txt
+websocket/tests/data/header02.txt
+websocket_client.egg-info/PKG-INFO
+websocket_client.egg-info/SOURCES.txt
+websocket_client.egg-info/dependency_links.txt
+websocket_client.egg-info/requires.txt
+websocket_client.egg-info/top_level.txt
\ No newline at end of file
diff --git a/pyextra/websocket_client-0.55.0-py2.7.egg-info/dependency_links.txt b/pyextra/websocket_client-0.55.0-py2.7.egg-info/dependency_links.txt
new file mode 100644
index 000000000..8b1378917
--- /dev/null
+++ b/pyextra/websocket_client-0.55.0-py2.7.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/pyextra/websocket_client-0.55.0-py2.7.egg-info/installed-files.txt b/pyextra/websocket_client-0.55.0-py2.7.egg-info/installed-files.txt
new file mode 100644
index 000000000..2069b5c8f
--- /dev/null
+++ b/pyextra/websocket_client-0.55.0-py2.7.egg-info/installed-files.txt
@@ -0,0 +1,40 @@
+../../../../bin/wsdump.py
+../websocket/__init__.py
+../websocket/__init__.pyc
+../websocket/_abnf.py
+../websocket/_abnf.pyc
+../websocket/_app.py
+../websocket/_app.pyc
+../websocket/_cookiejar.py
+../websocket/_cookiejar.pyc
+../websocket/_core.py
+../websocket/_core.pyc
+../websocket/_exceptions.py
+../websocket/_exceptions.pyc
+../websocket/_handshake.py
+../websocket/_handshake.pyc
+../websocket/_http.py
+../websocket/_http.pyc
+../websocket/_logging.py
+../websocket/_logging.pyc
+../websocket/_socket.py
+../websocket/_socket.pyc
+../websocket/_ssl_compat.py
+../websocket/_ssl_compat.pyc
+../websocket/_url.py
+../websocket/_url.pyc
+../websocket/_utils.py
+../websocket/_utils.pyc
+../websocket/tests/__init__.py
+../websocket/tests/__init__.pyc
+../websocket/tests/data/header01.txt
+../websocket/tests/data/header02.txt
+../websocket/tests/test_cookiejar.py
+../websocket/tests/test_cookiejar.pyc
+../websocket/tests/test_websocket.py
+../websocket/tests/test_websocket.pyc
+PKG-INFO
+SOURCES.txt
+dependency_links.txt
+requires.txt
+top_level.txt
diff --git a/pyextra/websocket_client-0.55.0-py2.7.egg-info/requires.txt b/pyextra/websocket_client-0.55.0-py2.7.egg-info/requires.txt
new file mode 100644
index 000000000..e87d97531
--- /dev/null
+++ b/pyextra/websocket_client-0.55.0-py2.7.egg-info/requires.txt
@@ -0,0 +1,2 @@
+six
+backports.ssl_match_hostname
diff --git a/pyextra/websocket_client-0.55.0-py2.7.egg-info/top_level.txt b/pyextra/websocket_client-0.55.0-py2.7.egg-info/top_level.txt
new file mode 100644
index 000000000..ca4cb0cf8
--- /dev/null
+++ b/pyextra/websocket_client-0.55.0-py2.7.egg-info/top_level.txt
@@ -0,0 +1 @@
+websocket
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 42884fefc..23fa59c4a 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -80,7 +80,7 @@ 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))
@@ -147,17 +147,17 @@ 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 daed4c754..934c406f9 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -98,23 +98,12 @@ 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
@@ -142,6 +131,10 @@ 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 a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.o b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.o
index 029fda217..fdd82d242 100644
Binary files a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.o and b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.o differ
diff --git a/selfdrive/controls/lib/lateral_mpc/libmpc.so b/selfdrive/controls/lib/lateral_mpc/libmpc.so
index a0c0dc815..3fd132550 100755
Binary files a/selfdrive/controls/lib/lateral_mpc/libmpc.so and b/selfdrive/controls/lib/lateral_mpc/libmpc.so differ
diff --git a/selfdrive/controls/lib/lateral_mpc/libmpc_py.py b/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
index 1537d2f6c..3af46c304 100644
--- a/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
+++ b/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
@@ -18,6 +18,7 @@ typedef struct {
double y[21];
double psi[21];
double delta[21];
+ double rate[21];
double cost;
} log_t;
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
new file mode 100644
index 000000000..19fb706de
--- /dev/null
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -0,0 +1,120 @@
+import numpy as np
+
+import selfdrive.messaging as messaging
+from selfdrive.swaglog import cloudlog
+from common.realtime import sec_since_boot
+from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
+from selfdrive.controls.lib.longitudinal_mpc import libmpc_py
+from selfdrive.controls.lib.drive_helpers import MPC_COST_LONG
+
+
+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 = lead.aLeadTau
+ 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
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 65182c5bb..5466ca143 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_auxiliary_functions.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
index cecba6e74..bf64887f1 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
@@ -70,7 +70,7 @@ extern "C"
/** Number of control variables. */
#define ACADO_NU 1
/** Number of differential variables. */
-#define ACADO_NX 6
+#define ACADO_NX 3
/** Number of algebraic variables. */
#define ACADO_NXA 0
/** Number of differential derivative variables. */
@@ -80,7 +80,7 @@ extern "C"
/** Number of references/measurements on the last (N + 1)st node. */
#define ACADO_NYN 3
/** Total number of QP optimization variables. */
-#define ACADO_QP_NV 26
+#define ACADO_QP_NV 23
/** Number of Runge-Kutta stages per integration step. */
#define ACADO_RK_NSTAGES 4
/** Providing interface for arrival cost. */
@@ -102,11 +102,11 @@ extern "C"
typedef struct ACADOvariables_
{
int dummy;
-/** Matrix of size: 21 x 6 (row major format)
+/** Matrix of size: 21 x 3 (row major format)
*
* Matrix containing 21 differential variable vectors.
