diff --git a/.gitattributes b/.gitattributes
index 41a7367d84..efbe60f990 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11,13 +11,4 @@
 *.wav filter=lfs diff=lfs merge=lfs -text
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
-third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
-third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/ISSUE_TEMPLATE/enhancement.md b/.github/ISSUE_TEMPLATE/enhancement.md
deleted file mode 100644
index 330b9b1101..0000000000
--- a/.github/ISSUE_TEMPLATE/enhancement.md
+++ /dev/null
@@ -1,8 +0,0 @@
----
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
----
-
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 834771d634..ee8f61f880 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -123,7 +123,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
       run: |
@@ -147,7 +147,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Run replay
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       continue-on-error: ${{ github.ref == 'refs/heads/master' }}
@@ -179,7 +179,7 @@ jobs:
         repository: commaai/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
-    - name: Push refs
+    - name: Prepare refs
       if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
@@ -191,7 +191,13 @@ jobs:
         echo "${{ github.sha }}" > ref_commit
         git add .
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-        git push origin process-replay --force
+    - name: Push refs
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
     - name: Run regen
       if: false
       timeout-minutes: 4
@@ -214,7 +220,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Driving test
       timeout-minutes: 2
       run: |
@@ -235,7 +241,7 @@ jobs:
           submodules: true
       - run: ./tools/op.sh setup
       - name: Build openpilot
-        run: scons -j$(nproc)
+        run: scons
       - name: Create UI Report
         run: |
           source selfdrive/test/setup_xvfb.sh
diff --git a/.gitignore b/.gitignore
index ed49682f45..e4eaeb2c50 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,7 +44,7 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_compiled_flags.json
+selfdrive/modeld/models/tg_input_devices.json
 
 # build artifacts
 docs_site/
diff --git a/.vscode/settings.json b/.vscode/settings.json
index f0731c362d..811306f399 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -21,7 +21,6 @@
     "common/**",
     "selfdrive/**",
     "system/**",
-    "third_party/**",
     "tools/**",
   ]
 }
diff --git a/Jenkinsfile b/Jenkinsfile
index 39175d89e3..a7f46ce17a 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -166,8 +166,8 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
+                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +179,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
 
@@ -247,7 +247,6 @@ node {
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },
 
diff --git a/RELEASES.md b/RELEASES.md
index 55141710d0..7946fce019 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,7 +1,13 @@
-Version 0.11.1 (2026-04-22)
+Version 0.11.2 (2026-06-15)
+========================
+
+
+Version 0.11.1 (2026-05-18)
 ========================
 * New driver monitoring model
 * Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
 * Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
 
 Version 0.11.0 (2026-03-17)
diff --git a/SConstruct b/SConstruct
index 16c0752acf..5eb25ff50c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -10,25 +10,28 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes
 
+TICI = os.path.isfile('/TICI')
+
 SCons.Warnings.warningAsException(True)
 
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
+SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
+release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
+          default=(not TICI and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and os.path.isfile('/TICI'):
+elif arch == "aarch64" and TICI:
   arch = "larch64"
 assert arch in [
   "larch64",  # linux tici arm64
@@ -37,8 +40,14 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
+acados = pkgs[pkg_names.index('acados')]
+acados_include_dirs = [
+  acados.INCLUDE_DIR,
+  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
+  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
+]
 
 
 # ***** enforce a whitelist of system libraries *****
@@ -82,10 +91,10 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+    "PYTHONPATH": Dir("#").abspath,
+    "ACADOS_SOURCE_DIR": acados.DIR,
+    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
+    "TERA_PATH": acados.TERA_PATH
   },
   CCFLAGS=[
     "-g",
@@ -105,22 +114,14 @@ env = Environment(
   CPPPATH=[
     "#",
     "#msgq",
-    "#third_party",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
+    acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
     "#common",
     "#msgq_repo",
-    "#third_party",
     "#selfdrive/pandad",
     "#rednose/helpers",
-    f"#third_party/acados/{arch}/lib",
     [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[],
@@ -174,16 +175,6 @@ if not GetOption('verbose'):
   ):
     env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
 
-# progress output
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
 # ********** Cython build environment **********
 envCython = env.Clone()
 envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
@@ -199,14 +190,24 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch')
+Export('env', 'arch', 'acados')
 
 # Setup cache dir
 default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
+def prune_cache_dir(target=None, source=None, env=None):
+  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
+  cache_size = sum(os.path.getsize(f) for f in cache_files)
+  for f in cache_files:
+    if cache_size < cache_size_limit:
+      break
+    cache_size -= os.path.getsize(f)
+    os.unlink(f)
+
 # ********** start building stuff **********
 
 # Build common module
@@ -242,9 +243,6 @@ SConscript([
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])
 
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
 # Build selfdrive
 SConscript([
   'selfdrive/pandad/SConscript',
@@ -257,8 +255,8 @@ SConscript([
 
 SConscript(['sunnypilot/SConscript'])
 
-# Build tools
-if arch != "larch64":
+# Build desktop-only tools
+if GetOption('extras') and arch != "larch64":
   SConscript([
     'tools/replay/SConscript',
     'tools/cabana/SConscript',
@@ -267,3 +265,37 @@ if arch != "larch64":
 
 
 env.CompilationDatabase('compile_commands.json')
+
+# progress output
+def count_scons_nodes(nodes):
+  seen = set()
+  stack = list(nodes)
+
+  while stack:
+    node = stack.pop().disambiguate()
+    if node in seen:
+      continue
+    seen.add(node)
+    executor = node.get_executor()
+    if executor is not None:
+      stack += executor.get_all_prerequisites() + executor.get_all_children()
+
+  return len(seen)
+
+progress_interval = 5
+progress_count = 0
+progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
+
+def progress_function(node):
+  global progress_count
+  if progress_count >= progress_total:
+    return
+  progress_count = min(progress_count + progress_interval, progress_total)
+  progress = round(100. * progress_count / progress_total, 1)
+  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
+  if progress == 100. and sys.stderr.isatty():
+    sys.stderr.write("\n")
+  sys.stderr.flush()
+
+Progress(progress_function, interval=progress_interval)
+AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 9613950914..d2c7e2c896 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -273,11 +273,7 @@ struct GPSNMEAData {
   nmea @2 :Text;
 }
 
-# android sensor_event_t
 struct SensorEventData {
-  version @0 :Int32;
-  sensor @1 :Int32;
-  type @2 :Int32;
   timestamp @3 :Int64;
 
   union {
@@ -296,7 +292,10 @@ struct SensorEventData {
 
   struct SensorVec {
     v @0 :List(Float32);
-    status @1 :Int8;
+
+    deprecated :group {
+      status @1 :Int8;
+    }
   }
 
   enum SensorSource {
@@ -314,7 +313,11 @@ struct SensorEventData {
     mmc5603nj @11;
   }
 
+  # formerly based on android sensor_event_t
   deprecated :group {
+    version @0 :Int32;
+    sensor @1 :Int32;
+    type @2 :Int32;
     uncalibrated @10 :Bool;
   }
 }
@@ -457,10 +460,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   }
 
   enum ThermalStatus {
-    green @0;
-    yellow @1;
-    red @2;
-    danger @3;
+    ok @0;
+    warmDEPRECATED @1;
+    overheated @2;
+    critical @3;
   }
 
   enum NetworkType {
@@ -2060,6 +2063,7 @@ struct DriverStateV2 {
     rightBlinkProb @8 :Float32;
     sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
+    sleepProb @14 :Float32;
 
     deprecated :group {
       notReadyProb @12 :List(Float32);
@@ -2074,7 +2078,7 @@ struct DriverStateV2 {
   }
 }
 
-struct DriverMonitoringState @0xb83cda094a1da284 {
+struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
   events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
@@ -2102,6 +2106,75 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   }
 }
 
+struct DriverMonitoringState {
+  lockout @0 :Bool;
+  alertCountLockoutPercent @1 :Int8;
+  alertTimeLockoutPercent @2 :Int8;
+
+  alwaysOn @3 :Bool;
+  alwaysOnLockout @4 :Bool;
+
+  alertLevel @5 :AlertLevel;
+  activePolicy @6 :MonitoringPolicy;
+  isRHD @7 :Bool;
+  rhdCalibration @8 :CalibrationState;
+
+  visionPolicyState @9 :VisionPolicyState;
+  wheeltouchPolicyState @10 :WheeltouchPolicyState;
+
+  enum AlertLevel {
+    # ordinal must match the name to prevent bugs
+    # comparing against the raw ordinal value
+    none @0;
+    one @1;
+    two @2;
+    three @3;
+  }
+
+  enum MonitoringPolicy {
+    wheeltouch @0;
+    vision @1;
+  }
+
+  struct VisionPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    isDistracted @2 :Bool;
+    distractedTypes @3 :DistractedTypes;
+
+    faceDetected @4 :Bool;
+    pose @5 :Pose;
+    wheeltouchFallbackPercent @6 :Int8;
+    uncertainOffroadAlertPercent @7 :Int8;
+
+    struct DistractedTypes {
+      pose @0: Bool;
+      eye @1: Bool;
+      phone @2: Bool;
+    }
+
+    struct Pose {
+      pitch @0 :Float32;
+      yaw @1 :Float32;
+      pitchCalib @2 :CalibrationState;
+      yawCalib @3 :CalibrationState;
+      calibrated @4 :Bool;
+      uncertainty @5 :Float32;
+    }
+  }
+
+  struct WheeltouchPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    driverInteracting @2 :Bool;
+  }
+
+  struct CalibrationState {
+    calibratedPercent @0 :Int8;
+    offset @1 :Float32;
+  }
+}
+
 struct Boot {
   wallTimeNanos @0 :UInt64;
   pstore @4 :Map(Text, Data);
@@ -2227,7 +2300,8 @@ struct Sentinel {
 }
 
 struct UIDebug {
-  drawTimeMillis @0 :Float32;
+  cpuTimeMillis @0 :Float32;
+  frameTimeMillis @1 :Float32;
 }
 
 struct ManagerState {
@@ -2375,7 +2449,6 @@ struct Event {
     boot @60 :Boot;
 
     # ********** openpilot daemon msgs **********
-    gpsNMEA @3 :GPSNMEAData;
     can @5 :List(CanData);
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
@@ -2400,7 +2473,6 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     gpsLocationExternal @48 :GpsLocationData;
     gpsLocation @21 :GpsLocationData;
-    gnssMeasurements @91 :GnssMeasurements;
     liveParameters @61 :LiveParametersData;
     liveTorqueParameters @94 :LiveTorqueParametersData;
     liveDelay @146 : LiveDelayData;
@@ -2408,7 +2480,7 @@ struct Event {
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
-    driverMonitoringState @71: DriverMonitoringState;
+    driverMonitoringState @151 :DriverMonitoringState;
     livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
@@ -2434,7 +2506,6 @@ struct Event {
     # systems stuff
     androidLog @20 :AndroidLogEntry;
     managerState @78 :ManagerState;
-    uploaderState @79 :UploaderState;
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
@@ -2444,12 +2515,6 @@ struct Event {
     # touch frame
     touch @135 :List(Touch);
 
-    # navigation
-    navInstruction @82 :NavInstruction;
-    navRoute @83 :NavRoute;
-    navThumbnail @84: Thumbnail;
-    mapRenderState @105: MapRenderState;
-
     # UI services
     uiDebug @102 :UIDebug;
 
@@ -2551,5 +2616,13 @@ struct Event {
     gyroscope2DEPRECATED @100 :SensorEventData;
     accelerometer2DEPRECATED @101 :SensorEventData;
     temperatureSensor2DEPRECATED @123 :SensorEventData;
+    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
+    gpsNMEADEPRECATED @3 :GPSNMEAData;
+    uploaderStateDEPRECATED @79 :UploaderState;
+    navInstructionDEPRECATED @82 :NavInstruction;
+    navRouteDEPRECATED @83 :NavRoute;
+    navThumbnailDEPRECATED @84 :Thumbnail;
+    gnssMeasurementsDEPRECATED @91 :GnssMeasurements;
+    mapRenderStateDEPRECATED @105: MapRenderState;
   }
 }
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 2c925b4cc4..ae32bfd4cb 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -259,11 +259,11 @@ class PubMaster:
     self.sock[s].send(dat)
 
   def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    for _ in range(int(timeout*(1./dt))):
-      if self.sock[s].all_readers_updated():
-        return True
-      time.sleep(dt)
-    return False
+    try:
+      self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
+      return True
+    except TimeoutError:
+      return False
 
   def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()  # type: ignore
+    return self.sock[s].all_readers_updated()
diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
index afdab8a51f..97388446f4 100644
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -30,7 +30,7 @@ def zmq_sleep(t=1):
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
   msg = messaging.new_message("carState")
   cs = msg.carState
   for f in fields:
diff --git a/cereal/services.py b/cereal/services.py
index 9d64f67f2f..f933fc0125 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -24,10 +24,7 @@ _services: dict[str, tuple] = {
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
   "accelerometer": (True, 104., 104),
-  "magnetometer": (True, 25.),
-  "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
-  "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
@@ -56,7 +53,6 @@ _services: dict[str, tuple] = {
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
   "livePose": (True, 20., 4),
@@ -75,10 +71,6 @@ _services: dict[str, tuple] = {
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
-  "uploaderState": (True, 0., 1),
-  "navInstruction": (True, 1., 10),
-  "navRoute": (True, 0.),
-  "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
   "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
@@ -114,8 +106,6 @@ _services: dict[str, tuple] = {
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
-  "customReservedRawData1": (True, 0.),
-  "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}
diff --git a/common/file_chunker.py b/common/file_chunker.py
old mode 100644
new mode 100755
index ac9ddbb384..57dfc35531
--- a/common/file_chunker.py
+++ b/common/file_chunker.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+import sys
 import math
 import os
 from pathlib import Path
@@ -10,10 +12,13 @@ def get_chunk_name(name, idx, num_chunks):
 def get_manifest_path(name):
   return f"{name}.chunkmanifest"
 
-def get_chunk_paths(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+def _chunk_paths(path, num_chunks):
   return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
 
+def get_chunk_targets(path, file_size):
+  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+  return _chunk_paths(path, num_chunks)
+
 def chunk_file(path, targets):
   manifest_path, *chunk_paths = targets
   with open(path, 'rb') as f:
@@ -26,6 +31,13 @@ def chunk_file(path, targets):
   Path(manifest_path).write_text(str(len(chunk_paths)))
   os.remove(path)
 
+def get_existing_chunks(path):
+  if os.path.isfile(path):
+    return [path]
+  if os.path.isfile(manifest := get_manifest_path(path)):
+    num_chunks = int(Path(manifest).read_text().strip())
+    return _chunk_paths(path, num_chunks)
+  raise FileNotFoundError(path)
 
 def read_file_chunked(path):
   manifest_path = get_manifest_path(path)
@@ -35,3 +47,9 @@ def read_file_chunked(path):
   if os.path.isfile(path):
     return Path(path).read_bytes()
   raise FileNotFoundError(path)
+
+
+if __name__ == "__main__":
+  path = sys.argv[1]
+  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
+  chunk_file(path, chunk_paths)
diff --git a/common/parameterized.py b/common/parameterized.py
index 7cd21bb9c5..f36d649dad 100644
--- a/common/parameterized.py
+++ b/common/parameterized.py
@@ -1,8 +1,13 @@
+import re
 import sys
 import pytest
 import inspect
 
 
+def _to_safe_name(s):
+  return re.sub(r"[^a-zA-Z0-9_]+", "_", str(s)).strip("_")
+
+
 class parameterized:
   @staticmethod
   def expand(cases):
@@ -34,7 +39,9 @@ def parameterized_class(attrs, input_list=None):
   def decorator(cls):
     globs = sys._getframe(1).f_globals
     for i, params in enumerate(params_list):
-      name = f"{cls.__name__}_{i}"
+      # append sanitized string param values so pytest -k can filter by them
+      suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
+      name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
       new_cls = type(name, (cls,), dict(params))
       new_cls.__module__ = cls.__module__
       new_cls.__test__ = True  # override inherited False so pytest collects this subclass
diff --git a/common/params.py b/common/params.py
index 494617200f..8af80c04bb 100644
--- a/common/params.py
+++ b/common/params.py
@@ -14,6 +14,6 @@ if __name__ == "__main__":
   if len(sys.argv) == 3:
     val = sys.argv[2]
     print(f"SET: {key} = {val}")
-    params.put(key, val)
+    params.put(key, val, block=True)
   elif len(sys.argv) == 2:
     print(f"GET: {key} = {params.get(key)}")
diff --git a/common/params_keys.h b/common/params_keys.h
index c92a6ed89c..5cb052ef0f 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -80,6 +80,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
+    {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
@@ -103,8 +104,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
     {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
     {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -132,6 +131,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index bffa89b5d3..9a952f6ebe 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -142,33 +142,28 @@ cdef class Params:
     cdef ParamKeyType t = self.p.getKeyType(k)
     return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
 
-  def put(self, key, dat):
+  def put(self, key, dat, bool block = False):
     """
-    Warning: This function blocks until the param is written to disk!
+    Warning: block=True blocks until the param is written to disk!
     In very rare cases this can take over a second, and your code will hang.
-    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
-    in general try to avoid writing params as much as possible.
+    Use block=False in time sensitive code, but in general try to avoid
+    writing params as much as possible.
     """
     cdef string k = self.check_key(key)
     cdef string dat_bytes = self._put_cast(key, dat)
     with nogil:
-      self.p.put(k, dat_bytes)
+      if block:
+        self.p.put(k, dat_bytes)
+      else:
+        self.p.putNonBlocking(k, dat_bytes)
 
-  def put_bool(self, key, bool val):
+  def put_bool(self, key, bool val, bool block = False):
     cdef string k = self.check_key(key)
     with nogil:
-      self.p.putBool(k, val)
-
-  def put_nonblocking(self, key, dat):
-    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
-    with nogil:
-      self.p.putNonBlocking(k, dat_bytes)
-
-  def put_bool_nonblocking(self, key, bool val):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.putBoolNonBlocking(k, val)
+      if block:
+        self.p.putBool(k, val)
+      else:
+        self.p.putBoolNonBlocking(k, val)
 
   def remove(self, key):
     cdef string k = self.check_key(key)
diff --git a/common/realtime.py b/common/realtime.py
index 0b14681021..91d2e165e9 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -28,6 +28,11 @@ class Priority:
   CTRL_HIGH = 53
 
 
+def drop_realtime() -> None:
+  if sys.platform == 'linux' and not PC:
+    os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
+
+
 def set_core_affinity(cores: list[int]) -> None:
   if sys.platform == 'linux' and not PC:
     os.sched_setaffinity(0, cores)
diff --git a/common/swaglog.cc b/common/swaglog.cc
index d73f0c1a59..8811d61d8f 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -11,7 +11,7 @@
 
 #include <zmq.h>
 #include <stdarg.h>
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index 592bf2c4b2..fcb8e5a185 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -12,17 +12,17 @@ class TestParams:
     self.params = Params()
 
   def test_params_put_and_get(self):
-    self.params.put("DongleId", "cb38263377b873ee")
+    self.params.put("DongleId", "cb38263377b873ee", block=True)
     assert self.params.get("DongleId") == "cb38263377b873ee"
 
   def test_params_non_ascii(self):
     st = b"\xe1\x90\xff"
-    self.params.put("CarParams", st)
+    self.params.put("CarParams", st, block=True)
     assert self.params.get("CarParams") == st
 
   def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", b"test")
-    self.params.put("DongleId", "cb38263377b873ee")
+    self.params.put("CarParams", b"test", block=True)
+    self.params.put("DongleId", "cb38263377b873ee", block=True)
     assert self.params.get("CarParams") == b"test"
 
     undefined_param = self.params.get_param_path(uuid.uuid4().hex)
@@ -36,15 +36,15 @@ class TestParams:
     assert not os.path.isfile(undefined_param)
 
   def test_params_two_things(self):
-    self.params.put("DongleId", "bob")
-    self.params.put("AthenadPid", 123)
+    self.params.put("DongleId", "bob", block=True)
+    self.params.put("AthenadPid", 123, block=True)
     assert self.params.get("DongleId") == "bob"
     assert self.params.get("AthenadPid") == 123
 
   def test_params_get_block(self):
     def _delayed_writer():
       time.sleep(0.1)
-      self.params.put("CarParams", b"test")
+      self.params.put("CarParams", b"test", block=True)
     threading.Thread(target=_delayed_writer).start()
     assert self.params.get("CarParams") is None
     assert self.params.get("CarParams", block=True) == b"test"
@@ -57,10 +57,10 @@ class TestParams:
       self.params.get_bool("swag")
 
     with pytest.raises(UnknownKeyName):
-      self.params.put("swag", "abc")
+      self.params.put("swag", "abc", block=True)
 
     with pytest.raises(UnknownKeyName):
-      self.params.put_bool("swag", True)
+      self.params.put_bool("swag", True, block=True)
 
   def test_remove_not_there(self):
     assert self.params.get("CarParams") is None
@@ -71,23 +71,23 @@ class TestParams:
     self.params.remove("IsMetric")
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put_bool("IsMetric", True)
+    self.params.put_bool("IsMetric", True, block=True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put_bool("IsMetric", False)
+    self.params.put_bool("IsMetric", False, block=True)
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", True)
+    self.params.put("IsMetric", True, block=True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", False)
+    self.params.put("IsMetric", False, block=True)
     assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_nonblocking("CarParams", b"test")
+      Params().put("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
@@ -96,7 +96,7 @@ class TestParams:
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_bool_nonblocking("CarParams", True)
+      Params().put_bool("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
@@ -123,19 +123,19 @@ class TestParams:
 
   def test_params_get_type(self):
     # json
-    self.params.put("ApiCache_FirehoseStats", {"a": 0})
+    self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)
     assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
 