*/
-real_t x[ 126 ];
+real_t x[ 63 ];
/** Column vector of size: 20
*
@@ -138,11 +138,11 @@ real_t W[ 320 ];
/** Matrix of size: 3 x 3 (row major format) */
real_t WN[ 9 ];
-/** Column vector of size: 6
+/** Column vector of size: 3
*
* Current state feedback vector.
*/
-real_t x0[ 6 ];
+real_t x0[ 3 ];
} ACADOvariables;
@@ -155,22 +155,19 @@ real_t x0[ 6 ];
*/
typedef struct ACADOworkspace_
{
-/** Column vector of size: 10 */
-real_t rhs_aux[ 10 ];
-
real_t rk_ttt;
-/** Row vector of size: 51 */
-real_t rk_xxx[ 51 ];
+/** Row vector of size: 18 */
+real_t rk_xxx[ 18 ];
-/** Matrix of size: 4 x 48 (row major format) */
-real_t rk_kkk[ 192 ];
+/** Matrix of size: 4 x 15 (row major format) */
+real_t rk_kkk[ 60 ];
-/** Row vector of size: 51 */
-real_t state[ 51 ];
+/** Row vector of size: 18 */
+real_t state[ 18 ];
-/** Column vector of size: 120 */
-real_t d[ 120 ];
+/** Column vector of size: 60 */
+real_t d[ 60 ];
/** Column vector of size: 80 */
real_t Dy[ 80 ];
@@ -178,26 +175,26 @@ real_t Dy[ 80 ];
/** Column vector of size: 3 */
real_t DyN[ 3 ];
-/** Matrix of size: 120 x 6 (row major format) */
-real_t evGx[ 720 ];
+/** Matrix of size: 60 x 3 (row major format) */
+real_t evGx[ 180 ];
-/** Column vector of size: 120 */
-real_t evGu[ 120 ];
+/** Column vector of size: 60 */
+real_t evGu[ 60 ];
-/** Column vector of size: 30 */
-real_t objAuxVar[ 30 ];
+/** Column vector of size: 15 */
+real_t objAuxVar[ 15 ];
-/** Row vector of size: 9 */
-real_t objValueIn[ 9 ];
+/** Row vector of size: 6 */
+real_t objValueIn[ 6 ];
-/** Row vector of size: 32 */
-real_t objValueOut[ 32 ];
+/** Row vector of size: 20 */
+real_t objValueOut[ 20 ];
-/** Matrix of size: 120 x 6 (row major format) */
-real_t Q1[ 720 ];
+/** Matrix of size: 60 x 3 (row major format) */
+real_t Q1[ 180 ];
-/** Matrix of size: 120 x 4 (row major format) */
-real_t Q2[ 480 ];
+/** Matrix of size: 60 x 4 (row major format) */
+real_t Q2[ 240 ];
/** Column vector of size: 20 */
real_t R1[ 20 ];
@@ -205,53 +202,53 @@ real_t R1[ 20 ];
/** Matrix of size: 20 x 4 (row major format) */
real_t R2[ 80 ];
-/** Column vector of size: 120 */
-real_t S1[ 120 ];
+/** Column vector of size: 60 */
+real_t S1[ 60 ];
-/** Matrix of size: 6 x 6 (row major format) */
-real_t QN1[ 36 ];
+/** Matrix of size: 3 x 3 (row major format) */
+real_t QN1[ 9 ];
-/** Matrix of size: 6 x 3 (row major format) */
-real_t QN2[ 18 ];
+/** Matrix of size: 3 x 3 (row major format) */
+real_t QN2[ 9 ];
-/** Column vector of size: 6 */
-real_t Dx0[ 6 ];
+/** Column vector of size: 3 */
+real_t Dx0[ 3 ];
-/** Matrix of size: 6 x 6 (row major format) */
-real_t T[ 36 ];
+/** Matrix of size: 3 x 3 (row major format) */
+real_t T[ 9 ];
-/** Column vector of size: 1260 */
-real_t E[ 1260 ];
+/** Column vector of size: 630 */
+real_t E[ 630 ];
-/** Column vector of size: 1260 */
-real_t QE[ 1260 ];
+/** Column vector of size: 630 */
+real_t QE[ 630 ];
-/** Matrix of size: 120 x 6 (row major format) */
-real_t QGx[ 720 ];
+/** Matrix of size: 60 x 3 (row major format) */
+real_t QGx[ 180 ];
-/** Column vector of size: 120 */
-real_t Qd[ 120 ];
+/** Column vector of size: 60 */
+real_t Qd[ 60 ];
-/** Column vector of size: 126 */
-real_t QDy[ 126 ];
+/** Column vector of size: 63 */
+real_t QDy[ 63 ];
-/** Matrix of size: 20 x 6 (row major format) */
-real_t H10[ 120 ];
+/** Matrix of size: 20 x 3 (row major format) */
+real_t H10[ 60 ];
-/** Matrix of size: 26 x 26 (row major format) */
-real_t H[ 676 ];
+/** Matrix of size: 23 x 23 (row major format) */
+real_t H[ 529 ];
-/** Matrix of size: 20 x 26 (row major format) */
-real_t A[ 520 ];
+/** Matrix of size: 20 x 23 (row major format) */
+real_t A[ 460 ];
-/** Column vector of size: 26 */
-real_t g[ 26 ];
+/** Column vector of size: 23 */
+real_t g[ 23 ];
-/** Column vector of size: 26 */
-real_t lb[ 26 ];
+/** Column vector of size: 23 */
+real_t lb[ 23 ];
-/** Column vector of size: 26 */
-real_t ub[ 26 ];
+/** Column vector of size: 23 */
+real_t ub[ 23 ];
/** Column vector of size: 20 */
real_t lbA[ 20 ];
@@ -259,11 +256,11 @@ real_t lbA[ 20 ];
/** Column vector of size: 20 */
real_t ubA[ 20 ];
-/** Column vector of size: 26 */
-real_t x[ 26 ];
+/** Column vector of size: 23 */
+real_t x[ 23 ];
-/** Column vector of size: 46 */
-real_t y[ 46 ];
+/** Column vector of size: 43 */
+real_t y[ 43 ];
} ACADOworkspace;
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
index 2e77d5414..a0bac9681 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
@@ -23,72 +23,24 @@
void acado_rhs_forw(const real_t* in, real_t* out)
{
const real_t* xd = in;
-const real_t* u = in + 48;
-const real_t* od = in + 49;
-/* Vector of auxiliary variables; number of elements: 10. */
-real_t* a = acadoWorkspace.rhs_aux;
-
-/* Compute intermediate quantities: */
-a[0] = (exp((((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[5])/(real_t)(2.0000000000000000e+00))));
-a[1] = ((real_t)(1.0000000000000000e+00)/(real_t)(2.0000000000000000e+00));
-a[2] = (exp((((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[5])/(real_t)(2.0000000000000000e+00))));
-a[3] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[36])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[36]))*a[1])*a[2]);
-a[4] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[37])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[37]))*a[1])*a[2]);
-a[5] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[38])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[38]))*a[1])*a[2]);
-a[6] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[39])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[39]))*a[1])*a[2]);
-a[7] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[40])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[40]))*a[1])*a[2]);
-a[8] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[41])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[41]))*a[1])*a[2]);
-a[9] = (((((((real_t)(0.0000000000000000e+00)-od[0])*xd[47])*xd[5])+((((real_t)(0.0000000000000000e+00)-od[0])*xd[5])*xd[47]))*a[1])*a[2]);
+const real_t* u = in + 15;
/* Compute outputs: */
out[0] = xd[1];
out[1] = xd[2];
out[2] = u[0];
-out[3] = xd[4];
-out[4] = (od[1]*a[0]);
-out[5] = (real_t)(1.0000000000000000e+00);
-out[6] = xd[12];
-out[7] = xd[13];
-out[8] = xd[14];
-out[9] = xd[15];
-out[10] = xd[16];
-out[11] = xd[17];
-out[12] = xd[18];
-out[13] = xd[19];
-out[14] = xd[20];
-out[15] = xd[21];
-out[16] = xd[22];
-out[17] = xd[23];
-out[18] = (real_t)(0.0000000000000000e+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] = (real_t)(0.0000000000000000e+00);
-out[24] = xd[30];
-out[25] = xd[31];
-out[26] = xd[32];
-out[27] = xd[33];
-out[28] = xd[34];
-out[29] = xd[35];
-out[30] = (od[1]*a[3]);
-out[31] = (od[1]*a[4]);
-out[32] = (od[1]*a[5]);
-out[33] = (od[1]*a[6]);
-out[34] = (od[1]*a[7]);
-out[35] = (od[1]*a[8]);
-out[36] = (real_t)(0.0000000000000000e+00);
-out[37] = (real_t)(0.0000000000000000e+00);
-out[38] = (real_t)(0.0000000000000000e+00);
-out[39] = (real_t)(0.0000000000000000e+00);
-out[40] = (real_t)(0.0000000000000000e+00);
-out[41] = (real_t)(0.0000000000000000e+00);
-out[42] = xd[43];
-out[43] = xd[44];
-out[44] = (real_t)(1.0000000000000000e+00);
-out[45] = xd[46];
-out[46] = (od[1]*a[9]);
-out[47] = (real_t)(0.0000000000000000e+00);
+out[3] = xd[6];
+out[4] = xd[7];
+out[5] = xd[8];
+out[6] = xd[9];
+out[7] = xd[10];
+out[8] = xd[11];
+out[9] = (real_t)(0.0000000000000000e+00);
+out[10] = (real_t)(0.0000000000000000e+00);
+out[11] = (real_t)(0.0000000000000000e+00);
+out[12] = xd[13];
+out[13] = xd[14];
+out[14] = (real_t)(1.0000000000000000e+00);
}
/* Fixed step size:0.2 */
@@ -100,51 +52,21 @@ int run1;
int numSteps[20] = {1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3};
int numInts = numSteps[rk_index];
acadoWorkspace.rk_ttt = 0.0000000000000000e+00;
-rk_eta[6] = 1.0000000000000000e+00;
-rk_eta[7] = 0.0000000000000000e+00;
+rk_eta[3] = 1.0000000000000000e+00;
+rk_eta[4] = 0.0000000000000000e+00;
+rk_eta[5] = 0.0000000000000000e+00;
+rk_eta[6] = 0.0000000000000000e+00;
+rk_eta[7] = 1.0000000000000000e+00;
rk_eta[8] = 0.0000000000000000e+00;
rk_eta[9] = 0.0000000000000000e+00;
rk_eta[10] = 0.0000000000000000e+00;
-rk_eta[11] = 0.0000000000000000e+00;
+rk_eta[11] = 1.0000000000000000e+00;
rk_eta[12] = 0.0000000000000000e+00;
-rk_eta[13] = 1.0000000000000000e+00;
+rk_eta[13] = 0.0000000000000000e+00;
rk_eta[14] = 0.0000000000000000e+00;
-rk_eta[15] = 0.0000000000000000e+00;
-rk_eta[16] = 0.0000000000000000e+00;
-rk_eta[17] = 0.0000000000000000e+00;
-rk_eta[18] = 0.0000000000000000e+00;
-rk_eta[19] = 0.0000000000000000e+00;
-rk_eta[20] = 1.0000000000000000e+00;
-rk_eta[21] = 0.0000000000000000e+00;
-rk_eta[22] = 0.0000000000000000e+00;
-rk_eta[23] = 0.0000000000000000e+00;
-rk_eta[24] = 0.0000000000000000e+00;
-rk_eta[25] = 0.0000000000000000e+00;
-rk_eta[26] = 0.0000000000000000e+00;
-rk_eta[27] = 1.0000000000000000e+00;
-rk_eta[28] = 0.0000000000000000e+00;
-rk_eta[29] = 0.0000000000000000e+00;
-rk_eta[30] = 0.0000000000000000e+00;
-rk_eta[31] = 0.0000000000000000e+00;
-rk_eta[32] = 0.0000000000000000e+00;
-rk_eta[33] = 0.0000000000000000e+00;
-rk_eta[34] = 1.0000000000000000e+00;
-rk_eta[35] = 0.0000000000000000e+00;
-rk_eta[36] = 0.0000000000000000e+00;
-rk_eta[37] = 0.0000000000000000e+00;
-rk_eta[38] = 0.0000000000000000e+00;
-rk_eta[39] = 0.0000000000000000e+00;
-rk_eta[40] = 0.0000000000000000e+00;
-rk_eta[41] = 1.0000000000000000e+00;
-rk_eta[42] = 0.0000000000000000e+00;
-rk_eta[43] = 0.0000000000000000e+00;
-rk_eta[44] = 0.0000000000000000e+00;
-rk_eta[45] = 0.0000000000000000e+00;
-rk_eta[46] = 0.0000000000000000e+00;
-rk_eta[47] = 0.0000000000000000e+00;
-acadoWorkspace.rk_xxx[48] = rk_eta[48];
-acadoWorkspace.rk_xxx[49] = rk_eta[49];
-acadoWorkspace.rk_xxx[50] = rk_eta[50];
+acadoWorkspace.rk_xxx[15] = rk_eta[15];
+acadoWorkspace.rk_xxx[16] = rk_eta[16];
+acadoWorkspace.rk_xxx[17] = rk_eta[17];
for (run1 = 0; run1 < 1; ++run1)
{
@@ -164,39 +86,6 @@ acadoWorkspace.rk_xxx[11] = + rk_eta[11];
acadoWorkspace.rk_xxx[12] = + rk_eta[12];
acadoWorkspace.rk_xxx[13] = + rk_eta[13];
acadoWorkspace.rk_xxx[14] = + rk_eta[14];
-acadoWorkspace.rk_xxx[15] = + rk_eta[15];
-acadoWorkspace.rk_xxx[16] = + rk_eta[16];
-acadoWorkspace.rk_xxx[17] = + rk_eta[17];
-acadoWorkspace.rk_xxx[18] = + rk_eta[18];
-acadoWorkspace.rk_xxx[19] = + rk_eta[19];
-acadoWorkspace.rk_xxx[20] = + rk_eta[20];
-acadoWorkspace.rk_xxx[21] = + rk_eta[21];
-acadoWorkspace.rk_xxx[22] = + rk_eta[22];
-acadoWorkspace.rk_xxx[23] = + rk_eta[23];
-acadoWorkspace.rk_xxx[24] = + rk_eta[24];
-acadoWorkspace.rk_xxx[25] = + rk_eta[25];
-acadoWorkspace.rk_xxx[26] = + rk_eta[26];
-acadoWorkspace.rk_xxx[27] = + rk_eta[27];
-acadoWorkspace.rk_xxx[28] = + rk_eta[28];
-acadoWorkspace.rk_xxx[29] = + rk_eta[29];
-acadoWorkspace.rk_xxx[30] = + rk_eta[30];
-acadoWorkspace.rk_xxx[31] = + rk_eta[31];
-acadoWorkspace.rk_xxx[32] = + rk_eta[32];
-acadoWorkspace.rk_xxx[33] = + rk_eta[33];
-acadoWorkspace.rk_xxx[34] = + rk_eta[34];
-acadoWorkspace.rk_xxx[35] = + rk_eta[35];
-acadoWorkspace.rk_xxx[36] = + rk_eta[36];
-acadoWorkspace.rk_xxx[37] = + rk_eta[37];
-acadoWorkspace.rk_xxx[38] = + rk_eta[38];
-acadoWorkspace.rk_xxx[39] = + rk_eta[39];
-acadoWorkspace.rk_xxx[40] = + rk_eta[40];
-acadoWorkspace.rk_xxx[41] = + rk_eta[41];
-acadoWorkspace.rk_xxx[42] = + rk_eta[42];
-acadoWorkspace.rk_xxx[43] = + rk_eta[43];
-acadoWorkspace.rk_xxx[44] = + rk_eta[44];
-acadoWorkspace.rk_xxx[45] = + rk_eta[45];
-acadoWorkspace.rk_xxx[46] = + rk_eta[46];
-acadoWorkspace.rk_xxx[47] = + rk_eta[47];
acado_rhs_forw( acadoWorkspace.rk_xxx, acadoWorkspace.rk_kkk );
acadoWorkspace.rk_xxx[0] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[0] + rk_eta[0];
acadoWorkspace.rk_xxx[1] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[1] + rk_eta[1];
@@ -213,186 +102,54 @@ acadoWorkspace.rk_xxx[11] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_k
acadoWorkspace.rk_xxx[12] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[12] + rk_eta[12];
acadoWorkspace.rk_xxx[13] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[13] + rk_eta[13];
acadoWorkspace.rk_xxx[14] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[14] + rk_eta[14];
-acadoWorkspace.rk_xxx[15] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[15] + rk_eta[15];
-acadoWorkspace.rk_xxx[16] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[16] + rk_eta[16];
-acadoWorkspace.rk_xxx[17] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[17] + rk_eta[17];
-acadoWorkspace.rk_xxx[18] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[18] + rk_eta[18];
-acadoWorkspace.rk_xxx[19] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[19] + rk_eta[19];
-acadoWorkspace.rk_xxx[20] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[20] + rk_eta[20];
-acadoWorkspace.rk_xxx[21] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[21] + rk_eta[21];
-acadoWorkspace.rk_xxx[22] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[22] + rk_eta[22];
-acadoWorkspace.rk_xxx[23] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[23] + rk_eta[23];
-acadoWorkspace.rk_xxx[24] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[24] + rk_eta[24];
-acadoWorkspace.rk_xxx[25] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[25] + rk_eta[25];
-acadoWorkspace.rk_xxx[26] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[26] + rk_eta[26];
-acadoWorkspace.rk_xxx[27] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[27] + rk_eta[27];
-acadoWorkspace.rk_xxx[28] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[28] + rk_eta[28];
-acadoWorkspace.rk_xxx[29] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[29] + rk_eta[29];
-acadoWorkspace.rk_xxx[30] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[30] + rk_eta[30];
-acadoWorkspace.rk_xxx[31] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[31] + rk_eta[31];
-acadoWorkspace.rk_xxx[32] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[32] + rk_eta[32];
-acadoWorkspace.rk_xxx[33] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[33] + rk_eta[33];
-acadoWorkspace.rk_xxx[34] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[34] + rk_eta[34];
-acadoWorkspace.rk_xxx[35] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[35] + rk_eta[35];
-acadoWorkspace.rk_xxx[36] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[36] + rk_eta[36];
-acadoWorkspace.rk_xxx[37] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[37] + rk_eta[37];
-acadoWorkspace.rk_xxx[38] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[38] + rk_eta[38];
-acadoWorkspace.rk_xxx[39] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[39] + rk_eta[39];
-acadoWorkspace.rk_xxx[40] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[40] + rk_eta[40];
-acadoWorkspace.rk_xxx[41] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[41] + rk_eta[41];
-acadoWorkspace.rk_xxx[42] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[42] + rk_eta[42];
-acadoWorkspace.rk_xxx[43] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[43] + rk_eta[43];
-acadoWorkspace.rk_xxx[44] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[44] + rk_eta[44];
-acadoWorkspace.rk_xxx[45] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[45] + rk_eta[45];
-acadoWorkspace.rk_xxx[46] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[46] + rk_eta[46];