     # int
-    self.params.put("BootCount", 1441)
+    self.params.put("BootCount", 1441, block=True)
     assert self.params.get("BootCount") == 1441
 
     # bool
-    self.params.put("AdbEnabled", True)
+    self.params.put("AdbEnabled", True, block=True)
     assert self.params.get("AdbEnabled")
     assert isinstance(self.params.get("AdbEnabled"), bool)
 
     # time
     now = datetime.datetime.now(datetime.UTC)
-    self.params.put("InstallDate", now)
+    self.params.put("InstallDate", now, block=True)
     assert self.params.get("InstallDate") == now
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index c97f907c24..26fd33436b 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -7,7 +7,7 @@
 #include "common/util.h"
 #include "common/version.h"
 #include "system/hardware/hw.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 #include "sunnypilot/common/version.h"
 
diff --git a/common/utils.py b/common/utils.py
index 28b9274d82..183363f39d 100644
--- a/common/utils.py
+++ b/common/utils.py
@@ -48,7 +48,7 @@ def sudo_write(val: str, path: str) -> None:
 
 def sudo_read(path: str) -> str:
   try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+    return subprocess.check_output(["sudo", "cat", "--", path], encoding='utf8').strip()
   except Exception:
     return ""
 
diff --git a/common/version.h b/common/version.h
index 41440556c5..5a09588e22 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.11.1"
+#define COMMA_VERSION "0.11.2"
diff --git a/conftest.py b/conftest.py
index 2f2db08d5d..de37572317 100644
--- a/conftest.py
+++ b/conftest.py
@@ -7,25 +7,19 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE
 
-# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
-# pending https://github.com/pytest-dev/pytest-cpp/pull/147
+# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
 collect_ignore = [
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
+  # tinygrad JIT has process-global state. Other test files import modeld → tinygrad,
+  # which corrupts JIT captures for test_warp.py in the same process. Run separately in CI.
+  "sunnypilot/modeld_v2/tests/test_warp.py",
 ]
 collect_ignore_glob = [
   "selfdrive/debug/*.py",
-  "selfdrive/modeld/*.py",
-  "sunnypilot/modeld*/*.py",
 ]
 
 
-def pytest_sessionstart(session):
-  # TODO: fix tests and enable test order randomization
-  if session.config.pluginmanager.hasplugin('randomly'):
-    session.config.option.randomly_reorganize = False
-
-
 @pytest.hookimpl(hookwrapper=True, trylast=True)
 def pytest_runtest_call(item):
   # ensure we run as a hook after capturemanager's
@@ -97,15 +91,3 @@ def pytest_collection_modifyitems(config, items):
       class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
       class_property_value = getattr(item.cls, class_property_name)
       item.add_marker(pytest.mark.xdist_group(class_property_value))
-
-
-@pytest.hookimpl(trylast=True)
-def pytest_configure(config):
-  config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "nocapture: don't capture test output"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "shared_download_cache: share download cache between tests"
-  config.addinivalue_line("markers", config_line)
diff --git a/docs/SAFETY.md b/docs/SAFETY.md
index 25815e3372..0a662ac6cd 100644
--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@@ -4,8 +4,8 @@ openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC)
 Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
 driver to be alert and to pay attention at all times.
 
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
+To assist the driver in maintaining alertness, openpilot includes a driver monitoring feature
+that alerts when it detects driver distraction.
 
 However, even with an attentive driver, we must make further efforts for the system to be
 safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
diff --git a/docs/ext/glossary.py b/docs/ext/glossary.py
index 35c92add10..9bbf3c78d7 100644
--- a/docs/ext/glossary.py
+++ b/docs/ext/glossary.py
@@ -8,7 +8,7 @@ from markdown.extensions import Extension
 from markdown.preprocessors import Preprocessor
 from markdown.treeprocessors import Treeprocessor
 
-from zensical.extensions.links import LinksProcessor
+from zensical.extensions.links import LinksTreeprocessor
 
 GlossaryTerm = tuple[str, re.Pattern[str], str]
 
@@ -78,7 +78,7 @@ class GlossaryTreeprocessor(Treeprocessor):
   def run(self, root: ET.Element) -> None:
     at = self.md.treeprocessors.get_index_for_name("zrelpath")
     processor = self.md.treeprocessors[at]
-    if not isinstance(processor, LinksProcessor):
+    if not isinstance(processor, LinksTreeprocessor):
       raise TypeError("Links processor not registered")
     if processor.path == GLOSSARY_PAGE:
       return
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index bc1d634012..b5692daff7 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -20,7 +20,7 @@ source .venv/bin/activate
 
 Then, compile openpilot:
 ```bash
-scons -j$(nproc)
+scons
 ```
 
 ## 2. Run replay
diff --git a/launch_env.sh b/launch_env.sh
index e409a80dd4..d71a5c2767 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="17.2"
+  export AGNOS_VERSION="18.4"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/msgq_repo b/msgq_repo
index b7688b9bd7..9beb84af67 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit b7688b9bd731dea4520adf248bf1eb49b6dde776
+Subproject commit 9beb84af67527f7b6bfee349dcbe3dbb8d4f4789
diff --git a/opendbc_repo b/opendbc_repo
index 4dad7b09dd..10e654bf21 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4dad7b09dda58ac161988b7949355f7300a3b0f2
+Subproject commit 10e654bf216233e72660c7906574d66ed75b1a16
diff --git a/openpilot/third_party b/openpilot/third_party
deleted file mode 120000
index d838c05a86..0000000000
--- a/openpilot/third_party
+++ /dev/null
@@ -1 +0,0 @@
-../third_party
\ No newline at end of file
diff --git a/panda b/panda
index 0a9ef7ab54..d994e8e800 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 0a9ef7ab54224e0df79a77448eda67023b285406
+Subproject commit d994e8e8009d934a94c3a94c863b559118353bdd
diff --git a/pyproject.toml b/pyproject.toml
index fd72c128fc..8b995a3a7b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -20,14 +20,17 @@ dependencies = [
   # core
   "cffi",
   "scons",
-  "pycapnp",
+  "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
   "Cython",
   "setuptools",
   "numpy >=2.0",
 
   # vendored native dependencies
   "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
+  "bootstrap-icons @ git+https://github.com/commaai/dependencies.git@release-bootstrap-icons#subdirectory=bootstrap-icons",
   "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
+  "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
   "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
   "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
@@ -36,8 +39,10 @@ dependencies = [
   "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
   "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
+  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
+  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
 
   # body / webrtcd
   "av",
@@ -58,9 +63,6 @@ dependencies = [
   "json-rpc",
   "websocket_client",
 
-  # acados deps
-  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
-
   # joystickd
   "inputs",
 
@@ -73,7 +75,7 @@ dependencies = [
   "zstandard",
 
   # ui
-  "raylib > 5.5.0.3",
+  "raylib @ git+https://github.com/commaai/dependencies.git@release-raylib#subdirectory=raylib",
   "qrcode",
   "jeepney",
   "pillow",
@@ -94,7 +96,6 @@ testing = [
   "pytest-subtests",
   # https://github.com/pytest-dev/pytest-xdist/pull/1229
   "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
-  "pytest-asyncio",
   "pytest-mock",
   "ruff",
   "codespell",
@@ -107,7 +108,7 @@ dev = [
 ]
 
 tools = [
-  "imgui  @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
+  "imgui @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
   "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]
 
@@ -126,15 +127,17 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
-asyncio_default_fixture_loop_scope = "function"
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
   "tici: tests that are only meant to run on the C3/C3X",
-  "skip_tici_setup: mark test to skip tici setup fixture"
+  "skip_tici_setup: mark test to skip tici setup fixture",
+  "nocapture: don't capture test output",
+  "shared_download_cache: share download cache between tests",
+  "xdist_group_class_property: group tests by a property of the class that contains them",
 ]
 testpaths = [
   "common",
@@ -175,9 +178,7 @@ lint.ignore = [
   "UP045", "UP007",  # these don't play nice with raylib atm
 ]
 line-length = 160
-target-version ="py311"
 exclude = [
-  "body",
   "cereal",
   "panda",
   "opendbc",
@@ -186,7 +187,7 @@ exclude = [
   "tinygrad_repo",
   "teleoprtc",
   "teleoprtc_repo",
-  "third_party",
+  "third_party/copyparty",
   "*.ipynb",
   "generated",
 ]
@@ -196,7 +197,6 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
 "system".msg = "Use openpilot.system"
-"third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
@@ -214,7 +214,6 @@ quote-style = "preserve"
 
 [tool.ty.src]
 exclude = [
-  "cereal/",
   "msgq/",
   "msgq_repo/",
   "opendbc/",
@@ -230,27 +229,16 @@ exclude = [
 ]
 
 [tool.ty.rules]
-# Ignore unresolved imports for Cython-compiled modules (.pyx)
-unresolved-import = "ignore"
-# Ignore unresolved attributes - many from capnp and Cython modules
-unresolved-attribute = "ignore"
-# Ignore invalid method overrides - signature variance issues
-invalid-method-override = "ignore"
-# Ignore possibly-missing-attribute - too many false positives
-possibly-missing-attribute = "ignore"
-# Ignore invalid assignment - often intentional monkey-patching
-invalid-assignment = "ignore"
-# Ignore no-matching-overload - numpy/ctypes overload matching issues
-no-matching-overload = "ignore"
-# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
-invalid-argument-type = "ignore"
-# Ignore call-non-callable - false positives from dynamic types
-call-non-callable = "ignore"
-# Ignore unsupported-operator - false positives from dynamic types
-unsupported-operator = "ignore"
-# Ignore not-subscriptable - false positives from dynamic types
-not-subscriptable = "ignore"
-# not-iterable errors are now fixed
+unresolved-import = "ignore"  # Cython-compiled modules (.pyx)
+unresolved-attribute = "ignore"  # many from capnp and Cython modules
+invalid-method-override = "ignore"  # signature variance issues
+possibly-missing-attribute = "ignore"  # too many false positives
+invalid-assignment = "ignore"  # often intentional monkey-patching
+no-matching-overload = "ignore"  # numpy/ctypes overload matching issues
+invalid-argument-type = "ignore"  # many false positives from raylib, ctypes, numpy
+call-non-callable = "ignore"  # false positives from dynamic types
+unsupported-operator = "ignore" # false positives from dynamic types
+not-subscriptable = "ignore" # false positives from dynamic types
 
 [tool.uv]
 python-preference = "only-managed"
diff --git a/release/build_release.sh b/release/build_release.sh
index 22d880991f..c038e0e78e 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -16,6 +16,8 @@ if [ -z "$RELEASE_BRANCH" ]; then
   exit 1
 fi
 
+BUILD_BRANCH=release-mici-staging
+
 
 # set git identity
 source $DIR/identity.sh
@@ -26,7 +28,7 @@ mkdir -p $BUILD_DIR
 cd $BUILD_DIR
 git init
 git remote add origin git@github.com:commaai/openpilot.git
-git checkout --orphan $RELEASE_BRANCH
+git checkout --orphan $BUILD_BRANCH
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -46,14 +48,14 @@ git commit -a -m "openpilot v$VERSION release"
 
 # Build
 export PYTHONPATH="$BUILD_DIR"
-scons -j$(nproc) --minimal
+scons
 
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
   # release panda fw
-  CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons panda/
 else
   # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
-  scons -j$(nproc) panda/
+  scons panda/
 fi
 
 # Ensure no submodules in release
@@ -72,8 +74,8 @@ find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm -f selfdrive/modeld/models/*.onnx
-rm -f sunnypilot/modeld*/models/*.onnx
+rm -f selfdrive/modeld/models/*.onnx*
+rm -f sunnypilot/modeld*/models/*.onnx*
 
 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +
@@ -94,9 +96,11 @@ cd $BUILD_DIR
 RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
 #pytest selfdrive/car/tests/test_car_interfaces.py
 
-if [ ! -z "$RELEASE_BRANCH" ]; then
-  echo "[-] pushing release T=$SECONDS"
-  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
-fi
+echo "[-] pushing release T=$SECONDS"
+REFS=()
+for branch in ${RELEASE_BRANCH//,/ }; do
+  REFS+=("$BUILD_BRANCH:$branch")
+done
+git push -f origin "${REFS[@]}"
 
 echo "[-] done T=$SECONDS"
diff --git a/release/build_stripped.sh b/release/build_stripped.sh
index df5b2a3dd6..8e73a8aaab 100755
--- a/release/build_stripped.sh
+++ b/release/build_stripped.sh
@@ -45,6 +45,8 @@ cd $TARGET_DIR
 rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 
+find selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./common/file_chunker.py {} \;
+
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
diff --git a/release/pack.py b/release/pack.py
index 8831a0b34d..560500e7a7 100755
--- a/release/pack.py
+++ b/release/pack.py
@@ -13,7 +13,7 @@ from openpilot.common.basedir import BASEDIR
 
 DIRS = ['cereal', 'openpilot']
 EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
-EXCLUDE = ['selfdrive/assets/training', 'third_party/raylib/raylib_repo/examples']
+EXCLUDE = ['selfdrive/assets/training']
 INTERPRETER = '/usr/bin/env python3'
 
 
diff --git a/scripts/lint/check_raylib_includes.sh b/scripts/lint/check_raylib_includes.sh
deleted file mode 100755
index e3be73a489..0000000000
--- a/scripts/lint/check_raylib_includes.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-FAIL=0
-
-if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
-  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
-  FAIL=1
-fi
-
-exit $FAIL
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 3255c9eb82..919e2ca63a 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -14,7 +14,7 @@ cd $ROOT
 FAILED=0
 
 IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
-IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*|^third_party.*"
 
 function run() {
   shopt -s extglob
diff --git a/scripts/reporter.py b/scripts/reporter.py
index 93b71761a9..9821a47ccf 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -34,6 +34,11 @@ if __name__ == "__main__":
 
   for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
     fn = os.path.basename(f)
-    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
+    master_path = MASTER_PATH + MODEL_PATH + fn
+    if os.path.exists(master_path):
+      master = get_checkpoint(master_path)
+      master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
+    else:
+      master_col = "N/A (new model)"
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", f"[{master}](https://reporterv2.comma.life/{master})", "|", f"[{pr}](https://reporterv2.comma.life/{pr})", "|")
+    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc
index 26a7d998ed..72e2f7f3c0 100644
--- a/selfdrive/assets/assets.qrc
+++ b/selfdrive/assets/assets.qrc
@@ -1,6 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
+  <file alias="bootstrap-icons.svg">@BOOTSTRAP_ICONS_SVG@</file>
   <file>images/button_continue_triangle.svg</file>
   <file>icons/circled_check.svg</file>
   <file>icons/circled_slash.svg</file>
diff --git a/selfdrive/assets/fonts/process.py b/selfdrive/assets/fonts/process.py
index 30ccf9ca55..62ae6ec684 100755
--- a/selfdrive/assets/fonts/process.py
+++ b/selfdrive/assets/fonts/process.py
@@ -37,10 +37,10 @@ def _char_sets():
   return tuple(sorted(ord(c) for c in base)), tuple(sorted(ord(c) for c in unifont))
 
 
-def _glyph_metrics(glyphs, rects, codepoints):
+def _glyph_metrics(glyphs, rects, glyph_count: int):
   entries = []
   min_offset_y, max_extent = None, 0
-  for idx, codepoint in enumerate(codepoints):
+  for idx in range(glyph_count):
     glyph = glyphs[idx]
     rect = rects[idx]
     width = int(round(rect.width))
@@ -49,7 +49,7 @@ def _glyph_metrics(glyphs, rects, codepoints):
     min_offset_y = offset_y if min_offset_y is None else min(min_offset_y, offset_y)
     max_extent = max(max_extent, offset_y + height)
     entries.append({
-      "id": codepoint,
+      "id": glyph.value,
       "x": int(round(rect.x)),
       "y": int(round(rect.y)),
       "width": width,
@@ -97,19 +97,23 @@ def _process_font(font_path: Path, codepoints: tuple[int, ...]):
   file_buf = rl.ffi.new("unsigned char[]", data)
   cp_buffer = rl.ffi.new("int[]", codepoints)
   cp_ptr = rl.ffi.cast("int *", cp_buffer)
-  glyphs = rl.load_font_data(rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints), rl.FontType.FONT_DEFAULT)
+  glyph_count = rl.ffi.new("int *", len(codepoints))
+  glyphs = rl.load_font_data(
+    rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints),
+    rl.FontType.FONT_DEFAULT, glyph_count
+  )
   if glyphs == rl.ffi.NULL:
     raise RuntimeError("raylib failed to load font data")
 
   rects_ptr = rl.ffi.new("Rectangle **")
-  image = rl.gen_image_font_atlas(glyphs, rects_ptr, len(codepoints), font_size, GLYPH_PADDING, 0)
+  image = rl.gen_image_font_atlas(glyphs, rects_ptr, glyph_count[0], font_size, GLYPH_PADDING, 0)
   if image.width == 0 or image.height == 0:
     raise RuntimeError("raylib returned an empty atlas")
 
   rects = rects_ptr[0]
   atlas_name = f"{font_path.stem}.png"
   atlas_path = FONT_DIR / atlas_name
-  entries, line_height, base = _glyph_metrics(glyphs, rects, codepoints)
+  entries, line_height, base = _glyph_metrics(glyphs, rects, glyph_count[0])
 
   if not rl.export_image(image, atlas_path.as_posix()):
     raise RuntimeError("Failed to export atlas image")
diff --git a/selfdrive/assets/icons_mici/body.png b/selfdrive/assets/icons_mici/body.png
new file mode 100644
index 0000000000..2f7bb779d1
--- /dev/null
+++ b/selfdrive/assets/icons_mici/body.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b45f88128430fb50ef51c8e08b8e2a1c8fbe0b5c3a08de9f5d9d59bc1edc82e
+size 4545
diff --git a/selfdrive/assets/icons_mici/egpu.png b/selfdrive/assets/icons_mici/egpu.png
new file mode 100644
index 0000000000..dc2bc8e276
--- /dev/null
+++ b/selfdrive/assets/icons_mici/egpu.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3dcf64cbc34251d8423cb8b3b31d743e93d14002dec43c389a857cb7e8eb17
+size 10875
diff --git a/selfdrive/assets/icons_mici/egpu_gray.png b/selfdrive/assets/icons_mici/egpu_gray.png
new file mode 100644
index 0000000000..a6aeb84689
--- /dev/null
+++ b/selfdrive/assets/icons_mici/egpu_gray.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7409c53d7c72681c24982fd83b56ce70f80797c9c0f936d9296a5c18557ac472
+size 7279
diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
index ec2f948998..6974b6d8e2 100644
--- a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
+++ b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:26b3660dbd1e60b0ba98914afa7cb3a67151bb6990d218f55c901f243e38ff3e
-size 3631
+oid sha256:5f5d4b7bd406114945e53f4d56089102ee83ba7d0a4590a371f7acab90c7ad53
+size 1862
diff --git a/selfdrive/assets/prep-svg.sh b/selfdrive/assets/prep-svg.sh
index 2332cd25c5..567c17da32 100755
--- a/selfdrive/assets/prep-svg.sh
+++ b/selfdrive/assets/prep-svg.sh
@@ -3,7 +3,7 @@ set -e
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ICONS_DIR="$DIR/icons"
-BOOTSTRAP_SVG="$DIR/../../third_party/bootstrap/bootstrap-icons.svg"
+BOOTSTRAP_SVG="$(python3 -c 'import bootstrap_icons; print(bootstrap_icons.SVG_PATH)')"
 
 ICON_IDS=(
   arrow-right
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 86494afc7a..baa29978e3 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -73,7 +73,7 @@ class CarSpecificEvents:
     elif self.CP.brand == 'gm':
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
+      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brakePressed and
                                                    self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
       if CS.cruiseState.standstill:
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index c4c81d26e3..995d02aabc 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -37,7 +37,7 @@ def obd_callback(params: Params) -> ObdCallback:
     if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
       cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
       params.remove("ObdMultiplexingChanged")
-      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
+      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing, block=True)
       params.get_bool("ObdMultiplexingChanged", block=True)
       cloudlog.warning("OBD multiplexing set successfully")
   return set_obd_multiplexing
@@ -116,7 +116,7 @@ class Car:
       self.CP_SP = self.CI.CP_SP
 
       # continue onto next fingerprinting step in pandad
-      self.params.put_bool("FirmwareQueryDone", True)
+      self.params.put_bool("FirmwareQueryDone", True, block=True)
     else:
       self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
@@ -143,7 +143,7 @@ class Car:
         with open("/cache/params/SecOCKey") as f:
           user_key = f.readline().strip()
           if len(user_key) == 32:
-            self.params.put("SecOCKey", user_key)
+            self.params.put("SecOCKey", user_key, block=True)
       except Exception:
         pass
 
@@ -161,21 +161,21 @@ class Car:
     # Write previous route's CarParams
     prev_cp = self.params.get("CarParamsPersistent")
     if prev_cp is not None:
-      self.params.put("CarParamsPrevRoute", prev_cp)
+      self.params.put("CarParamsPrevRoute", prev_cp, block=True)
 
     # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
-    self.params.put("CarParams", cp_bytes)
-    self.params.put_nonblocking("CarParamsCache", cp_bytes)
-    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
+    self.params.put("CarParams", cp_bytes, block=True)
+    self.params.put("CarParamsCache", cp_bytes)
+    self.params.put("CarParamsPersistent", cp_bytes)
 
     # Write CarParamsSP for controls
     # convert to pycapnp representation for caching and logging
     self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
     cp_sp_bytes = self.CP_SP_capnp.to_bytes()
-    self.params.put("CarParamsSP", cp_sp_bytes)
-    self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
-    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
+    self.params.put("CarParamsSP", cp_sp_bytes, block=True)
+    self.params.put("CarParamsSPCache", cp_sp_bytes)
+    self.params.put("CarParamsSPPersistent", cp_sp_bytes)
 
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
@@ -274,7 +274,7 @@ class Car:
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
       # signal pandad to switch to car safety mode
-      self.params.put_bool_nonblocking("ControlsReady", True)
+      self.params.put_bool("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):
       # send car controls over can
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index d3ca6eed4f..360c93c25b 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -94,7 +94,7 @@ class TestVCruiseHelper:
         self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
-      assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
+      assert (not pressed) == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
 
   def test_resume_in_standstill(self):
     """
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 209df3b159..a99e8b9d1d 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import CAR as HONDA, HondaFlags
+from opendbc.car.honda.values import HondaFlags
 from opendbc.car.structs import car
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from opendbc.car.values import Platform, PLATFORMS
@@ -28,6 +28,14 @@ from openpilot.tools.lib.route import SegmentName
 SafetyModel = car.CarParams.SafetyModel
 SteerControlType = structs.CarParams.SteerControlType
 
+# panda safety stores angle_meas in brand-specific CAN units (angle_deg_to_can in opendbc/safety/modes/*.h).
+ANGLE_DEG_TO_CAN = {
+  "tesla": -10,
+  "toyota": 17.452007,
+  "nissan": 100,
+  "psa": 10,
+}
+
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
 INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
@@ -350,13 +358,7 @@ class TestCarModelBase(unittest.TestCase):
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
 
       if self.safety.get_brake_pressed_prev() != prev_panda_brake:
-        # TODO: remove this exception once this mismatch is resolved
-        brake_pressed = CS.brakePressed
-        if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-            brake_pressed = False
-
-        self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
+        self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
 
       if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
         self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
@@ -433,12 +435,14 @@ class TestCarModelBase(unittest.TestCase):
         checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
                               v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
 
-      # TODO: remove this exception once this mismatch is resolved
-      brake_pressed = CS.brakePressed
-      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-          brake_pressed = False
-      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
+      # check steering angle for angle control cars (panda stores angle_meas in CAN units)
+      # ford excluded since it tracks curvature, not steering angle
+      if self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar and self.CP.brand != "ford":
+        angle_can = (CS.steeringAngleDeg + CS.steeringAngleOffsetDeg) * ANGLE_DEG_TO_CAN[self.CP.brand]
+        checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
+                                       angle_can < (self.safety.get_angle_meas_min() - 1))
+
+      checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b53185ca2b..c242871125 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -212,7 +212,7 @@ class Controls(ControlsExt):
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)
     cs.ufAccelCmd = float(self.LoC.pid.f)
-    cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
+    cs.forceDecel = bool((self.sm['driverMonitoringState'].alertLevel == log.DriverMonitoringState.AlertLevel.three) or
                          (self.sm['selfdriveState'].state == State.softDisabling))
 
     lat_tuning = self.CP.lateralTuning.which()
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 1e2fb27b51..5392ff8875 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -8,6 +8,7 @@ CAR_ROTATION_RADIUS = 0.0
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
 MAX_VEL_ERR = 5.0  # m/s
+MIN_STABLE_DELAY = 0.3
 
 # EU guidelines
 MAX_LATERAL_JERK = 5.0  # m/s^3
@@ -43,7 +44,10 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
-    v_target = np.interp(action_t, t_idxs, speeds)
+    if action_t < MIN_STABLE_DELAY:
+      v_target = v_now + (action_t / MIN_STABLE_DELAY) * (np.interp(MIN_STABLE_DELAY, t_idxs, speeds) - v_now)
+    else:
+      v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
   else:
     v_now = 0.0
@@ -58,6 +62,9 @@ def curv_from_psis(psi_target, psi_rate, vego, action_t):
   return 2*curv_from_psi - psi_rate / vego
 
 def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
-  psi_target = np.interp(action_t, t_idxs, yaws)
+  if action_t < MIN_STABLE_DELAY:
+    psi_target = (action_t / MIN_STABLE_DELAY) * np.interp(MIN_STABLE_DELAY, t_idxs, yaws)
+  else:
+    psi_target = np.interp(action_t, t_idxs, yaws)
   psi_rate = yaw_rates[0]
   return curv_from_psis(psi_target, psi_rate, vego, action_t)
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index c9ebf89207..5ff526ae83 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version', 'acados')
 
 gen = "c_generated_code"
 
@@ -45,18 +45,24 @@ generated_files = [
   f'{gen}/lat_cost/lat_cost.h',
 ] + build_files
 
-acados_dir = '#third_party/acados'
-acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
+acados_include_dir = Dir(acados.INCLUDE_DIR)
+acados_template_dir = Dir(acados.TEMPLATE_DIR)
 
 source_list = ['lat_mpc.py',
   '#selfdrive/modeld/constants.py',
-  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_templates_dir}/acados_solver.in.c',
+  acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
+  acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
-lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
+copied_acados_libs = []
+if arch != "Darwin":
+  for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
+    copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
+  lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
+else:
+  acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
+  lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 
 generated_lat = lenv.Command(generated_files,
@@ -77,8 +83,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
 
 # generate cython stuff
-acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
-acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
+acados_ocp_solver_pyx = acados_template_dir.File('acados_ocp_solver_pyx.pyx')
+acados_ocp_solver_common = acados_template_dir.File('acados_solver_common.pxd')
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
@@ -94,4 +100,5 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_lat'])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(lib_cython, copied_acados_libs)
 lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index ad60861088..3b597b2e42 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -8,7 +8,7 @@ from casadi import SX, vertcat, sin, cos
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 if __name__ == '__main__':  # generating code
-  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
   from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 7a6c02a538..a3218e9f34 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version', 'acados')
 
 gen = "c_generated_code"
 
@@ -51,18 +51,24 @@ generated_files = [
   f'{gen}/long_cost/long_cost.h',
 ] + build_files
 
-acados_dir = '#third_party/acados'
-acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
+acados_include_dir = Dir(acados.INCLUDE_DIR)
+acados_template_dir = Dir(acados.TEMPLATE_DIR)
 
 source_list = ['long_mpc.py',
   '#selfdrive/modeld/constants.py',
-  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_templates_dir}/acados_solver.in.c',
+  acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
+  acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
-lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
+copied_acados_libs = []
+if arch != "Darwin":
+  for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
+    copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
+  lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
+else:
+  acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
+  lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
@@ -82,8 +88,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
 
 # generate cython stuff
-acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
-acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
+acados_ocp_solver_pyx = acados_template_dir.File('acados_ocp_solver_pyx.pyx')
+acados_ocp_solver_common = acados_template_dir.File('acados_solver_common.pxd')
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
@@ -99,4 +105,5 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_long'])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(lib_cython, copied_acados_libs)
 lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index efdef9dd71..deae416489 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 if __name__ == '__main__':  # generating code
-  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
   from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index bee4244054..d51eb6edb0 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -142,7 +142,7 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
     return None
 
 
-def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float):
+def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float, lead_prob: float):
   lead_v_rel_pred = lead_msg.v[0] - model_v_ego
   return {
     "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
@@ -153,7 +153,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "aLeadK": float(lead_msg.a[0]),
     "aLeadTau": 0.3,
     "fcw": False,
-    "modelProb": float(lead_msg.prob),
+    "modelProb": float(lead_prob),
     "status": True,
     "radar": False,
     "radarTrackId": -1,
@@ -161,19 +161,20 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP, low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, lead_prob: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+             low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
-  if len(tracks) > 0 and ready and lead_msg.prob > .5:
+  if len(tracks) > 0 and ready and lead_prob > .5:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
   else:
     track = None
 
   lead_dict = {'status': False}
   if track is not None:
-    lead_dict = track.get_RadarState(lead_msg.prob)
+    lead_dict = track.get_RadarState(lead_prob)
     lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
-  elif (track is None) and ready and (lead_msg.prob > .5):
-    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
+  elif (track is None) and ready and (lead_prob > .5):
+    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego, lead_prob)
 
   if low_speed_override:
     low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
@@ -205,6 +206,7 @@ class RadarD:
 
     self.tracks: dict[int, Track] = {}
     self.kalman_params = KalmanParams(DT_MDL)
+    self.lead_prob_filters = [FirstOrderFilter(0.0, 0.2, DT_MDL) for _ in range(2)]
 
     self.v_ego = 0.0
     self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL))+1)
@@ -256,8 +258,18 @@ class RadarD:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.CP, self.CP_SP, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.CP, self.CP_SP, low_speed_override=False)
+      for i in range(2):
+        # Asymmetric filter on lead prob to keep lead when uncertain
+        lead_prob = leads_v3[i].prob
+        if lead_prob > self.lead_prob_filters[i].x:
+          self.lead_prob_filters[i].x = lead_prob
+        else:
+          self.lead_prob_filters[i].update(lead_prob)
+
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.lead_prob_filters[0].x,
+                                          self.CP, self.CP_SP, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.lead_prob_filters[1].x,
+                                          self.CP, self.CP_SP, low_speed_override=False)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
diff --git a/selfdrive/debug/car/ecu_addrs.py b/selfdrive/debug/car/ecu_addrs.py
index 584c930ebf..f3f06406c0 100755
--- a/selfdrive/debug/car/ecu_addrs.py
+++ b/selfdrive/debug/car/ecu_addrs.py
@@ -26,9 +26,9 @@ if __name__ == "__main__":
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
+  params.put_bool("IsOnroad", False, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
+  params.put_bool("IsOnroad", True, block=True)
 
   obd_callback(params)(not args.no_obd)
 
diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py
index 5fb65e6972..b04f9cd2a6 100755
--- a/selfdrive/debug/car/fw_versions.py
+++ b/selfdrive/debug/car/fw_versions.py
@@ -30,9 +30,9 @@ if __name__ == "__main__":
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
+  params.put_bool("IsOnroad", False, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
+  params.put_bool("IsOnroad", True, block=True)
   set_obd_multiplexing = obd_callback(params)
 
   extra: Any = None
diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py
index aec30b4d74..dabb6b7065 100755
--- a/selfdrive/debug/set_car_params.py
+++ b/selfdrive/debug/set_car_params.py
@@ -19,4 +19,4 @@ if __name__ == "__main__":
 
   cp_bytes = CP.to_bytes()
   for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):
-    Params().put(p, cp_bytes)
+    Params().put(p, cp_bytes, block=True)
diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py
index eac1f8fbf4..2cd541363c 100755
--- a/selfdrive/debug/uiview.py
+++ b/selfdrive/debug/uiview.py
@@ -9,7 +9,7 @@ from openpilot.system.hardware import HARDWARE
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
   params = Params()
-  params.put("CarParams", CP.to_bytes())
+  params.put("CarParams", CP.to_bytes(), block=True)
 
   if use_tinygrad_modeld := is_tinygrad_model(False, params, CP):
     print("Using TinyGrad modeld")
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 036f5822d2..4423f39061 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -167,7 +167,7 @@ class Calibrator:
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
-      self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
+      self.params.put("CalibrationParams", self.get_msg(True).to_bytes())
 
   def handle_v_ego(self, v_ego: float) -> None:
     self.v_ego = v_ego
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index d037af613a..2980e61e5e 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -414,7 +414,7 @@ def main():
       pm.send('liveDelay', lag_msg_dat)
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
-        params.put_nonblocking("LiveDelay", lag_msg_dat)
+        params.put("LiveDelay", lag_msg_dat)
 
       if sm.frame % 60 == 0:  # read from and write to params every 3 seconds
         lagd_toggle.update(lag_msg)
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 0489ae4174..02d09c506e 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -212,7 +212,7 @@ def migrate_cached_vehicle_params_if_needed(params: Params):
     last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
     last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
     last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
-    params.put("LiveParametersV2", last_parameters_msg.to_bytes())
+    params.put("LiveParametersV2", last_parameters_msg.to_bytes(), block=True)
   except Exception as e:
     cloudlog.error(f"Failed to perform parameter migration: {e}")
     params.remove("LiveParameters")
@@ -290,7 +290,7 @@ def main():
 
       msg_dat = msg.to_bytes()
       if sm.frame % 1200 == 0:  # once a minute
-        params.put_nonblocking("LiveParametersV2", msg_dat)
+        params.put("LiveParametersV2", msg_dat)
 
       pm.send('liveParameters', msg_dat)
 
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py
index df61b6a7c7..c90ce506ab 100644
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@@ -36,7 +36,7 @@ class TestCalibrationd:
     msg.liveCalibration.validBlocks = random.randint(1, 10)
     msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
     msg.liveCalibration.height = [random.random() for _ in range(1)]
-    Params().put("CalibrationParams", msg.to_bytes())
+    Params().put("CalibrationParams", msg.to_bytes(), block=True)
     c = Calibrator(param_put=True)
 
     np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index 6249e6b04b..746f7ad478 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -53,8 +53,8 @@ class TestLagd:
     msg = messaging.new_message('liveDelay')
     msg.liveDelay.lateralDelayEstimate = random.random()
     msg.liveDelay.validBlocks = random.randint(1, 10)
-    params.put("LiveDelay", msg.to_bytes())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.put("LiveDelay", msg.to_bytes(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
     saved_lag_params = retrieve_initial_lag(params, CP)
     assert saved_lag_params is not None
diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py
index dd496b7675..1a4d348e94 100644
--- a/selfdrive/locationd/test/test_paramsd.py
+++ b/selfdrive/locationd/test/test_paramsd.py
@@ -27,8 +27,8 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParametersV2", msg.to_bytes())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.put("LiveParametersV2", msg.to_bytes(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
     migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
     sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
@@ -46,8 +46,8 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.liveParameters.to_dict())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.put("LiveParameters", msg.liveParameters.to_dict(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
     params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
@@ -59,7 +59,7 @@ class TestParamsd:
 
   def test_read_saved_params_corrupted_old_format(self):
     params = Params()
-    params.put("LiveParameters", {})
+    params.put("LiveParameters", {}, block=True)
     params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 28731d2ad7..a0f16f303a 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -278,7 +278,7 @@ def main(demo=False):
     # Cache points every 60 seconds while onroad
     if sm.frame % 240 == 0:
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
-      params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
+      params.put("LiveTorqueParameters", msg.to_bytes())
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 544fcafc77..80a7df4515 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,9 +1,19 @@
 import glob
 import json
 import os
-from SCons.Script import Value
-from openpilot.common.file_chunker import chunk_file, get_chunk_paths
-from tinygrad import Device
+import sys, subprocess
+from SCons.Script import Action, Value
+from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
+
+
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
 
 Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
@@ -16,73 +26,116 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
-# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
 # get fastest TG config
-available = set(Device.get_available_devices())
-# FIXME-SP: reset when we bump tg
-if False:  # 'CUDA' in available:
+# probe in subprocess so usbgpu locks gets released on process exit
+def probe_devices():
+  return set(subprocess.run(
+    [sys.executable, '-c', 'from tinygrad import Device\nprint("\\n".join(Device.get_available_devices()))'],
+    capture_output=True, text=True, check=True).stdout.strip().splitlines())
+
+available = probe_devices()
+if 'CUDA' in available:
   tg_backend = 'CUDA'
   tg_flags = f'DEV={tg_backend}'
 elif 'QCOM' in available:
   tg_backend = 'QCOM'
-  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
+  tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
-  tg_backend = 'CPU' if arch == 'Darwin' else 'CPU CPU_LLVM=1'  # FIXME-SP: reset when we bump tg
-  tg_flags = f'DEV={tg_backend} THREADS=0'
+  tg_backend = 'CPU'
+  tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'
 
-def write_tg_compiled_flags(target, source, env):
+tg_devices = { # which device to put jit inputs to at runtime
+  'selfdrive.modeld.modeld': {
+    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
+    'usbgpu': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
+  },
+  'selfdrive.modeld.dmonitoringmodeld': {
+    'default': {'DEV': tg_backend}
+  },
+}
+
+USBGPU = usbgpu_present() # or release # TODO always build big model on release
+if USBGPU:
+  usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0'
+  # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
+  usbgpu_lock = File("models/.usb_gpu.lock").abspath
+
+def write_tg_devices(target, source, env):
   with open(str(target[0]), "w") as f:
-    json.dump({"DEV": tg_backend}, f)
+    json.dump(tg_devices, f)
     f.write("\n")
 
-compiled_flags_node = lenv.Command(
-  File("models/tg_compiled_flags.json").abspath,
-  tinygrad_files + [Value(tg_backend)],
-  write_tg_compiled_flags,
+tg_devices_node = lenv.Command(
+  str(TG_INPUT_DEVICES_PATH),
+  [Value(tg_devices)],
+  write_tg_devices,
 )
 