-acadoWorkspace.rk_xxx[47] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[47] + rk_eta[47];
-acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 48 ]) );
-acadoWorkspace.rk_xxx[0] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[48] + rk_eta[0];
-acadoWorkspace.rk_xxx[1] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[49] + rk_eta[1];
-acadoWorkspace.rk_xxx[2] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[50] + rk_eta[2];
-acadoWorkspace.rk_xxx[3] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[51] + rk_eta[3];
-acadoWorkspace.rk_xxx[4] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[52] + rk_eta[4];
-acadoWorkspace.rk_xxx[5] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[53] + rk_eta[5];
-acadoWorkspace.rk_xxx[6] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[54] + rk_eta[6];
-acadoWorkspace.rk_xxx[7] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[55] + rk_eta[7];
-acadoWorkspace.rk_xxx[8] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[56] + rk_eta[8];
-acadoWorkspace.rk_xxx[9] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[57] + rk_eta[9];
-acadoWorkspace.rk_xxx[10] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[58] + rk_eta[10];
-acadoWorkspace.rk_xxx[11] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[59] + rk_eta[11];
-acadoWorkspace.rk_xxx[12] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[60] + rk_eta[12];
-acadoWorkspace.rk_xxx[13] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[61] + rk_eta[13];
-acadoWorkspace.rk_xxx[14] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[62] + rk_eta[14];
-acadoWorkspace.rk_xxx[15] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[63] + rk_eta[15];
-acadoWorkspace.rk_xxx[16] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[64] + rk_eta[16];
-acadoWorkspace.rk_xxx[17] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[65] + rk_eta[17];
-acadoWorkspace.rk_xxx[18] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[66] + rk_eta[18];
-acadoWorkspace.rk_xxx[19] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[67] + rk_eta[19];
-acadoWorkspace.rk_xxx[20] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[68] + rk_eta[20];
-acadoWorkspace.rk_xxx[21] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[69] + rk_eta[21];
-acadoWorkspace.rk_xxx[22] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[70] + rk_eta[22];
-acadoWorkspace.rk_xxx[23] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[71] + rk_eta[23];
-acadoWorkspace.rk_xxx[24] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[72] + rk_eta[24];
-acadoWorkspace.rk_xxx[25] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[73] + rk_eta[25];
-acadoWorkspace.rk_xxx[26] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[74] + rk_eta[26];
-acadoWorkspace.rk_xxx[27] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[75] + rk_eta[27];
-acadoWorkspace.rk_xxx[28] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[76] + rk_eta[28];
-acadoWorkspace.rk_xxx[29] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[77] + rk_eta[29];
-acadoWorkspace.rk_xxx[30] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[78] + rk_eta[30];
-acadoWorkspace.rk_xxx[31] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[79] + rk_eta[31];
-acadoWorkspace.rk_xxx[32] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[80] + rk_eta[32];
-acadoWorkspace.rk_xxx[33] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[81] + rk_eta[33];
-acadoWorkspace.rk_xxx[34] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[82] + rk_eta[34];
-acadoWorkspace.rk_xxx[35] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[83] + rk_eta[35];
-acadoWorkspace.rk_xxx[36] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[84] + rk_eta[36];
-acadoWorkspace.rk_xxx[37] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[85] + rk_eta[37];
-acadoWorkspace.rk_xxx[38] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[86] + rk_eta[38];
-acadoWorkspace.rk_xxx[39] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[87] + rk_eta[39];
-acadoWorkspace.rk_xxx[40] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[88] + rk_eta[40];
-acadoWorkspace.rk_xxx[41] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[89] + rk_eta[41];
-acadoWorkspace.rk_xxx[42] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[90] + rk_eta[42];
-acadoWorkspace.rk_xxx[43] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[91] + rk_eta[43];
-acadoWorkspace.rk_xxx[44] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[92] + rk_eta[44];
-acadoWorkspace.rk_xxx[45] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[93] + rk_eta[45];
-acadoWorkspace.rk_xxx[46] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[94] + rk_eta[46];
-acadoWorkspace.rk_xxx[47] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[95] + rk_eta[47];
-acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 96 ]) );
-acadoWorkspace.rk_xxx[0] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[96] + rk_eta[0];
-acadoWorkspace.rk_xxx[1] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[97] + rk_eta[1];
-acadoWorkspace.rk_xxx[2] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[98] + rk_eta[2];
-acadoWorkspace.rk_xxx[3] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[99] + rk_eta[3];
-acadoWorkspace.rk_xxx[4] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[100] + rk_eta[4];
-acadoWorkspace.rk_xxx[5] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[101] + rk_eta[5];
-acadoWorkspace.rk_xxx[6] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[102] + rk_eta[6];
-acadoWorkspace.rk_xxx[7] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[103] + rk_eta[7];
-acadoWorkspace.rk_xxx[8] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[104] + rk_eta[8];
-acadoWorkspace.rk_xxx[9] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[105] + rk_eta[9];
-acadoWorkspace.rk_xxx[10] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[106] + rk_eta[10];
-acadoWorkspace.rk_xxx[11] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[107] + rk_eta[11];
-acadoWorkspace.rk_xxx[12] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[108] + rk_eta[12];
-acadoWorkspace.rk_xxx[13] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[109] + rk_eta[13];
-acadoWorkspace.rk_xxx[14] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[110] + rk_eta[14];
-acadoWorkspace.rk_xxx[15] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[111] + rk_eta[15];
-acadoWorkspace.rk_xxx[16] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[112] + rk_eta[16];
-acadoWorkspace.rk_xxx[17] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[113] + rk_eta[17];
-acadoWorkspace.rk_xxx[18] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[114] + rk_eta[18];
-acadoWorkspace.rk_xxx[19] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[115] + rk_eta[19];
-acadoWorkspace.rk_xxx[20] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[116] + rk_eta[20];
-acadoWorkspace.rk_xxx[21] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[117] + rk_eta[21];
-acadoWorkspace.rk_xxx[22] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[118] + rk_eta[22];
-acadoWorkspace.rk_xxx[23] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[119] + rk_eta[23];
-acadoWorkspace.rk_xxx[24] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[120] + rk_eta[24];
-acadoWorkspace.rk_xxx[25] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[121] + rk_eta[25];
-acadoWorkspace.rk_xxx[26] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[122] + rk_eta[26];
-acadoWorkspace.rk_xxx[27] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[123] + rk_eta[27];