 # tinygrad calls brew which needs a $HOME in the env
 mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
-# Get model metadata
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  fn = File(f"models/{model_name}").abspath
-  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
+modeld_dir = Dir("#selfdrive/modeld").abspath
+compile_modeld_script = [
+  File(f"{modeld_dir}/compile_modeld.py"),
+  File(f"{modeld_dir}/get_model_metadata.py"),
+  File("#system/camerad/cameras/nv12_info.py"),
+  File("#system/hardware/hw.py"),
+]
+model_w, model_h = MEDMODEL_INPUT_SIZE
+frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 
-image_flag = {
-     'larch64': 'IMAGE=2',
-}.get(arch, 'IMAGE=0')
-script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-compile_warp_cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-warp_targets = []
-for cam in [_ar_ox_fisheye, _os_fisheye]:
-  w, h = cam.width, cam.height
-  warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
-lenv.Command(warp_targets, tinygrad_files + script_files + [compiled_flags_node], compile_warp_cmd)
+for usbgpu in [False, True] if USBGPU else [False]:
+  target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
+  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
+  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
+                       for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
+  camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+  cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
+        f'--model-size {model_w}x{model_h} '
+        f'--camera-resolutions {camera_res_args} '
+        f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
+        f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
+        f'--output {target_pkl_path} --frame-skip {frame_skip}')
+  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
+  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
+  def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
+    chunk_file(pkl, chunks)
+  node = lenv.Command(
+    chunk_targets,
+    tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
+    [cmd, Action(do_chunk, "  [CHUNK] $TARGET")],
+  )
+  if usbgpu:
+    lenv.SideEffect(usbgpu_lock, node)
+
+# get model metadata
+fn = File(f"models/dmonitoring_model").abspath
+script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
+cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [tg_devices_node], cmd)
+
+dm_w, dm_h = DM_INPUT_SIZE
+compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
+for cam_w, cam_h in CAMERA_CONFIGS:
+  dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
+  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
+         f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
+         f'--output {dm_pkl_path}')
+  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [tg_devices_node], cmd)
 
 def tg_compile(flags, model_name):
   pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
   fn = File(f"models/{model_name}").abspath
   pkl = fn + "_tinygrad.pkl"
   onnx_path = fn + ".onnx"
-  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
-  compile_node = lenv.Command(
-    pkl,
-    [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
-    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
-  )
+  chunk_targets = get_chunk_targets(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
   def do_chunk(target, source, env):
     chunk_file(pkl, chunk_targets)
   return lenv.Command(
     chunk_targets,
-    compile_node,
-    do_chunk,
+    [onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
+    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+     Action(do_chunk, "  [CHUNK] $TARGET")],
   )
 
-# Compile small models
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  tg_compile(tg_flags, model_name)
-
+tg_compile(tg_flags, 'dmonitoring_model')
diff --git a/selfdrive/modeld/compile_dm_warp.py b/selfdrive/modeld/compile_dm_warp.py
new file mode 100755
index 0000000000..16e0d39fbb
--- /dev/null
+++ b/selfdrive/modeld/compile_dm_warp.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+import time
+
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size
+
+
+def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
+  cam_w, cam_h, stride, _, _, _ = nv12
+  stride_pad = stride - cam_w
+
+  def warp_dm(input_frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT).realize()
+    return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
+                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=16).reshape(-1, dm_h * dm_w) # Y
+  return warp_dm
+
+
+def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
+  print(f"Compiling DM warp for {nv12.width}x{nv12.height} -> {dm_w}x{dm_h}...")
+
+  warp_dm_jit = TinyJit(make_warp_dm(nv12, dm_w, dm_h), prune=True)
+
+  for i in range(10):
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    M_inv = Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')
+    Device.default.synchronize()
+    st = time.perf_counter()
+    warp_dm_jit(frame, M_inv).realize()
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  with open(pkl_path, "wb") as f:
+    pickle.dump(warp_dm_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+
+if __name__ == "__main__":
+  p = argparse.ArgumentParser()
+  p.add_argument('--camera-resolution', type=_parse_size, required=True, help='camera resolution WxH')
+  p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
+  p.add_argument('--output', required=True)
+  args = p.parse_args()
+
+  cam_w, cam_h = args.camera_resolution
+  nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+  dm_w, dm_h = args.warp_to
+  compile_dm_warp(nv12, dm_w, dm_h, args.output)
diff --git a/selfdrive/modeld/compile_modeld.py b/selfdrive/modeld/compile_modeld.py
new file mode 100755
index 0000000000..2f91076ab7
--- /dev/null
+++ b/selfdrive/modeld/compile_modeld.py
@@ -0,0 +1,299 @@
+#!/usr/bin/env python3
+import argparse
+import atexit
+import os
+import pickle
+import time
+from functools import partial
+from collections import namedtuple, defaultdict
+
+import numpy as np
+
+def _patch_tinygrad_fetch_fw():
+  import hashlib
+  import pathlib
+  import zstandard
+  from tinygrad import helpers
+  _orig = helpers.fetch_fw
+  def fetch_fw(path, name, sha256):
+    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
+    if p.is_file():
+      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
+      if hashlib.sha256(blob).hexdigest() == sha256:
+        return blob
+    return _orig(path, name, sha256)
+  helpers.fetch_fw = fetch_fw
+_patch_tinygrad_fetch_fw()
+
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import Context
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+
+NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
+WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
+POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention', 'action_t']
+
+UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
+UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
+
+WARP_DEV = os.getenv('WARP_DEV')
+
+
+def make_random_images(keys, shape, device=None):
+  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
+
+
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
+  w_dst, h_dst = dst_shape
+  h_src, w_src = src_shape
+
+  x = Tensor.arange(w_dst, device=WARP_DEV).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
+  y = Tensor.arange(h_dst, device=WARP_DEV).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
+
+  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
+  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
+  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
+  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
+
+  src_x = src_x / src_w
+  src_y = src_y / src_w
+
+  x_round = Tensor.round(src_x)
+  y_round = Tensor.round(src_y)
+  x_nn_clipped = x_round.clip(0, w_src - 1).cast('int')
+  y_nn_clipped = y_round.clip(0, h_src - 1).cast('int')
+  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
+  sampled = src_flat[idx]
+
+  if border_fill_val is None:
+    return sampled
+
+  in_bounds = ((x_round >= 0) & (x_round <= w_src - 1) &
+               (y_round >= 0) & (y_round <= h_src - 1)).cast(sampled.dtype)
+  return sampled * in_bounds + Tensor(border_fill_val, dtype=sampled.dtype) * (1 - in_bounds)
+
+
+def frames_to_tensor(frames):
+  H = (frames.shape[0] * 2) // 3
+  W = frames.shape[1]
+  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
+                       frames[1:H:2, 0::2],
+                       frames[0:H:2, 1::2],
+                       frames[1:H:2, 1::2],
+                       frames[H:H+H//4].reshape((H//2, W//2)),
+                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
+  return in_img1
+
+
+def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
+  cam_w, cam_h, stride, y_height, uv_height, _ = nv12
+  uv_offset = stride * y_height
+  stride_pad = stride - cam_w
+
+  def frame_prepare_tinygrad(input_frame, M_inv):
+    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
+    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
+    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
+    with Context(SPLIT_REDUCEOP=0):
+      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
+                                    M_inv, (model_w, model_h),
+                                    (cam_h, cam_w), stride_pad).realize()
+      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
+    tensor = frames_to_tensor(yuv)
+    return tensor
+  return frame_prepare_tinygrad
+
+
+def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
+  img = vision_input_shapes['img']  # (1, 12, 128, 256)
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+
+  fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
+  dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
+  tc = policy_input_shapes['traffic_convention']  # (1, 2)
+  #TODO action_t is hardcoded to match tc for future compatibility
+  at = tc
+
+  npy = {
+    'desire': np.zeros(dp[2], dtype=np.float32),
+    'traffic_convention': np.zeros(tc, dtype=np.float32),
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
+    'action_t': np.zeros(at, dtype=np.float32),
+  }
+  input_queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
+    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
+  return input_queues, npy
+
+
+def shift_and_sample(buf, new_val, sample_fn):
+  buf.assign(buf[1:].cat(new_val, dim=0).contiguous())
+  return sample_fn(buf)
+
+
+def sample_skip(buf, frame_skip):
+  return buf[::frame_skip].contiguous().flatten(0, 1).unsqueeze(0)
+
+
+def sample_desire(buf, frame_skip):
+  return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
+
+
+def make_warp(nv12, model_w, model_h, frame_skip):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+
+  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
+    tfm = tfm.to(WARP_DEV)
+    big_tfm = big_tfm.to(WARP_DEV)
+    Tensor.realize(tfm, big_tfm)
+
+    warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
+    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
+    img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
+    return img, big_img
+  return warp_enqueue
+
+
+def make_run_policy(vision_runner, on_policy_runner, vision_features_slice, frame_skip):
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+
+  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, action_t):
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    action_t = action_t.to(Device.DEFAULT)
+    Tensor.realize(desire, traffic_convention, action_t)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+    vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
+
+    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
+    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+
+    inputs = {
+      'features_buffer': feat_buf,
+      'desire_pulse': desire_buf,
+      'traffic_convention': traffic_convention,
+      'action_t': action_t,
+    }
+    on_policy_out = next(iter(on_policy_runner(inputs).values())).cast('float32')
+    #off_policy_out = next(iter(off_policy_runner(inputs).values())).cast('float32')
+    return vision_out, on_policy_out
+
+  return run_policy
+
+
+def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
+  vision_input_shapes = vision_metadata['input_shapes']
+  policy_input_shapes = policy_metadata['input_shapes']
+
+  SEED = 42
+  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
+    np.random.seed(seed)
+    Tensor.manual_seed(seed)
+
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
+
+    for i in range(n_runs):
+      for v in npy.values():
+        v[:] = np.random.randn(*v.shape).astype(v.dtype)
+      Device.default.synchronize()
+      random_inputs = make_random_inputs()
+      st = time.perf_counter()
+      outs = fn(**{k: input_queues[k] for k in input_keys}, **random_inputs)
+      mt = time.perf_counter()
+      Device.default.synchronize()
+      et = time.perf_counter()
+      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+      if i == 0:
+        val = [np.copy(v.numpy()) for v in outs]
+        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+
+    if test_val is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
+      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    if test_buffers is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
+      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    return val, buffers
+
+  print('capture + replay')
+  test_val, test_buffers = random_inputs_run(jit, SEED)
+  print('pickle round trip')
+  jit = pickle.loads(pickle.dumps(jit))
+  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return jit
+
+
+def _parse_size(s):
+  w, h = s.lower().split('x')
+  return int(w), int(h)
+
+
+def read_file_chunked_to_shm(path):
+  from openpilot.common.file_chunker import read_file_chunked
+  from openpilot.system.hardware.hw import Paths
+  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
+  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
+  with open(shm_path, 'wb') as f:
+    f.write(read_file_chunked(path))
+  return shm_path
+
+
+if __name__ == "__main__":
+  from tinygrad.nn.onnx import OnnxRunner
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
+  p = argparse.ArgumentParser()
+  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
+                 help='camera resolutions WxH (one or more)')
+  p.add_argument('--vision-onnx', required=True)
+  p.add_argument('--on-policy-onnx', required=True)
+  p.add_argument('--output', required=True)
+  p.add_argument('--frame-skip', type=int, required=True)
+  args = p.parse_args()
+
+  out = defaultdict(dict)
+  vision_path, on_policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.on_policy_onnx)
+  model_w, model_h = args.model_size
+
+  vision_runner = OnnxRunner(vision_path)
+  on_policy_runner = OnnxRunner(on_policy_path)
+  vision_metadata, on_policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(on_policy_path)
+
+  run_policy_jit = TinyJit(make_run_policy(vision_runner, on_policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
+  out['metadata']['vision'], out['metadata']['on_policy'] = vision_metadata, on_policy_metadata
+
+  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
+
+  for cam_w, cam_h in args.camera_resolutions:
+    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
+
+  with open(args.output, "wb") as f:
+    pickle.dump(out, f)
+  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index ff7e1d8600..0fb09262d0 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -38,6 +38,7 @@ class ModelConstants:
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
   PLAN_WIDTH = 15
+  ACTION_WIDTH = 2
   DESIRE_PRED_WIDTH = 8
   LAT_PLANNER_SOLUTION_WIDTH = 4
   DESIRED_CURV_WIDTH = 1
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 1d80cd910e..eaf423e7be 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,12 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
-set_tinygrad_backend_from_compiled_flags()
-
-# FIXME-SP: remove once we bump tg
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
-
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, get_tg_input_devices
 from tinygrad.tensor import Tensor
 import time
 import pickle
@@ -28,11 +22,13 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
 METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
 
+
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
 
-  def __init__(self):
+  def __init__(self, cam_w: int, cam_h: int):
+    self.DEV = get_tg_input_devices(PROCESS_NAME, usbgpu=False)['DEV']
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
       self.input_shapes = model_metadata['input_shapes']
@@ -44,31 +40,27 @@ class ModelState:
 
     self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
     self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
-    self.frame_buf_params = None
+    self.frame_buf_params = get_nv12_info(cam_w, cam_h)
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self._blob_cache : dict[int, Tensor] = {}
-    self.image_warp = None
     self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
+    with open(MODELS_DIR / f'dm_warp_{cam_w}x{cam_h}_tinygrad.pkl', "rb") as f:
+      self.image_warp = pickle.load(f)
 
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
 
-    if self.image_warp is None:
-      self.frame_buf_params = get_nv12_info(buf.width, buf.height)
-      warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
-      with open(warp_path, "rb") as f:
-        self.image_warp = pickle.load(f)
-    ptr = buf.data.ctypes.data
+    ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data
     # There is a ringbuffer of imgs, just cache tensors pointing to all of them
     if ptr not in self._blob_cache:
-      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8')
+      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8', device=self.DEV)
 
     self.warp_inputs_np['transform'][:] = transform[:]
-    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize()
+    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform'])
 
-    output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
+    output = self.model_run(**self.tensor_inputs).numpy().flatten()
 
     t2 = time.perf_counter()
     return output, t2 - t1
@@ -83,7 +75,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob', 'sleep_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -99,6 +91,7 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
   msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
+  msg.sleepProb = model_output[f'sleep_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
   msg = messaging.new_message('driverStateV2', valid=True)
@@ -116,9 +109,6 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
 def main():
   config_realtime_process(7, 5)
 
-  model = ModelState()
-  cloudlog.warning("models loaded, dmonitoringmodeld starting")
-
   cloudlog.warning("connecting to driver stream")
   vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
   while not vipc_client.connect(False):
@@ -126,6 +116,9 @@ def main():
   assert vipc_client.is_connected()
   cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
 
+  model = ModelState(vipc_client.width, vipc_client.height)
+  cloudlog.warning("models loaded, dmonitoringmodeld starting")
+
   sm = SubMaster(["liveCalibration"])
   pm = PubMaster(["driverStateV2"])
 
diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py
index 838b1e9f40..e4c173957a 100755
--- a/selfdrive/modeld/get_model_metadata.py
+++ b/selfdrive/modeld/get_model_metadata.py
@@ -35,21 +35,21 @@ def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
   return None
 
 
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
+def make_metadata_dict(model_path):
   model = MetadataOnnxPBParser(model_path).parse()
   output_slices = get_metadata_value_by_name(model, 'output_slices')
   assert output_slices is not None, 'output_slices not found in metadata'
-
-  metadata = {
+  return {
     'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
     'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
     'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
     'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
   }
 
+
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
   metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
   with open(metadata_path, 'wb') as f:
-    pickle.dump(metadata, f)
-
+    pickle.dump(make_metadata_dict(model_path), f)
   print(f'saved metadata to {metadata_path}')
diff --git a/selfdrive/modeld/helpers.py b/selfdrive/modeld/helpers.py
new file mode 100644
index 0000000000..64bf28873f
--- /dev/null
+++ b/selfdrive/modeld/helpers.py
@@ -0,0 +1,26 @@
+import json
+from pathlib import Path
+
+MODELS_DIR = Path(__file__).resolve().parent / 'models'
+TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
+USBGPU_VID = 0xADD1
+USBGPU_PID = 0x0001
+
+
+def get_tg_input_devices(process_name: str, usbgpu: bool):
+  with open(TG_INPUT_DEVICES_PATH) as f:
+    return json.load(f)[process_name]['default' if not usbgpu else 'usbgpu']
+
+def modeld_pkl_path(usbgpu: bool):
+  prefix = 'big_' if usbgpu else ''
+  return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
+
+def usbgpu_present() -> bool:
+  for d in Path("/sys/bus/usb/devices").glob("*"):
+    try:
+      if int((d / "idVendor").read_text(), 16) == USBGPU_VID and \
+          int((d / "idProduct").read_text(), 16) == USBGPU_PID:
+        return True
+    except Exception:
+      pass
+  return False
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 4f89058d70..9107cc6228 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,16 +1,6 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
-set_tinygrad_backend_from_compiled_flags()
-
-# FIXME-SP: remove once we bump tg
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
-
-USBGPU = "USBGPU" in os.environ
-if USBGPU:
-  os.environ['DEV'] = 'AMD'
-  os.environ['AMD_IFACE'] = 'USB'
+os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
 from tinygrad.tensor import Tensor
 import time
 import pickle
@@ -30,52 +20,50 @@ from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import read_file_chunked
+from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 
-
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
-VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
-POLICY_PKL_PATH = MODELS_DIR / 'driving_policy_tinygrad.pkl'
-POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
-
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
-IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256)
-assert IMG_QUEUE_SHAPE[0] == 30
-
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+  if 'action' not in model_output:
     plan = model_output['plan'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
                                                      plan[:,Plan.ACCELERATION][:,0],
                                                      ModelConstants.T_IDXS,
                                                      action_t=long_action_t)
-    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
-
     desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
                                                 plan[:,Plan.ORIENTATION_RATE][:,2],
                                                 ModelConstants.T_IDXS,
                                                 v_ego,
                                                 lat_action_t)
-    if v_ego > MIN_LAT_CONTROL_SPEED:
-      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
-    else:
-      desired_curvature = prev_action.desiredCurvature
+  else:
+    desired_accel = model_output['action'][0,1]
+    desired_curvature = model_output['action'][0,0] / (max(1.0, v_ego))**2
+    should_stop = (v_ego < 0.3 and desired_accel < 0.1)
+  desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+  if v_ego > MIN_LAT_CONTROL_SPEED:
+    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+  else:
+    desired_curvature = prev_action.desiredCurvature
+
+  return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                desiredAcceleration=float(desired_accel),
+                                shouldStop=bool(should_stop))
 
-    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
-                                  desiredAcceleration=float(desired_accel),
-                                  shouldStop=bool(should_stop))
 
 class FrameMeta:
   frame_id: int = 0
@@ -86,175 +74,95 @@ class FrameMeta:
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class InputQueues:
-  def __init__ (self, model_fps, env_fps, n_frames_input):
-    assert env_fps % model_fps == 0
-    assert env_fps >= model_fps
-    self.model_fps = model_fps
-    self.env_fps = env_fps
-    self.n_frames_input = n_frames_input
-
-    self.dtypes = {}
-    self.shapes = {}
-    self.q = {}
-
-  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
-    self.dtypes.update(input_dtypes)
-    if self.env_fps == self.model_fps:
-      self.shapes.update(input_shapes)
-    else:
-      for k in input_shapes:
-        shape = list(input_shapes[k])
-        if 'img' in k:
-          n_channels = shape[1] // self.n_frames_input
-          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
-        else:
-          shape[1] = (self.env_fps // self.model_fps) * shape[1]
-        self.shapes[k] = tuple(shape)
-
-  def reset(self) -> None:
-    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
-
-  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
-    for k in inputs.keys():
-      if inputs[k].dtype != self.dtypes[k]:
-        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
-      input_shape = list(self.shapes[k])
-      input_shape[1] = -1
-      single_input = inputs[k].reshape(tuple(input_shape))
-      sz = single_input.shape[1]
-      self.q[k][:,:-sz] = self.q[k][:,sz:]
-      self.q[k][:,-sz:] = single_input
-
-  def get(self, *names) -> dict[str, np.ndarray]:
-    if self.env_fps == self.model_fps:
-      return {k: self.q[k] for k in names}
-    else:
-      out = {}
-      for k in names:
-        shape = self.shapes[k]
-        if 'img' in k:
-          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
-          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
-        elif 'pulse' in k:
-          # any pulse within interval counts
-          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
-        else:
-          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
-          out[k] = self.q[k][:, idxs]
-      return out
 
 class ModelState(ModelStateBase):
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
-  def __init__(self):
+  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     ModelStateBase.__init__(self)
     self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
-    with open(VISION_METADATA_PATH, 'rb') as f:
-      vision_metadata = pickle.load(f)
-      self.vision_input_shapes =  vision_metadata['input_shapes']
-      self.vision_input_names = list(self.vision_input_shapes.keys())
-      self.vision_output_slices = vision_metadata['output_slices']
-      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
+    input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
+    self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
+    jits = pickle.loads(read_file_chunked(modeld_pkl_path(usbgpu)))
+    vision_metadata = jits['metadata']['vision']
+    self.vision_input_shapes = vision_metadata['input_shapes']
+    self.vision_input_names = list(self.vision_input_shapes.keys())
+    self.vision_output_slices = vision_metadata['output_slices']
 
-    with open(POLICY_METADATA_PATH, 'rb') as f:
-      policy_metadata = pickle.load(f)
-      self.policy_input_shapes =  policy_metadata['input_shapes']
-      self.policy_output_slices = policy_metadata['output_slices']
-      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
+    policy_metadata = jits['metadata']['on_policy']
+    self.policy_input_shapes = policy_metadata['input_shapes']
+    self.policy_output_slices = policy_metadata['output_slices']
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
-    # policy inputs
-    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
-    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
-    for k in ['desire_pulse', 'features_buffer']:
-      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
-    self.full_input_queues.reset()
-
-    self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
-                       'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize()}
-    self.full_frames : dict[str, Tensor] = {}
-    self._blob_cache : dict[int, Tensor] = {}
-    self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues}
-    self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
-    self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
-    self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-    self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
+    self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.QUEUE_DEV)
+    self.full_frames: dict[str, Tensor] = {}
+    self._blob_cache: dict[int, Tensor] = {}
     self.parser = Parser()
-    self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
-    self.update_imgs = None
-    self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
-    self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
+    self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
+    self.run_policy = jits['run_policy']
+    self.warp_enqueue = jits[(cam_w,cam_h)]
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
     return parsed_model_outputs
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire_pulse'][0] = 0
-    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
-    self.prev_desire[:] = inputs['desire_pulse']
-    if self.update_imgs is None:
-      for key in bufs.keys():
-        w, h = bufs[key].width, bufs[key].height
-        self.frame_buf_params[key] = get_nv12_info(w, h)
-      warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
-      with open(warp_path, "rb") as f:
-        self.update_imgs = pickle.load(f)
-
+          inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     for key in bufs.keys():
-      ptr = bufs[key].data.ctypes.data
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
       yuv_size = self.frame_buf_params[key][3]
       # There is a ringbuffer of imgs, just cache tensors pointing to all of them
       cache_key = (key, ptr)
       if cache_key not in self._blob_cache:
-        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
       self.full_frames[key] = self._blob_cache[cache_key]
-    for key in bufs.keys():
-      self.transforms_np[key][:,:] = transforms[key][:,:]
 
-    out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
-                           self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
-    vision_inputs = {'img': out[0], 'big_img': out[1]}
+    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
+    inputs['desire_pulse'][0] = 0
+    self.npy['desire'][:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    self.prev_desire[:] = inputs['desire_pulse']
+    self.npy['traffic_convention'][:] = inputs['traffic_convention']
+    self.npy['action_t'][:] = inputs['action_t']
+    self.npy['tfm'][:,:] = transforms['img'][:,:]
+    self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
+
+    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
 
     if prepare_only:
       return None
 
-    self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
-    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
+    vision_output, on_policy_output = self.run_policy(
+      **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
+    )
 
-    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
-    for k in ['desire_pulse', 'features_buffer']:
-      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-
-    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
-    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
+    vision_output = vision_output.numpy().flatten()
+    on_policy_output = on_policy_output.numpy().flatten()
+    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
+    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(on_policy_output, self.policy_output_slices))
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
-    if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
 
+    if SEND_RAW_PRED:
+      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy()])
     return combined_outputs_dict
 
 
 def main(demo=False):
   cloudlog.warning("modeld init")
 
+  _present = usbgpu_present()
+  _compiled = os.path.isfile(get_manifest_path(modeld_pkl_path(usbgpu=True)))
+  USBGPU = _present and _compiled
+  params = Params()
+  params.put_bool("UsbGpuPresent", _present)
+  params.put_bool("UsbGpuCompiled", _compiled)
+
   if not USBGPU:
     # USB GPU currently saturates a core so can't do this yet,
     # also need to move the aux USB interrupts for good timings
     config_realtime_process(7, 54)
 
-  st = time.monotonic()
-  cloudlog.warning("loading model")
-  model = ModelState()
-  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
-
   # visionipc clients
   while True:
     available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -278,6 +186,11 @@ def main(demo=False):
   if use_extra_client:
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
+  st = time.monotonic()
+  cloudlog.warning("loading model")
+  model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)
+  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
+
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
@@ -298,7 +211,6 @@ def main(demo=False):
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
 
-
   if demo:
     CP = get_demo_car_params()
   else:
@@ -382,9 +294,14 @@ def main(demo=False):
 
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
-    inputs:dict[str, np.ndarray] = {
+    frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+    action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+    lat_action_t = lat_delay + frame_delay + action_delay
+    long_action_t = long_delay + frame_delay + action_delay
+    inputs: dict[str, np.ndarray] = {
       'desire_pulse': vec_desire,
       'traffic_convention': traffic_convention,
+      'action_t': np.array([lat_action_t, long_action_t], dtype=np.float32),
     }
 
     mt1 = time.perf_counter()
@@ -398,9 +315,7 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
       mdv2sp_send = messaging.new_message('modelDataV2SP')
 
-      frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
-      action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
-      action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego)
+      action = get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/selfdrive/modeld/models/big_driving_on_policy.onnx b/selfdrive/modeld/models/big_driving_on_policy.onnx
new file mode 100644
index 0000000000..f7b49c018a
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_on_policy.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565e53c38dcd64c50dd3fe4d5ee1530213aeefd66c3f6b67ea6a72a32612a6bf
+size 14061419
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
deleted file mode 120000
index e1b653a14a..0000000000
--- a/selfdrive/modeld/models/big_driving_policy.onnx
+++ /dev/null
@@ -1 +0,0 @@
-driving_policy.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
deleted file mode 120000
index 28ee71dd74..0000000000
--- a/selfdrive/modeld/models/big_driving_vision.onnx
+++ /dev/null
@@ -1 +0,0 @@
-driving_vision.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
new file mode 100644
index 0000000000..d14f1969e0
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_vision.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f0cab5033fe9e3bc5e174a2e790fa277f7d9fc44c65822d734064d2f899a9a0
+size 296203378
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index dc621bed03..bd3f2c85a6 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
-size 7307246
+oid sha256:3e7b31dfbc0a5234f1baf196513b77fc6af12204b8a8ffe8ee0417e48352f316
+size 7494962
diff --git a/selfdrive/modeld/models/driving_on_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx
new file mode 100644
index 0000000000..611ae9fe85
--- /dev/null
+++ b/selfdrive/modeld/models/driving_on_policy.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
+size 14060847
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
deleted file mode 100644
index 7c71bc9471..0000000000
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:853c6634746ff439a848349d00e4d5581cd941f13f7c1862c31b72a31cc24858
-size 14061595
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index afd617667c..6c9fc4c84d 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:940e9006a25f27f0b6e85da798e6a8fd1f6dd492dd7d0b9ff1a9436460f46129
-size 46887794
+oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
+size 46877473
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index a0b45d2a98..26c138b8ec 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -110,11 +110,7 @@ class Parser:
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
-    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
-    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-    if 'planplus' in outs:
-      self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('plan', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 
diff --git a/selfdrive/modeld/tinygrad_helpers.py b/selfdrive/modeld/tinygrad_helpers.py
deleted file mode 100644
index 49a6ed6161..0000000000
--- a/selfdrive/modeld/tinygrad_helpers.py
+++ /dev/null
@@ -1,12 +0,0 @@
-import json
-import os
-from pathlib import Path
-
-MODELS_DIR = Path(__file__).parent / 'models'
-COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
-
-
-def set_tinygrad_backend_from_compiled_flags() -> None:
-  if os.path.isfile(COMPILED_FLAGS_PATH):
-    with open(COMPILED_FLAGS_PATH) as f:
-      os.environ['DEV'] = str(json.load(f)['DEV'])
diff --git a/selfdrive/monitoring/README.md b/selfdrive/monitoring/README.md
deleted file mode 100644
index 2a29ea06b5..0000000000
--- a/selfdrive/monitoring/README.md
+++ /dev/null
@@ -1,15 +0,0 @@
-# driver monitoring (DM)
-
-Uploading driver-facing camera footage is opt-in, but it is encouraged to opt-in to improve the DM model. You can always change your preference using the "Record and Upload Driver Camera" toggle.
-
-## Troubleshooting
-
-Before creating a bug report, go through these troubleshooting steps.
-
-* Ensure the driver-facing camera has a good view of the driver in normal driving positions.
- * This can be checked in Settings -> Device -> Preview Driver Camera (when car is off).
-* If the camera can't see the driver, the device should be re-mounted.
-
-## Bug report
-
-In order for us to look into DM bug reports, we'll need the driver-facing camera footage. If you don't normally have this enabled, simply enable the toggle for a single drive. Also ensure the "Upload Raw Logs" toggle is enabled before going for a drive.
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 022415af6d..bedad967b6 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -2,7 +2,7 @@
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
-from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring
 
 
 def dmonitoringd_thread():
@@ -25,7 +25,7 @@ def dmonitoringd_thread():
 
     valid = sm.all_checks()
     if demo_mode and sm.valid['driverStateV2']:
-      DM.run_step(sm, demo=demo_mode)
+      DM.run_step(sm, demo=True)
     elif valid:
       DM.run_step(sm, demo=demo_mode)
 
@@ -40,9 +40,9 @@ def dmonitoringd_thread():
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
-      params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
+     DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+      params.put_bool("IsRhdDetected", DM.wheel_on_right)
 
 def main():
   dmonitoringd_thread()
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/policy.py
similarity index 50%
rename from selfdrive/monitoring/helpers.py
rename to selfdrive/monitoring/policy.py
index b392182607..728d4881cd 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/policy.py
@@ -1,18 +1,20 @@
+from collections import defaultdict
 from math import atan2, radians
 import numpy as np
 
 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.selfdrive.selfdrived.events import Events
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.stat_live import RunningStatFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.system.hardware import HARDWARE
 
-EventName = log.OnroadEvent.EventName
+AlertLevel = log.DriverMonitoringState.AlertLevel
+MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
+
+def to_percent(v):
+  return int(min(max(v * 100., 0.), 100.))
 
 # ******************************************************************************************
 #  NOTE: To fork maintainers.
@@ -21,22 +23,27 @@ EventName = log.OnroadEvent.EventName
 # ******************************************************************************************
 
 class DRIVER_MONITOR_SETTINGS:
-  def __init__(self, device_type):
-    self._DT_DMON = DT_DMON
-    # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
-    self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
-    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
-    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
-    self._DISTRACTED_TIME = 11. # active monitoring total timeout
-    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
-    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
+  def __init__(self):
+    # https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
+    self._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT = 15.
+    self._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT = 24.
+    self._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT = 30.
+    # https://cdn.euroncap.com/cars/assets/euro_ncap_protocol_safe_driving_driver_engagement_v11_a30e874152.pdf
+    self._VISION_POLICY_ALERT_1_TIMEOUT = 3.
+    self._VISION_POLICY_ALERT_2_TIMEOUT = 5.
+    self._VISION_POLICY_ALERT_3_TIMEOUT = 11.
+
+    self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
+    self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
+
+    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
+    self._MAX_TERMINAL_DURATION = int(30 / DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
     self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.65
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
     self._PHONE_THRESH = 0.5
-
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
     self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
@@ -57,106 +64,79 @@ class DRIVER_MONITOR_SETTINGS:
     self._YAW_MIN_OFFSET = -0.0246
 
     self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
-    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / self._DT_DMON)
-    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / self._DT_DMON)
-    self._POSESTD_THRESHOLD = 0.3
-    self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
+    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / DT_DMON)
+    self._DCAM_UNCERTAIN_RESET_COUNT = int(2  / DT_DMON)
+    self._HI_STD_THRESHOLD = 0.3
+    self._HI_STD_FALLBACK_TIME = int(10  / DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
 
     self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
-    self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
-    self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
-
+    self._POSE_OFFSET_MIN_COUNT = int(60 / DT_DMON)  # valid data counts before calibration completes, 1min cumulative
+    self._POSE_OFFSET_MAX_COUNT = int(360 / DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
     self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
-    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
+    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / DT_DMON) # allow 15 seconds to converge wheel side
     self._WHEELPOS_DATA_AVG = 0.03
     self._WHEELPOS_DATA_VAR = 3*5.5e-5
     self._WHEELPOS_MAX_COUNT = -1
 
-    self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
-    self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
-
-    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
-    self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
-
-class DistractedType:
-
-  NOT_DISTRACTED = 0
-  DISTRACTED_POSE = 1 << 0
-  DISTRACTED_BLINK = 1 << 1
-  DISTRACTED_PHONE = 1 << 2
-
 class DriverPose:
   def __init__(self, settings):
     pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
     yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
     self.yaw = 0.
     self.pitch = 0.
-    self.roll = 0.
-    self.yaw_std = 0.
-    self.pitch_std = 0.
-    self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
-    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.pitch_offsetter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.yaw_offsetter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
     self.calibrated = False
     self.low_std = True
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
     self.steer_yaw_offset = 0.
 
-class DriverProb:
-  def __init__(self, raw_priors, max_trackable):
-    self.prob = 0.
-    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
-    self.prob_calibrated = False
-
 class DriverBlink:
   def __init__(self):
     self.left = 0.
     self.right = 0.
 
-
 # model output refers to center of undistorted+leveled image
-EFL = 598.0 # focal length in K
-cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
-W, H = (cam.dcam.width, cam.dcam.height)  # corrected image has same size as raw
+ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].dcam
+dcam_undistorted_FL = 598.0
+dcam_undistorted_W, dcam_undistorted_H = (ref_undistorted_cam.width, ref_undistorted_cam.height)
 
-def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
-  # the output of these angles are in device frame
-  # so from driver's perspective, pitch is up and yaw is right
+def face_orientation_from_model(orient_model, pos_model, rpy_calib):
+  pitch_model = orient_model[0]
+  yaw_model = orient_model[1]
 
-  pitch_net, yaw_net, roll_net = angles_desc
+  face_pixel_position = ((pos_model[0]+0.5)*dcam_undistorted_W, (pos_model[1]+0.5)*dcam_undistorted_H)
+  yaw_focal_angle = atan2(face_pixel_position[0] - dcam_undistorted_W//2, dcam_undistorted_FL)
+  pitch_focal_angle = atan2(face_pixel_position[1] - dcam_undistorted_H//2, dcam_undistorted_FL)
 
-  face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H)
-  yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL)
-  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL)
+  pitch = pitch_model + pitch_focal_angle
+  yaw = -yaw_model + yaw_focal_angle
 
-  pitch = pitch_net + pitch_focal_angle
-  yaw = -yaw_net + yaw_focal_angle
-
-  # no calib for roll
   pitch -= rpy_calib[1]
   yaw -= rpy_calib[2]
-  return roll_net, pitch, yaw
+  return pitch, yaw
 
 
 class DriverMonitoring:
   def __init__(self, rhd_saved=False, settings=None, always_on=False):
     # init policy settings
-    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
+    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS()
 
     # init driver status
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
-    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.wheelpos_offsetter = RunningStatFilter(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
     self.pose = DriverPose(settings=self.settings)
     self.blink = DriverBlink()
     self.phone_prob = 0.
 
+    self.alert_level = AlertLevel.none
     self.always_on = always_on
-    self.distracted_types = []
+    self.distracted_types = defaultdict(bool)
     self.driver_distracted = False
-    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
+    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, DT_DMON)
     self.wheel_on_right = False
     self.wheel_on_right_last = None
     self.wheel_on_right_default = rhd_saved
@@ -164,61 +144,56 @@ class DriverMonitoring:
     self.terminal_alert_cnt = 0
     self.terminal_time = 0
     self.step_change = 0.
-    self.active_monitoring_mode = True
+    self.active_policy = MonitoringPolicy.vision
+    self.driver_interacting = False
     self.is_model_uncertain = False
     self.hi_stds = 0
-    self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-    self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
+    self.model_std_max = 0.
+    self.threshold_alert_1 = 0.
+    self.threshold_alert_2 = 0.
     self.dcam_uncertain_cnt = 0
-    self.dcam_uncertain_alerted = False # once per drive
     self.dcam_reset_cnt = 0
-
-    self.params = Params()
-    self.too_distracted = self.params.get_bool("DriverTooDistracted")
+    self.too_distracted = Params().get_bool("DriverTooDistracted")
 
     self._reset_awareness()
-    self._set_timers(active_monitoring=True)
-    self._reset_events()
+    self._set_policy(MonitoringPolicy.vision)
 
   def _reset_awareness(self):
     self.awareness = 1.
-    self.awareness_active = 1.
-    self.awareness_passive = 1.
+    self.last_vision_awareness = 1.
+    self.last_wheeltouch_awareness = 1.
 
-  def _reset_events(self):
-    self.current_events = Events()
-
-  def _set_timers(self, active_monitoring):
-    if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
-      if active_monitoring:
-        self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
+  def _set_policy(self, target_policy):
+    if self.active_policy == MonitoringPolicy.vision and self.awareness <= self.threshold_alert_2:
+      if target_policy == MonitoringPolicy.vision:
+        self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
       else:
         self.step_change = 0.
       return  # no exploit after orange alert
     elif self.awareness <= 0.:
       return
 
-    if active_monitoring:
+    if target_policy == MonitoringPolicy.vision:
       # when falling back from passive mode to active mode, reset awareness to avoid false alert
-      if not self.active_monitoring_mode:
-        self.awareness_passive = self.awareness
-        self.awareness = self.awareness_active
+      if self.active_policy != MonitoringPolicy.vision:
+        self.last_wheeltouch_awareness = self.awareness
+        self.awareness = self.last_vision_awareness
 
-      self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-      self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-      self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
-      self.active_monitoring_mode = True
+      self.threshold_alert_1 = 1. - self.settings._VISION_POLICY_ALERT_1_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.threshold_alert_2 = 1. - self.settings._VISION_POLICY_ALERT_2_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.active_policy = MonitoringPolicy.vision
     else:
-      if self.active_monitoring_mode:
-        self.awareness_active = self.awareness
-        self.awareness = self.awareness_passive
+      if self.active_policy == MonitoringPolicy.vision:
+        self.last_vision_awareness = self.awareness
+        self.awareness = self.last_wheeltouch_awareness
 
-      self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
-      self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
-      self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
-      self.active_monitoring_mode = False
+      self.threshold_alert_1 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.threshold_alert_2 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.step_change = DT_DMON / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.active_policy = MonitoringPolicy.wheeltouch
 
-  def _set_policy(self, brake_disengage_prob, car_speed):
+  def _set_pose_strictness(self, brake_disengage_prob, car_speed):
     bp = brake_disengage_prob
     k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
     bp_normal = max(min(bp / k1, 0.5),0)
@@ -230,15 +205,15 @@ class DriverMonitoring:
                                             self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
 
   def _get_distracted_types(self):
-    distracted_types = []
+    self.distracted_types = defaultdict(bool)
 
     if not self.pose.calibrated:
       pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
       yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
     else:
-      pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(),
+      pitch_error = self.pose.pitch - min(max(self.pose.pitch_offsetter.filtered_stat.mean(),
                                                        self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
-      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
+      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offsetter.filtered_stat.mean(),
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
 
@@ -250,28 +225,21 @@ class DriverMonitoring:
     pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
     yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
 
-    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
-      distracted_types.append(DistractedType.DISTRACTED_POSE)
-
-    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
-      distracted_types.append(DistractedType.DISTRACTED_BLINK)
-
-    if self.phone_prob > self.settings._PHONE_THRESH:
-      distracted_types.append(DistractedType.DISTRACTED_PHONE)
-
-    return distracted_types
+    self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
+    self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD)
+    self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
 
   def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
     rhd_pred = driver_state.wheelOnRightProb
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
+      self.wheelpos_offsetter.push_and_update(rhd_pred)
 
-    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
+    wheelpos_calibrated = self.wheelpos_offsetter.filtered_stat.n >= self.settings._WHEELPOS_FILTER_MIN_COUNT
 