-acadoWorkspace.rk_xxx[28] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[124] + rk_eta[28];
-acadoWorkspace.rk_xxx[29] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[125] + rk_eta[29];
-acadoWorkspace.rk_xxx[30] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[126] + rk_eta[30];
-acadoWorkspace.rk_xxx[31] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[127] + rk_eta[31];
-acadoWorkspace.rk_xxx[32] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[128] + rk_eta[32];
-acadoWorkspace.rk_xxx[33] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[129] + rk_eta[33];
-acadoWorkspace.rk_xxx[34] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[130] + rk_eta[34];
-acadoWorkspace.rk_xxx[35] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[131] + rk_eta[35];
-acadoWorkspace.rk_xxx[36] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[132] + rk_eta[36];
-acadoWorkspace.rk_xxx[37] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[133] + rk_eta[37];
-acadoWorkspace.rk_xxx[38] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[134] + rk_eta[38];
-acadoWorkspace.rk_xxx[39] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[135] + rk_eta[39];
-acadoWorkspace.rk_xxx[40] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[136] + rk_eta[40];
-acadoWorkspace.rk_xxx[41] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[137] + rk_eta[41];
-acadoWorkspace.rk_xxx[42] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[138] + rk_eta[42];
-acadoWorkspace.rk_xxx[43] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[139] + rk_eta[43];
-acadoWorkspace.rk_xxx[44] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[140] + rk_eta[44];
-acadoWorkspace.rk_xxx[45] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[141] + rk_eta[45];
-acadoWorkspace.rk_xxx[46] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[142] + rk_eta[46];
-acadoWorkspace.rk_xxx[47] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[143] + rk_eta[47];
-acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 144 ]) );
-rk_eta[0] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[0] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[48] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[96] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[144];
-rk_eta[1] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[1] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[49] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[97] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[145];
-rk_eta[2] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[2] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[50] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[98] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[146];
-rk_eta[3] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[3] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[51] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[99] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[147];
-rk_eta[4] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[4] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[52] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[100] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[148];
-rk_eta[5] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[5] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[53] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[101] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[149];
-rk_eta[6] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[6] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[54] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[102] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[150];
-rk_eta[7] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[7] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[55] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[103] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[151];
-rk_eta[8] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[8] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[56] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[104] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[152];
-rk_eta[9] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[9] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[57] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[105] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[153];
-rk_eta[10] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[10] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[58] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[106] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[154];
-rk_eta[11] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[11] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[59] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[107] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[155];
-rk_eta[12] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[12] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[60] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[108] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[156];
-rk_eta[13] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[13] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[61] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[109] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[157];
-rk_eta[14] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[14] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[62] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[110] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[158];
-rk_eta[15] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[15] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[63] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[111] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[159];
-rk_eta[16] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[16] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[64] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[112] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[160];
-rk_eta[17] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[17] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[65] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[113] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[161];
-rk_eta[18] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[18] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[66] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[114] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[162];
-rk_eta[19] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[19] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[67] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[115] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[163];
-rk_eta[20] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[20] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[68] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[116] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[164];
-rk_eta[21] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[21] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[69] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[117] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[165];
-rk_eta[22] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[22] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[70] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[118] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[166];
-rk_eta[23] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[23] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[71] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[119] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[167];
-rk_eta[24] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[24] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[72] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[120] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[168];
-rk_eta[25] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[25] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[73] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[121] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[169];
-rk_eta[26] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[26] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[74] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[122] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[170];
-rk_eta[27] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[27] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[75] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[123] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[171];
-rk_eta[28] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[28] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[76] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[124] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[172];
-rk_eta[29] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[29] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[77] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[125] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[173];
-rk_eta[30] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[30] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[78] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[126] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[174];
-rk_eta[31] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[31] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[79] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[127] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[175];
-rk_eta[32] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[32] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[80] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[128] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[176];
-rk_eta[33] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[33] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[81] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[129] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[177];
-rk_eta[34] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[34] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[82] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[130] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[178];
-rk_eta[35] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[35] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[83] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[131] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[179];
-rk_eta[36] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[36] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[84] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[132] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[180];
-rk_eta[37] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[37] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[85] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[133] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[181];
-rk_eta[38] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[38] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[86] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[134] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[182];
-rk_eta[39] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[39] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[87] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[135] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[183];
-rk_eta[40] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[40] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[88] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[136] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[184];
-rk_eta[41] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[41] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[89] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[137] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[185];
-rk_eta[42] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[42] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[90] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[138] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[186];
-rk_eta[43] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[43] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[91] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[139] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[187];
-rk_eta[44] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[44] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[92] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[140] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[188];
-rk_eta[45] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[45] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[93] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[141] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[189];
-rk_eta[46] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[46] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[94] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[142] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[190];
-rk_eta[47] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[47] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[95] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[143] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[191];
+acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 15 ]) );
+acadoWorkspace.rk_xxx[0] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[15] + rk_eta[0];
+acadoWorkspace.rk_xxx[1] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[16] + rk_eta[1];
+acadoWorkspace.rk_xxx[2] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[17] + rk_eta[2];
+acadoWorkspace.rk_xxx[3] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[18] + rk_eta[3];
+acadoWorkspace.rk_xxx[4] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[19] + rk_eta[4];
+acadoWorkspace.rk_xxx[5] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[20] + rk_eta[5];
+acadoWorkspace.rk_xxx[6] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[21] + rk_eta[6];
+acadoWorkspace.rk_xxx[7] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[22] + rk_eta[7];
+acadoWorkspace.rk_xxx[8] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[23] + rk_eta[8];
+acadoWorkspace.rk_xxx[9] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[24] + rk_eta[9];
+acadoWorkspace.rk_xxx[10] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[25] + rk_eta[10];
+acadoWorkspace.rk_xxx[11] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[26] + rk_eta[11];
+acadoWorkspace.rk_xxx[12] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[27] + rk_eta[12];
+acadoWorkspace.rk_xxx[13] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[28] + rk_eta[13];
+acadoWorkspace.rk_xxx[14] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[29] + rk_eta[14];
+acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 30 ]) );