-    if self.wheelpos.prob_calibrated or demo_mode:
-      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+    if wheelpos_calibrated or demo_mode:
+      self.wheel_on_right = self.wheelpos_offsetter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
     # make sure no switching when engaged
@@ -283,71 +251,60 @@ class DriverMonitoring:
       return
 
     self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
-    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
+    self.pose.pitch, self.pose.yaw = face_orientation_from_model(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
     steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
     self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
     if self.wheel_on_right:
       self.pose.yaw *= -1
       self.pose.steer_yaw_offset *= -1
     self.wheel_on_right_last = self.wheel_on_right
-    self.pose.pitch_std = driver_data.faceOrientationStd[0]
-    self.pose.yaw_std = driver_data.faceOrientationStd[1]
-    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
-    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
+    self.model_std_max = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
+    self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
     self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
                       * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
                       * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
-    self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
-                              or DistractedType.DISTRACTED_POSE in self.distracted_types
-                              or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
-                              and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+    self._get_distracted_types()
+    self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
-    # update offseter
-    # only update when driver is actively driving the car above a certain speed
+    # only update offsetter when driver is actively driving the car above a certain speed
     if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
-      self.pose.pitch_offseter.push_and_update(self.pose.pitch)
-      self.pose.yaw_offseter.push_and_update(self.pose.yaw)
+      self.pose.pitch_offsetter.push_and_update(self.pose.pitch)
+      self.pose.yaw_offsetter.push_and_update(self.pose.yaw)
 
-    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
-                           self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
+    self.pose.calibrated = self.pose.pitch_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT and \
+                           self.pose.yaw_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT
 
     if self.face_detected and not self.driver_distracted:
-      if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
-        if not standstill:
-          self.dcam_uncertain_cnt += 1
-          self.dcam_reset_cnt = 0
+      dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
+      if dcam_uncertain and not standstill:
+        self.dcam_uncertain_cnt += 1
+        self.dcam_reset_cnt = 0
       else:
         self.dcam_reset_cnt += 1
         if self.dcam_reset_cnt > self.settings._DCAM_UNCERTAIN_RESET_COUNT:
           self.dcam_uncertain_cnt = 0
 
-    self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
-    self._set_timers(self.face_detected and not self.is_model_uncertain)
+    self.is_model_uncertain = self.hi_stds >= self.settings._HI_STD_FALLBACK_TIME
+    self._set_policy(MonitoringPolicy.vision if self.face_detected and not self.is_model_uncertain else MonitoringPolicy.wheeltouch)
     if self.face_detected and not self.pose.low_std and not self.driver_distracted:
       self.hi_stds += 1
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0
 
-  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
-    self._reset_events()
-    # Block engaging until ignition cycle after max number or time of distractions
+  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear):
+    self.alert_level = AlertLevel.none
+    self.driver_interacting = driver_engaged
+
     if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
        self.terminal_time >= self.settings._MAX_TERMINAL_DURATION:
-      if not self.too_distracted:
-        self.params.put_bool_nonblocking("DriverTooDistracted", True)
       self.too_distracted = True
 
-    # Always-on distraction lockout is temporary
-    if self.too_distracted or (self.always_on and self.awareness <= self.threshold_prompt):
-      self.current_events.add(EventName.tooDistracted)
-
     always_on_valid = self.always_on and not wrong_gear
-    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
+    if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
        (not always_on_valid and not op_engaged) or \
        (always_on_valid and not op_engaged and self.awareness <= 0):
       # always reset on disengage with normal mode; disengage resets only on red if always on
@@ -355,111 +312,118 @@ class DriverMonitoring:
       return
 
     awareness_prev = self.awareness
-    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
-    _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_orange_exemption = standstill and _reaching_pre
-    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
+    _reaching_alert_1 = self.awareness - self.step_change <= self.threshold_alert_1
+    _reaching_alert_3 = self.awareness - self.step_change <= 0
+    standstill_exemption = standstill and _reaching_alert_1
+    always_on_exemption = always_on_valid and not op_engaged and _reaching_alert_3
 
     if self.awareness > 0 and \
-       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption):
-      if driver_engaged:
+       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_exemption):
+      if self.driver_interacting:
         self._reset_awareness()
         return
       # only restore awareness when paying attention and alert is not red
-      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
-                                             (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      self.awareness = min(self.awareness + ((self.settings._TIMEOUT_RECOVERY_FACTOR_MAX-self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*
+                                             (1.-self.awareness)+self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
       if self.awareness == 1.:
-        self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
+        self.last_wheeltouch_awareness = min(self.last_wheeltouch_awareness + self.step_change, 1.)
       # don't display alert banner when awareness is recovering and has cleared orange
-      if self.awareness > self.threshold_prompt:
+      if self.awareness > self.threshold_alert_2:
         return
 
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
-    maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
+    maybe_distracted = self.is_model_uncertain or not self.face_detected
 
     if certainly_distracted or maybe_distracted:
       # should always be counting if distracted unless at standstill and reaching green
       # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_orange_exemption or always_on_red_exemption):
+      if not (standstill_exemption or always_on_exemption):
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
-    alert = None
     if self.awareness <= 0.:
-      # terminal red alert: disengagement required
-      alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3
+      # terminal alert: disengagement required
+      self.alert_level = AlertLevel.three
       self.terminal_time += 1
       if awareness_prev > 0.:
         self.terminal_alert_cnt += 1
-    elif self.awareness <= self.threshold_prompt:
-      # prompt orange alert
-      alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2
-    elif self.awareness <= self.threshold_pre:
-      # pre green alert
-      alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1
-
-    if alert is not None:
-      self.current_events.add(alert)
-
-    if self.dcam_uncertain_cnt > self.settings._DCAM_UNCERTAIN_ALERT_COUNT and not self.dcam_uncertain_alerted:
-      set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
-      self.dcam_uncertain_alerted = True
-
+    elif self.awareness <= self.threshold_alert_2:
+      self.alert_level = AlertLevel.two
+    elif self.awareness <= self.threshold_alert_1:
+      self.alert_level = AlertLevel.one
 
   def get_state_packet(self, valid=True):
     # build driverMonitoringState packet
     dat = messaging.new_message('driverMonitoringState', valid=valid)
-    dat.driverMonitoringState = {
-      "events": self.current_events.to_msg(),
-      "faceDetected": self.face_detected,
-      "isDistracted": self.driver_distracted,
-      "distractedType": sum(self.distracted_types),
-      "awarenessStatus": self.awareness,
-      "posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(),
-      "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
-      "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
-      "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
-      "stepChange": self.step_change,
-      "awarenessActive": self.awareness_active,
-      "awarenessPassive": self.awareness_passive,
-      "isLowStd": self.pose.low_std,
-      "hiStdCount": self.hi_stds,
-      "isActiveMode": self.active_monitoring_mode,
-      "isRHD": self.wheel_on_right,
-      "uncertainCount": self.dcam_uncertain_cnt,
-    }
+    dm = dat.driverMonitoringState
+
+    dm.lockout = self.too_distracted
+    dm.alertCountLockoutPercent = to_percent(self.terminal_alert_cnt / self.settings._MAX_TERMINAL_ALERTS)
+    dm.alertTimeLockoutPercent = to_percent(self.terminal_time / self.settings._MAX_TERMINAL_DURATION)
+    dm.alwaysOn = self.always_on
+    dm.alwaysOnLockout = self.always_on and self.awareness <= self.threshold_alert_2
+    dm.alertLevel = self.alert_level
+    dm.activePolicy = self.active_policy
+    dm.isRHD = self.wheel_on_right
+    dm.rhdCalibration.calibratedPercent = to_percent(self.wheelpos_offsetter.filtered_stat.n / self.settings._WHEELPOS_FILTER_MIN_COUNT)
+    dm.rhdCalibration.offset = self.wheelpos_offsetter.filtered_stat.M
+
+    dm.visionPolicyState.awarenessPercent = to_percent(self.last_vision_awareness if self.active_policy != MonitoringPolicy.vision else self.awareness)
+    dm.visionPolicyState.awarenessStep = self.step_change if self.active_policy == MonitoringPolicy.vision else 0.
+    dm.visionPolicyState.isDistracted = self.driver_distracted
+    dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
+    dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
+    dm.visionPolicyState.distractedTypes.phone = self.distracted_types['phone']
+    dm.visionPolicyState.faceDetected = self.face_detected
+    dm.visionPolicyState.pose.pitch = self.pose.pitch
+    dm.visionPolicyState.pose.yaw = self.pose.yaw
+    dm.visionPolicyState.pose.calibrated = self.pose.calibrated
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = to_percent(self.pose.pitch_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.pitchCalib.offset = self.pose.pitch_offsetter.filtered_stat.M
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = to_percent(self.pose.yaw_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.yawCalib.offset = self.pose.yaw_offsetter.filtered_stat.M
+    dm.visionPolicyState.pose.uncertainty = self.model_std_max
+    dm.visionPolicyState.wheeltouchFallbackPercent = to_percent(self.hi_stds / self.settings._HI_STD_FALLBACK_TIME)
+    dm.visionPolicyState.uncertainOffroadAlertPercent = to_percent(self.dcam_uncertain_cnt / self.settings._DCAM_UNCERTAIN_ALERT_COUNT)
+
+    dm.wheeltouchPolicyState.awarenessPercent = to_percent(self.last_wheeltouch_awareness if self.active_policy == MonitoringPolicy.vision else self.awareness)
+    dm.wheeltouchPolicyState.awarenessStep = 0. if self.active_policy == MonitoringPolicy.vision else self.step_change
+    dm.wheeltouchPolicyState.driverInteracting = self.driver_interacting
     return dat
 
   def run_step(self, sm, demo=False):
     if demo:
-      highway_speed = 30
+      car_speed = 30
       enabled = True
       wrong_gear = False
       standstill = False
       driver_engaged = False
       brake_disengage_prob = 1.0
+      steering_angle_deg = 0.0
       rpyCalib = [0., 0., 0.]
     else:
-      highway_speed = sm['carState'].vEgo
+      car_speed = sm['carState'].vEgo
       enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       standstill = sm['carState'].standstill
       driver_engaged = sm['carState'].steeringPressed or (sm['selfdriveState'].enabled and sm['carState'].gasPressed)
       brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
+      steering_angle_deg = sm['carState'].steeringAngleDeg
       rpyCalib = sm['liveCalibration'].rpyCalib
-    self._set_policy(
+
+    self._set_pose_strictness(
       brake_disengage_prob=brake_disengage_prob,
-      car_speed=highway_speed,
+      car_speed=car_speed,
     )
 
     # Parse data from dmonitoringmodeld
     self._update_states(
       driver_state=sm['driverStateV2'],
       cal_rpy=rpyCalib,
-      car_speed=highway_speed,
+      car_speed=car_speed,
       op_engaged=enabled,
       standstill=standstill,
       demo_mode=demo,
-      steering_angle_deg=sm['carState'].steeringAngleDeg,
+      steering_angle_deg=steering_angle_deg,
     )
 
     # Update distraction events
@@ -468,5 +432,4 @@ class DriverMonitoring:
       op_engaged=enabled,
       standstill=standstill,
       wrong_gear=wrong_gear,
-      car_speed=highway_speed
     )
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 8306889e5b..f933facdee 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -3,17 +3,16 @@ import pytest
 
 from cereal import log, car
 from openpilot.common.realtime import DT_DMON
-from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
-from openpilot.system.hardware import HARDWARE
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 
 EventName = log.OnroadEvent.EventName
-dm_settings = DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
+dm_settings = DRIVER_MONITOR_SETTINGS()
 
 TEST_TIMESPAN = 120  # seconds
-DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
-DISTRACTED_SECONDS_TO_RED = dm_settings._DISTRACTED_TIME + 1
-INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
-INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1
+DISTRACTED_SECONDS_TO_ORANGE = dm_settings._VISION_POLICY_ALERT_2_TIMEOUT + 1
+DISTRACTED_SECONDS_TO_RED = dm_settings._VISION_POLICY_ALERT_3_TIMEOUT + 1
+INVISIBLE_SECONDS_TO_ORANGE = dm_settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + 1
+INVISIBLE_SECONDS_TO_RED = dm_settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + 1
 
 def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds = log.DriverStateV2.new_message()
@@ -37,7 +36,7 @@ msg_ATTENTIVE = make_msg(True)
 msg_DISTRACTED = make_msg(True, distracted=True)
 msg_ATTENTIVE_UNCERTAIN = make_msg(True, model_uncertain=True)
 msg_DISTRACTED_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=True)
-msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._POSESTD_THRESHOLD*1.5)
+msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._HI_STD_THRESHOLD*1.5)
 
 # driver interaction with car
 car_interaction_DETECTED = True
@@ -53,49 +52,49 @@ always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
 class TestMonitoring:
   def _run_seq(self, msgs, interaction, engaged, standstill):
     DM = DriverMonitoring()
-    events = []
+    alert_lvls = []
     for idx in range(len(msgs)):
       DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx], standstill[idx])
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
-      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0)
-      events.append(DM.current_events)
-    assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
-    return events, DM
+      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0)
+      alert_lvls.append(DM.alert_level)
+    assert len(alert_lvls) == len(msgs), f"got {len(alert_lvls)} for {len(msgs)} driverState input msgs"
+    return alert_lvls, DM
 
-  def _assert_no_events(self, events):
-    assert all(not len(e) for e in events)
 
   # engaged, driver is attentive all the time
   def test_fully_aware_driver(self):
-    events, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
-    self._assert_no_events(events)
+    alert_lvls, d_status = self._run_seq(always_attentive, always_false, always_true, always_false)
+    assert all(a == 0 for a in alert_lvls)
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.vision
 
   # engaged, driver is distracted and does nothing
   def test_fully_distracted_driver(self):
-    events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
-    assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                    EventName.driverDistracted1
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert events[int((d_status.settings._DISTRACTED_TIME + \
-                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(s._VISION_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_1_TIMEOUT + \
+                    (s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_2_TIMEOUT + \
+                    (s._VISION_POLICY_ALERT_3_TIMEOUT - s._VISION_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_3_TIMEOUT + \
+                    (TEST_TIMESPAN - 10 - s._VISION_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
     assert isinstance(d_status.awareness, float)
 
   # engaged, no face detected the whole time, no action
   def test_fully_invisible_driver(self):
-    events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
-    assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.driverUnresponsive1
-    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2
-    assert events[int((d_status.settings._AWARENESS_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    alert_lvls, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT + \
+                    (s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + \
+                    (s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + \
+                    (TEST_TIMESPAN - 10 - s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
 
   # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
   #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
@@ -106,13 +105,13 @@ class TestMonitoring:
                 [msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON))
     interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
                          [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
-    events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)] == 0
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)] == 0
 
   # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
   #                          driver dodges, and then touches wheel to no avail, disengages and reengages
@@ -130,11 +129,11 @@ class TestMonitoring:
                                                         = [True] * int(1/DT_DMON)
     op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
                                                         = [False] * int(0.5/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3
-    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3
-    assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)] == 3
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] == 3
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)] == 0
 
   # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
   #  - both actions should clear the alert, but momentary appearance should not
@@ -145,16 +144,16 @@ class TestMonitoring:
     ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
                                                                                              [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
-    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-    assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
+    assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)] == 0
     if _visible_time == 0.5:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 1
     elif _visible_time == 10:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-      assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 0
 
   # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
   #  - only disengage will clear the alert
@@ -166,19 +165,19 @@ class TestMonitoring:
     ds_vector[int(INVISIBLE_SECONDS_TO_RED/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
-    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3
-    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3
-    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3
-    assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
+    assert alert_lvls[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)] == 0
 
   # disengaged, always distracted driver
   #  - dm should stay quiet when not engaged
   def test_pure_dashcam_user(self):
-    events, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
-    assert sum(len(event) for event in events) == 0
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
+    assert all(a == 0 for a in alert_lvls)
 
   # engaged, car stops at traffic light, down to orange, no action, then car starts moving
   #  - should only reach green when stopped, but continues counting down on launch
@@ -186,11 +185,12 @@ class TestMonitoring:
     _redlight_time = 60  # seconds
     standstill_vector = always_true[:]
     standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
-    events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
-    _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1
-    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    s = d_status.settings
+    assert alert_lvls[int((_redlight_time-0.1)/DT_DMON)] == 0
+    _alert_1_to_2 = s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT
+    assert alert_lvls[int((_redlight_time+0.5)/DT_DMON)] == 1
+    assert alert_lvls[int((_redlight_time+_alert_1_to_2+0.5)/DT_DMON)] == 2
 
   # engaged, distracted while moving, then car stops after reaching orange
   #  - should reset timer to pre green at standstill
@@ -198,23 +198,21 @@ class TestMonitoring:
     _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1  # stop 1 second after reaching orange
     standstill_vector = always_false[:]
     standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
-    events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
     # just before and briefly after stopping: orange alert; goes away quickly after stopped
-    assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
-    assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0
+    assert alert_lvls[int((_stop_time+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((_stop_time+0.5)/DT_DMON)] == 0
 
   # engaged, model is somehow uncertain and driver is distracted
   #  - should fall back to wheel touch after uncertain alert
   def test_somehow_indecisive_model(self):
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
-    events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert EventName.driverUnresponsive1 in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive2 in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive3 in \
-                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
+    alert_lvls, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)] == 1
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 3
 
 
 def _build_sm(selfdrive_enabled, lat_active, steering_pressed, gas_pressed):
@@ -253,10 +251,10 @@ def test_run_step_engagement(selfdrive_enabled, lat_active, steering, gas,
   captured = {}
   orig = dm._update_events
 
-  def spy(driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
+  def spy(driver_engaged, op_engaged, standstill, wrong_gear):
     captured['driver_engaged'] = driver_engaged
     captured['op_engaged'] = op_engaged
-    return orig(driver_engaged, op_engaged, standstill, wrong_gear, car_speed)
+    return orig(driver_engaged, op_engaged, standstill, wrong_gear)
 
   dm._update_events = spy
   dm.run_step(sm, demo=False)
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index cb60917008..a771326f9d 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -1,6 +1,7 @@
 #include "selfdrive/pandad/pandad.h"
 
 #include <array>
+#include <atomic>
 #include <bitset>
 #include <cassert>
 #include <cerrno>
@@ -23,6 +24,14 @@
 
 ExitHandler do_exit;
 
+struct HwmonState {
+  std::atomic<uint32_t> voltage{0};
+  std::atomic<uint32_t> current{0};
+  std::atomic<bool> initialized{false};
+};
+
+HwmonState hwmon_state;
+
 bool check_connected(Panda *panda) {
   if (!panda->connected()) {
     do_exit = true;
@@ -117,6 +126,26 @@ void can_recv(Panda *panda, PubMaster *pm) {
   }
 }
 
+void hwmon_thread() {
+  util::set_thread_name("pandad_hwmon");
+
+  while (!do_exit) {
+    double read_time = millis_since_boot();
+    uint32_t voltage = Hardware::get_voltage();
+    uint32_t current = Hardware::get_current();
+    read_time = millis_since_boot() - read_time;
+    if (read_time > 50) {
+      LOGW("reading hwmon took %lfms", read_time);
+    }
+
+    hwmon_state.voltage.store(voltage);
+    hwmon_state.current.store(current);
+    hwmon_state.initialized.store(true);
+
+    util::sleep_for(500);
+  }
+}
+
 void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::PandaType hw_type, const health_t &health) {
   ps.setVoltage(health.voltage_pkt);
   ps.setCurrent(health.current_pkt);
@@ -249,6 +278,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
 }
 
 void send_peripheral_state(Panda *panda, PubMaster *pm) {
+  if (!hwmon_state.initialized.load()) {
+    return;
+  }
+
   // build msg
   MessageBuilder msg;
   auto evt = msg.initEvent();
@@ -257,13 +290,8 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   auto ps = evt.initPeripheralState();
   ps.setPandaType(panda->hw_type);
 
-  double read_time = millis_since_boot();
-  ps.setVoltage(Hardware::get_voltage());
-  ps.setCurrent(Hardware::get_current());
-  read_time = millis_since_boot() - read_time;
-  if (read_time > 50) {
-    LOGW("reading hwmon took %lfms", read_time);
-  }
+  ps.setVoltage(hwmon_state.voltage.load());
+  ps.setCurrent(hwmon_state.current.load());
 
   // fall back to panda's voltage and current measurement
   if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
@@ -385,12 +413,12 @@ void pandad_run(Panda *panda) {
   const bool spoofing_started = getenv("STARTED") != nullptr;
   const bool fake_send = getenv("FAKESEND") != nullptr;
 