+acadoWorkspace.rk_xxx[0] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[30] + rk_eta[0];
+acadoWorkspace.rk_xxx[1] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[31] + rk_eta[1];
+acadoWorkspace.rk_xxx[2] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[32] + rk_eta[2];
+acadoWorkspace.rk_xxx[3] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[33] + rk_eta[3];
+acadoWorkspace.rk_xxx[4] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[34] + rk_eta[4];
+acadoWorkspace.rk_xxx[5] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[35] + rk_eta[5];
+acadoWorkspace.rk_xxx[6] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[36] + rk_eta[6];
+acadoWorkspace.rk_xxx[7] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[37] + rk_eta[7];
+acadoWorkspace.rk_xxx[8] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[38] + rk_eta[8];
+acadoWorkspace.rk_xxx[9] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[39] + rk_eta[9];
+acadoWorkspace.rk_xxx[10] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[40] + rk_eta[10];
+acadoWorkspace.rk_xxx[11] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[41] + rk_eta[11];
+acadoWorkspace.rk_xxx[12] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[42] + rk_eta[12];
+acadoWorkspace.rk_xxx[13] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[43] + rk_eta[13];
+acadoWorkspace.rk_xxx[14] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[44] + rk_eta[14];
+acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 45 ]) );
+rk_eta[0] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[0] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[15] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[30] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[45];
+rk_eta[1] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[1] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[16] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[31] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[46];
+rk_eta[2] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[2] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[17] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[32] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[47];
+rk_eta[3] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[3] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[18] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[33] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[48];
+rk_eta[4] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[4] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[19] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[34] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[49];
+rk_eta[5] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[5] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[20] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[35] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[50];
+rk_eta[6] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[6] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[21] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[36] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[51];
+rk_eta[7] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[7] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[22] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[37] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[52];
+rk_eta[8] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[8] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[23] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[38] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[53];
+rk_eta[9] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[9] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[24] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[39] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[54];
+rk_eta[10] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[10] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[25] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[40] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[55];
+rk_eta[11] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[11] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[26] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[41] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[56];
+rk_eta[12] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[12] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[27] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[42] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[57];
+rk_eta[13] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[13] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[28] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[43] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[58];
+rk_eta[14] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[14] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[29] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[44] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[59];
acadoWorkspace.rk_ttt += 1.0000000000000000e+00;
}
}
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.o b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.o
index 0008b1397..2ee2d1300 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.o differ
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 ce919eb77..212935769 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o differ
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] + acadoWorkspace.evGx[283]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[289]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[295]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[301]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[307]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[313]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[319]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[325]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[331]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[337]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[343]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[349]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[355]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[361]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[367]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[373]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[379]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[385]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[391]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[397]*acadoWorkspace.QDy[72] + 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] + acadoWorkspace.evGx[261]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[267]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[273]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[279]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[285]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[291]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[297]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[303]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[309]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[315]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[321]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[327]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[333]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[339]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[345]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[351]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[357]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[363]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[369]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[375]*acadoWorkspace.QDy[68] + 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] += + acadoWorkspace.evGx[624]*acadoWorkspace.x[0] + acadoWorkspace.evGx[625]*acadoWorkspace.x[1] + acadoWorkspace.evGx[626]*acadoWorkspace.x[2] + acadoWorkspace.evGx[627]*acadoWorkspace.x[3] + acadoWorkspace.evGx[628]*acadoWorkspace.x[4] + acadoWorkspace.evGx[629]*acadoWorkspace.x[5] + acadoWorkspace.d[104];
-acadoVariables.x[111] += + acadoWorkspace.evGx[630]*acadoWorkspace.x[0] + acadoWorkspace.evGx[631]*acadoWorkspace.x[1] + acadoWorkspace.evGx[632]*acadoWorkspace.x[2] + acadoWorkspace.evGx[633]*acadoWorkspace.x[3] + acadoWorkspace.evGx[634]*acadoWorkspace.x[4] + acadoWorkspace.evGx[635]*acadoWorkspace.x[5] + acadoWorkspace.d[105];
-acadoVariables.x[112] += + acadoWorkspace.evGx[636]*acadoWorkspace.x[0] + acadoWorkspace.evGx[637]*acadoWorkspace.x[1] + acadoWorkspace.evGx[638]*acadoWorkspace.x[2] + acadoWorkspace.evGx[639]*acadoWorkspace.x[3] + acadoWorkspace.evGx[640]*acadoWorkspace.x[4] + acadoWorkspace.evGx[641]*acadoWorkspace.x[5] + acadoWorkspace.d[106];
-acadoVariables.x[113] += + acadoWorkspace.evGx[642]*acadoWorkspace.x[0] + acadoWorkspace.evGx[643]*acadoWorkspace.x[1] + acadoWorkspace.evGx[644]*acadoWorkspace.x[2] + acadoWorkspace.evGx[645]*acadoWorkspace.x[3] + acadoWorkspace.evGx[646]*acadoWorkspace.x[4] + acadoWorkspace.evGx[647]*acadoWorkspace.x[5] + acadoWorkspace.d[107];
-acadoVariables.x[114] += + acadoWorkspace.evGx[648]*acadoWorkspace.x[0] + acadoWorkspace.evGx[649]*acadoWorkspace.x[1] + acadoWorkspace.evGx[650]*acadoWorkspace.x[2] + acadoWorkspace.evGx[651]*acadoWorkspace.x[3] + acadoWorkspace.evGx[652]*acadoWorkspace.x[4] + acadoWorkspace.evGx[653]*acadoWorkspace.x[5] + acadoWorkspace.d[108];
-acadoVariables.x[115] += + acadoWorkspace.evGx[654]*acadoWorkspace.x[0] + acadoWorkspace.evGx[655]*acadoWorkspace.x[1] + acadoWorkspace.evGx[656]*acadoWorkspace.x[2] + acadoWorkspace.evGx[657]*acadoWorkspace.x[3] + acadoWorkspace.evGx[658]*acadoWorkspace.x[4] + acadoWorkspace.evGx[659]*acadoWorkspace.x[5] + acadoWorkspace.d[109];
-acadoVariables.x[116] += + 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] += + acadoWorkspace.evGx[42]*acadoWorkspace.x[0] + acadoWorkspace.evGx[43]*acadoWorkspace.x[1] + acadoWorkspace.evGx[44]*acadoWorkspace.x[2] + acadoWorkspace.d[14];
+acadoVariables.x[18] += + acadoWorkspace.evGx[45]*acadoWorkspace.x[0] + acadoWorkspace.evGx[46]*acadoWorkspace.x[1] + acadoWorkspace.evGx[47]*acadoWorkspace.x[2] + acadoWorkspace.d[15];
+acadoVariables.x[19] += + acadoWorkspace.evGx[48]*acadoWorkspace.x[0] + acadoWorkspace.evGx[49]*acadoWorkspace.x[1] + acadoWorkspace.evGx[50]*acadoWorkspace.x[2] + acadoWorkspace.d[16];
+acadoVariables.x[20] += + acadoWorkspace.evGx[51]*acadoWorkspace.x[0] + acadoWorkspace.evGx[52]*acadoWorkspace.x[1] + acadoWorkspace.evGx[53]*acadoWorkspace.x[2] + acadoWorkspace.d[17];
+acadoVariables.x[21] += + acadoWorkspace.evGx[54]*acadoWorkspace.x[0] + acadoWorkspace.evGx[55]*acadoWorkspace.x[1] + acadoWorkspace.evGx[56]*acadoWorkspace.x[2] + acadoWorkspace.d[18];
+acadoVariables.x[22] += + acadoWorkspace.evGx[57]*acadoWorkspace.x[0] + 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] += + acadoWorkspace.evGx[105]*acadoWorkspace.x[0] + acadoWorkspace.evGx[106]*acadoWorkspace.x[1] + acadoWorkspace.evGx[107]*acadoWorkspace.x[2] + acadoWorkspace.d[35];
+acadoVariables.x[39] += + acadoWorkspace.evGx[108]*acadoWorkspace.x[0] + acadoWorkspace.evGx[109]*acadoWorkspace.x[1] + acadoWorkspace.evGx[110]*acadoWorkspace.x[2] + acadoWorkspace.d[36];
+acadoVariables.x[40] += + acadoWorkspace.evGx[111]*acadoWorkspace.x[0] + acadoWorkspace.evGx[112]*acadoWorkspace.x[1] + acadoWorkspace.evGx[113]*acadoWorkspace.x[2] + acadoWorkspace.d[37];
+acadoVariables.x[41] += + acadoWorkspace.evGx[114]*acadoWorkspace.x[0] + acadoWorkspace.evGx[115]*acadoWorkspace.x[1] + acadoWorkspace.evGx[116]*acadoWorkspace.x[2] + acadoWorkspace.d[38];
+acadoVariables.x[42] += + acadoWorkspace.evGx[117]*acadoWorkspace.x[0] + acadoWorkspace.evGx[118]*acadoWorkspace.x[1] + acadoWorkspace.evGx[119]*acadoWorkspace.x[2] + acadoWorkspace.d[39];
+acadoVariables.x[43] += + acadoWorkspace.evGx[120]*acadoWorkspace.x[0] + 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 ]) );
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+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] - acadoVariables.yN[1];
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o
index 8f2fcfbdf..435fd9f83 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Bounds.o b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Bounds.o
index b770e3240..28794f818 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Bounds.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Bounds.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Constraints.o b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Constraints.o
index 4d47fe901..81352513f 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Constraints.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Constraints.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/CyclingManager.o b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/CyclingManager.o
index ec3e83d11..321db37ef 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/CyclingManager.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/CyclingManager.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/EXTRAS/SolutionAnalysis.o b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/EXTRAS/SolutionAnalysis.o
index 71cbd4ce3..1816ece0e 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/EXTRAS/SolutionAnalysis.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/EXTRAS/SolutionAnalysis.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Indexlist.o b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Indexlist.o
index 9ef68d5bf..c8bdbe979 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Indexlist.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/Indexlist.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblem.o b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblem.o
index 81a505555..0d79872a2 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblem.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblem.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblemB.o b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblemB.o
index a85043924..9ad890018 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblemB.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/QProblemB.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/SubjectTo.o b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/SubjectTo.o
index 827237a68..f5b1695e7 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_qp/SubjectTo.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_qp/SubjectTo.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so b/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so
index 232e9a158..3e05e166d 100755
Binary files a/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so and b/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py b/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
index 36b6f8b7e..354a4a493 100644
--- 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 b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o
index e899d7b78..3c0660d96 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o and b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o differ
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', '