-  // Start the CAN send thread
+  // Start helper threads for event-driven sendcan and slow non-Panda reads.
   std::thread send_thread(can_send_thread, panda, fake_send);
+  std::thread hardware_thread(hwmon_thread);
 
-  Params params;
   RateKeeper rk("pandad", 100);
-  SubMaster sm({"selfdriveState", "selfdriveStateSP"});
+  SubMaster sm({"selfdriveState", "deviceState", "selfdriveStateSP"});
   PubMaster pm({"can", "pandaStates", "peripheralState"});
   PandaSafety panda_safety(panda);
   bool engaged = false;
@@ -398,7 +426,7 @@ void pandad_run(Panda *panda) {
   bool is_onroad = false;
   bool always_offroad = false;
 
-  // Main loop: receive CAN data and process states
+  // Main loop: receive CAN first, then process lower priority panda and peripheral state.
   while (!do_exit && check_connected(panda)) {
     can_recv(panda, &pm);
 
@@ -411,8 +439,10 @@ void pandad_run(Panda *panda) {
     if (rk.frame() % 10 == 0) {
       sm.update(0);
       engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
+      if (sm.updated("deviceState")) {
+        is_onroad = sm["deviceState"].getDeviceState().getStarted();
+      }
       engaged_mads = process_mads_heartbeat(&sm);
-      is_onroad = params.getBool("IsOnroad");
       always_offroad = panda_safety.getOffroadMode();
       process_panda_state(panda, &pm, engaged, engaged_mads, is_onroad, spoofing_started, always_offroad);
       panda_safety.configureSafetyMode(is_onroad);
@@ -445,6 +475,7 @@ void pandad_run(Panda *panda) {
   }
 
   send_thread.join();
+  hardware_thread.join();
 }
 
 void pandad_main_thread(std::string serial) {
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index f65c64259f..6846abcadd 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -16,25 +16,17 @@ from openpilot.sunnypilot.selfdrive.pandad.rivian_long_flasher import flash_rivi
 
 
 def get_expected_signature() -> bytes:
-  try:
-    fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
-    return Panda.get_signature_from_firmware(fn)
-  except Exception:
-    cloudlog.exception("Error computing expected signature")
-    return b""
+  fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
+  return Panda.get_signature_from_firmware(fn)
 
-def flash_panda(panda_serial: str) -> Panda:
-  try:
-    panda = Panda(panda_serial)
-  except PandaProtocolMismatch:
-    cloudlog.warning("detected protocol mismatch, reflashing panda")
-    HARDWARE.recover_internal_panda()
-    raise
+def flash_panda(panda_serial: str):
+  panda = Panda(panda_serial)
 
   # skip flashing if the detected panda is not supported
   if panda.get_type() not in Panda.SUPPORTED_DEVICES:
     cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
-    return panda
+    panda.close()
+    return
 
   fw_signature = get_expected_signature()
   internal_panda = panda.is_internal()
@@ -65,7 +57,7 @@ def flash_panda(panda_serial: str) -> Panda:
     cloudlog.info("Version mismatch after flashing, exiting")
     raise AssertionError
 
-  return panda
+  panda.close()
 
 
 def check_panda_support(panda_serials: list[str]) -> list[str]:
@@ -97,97 +89,56 @@ def main() -> None:
   do_exit = False
   signal.signal(signal.SIGINT, signal_handler)
 
-  count = 0
-  first_run = True
-  params = Params()
-  no_internal_panda_count = 0
+  # check health for lost heartbeat
+  try:
+    for s in Panda.list():
+      with Panda(s) as p:
+        health = p.health()
+        if p.is_internal() and health["heartbeat_lost"]:
+          Params().put_bool("PandaHeartbeatLost", True, block=True)
+          cloudlog.event("heartbeat lost", deviceState=health)
+  except Exception:
+    cloudlog.exception("pandad.uncaught_exception")
 
+  count = 0
   while not do_exit:
     try:
-      count += 1
       cloudlog.event("pandad.flash_and_connect", count=count)
-      params.remove("PandaSignatures")
-
-      # Handle missing internal panda
-      if no_internal_panda_count > 0:
-        if no_internal_panda_count == 3:
-          cloudlog.info("No pandas found, putting internal panda into DFU")
-          HARDWARE.recover_internal_panda()
-        else:
-          cloudlog.info("No pandas found, resetting internal panda")
-          HARDWARE.reset_internal_panda()
-        time.sleep(3)  # wait to come back up
+      if (count % 2) == 0:
+        HARDWARE.reset_internal_panda()
+      else:
+        HARDWARE.recover_internal_panda()
+      count += 1
 
       # Flash all Pandas in DFU mode
-      dfu_serials = PandaDFU.list()
-      if len(dfu_serials) > 0:
-        for serial in dfu_serials:
-          cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
-          PandaDFU(serial).recover()
+      for serial in PandaDFU.list():
+        cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+        PandaDFU(serial).recover()
         time.sleep(1)
 
       panda_serials = Panda.list()
-      if len(panda_serials) == 0:
-        no_internal_panda_count += 1
-        continue
+      if len(panda_serials):
+        # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
+        flash_rivian_long(panda_serials)
+        # find the internal supported panda (e.g. skip external Black Panda)
+        panda_serials = check_panda_support(panda_serials)
 
-      cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
+        assert len(panda_serials) == 1
+        cloudlog.info(f"{len(panda_serials)} panda found, connecting - {panda_serials}")
+        flash_panda(panda_serials[0])
 
-      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
-      flash_rivian_long(panda_serials)
-
-      # find the internal supported panda (e.g. skip external Black Panda)
-      panda_serials = check_panda_support(panda_serials)
-      if len(panda_serials) == 0:
-        continue
-
-      # Flash the first panda
-      panda_serial = panda_serials[0]
-      panda = flash_panda(panda_serial)
-
-      # Ensure internal panda is present if expected
-      if HARDWARE.has_internal_panda() and not panda.is_internal():
-        cloudlog.error("Internal panda is missing, trying again")
-        no_internal_panda_count += 1
-        continue
-      no_internal_panda_count = 0
-
-      # log panda fw version
-      params.put("PandaSignatures", panda.get_signature())
-
-      # check health for lost heartbeat
-      health = panda.health()
-      if health["heartbeat_lost"]:
-        params.put_bool("PandaHeartbeatLost", True)
-        cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
-      if health["som_reset_triggered"]:
-        params.put_bool("PandaSomResetTriggered", True)
-        cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
-
-      if first_run:
-        # reset panda to ensure we're in a good state
-        cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-        panda.reset(reconnect=True)
-
-      panda.close()
+        # run real pandad
+        os.environ['MANAGER_DAEMON'] = 'pandad'
+        process = subprocess.Popen(["./pandad"], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+        process.wait()
     # TODO: wrap all panda exceptions in a base panda exception
     except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
       # a panda was disconnected while setting everything up. let's try again
       cloudlog.exception("Panda USB exception while setting up")
-      continue
     except PandaProtocolMismatch:
       cloudlog.exception("pandad.protocol_mismatch")
-      continue
     except Exception:
       cloudlog.exception("pandad.uncaught_exception")
-      continue
-
-    first_run = False
-
-    # run pandad with all connected serials as arguments
-    os.environ['MANAGER_DAEMON'] = 'pandad'
-    process = subprocess.Popen(["./pandad", panda_serial], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
-    process.wait()
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin
deleted file mode 100755
index 5cf2fa4519..0000000000
Binary files a/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin and /dev/null differ
diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py
index 6a5840d487..9dacd3f5a8 100644
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -15,12 +15,6 @@ HERE = os.path.dirname(os.path.realpath(__file__))
 
 @pytest.mark.tici
 class TestPandad:
-
-  def setup_method(self):
-    # ensure panda is up
-    if len(Panda.list()) == 0:
-      self._run_test(60)
-
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -30,7 +24,7 @@ class TestPandad:
 
     managed_processes['pandad'].start()
     while (time.monotonic() - st) < timeout:
-      sm.update(100)
+      sm.update(10)
       if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
         break
     dt = time.monotonic() - st
@@ -45,10 +39,6 @@ class TestPandad:
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
 
-  def _assert_no_panda(self):
-    assert not Panda.wait_for_dfu(None, 3)
-    assert not Panda.wait_for_panda(None, 3)
-
   def _flash_bootstub(self, fn):
     self._go_to_dfu()
     pd = PandaDFU(None)
@@ -56,12 +46,11 @@ class TestPandad:
       fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
     with open(fn, "rb") as f:
       pd.program_bootstub(f.read())
-    pd.reset()
     HARDWARE.reset_internal_panda()
 
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
-    self._run_test(60)
+    self._run_test()
 
   def test_in_bootstub(self):
     with Panda() as p:
@@ -69,30 +58,24 @@ class TestPandad:
       assert p.bootstub
     self._run_test()
 
-  def test_internal_panda_reset(self):
+  def test_in_reset(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_set(GPIO.STM_RST_N, 1)
-    time.sleep(0.5)
-    assert all(not Panda(s).is_internal() for s in Panda.list())
+    assert not Panda.list()
     self._run_test()
 
-    assert any(Panda(s).is_internal() for s in Panda.list())
-
-  def test_old_spi_protocol(self):
-    # flash firmware with old SPI protocol
-    self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))
-    self._run_test(45)
-
   def test_release_to_devel_bootstub(self):
+    st = time.monotonic()
     self._flash_bootstub(None)
-    self._run_test(45)
+    print("flash done", time.monotonic() - st)
+    self._run_test()
 
   def test_recover_from_bad_bootstub(self):
     self._go_to_dfu()
     with PandaDFU(None) as pd:
-      pd.program_bootstub(b"\x00"*1024)
-      pd.reset()
+      pd._handle.program(pd.get_mcu_type().config.bootstub_address, b"\x00"*100)
     HARDWARE.reset_internal_panda()
-    self._assert_no_panda()
+    assert not Panda.list()
+    assert not PandaDFU.list()
 
-    self._run_test(60)
+    self._run_test()
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index fd4a99be62..bc90f42a83 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -16,17 +16,24 @@ from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.test.helpers import with_processes
 
 
+def publish_device_state(pm, started):
+  msg = messaging.new_message('deviceState')
+  msg.deviceState.started = started
+  pm.send('deviceState', msg)
+
 @retry(attempts=3)
 def setup_pandad():
   params = Params()
   params.clear_all()
-  params.put_bool("IsOnroad", False)
 
+  pm = messaging.PubMaster(['deviceState'])
   sm = messaging.SubMaster(['pandaStates'])
+  publish_device_state(pm, False)
   with Timeout(90, "pandad didn't start"):
     while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
         any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
-      sm.update(1000)
+      publish_device_state(pm, False)
+      sm.update(100)
 
   # pandad safety setting relies on these params
   cp = car.CarParams.new_message()
@@ -35,14 +42,15 @@ def setup_pandad():
   safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
   cp.safetyConfigs = [safety_config]
 
-  params.put_bool("IsOnroad", True)
-  params.put_bool("FirmwareQueryDone", True)
-  params.put_bool("ControlsReady", True)
-  params.put("CarParams", cp.to_bytes())
+  params.put_bool("FirmwareQueryDone", True, block=True)
+  params.put_bool("ControlsReady", True, block=True)
+  params.put("CarParams", cp.to_bytes(), block=True)
 
+  publish_device_state(pm, True)
   with Timeout(90, "pandad didn't set safety mode"):
     while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']):
-      sm.update(1000)
+      publish_device_state(pm, True)
+      sm.update(100)
 
 def send_random_can_messages(sendcan, count):
   sent_msgs = defaultdict(set)
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index 34db27c7a4..c148c62d32 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -18,7 +18,7 @@ def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = Non
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''
-    Params().put(alert, a)
+    Params().put(alert, a, block=True)
   else:
     Params().remove(alert)
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 1a10d91cd7..30605d0a27 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -45,6 +45,8 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+AlertLevel = log.DriverMonitoringState.AlertLevel
+MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
 TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -140,6 +142,8 @@ class SelfdriveD(CruiseHelper):
       self.params
     )
     self.recalibrating_seen = False
+    self.dm_lockout_set = False
+    self.dm_uncertain_alerted = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -216,8 +220,27 @@ class SelfdriveD(CruiseHelper):
     if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
+    # Handle DM
     if not self.CP.notCar:
-      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      # Block engaging until ignition cycle after max number or time of distractions
+      if self.sm['driverMonitoringState'].lockout and not self.dm_lockout_set:
+        self.params.put_bool("DriverTooDistracted", True)
+        self.dm_lockout_set = True
+      # No entry conditions
+      if self.sm['driverMonitoringState'].lockout or self.sm['driverMonitoringState'].alwaysOnLockout:
+        self.events.add(EventName.tooDistracted)
+      # Alerts
+      vision_dm = self.sm['driverMonitoringState'].activePolicy == MonitoringPolicy.vision
+      if self.sm['driverMonitoringState'].alertLevel == AlertLevel.one:
+        self.events.add(EventName.driverDistracted1 if vision_dm else EventName.driverUnresponsive1)
+      elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.two:
+        self.events.add(EventName.driverDistracted2 if vision_dm else EventName.driverUnresponsive2)
+      elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.three:
+        self.events.add(EventName.driverDistracted3 if vision_dm else EventName.driverUnresponsive3)
+      # Warn consistent DM uncertainty
+      if self.sm['driverMonitoringState'].visionPolicyState.uncertainOffroadAlertPercent >= 100 and not self.dm_uncertain_alerted:
+        set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
+        self.dm_uncertain_alerted = True
       self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
 
     # Add car events, ignore if CAN isn't valid
@@ -241,7 +264,7 @@ class SelfdriveD(CruiseHelper):
         self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
-    if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
+    if self.sm['deviceState'].thermalStatus >= ThermalStatus.overheated:
       self.events.add(EventName.overheat)
     if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
       self.events.add(EventName.outOfSpace)
@@ -440,7 +463,7 @@ class SelfdriveD(CruiseHelper):
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      if self.sm['modelV2'].frameDropPerc > 20:
+      if self.sm['modelV2'].frameDropPerc > 1:
         self.events.add(EventName.modeldLagging)
 
     # mute canBusMissing event if in Park, as it sometimes may trigger a false alarm with MADS in Paused state
@@ -454,7 +477,7 @@ class SelfdriveD(CruiseHelper):
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
         if not self.experimental_mode_switched:
           self.personality = (self.personality - 1) % 3
-          self.params.put_nonblocking('LongitudinalPersonality', self.personality)
+          self.params.put('LongitudinalPersonality', self.personality)
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index a1867f2289..4cad9990be 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -63,7 +63,7 @@ class TestAlerts:
 
     for alert in ALERTS:
       if not isinstance(alert, Alert):
-        alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
+        alert = alert(self.CP, self.CS, self.sm, False, 100, log.LongitudinalPersonality.standard)
 
       # for full size alerts, both text fields wrap the text,
       # so it's unlikely that they  would go past the max width
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 5dfc1c3ec8..49a8ec60a3 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -18,15 +18,15 @@ def set_params_enabled():
   os.environ['LOGPRINT'] = "debug"
 
   params = Params()
-  params.put("HasAcceptedTerms", terms_version)
-  params.put("CompletedTrainingVersion", training_version)
-  params.put_bool("OpenpilotEnabledToggle", True)
+  params.put("HasAcceptedTerms", terms_version, block=True)
+  params.put("CompletedTrainingVersion", training_version, block=True)
+  params.put_bool("OpenpilotEnabledToggle", True, block=True)
 
   # valid calib
   msg = messaging.new_message('liveCalibration')
   msg.liveCalibration.validBlocks = 20
   msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
-  params.put("CalibrationParams", msg.to_bytes())
+  params.put("CalibrationParams", msg.to_bytes(), block=True)
 
 def release_only(f):
   @wraps(f)
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index e82ef2f65e..1431e60019 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -144,6 +144,8 @@ class Plant:
           'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
+    if self.planner.output_should_stop:
+      self.acceleration = min(-0.5, self.acceleration)
     self.speed = self.speed + self.acceleration * self.ts
     self.should_stop = self.planner.output_should_stop
     fcw = self.planner.fcw
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 90bc46b187..b8f97c5041 100644
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -170,7 +170,7 @@ def create_maneuvers(kwargs):
       initial_speed=0.,
       lead_relevancy=True,
       initial_distance_lead=STOP_DISTANCE,
-      speed_lead_values=[0., 0., 2.],
+      speed_lead_values=[0., 0., 7.],
       breakpoints=[1., 10., 15.],
       ensure_start=True,
       **kwargs,
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 278c366609..09fdb40b67 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -14,7 +14,7 @@ from opendbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 
@@ -89,6 +89,10 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
   return lr
 
 
+def as_reader(builder) -> capnp.lib.capnp._DynamicStructReader:
+  return log.Event.from_bytes(builder.to_bytes()).__enter__()  # round-trip through bytes, 2x faster and 30x less memory than builder.as_reader()
+
+
 def migration(inputs: list[str], product: str|None=None):
   def decorator(func):
     @functools.wraps(func)
@@ -124,9 +128,9 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
+    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, ModelConstants.T_IDXS[:CONTROL_N])
     new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -135,7 +139,7 @@ def migrate_driverAssistance(msgs):
   add_ops = []
   for _, msg in msgs:
     new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, []
 
 
@@ -152,7 +156,7 @@ def migrate_drivingModelData(msgs):
       fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
     if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
       fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
-    add_ops.append( dmd.as_reader())
+    add_ops.append(as_reader(dmd))
   return [], add_ops, []
 
 
@@ -177,7 +181,7 @@ def migrate_liveTracks(msgs):
       pts.append(pt)
 
     new_msg.liveTracks.points = pts
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -197,7 +201,7 @@ def migrate_liveLocationKalman(msgs):
       lp_field.valid = llk_field.valid
     for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
       setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
-    ops.append((index, m.as_reader()))
+    ops.append((index, as_reader(m)))
   return ops, [], []
 
 
@@ -212,7 +216,7 @@ def migrate_livePose(msgs):
     if msg.which() == "livePose":
       new_msg = msg.as_builder()
       new_msg.livePose.timestamp = msg.logMonoTime
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -228,7 +232,7 @@ def migrate_controlsState(msgs):
                   "alertStatus", "alertSize", "alertType", "experimentalMode",
                   "personality"):
       setattr(ss, field, getattr(msg.controlsState.deprecated, field))
-    add_ops.append(m.as_reader())
+    add_ops.append(as_reader(m))
   return [], add_ops, []
 
 
@@ -244,7 +248,7 @@ def migrate_carState(msgs):
         msg = msg.as_builder()
         msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
         msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
-        ops.append((index, msg.as_reader()))
+        ops.append((index, as_reader(msg)))
   return ops, [], []
 
 
@@ -254,7 +258,7 @@ def migrate_managerState(msgs):
   for index, msg in msgs:
     new_msg = msg.as_builder()
     new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -267,7 +271,7 @@ def migrate_gpsLocation(msgs):
     # hasFix is a newer field
     if not g.hasFix and g.flags == 1:
       g.hasFix = True
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -283,7 +287,7 @@ def migrate_deviceState(msgs):
     if msg.which() == 'deviceState':
       n = msg.as_builder()
       n.deviceState.deviceType = init_data.deviceType
-      ops.append((i, n.as_reader()))
+      ops.append((i, as_reader(n)))
   return ops, [], []
 
 
@@ -295,7 +299,7 @@ def migrate_carOutput(msgs):
     co.valid = msg.valid
     co.logMonoTime = msg.logMonoTime
     co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
-    add_ops.append(co.as_reader())
+    add_ops.append(as_reader(co))
   return [], add_ops, []
 
 
@@ -333,13 +337,13 @@ def migrate_pandaStates(msgs):
       new_msg.logMonoTime = msg.logMonoTime
       new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
       new_msg.pandaStates[0].safetyParam = safety_param
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
     elif msg.which() == 'pandaStates':
       new_msg = msg.as_builder()
       new_msg.pandaStates[-1].safetyParam = safety_param
       # Clear DISABLE_DISENGAGE_ON_GAS bit to fix controls mismatch
       new_msg.pandaStates[-1].alternativeExperience &= ~1
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -354,7 +358,7 @@ def migrate_peripheralState(msgs):
     new_msg = messaging.new_message("peripheralState")
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, []
 
 
@@ -409,7 +413,7 @@ def migrate_cameraStates(msgs):
     new_msg.valid = msg.valid
 
     del_ops.append(index)
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, del_ops
 
 
@@ -421,7 +425,7 @@ def migrate_carParams(msgs):
     CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
     for car_fw in CP.carParams.carFw:
       car_fw.brand = CP.carParams.brand
-    ops.append((index, CP.as_reader()))
+    ops.append((index, as_reader(CP)))
   return ops, [], []
 
 
@@ -449,14 +453,11 @@ def migrate_sensorEvents(msgs):
       m.logMonoTime = msg.logMonoTime
 
       m_dat = getattr(m, sensor_service)
-      m_dat.version = evt.version
-      m_dat.sensor = evt.sensor
-      m_dat.type = evt.type
       m_dat.source = evt.source
       m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
 
-      add_ops.append(m.as_reader())
+      add_ops.append(as_reader(m))
     del_ops.append(index)
   return [], add_ops, del_ops
 
@@ -479,27 +480,51 @@ def migrate_onroadEvents(msgs):
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.onroadEvents = onroadEvents
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
 
   return ops, [], []
 
 
-@migration(inputs=["driverMonitoringState"])
+@migration(inputs=["driverMonitoringStateDEPRECATED"])
 def migrate_driverMonitoringState(msgs):
   ops = []
   for index, msg in msgs:
-    msg = msg.as_builder()
-    events = []
-    for event in msg.driverMonitoringState.deprecated.events:
-      try:
-        if not str(event.name).endswith('DEPRECATED'):
-          migrated_event = migrate_onroad_event(event)
-          if migrated_event is not None:
-            events.append(migrated_event)
-      except RuntimeError:  # Member was null
-        traceback.print_exc()
+    old = msg.driverMonitoringStateDEPRECATED
+    new_msg = messaging.new_message('driverMonitoringState', valid=msg.valid, logMonoTime=msg.logMonoTime)
+    dm = new_msg.driverMonitoringState
+    dm.isRHD = old.isRHD
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision if old.isActiveMode else \
+                          log.DriverMonitoringState.MonitoringPolicy.wheeltouch
 
-    msg.driverMonitoringState.events = events
-    ops.append((index, msg.as_reader()))
+    AlertLevel = log.DriverMonitoringState.AlertLevel
+    event_to_alert_level = {
+      'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
+      'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
+      'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
+    }
+    for event in old.events:
+      level = event_to_alert_level.get(str(event.name))
+      if level is not None:
+        dm.alertLevel = level
+        break
+    dm.lockout = any(str(event.name) == 'tooDistracted' for event in old.events)
+
+    dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
+    dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
+    dm.visionPolicyState.isDistracted = old.isDistracted
+    dm.visionPolicyState.distractedTypes.pose = bool(old.distractedType & 1)
+    dm.visionPolicyState.distractedTypes.eye = bool(old.distractedType & 2)
+    dm.visionPolicyState.distractedTypes.phone = bool(old.distractedType & 4)
+    dm.visionPolicyState.faceDetected = old.faceDetected
+    dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 1200 * 100))
+    dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 1200 * 100))
+    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 1200 and old.poseYawValidCount >= 1200
+    dm.visionPolicyState.wheeltouchFallbackPercent = int(min(100, old.hiStdCount / 200 * 100))
+    dm.visionPolicyState.uncertainOffroadAlertPercent = int(min(100, old.uncertainCount / 1200 * 100))
+    dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
+    dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
+    ops.append((index, as_reader(new_msg)))
 
   return ops, [], []
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index a6ccaa1047..266f66aaf2 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -35,7 +35,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 EXEC_TIMINGS = [
   # model, instant max, average max
   ("modelV2", 0.05, 0.028),
-  ("driverStateV2", 0.05, 0.016),
+  ("driverStateV2", 0.05, 0.018),
 ]
 
 def get_log_fn(test_route, ref="master"):
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 65587d44b1..77254cecee 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -192,9 +192,9 @@ class ProcessContainer:
     params = Params()
     for k, v in params_config.items():
       if isinstance(v, bool):
-        params.put_bool(k, v)
+        params.put_bool(k, v, block=True)
       else:
-        params.put(k, v)
+        params.put(k, v, block=True)
 
     self.environ_config = environ_config
 
@@ -375,8 +375,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     _CI = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
     CP, CP_SP = _CI.CP, _CI.CP_SP
 
-  params.put("CarParams", CP.to_bytes())
-  params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes())
+  params.put("CarParams", CP.to_bytes(), block=True)
+  params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes(), block=True)
 
 
 def card_rcv_callback(msg, cfg, frame):
diff --git a/selfdrive/test/scons_build_test.sh b/selfdrive/test/scons_build_test.sh
index 5ffdb4379e..d4a0733569 100755
--- a/selfdrive/test/scons_build_test.sh
+++ b/selfdrive/test/scons_build_test.sh
@@ -13,7 +13,7 @@ cd $BASEDIR
 
 cd $BASEDIR/opendbc_repo/
 scons --clean
-scons --no-cache --random -j$(nproc)
+scons --no-cache --random
 if ! scons -q; then
   echo "FAILED: all build products not up to date after first pass."
   exit 1
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 2a1442a20c..3fe353e72c 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -48,13 +48,6 @@ while true; do
   if ! sudo systemctl is-active -q ssh; then
     sudo systemctl start ssh
   fi
-
-  #if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
-  #  echo 'starting UI'
-  #  cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
-  #  /data/ciui.py &
-  #fi
-
   sleep 5s
 done
 
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index c1b74a850e..50b313658d 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -9,7 +9,7 @@ else
 fi
 export DISPLAY=:$DISP_ID
 
-sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
+Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
 
 # check for x11 socket for the specified display ID
 while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 1129a1a2ff..8161dca130 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -68,6 +68,7 @@ PROCS = {
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
+  "system.hardware.tici.modem": 10.0,
 }
 
 TIMINGS = {
@@ -118,7 +119,7 @@ class TestOnroad:
     # setup env
     params = Params()
     params.remove("CurrentRoute")
-    params.put_bool("RecordFront", True)
+    params.put_bool("RecordFront", True, block=True)
     set_params_enabled()
     os.environ['REPLAY'] = '1'
     os.environ['MSGQ_PREALLOC'] = '1'
@@ -209,7 +210,7 @@ class TestOnroad:
 
     # other processes preempt ui while starting up
     offset = int(20 * LOG_OFFSET)
-    ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
+    ts = self.ts['uiDebug']['cpuTimeMillis'][offset:]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
@@ -370,23 +371,6 @@ class TestOnroad:
           assert enc_sof == cam_sof, f"SOF mismatch: frameId={fid}, enc_sof={enc_sof}, cam_sof={cam_sof}"
           assert enc_eof == cam_eof, f"EOF mismatch: frameId={fid}, enc_eof={enc_eof}, cam_eof={cam_eof}"
 
-  def test_mpc_execution_timings(self):
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "-----------------  MPC Timing ------------------\n"
-    result += "------------------------------------------------\n"
-
-    cfgs = [("longitudinalPlan", 0.05, 0.05),]
-    for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).solverExecutionTime for m in self.msgs[s]]
-      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
-      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
-      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
-      result += f"'{s}' execution time: max  {max(ts):.5f}s\n"
-      result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
-    result += "------------------------------------------------\n"
-    print(result)
-
   def test_model_execution_timings(self, subtests):
     result = "\n"
     result += "------------------------------------------------\n"
@@ -401,9 +385,7 @@ class TestOnroad:
       ("driverStateV2", 0.3, 0.05),
     ]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
-      # TODO some init can happen in first iteration
-      ts = ts[1:]
+      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s] if (m.logMonoTime*1e-9 - self.ts[s]['t'][0]) > LOG_OFFSET]
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
       result += f"'{s}' execution time: max {max(ts):.5f}s\n"
       result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
index 95365640f5..e4cc714b87 100644
--- a/selfdrive/test/test_updated.py
+++ b/selfdrive/test/test_updated.py
@@ -50,7 +50,7 @@ class TestUpdated:
       f"git clone {BASEDIR} {self.git_remote_dir}",
       f"git clone {self.git_remote_dir} {self.basedir}",
       f"cd {self.basedir} && git submodule init && git submodule update",
-      f"cd {self.basedir} && scons -j{os.cpu_count()} cereal/ common/"
+      f"cd {self.basedir} && scons cereal/ common/"
     ])
 
     self.params = Params(os.path.join(self.basedir, "persist/params"))
@@ -92,7 +92,7 @@ class TestUpdated:
     return subprocess.Popen(updated_path, env=os.environ)
 
   def _start_updater(self, offroad=True, nosleep=False):
-    self.params.put_bool("IsOffroad", offroad)
+    self.params.put_bool("IsOffroad", offroad, block=True)
     self.updated_proc = self._get_updated_proc()
     if not nosleep:
       time.sleep(1)
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 1a662e6b24..3d668aef8f 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,4 +1,6 @@
 from pathlib import Path
+import importlib.util
+
 Import('env', 'arch', 'common')
 
 # build the fonts
@@ -18,15 +20,13 @@ env.Command(
 
 if GetOption('extras') and arch == "larch64":
   # build installers
+  raylib_dir = Path(importlib.util.find_spec("raylib").submodule_search_locations[0]) / "install"
   raylib_env = env.Clone()
-  raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+  raylib_env['CPPPATH'] += [str(raylib_dir / "include")]
+  raylib_env['LIBPATH'] += [str(raylib_dir / "lib")]
   raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
 
-  raylib_libs = common + ["raylib"]
-  if arch == "larch64":
-    raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
-  else:
-    raylib_libs += ["GL"]
+  raylib_libs = common + ["raylib_comma", "GLESv2", "EGL", "gbm", "drm"]
 
   release = "release3"
   installers = [
diff --git a/selfdrive/ui/body/__init__.py b/selfdrive/ui/body/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/body/animations.py b/selfdrive/ui/body/animations.py
new file mode 100644
index 0000000000..c40f7ecdef
--- /dev/null
+++ b/selfdrive/ui/body/animations.py
@@ -0,0 +1,278 @@
+from dataclasses import dataclass
+from enum import Enum
+import time
+
+
+class AnimationMode(Enum):
+  ONCE_FORWARD = 1
+  ONCE_FORWARD_BACKWARD = 2
+  REPEAT_FORWARD = 3
+  REPEAT_FORWARD_BACKWARD = 4
+
+
+@dataclass
+class Animation:
+  frames: list[list[tuple[int, int]]]
+  starting_frames: list[list[tuple[int, int]]] | None = None  # played once before the main loop
+  frame_duration: float = 0.15       # seconds each frame is shown
+  mode: AnimationMode = AnimationMode.REPEAT_FORWARD_BACKWARD
+  repeat_interval: float = 5.0      # seconds between animation restarts (only for REPEAT modes)
+  hold_end: float = 0.0             # seconds to hold the last frame before playing backward (only for *_BACKWARD modes)
+  left_turn_remove: list[tuple[int, int]] | None = None   # dots to remove from frame when turning left
+  right_turn_remove: list[tuple[int, int]] | None = None   # dots to remove from frame when turning right
+
+
+# --- Animation Helper Functions ---
+
+def _mirror(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Mirror a component from the left side of the face to the right"""
+  return [(r, 15 - c) for r, c in dots]
+
+
+def _mirror_no_flip(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Move a component to the mirrored position on the right half without flipping its shape."""
+  min_c = min(c for _, c in dots)
+  max_c = max(c for _, c in dots)
+  return [(r, 15 - max_c - min_c + c) for r, c in dots]
+
+
+def _shift(dots: list[tuple[int, int]], rc: tuple[int, int]) -> list[tuple[int, int]]:
+  dr, dc = rc
+  return [(r + dr, c + dc) for r, c in dots]
+
+
+def _make_frame(left_eye: list[tuple[int, int]], right_eye: list[tuple[int, int]],
+                left_brow: list[tuple[int, int]], right_brow: list[tuple[int, int]],
+                mouth: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  return left_eye + left_brow + right_eye + right_brow + mouth
+
+
+# --- Animation Helper Components ---
+
+# Eyes (left side)
+EYE_OPEN = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2), (3, 3), (3, 4),
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_HALF = [
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_CLOSED = [
+(4, 1),                 (4, 4),
+        (5, 2), (5, 3),
+]
+EYE_LEFT_LOOK = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2),
+(4, 1), (4, 2),
+        (5, 2), (5, 3),
+]
+EYE_RIGHT_LOOK = [
+        (2, 2), (2, 3),
+                (3, 3), (3, 4),
+                (4, 3), (4, 4),
+        (5, 2), (5, 3),
+]
+
+# Eyebrows (left side)
+BROW_HIGH = [
+        (0, 1), (0, 2),
+(1, 0),
+]
+BROW_LOWERED = [
+        (1, 1), (1, 2),
+(2, 0)
+]
+BROW_STRAIGHT = [(1, 0), (1, 1), (1, 2)]
+BROW_DOWN = [
+(0, 1), (0, 2),
+                (1, 3)
+]
+
+# Mouths (centered, not mirrored)
+MOUTH_SMILE = [
+(6, 6),                 (6, 9),
+        (7, 7), (7, 8),
+]
+MOUTH_NORMAL = [(7, 7), (7, 8)]
+MOUTH_SAD = [
+        (6, 7), (6, 8),
+(7, 6),                 (7, 9)
+]
+
+# --- Animations ---
+
+NORMAL = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_HALF, _mirror(EYE_HALF), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), BROW_LOWERED, _mirror(BROW_LOWERED), MOUTH_SMILE),
+  ],
+  left_turn_remove=[
+    (3, 3), (3, 4),
+    (4, 3), (4, 4),
+  ] + _mirror_no_flip([
+    (3, 1), (3, 2),
+    (4, 1), (4, 2),
+  ]),
+  right_turn_remove=[
+    (3, 1), (3, 2),
+    (4, 1), (4, 2),
+  ] + _mirror_no_flip([
+    (3, 3), (3, 4),
+    (4, 3), (4, 4),
+  ])
+)
+
+ASLEEP = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), [], [], MOUTH_NORMAL),
+  ],
+)
+
+SLEEPY = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), _shift(BROW_STRAIGHT, (1, 0)), [], MOUTH_NORMAL),
+    _make_frame(EYE_HALF, _mirror(EYE_CLOSED), BROW_LOWERED, [], MOUTH_NORMAL),
+    _make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, [], MOUTH_NORMAL)
+  ],
+  frame_duration=0.25,
+  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
+  repeat_interval=10,
+  hold_end=1.5,
+)
+
+INQUISITIVE = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+  ],
+  mode=AnimationMode.REPEAT_FORWARD,
+  frame_duration=0.15,
+  repeat_interval=10
+)
+
+WINK = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, _mirror(_shift(BROW_DOWN, (0, 2))), MOUTH_SMILE),
+  ],
+  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
+  frame_duration=0.75,
+)
+
+
+# --- Face Animator Class ---
+
+class FaceAnimator:
+  def __init__(self, animation: Animation):
+    self._animation = animation
+    self._next: Animation | None = None
+    self._start_time = time.monotonic()
+    self._rewinding = False
+    self._rewind_start: float = 0.0
+    self._rewind_from: int = 0
+    self._seen_nonzero = False
+
+  def set_animation(self, animation: Animation):
+    if animation is not self._animation:
+      self._next = animation
+
+  def get_dots(self) -> list[tuple[int, int]]:
+    now = time.monotonic()
+    elapsed = now - self._start_time
+
+    # Handle rewind for forward-only animations
+    if self._rewinding:
+      rewind_elapsed = now - self._rewind_start
+      frames_back = round(rewind_elapsed / self._animation.frame_duration)
+      frame_index = self._rewind_from - frames_back
+      if frame_index <= 0:
+        return self._switch_to_next(now)
+      return self._animation.frames[frame_index]
+
+    # Play starting frames first (once)
+    starting = self._animation.starting_frames or []
+    starting_duration = len(starting) * self._animation.frame_duration
+    if starting and elapsed < starting_duration:
+      frame_index = min(int(elapsed / self._animation.frame_duration), len(starting) - 1)
+      return starting[frame_index]
+
+    # Main loop
+    loop_elapsed = elapsed - starting_duration if starting else elapsed
+    frame_index = _get_frame_index(self._animation, loop_elapsed, gap_first=bool(starting))
+
+    if frame_index != 0:
+      self._seen_nonzero = True
+
+    if self._next is not None:
+      if frame_index == 0 and (len(self._animation.frames) == 1 or self._seen_nonzero):
+        return self._switch_to_next(now)
+      # No natural return to frame 0 — start rewinding
+      if self._animation.mode in (AnimationMode.ONCE_FORWARD, AnimationMode.REPEAT_FORWARD):
+        self._rewinding = True
+        self._rewind_start = now
+        self._rewind_from = frame_index
+
+    return self._animation.frames[frame_index]
+
+  def _switch_to_next(self, now: float) -> list[tuple[int, int]]:
+    self._animation = self._next
+    self._next = None
+    self._rewinding = False
+    self._seen_nonzero = False
+    self._start_time = now
+    return self._animation.frames[0]
+
+
+def _get_frame_index(animation: Animation, elapsed: float, gap_first: bool = False) -> int:
+  """Get the current frame index given elapsed time and animation mode."""
+  num_frames = len(animation.frames)
+  if num_frames == 1:
+    return 0
+
+  fd = animation.frame_duration
+  has_backward = animation.mode in (AnimationMode.ONCE_FORWARD_BACKWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
+  repeats = animation.mode in (AnimationMode.REPEAT_FORWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
+
+  forward_duration = num_frames * fd
+  backward_frames = max(num_frames - 2, 0) if has_backward else 0
+  hold = animation.hold_end if has_backward else 0.0
+  cycle_duration = forward_duration + hold + backward_frames * fd
+
+  if not repeats:
+    t = min(elapsed, cycle_duration)
+  else:
+    t = (elapsed + cycle_duration if gap_first else elapsed) % animation.repeat_interval
+
+  # Forward phase
+  if t < forward_duration:
+    return min(int(t / fd), num_frames - 1)
+  t -= forward_duration
+
+  # Hold at last frame
+  if t < hold:
+    return num_frames - 1
+  t -= hold
+
+  # Backward phase
+  if backward_frames and t < backward_frames * fd:
+    return num_frames - 2 - min(int(t / fd), backward_frames - 1)
+
+  return 0 if has_backward else num_frames - 1
diff --git a/selfdrive/ui/body/layouts/__init__.py b/selfdrive/ui/body/layouts/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/body/layouts/onroad.py b/selfdrive/ui/body/layouts/onroad.py
new file mode 100644
index 0000000000..d7e9f419cc
--- /dev/null
+++ b/selfdrive/ui/body/layouts/onroad.py
@@ -0,0 +1,93 @@
+import time
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.body.animations import FaceAnimator, ASLEEP, INQUISITIVE, NORMAL, SLEEPY
+
+GRID_COLS = 16
+GRID_ROWS = 8
+DOT_RADIUS = 50 if gui_app.big_ui() else 10
+
+IDLE_TIMEOUT = 30.0        # seconds of no joystick input before playing INQUISITIVE
+IDLE_STEER_THRESH = 0.5    # degrees — below this counts as no input
+IDLE_SPEED_THRESH = 0.01   # m/s — below this counts as no input
+
+
+# This class is used both in BIG (tizi) and small (mici) UIs
+class BodyLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._animator = FaceAnimator(ASLEEP)
+    self._turning_left = False
+    self._turning_right = False
+    self._last_input_time = time.monotonic()
+    self._was_active = False
+    self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
+                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
+    spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)
+
+    grid_w = (GRID_COLS - 1) * spacing
+    grid_h = (GRID_ROWS - 1) * spacing
+
+    offset_x = rect.x + (rect.width - grid_w) / 2
+    offset_y = rect.y + (rect.height - grid_h) / 2
+
+    for row, col in dots:
+      x = int(offset_x + col * spacing)
+      y = int(offset_y + row * spacing)
+      rl.draw_circle(x, y, DOT_RADIUS, color)
+
+  def _update_state(self):
+    super()._update_state()
+
+    sm = ui_state.sm
+
+    if ui_state.is_onroad():
+      if not self._was_active:
+        self._last_input_time = time.monotonic()
+        self._was_active = True
+
+      cs = sm['carState']
+      has_input = abs(cs.steeringAngleDeg) > IDLE_STEER_THRESH or abs(cs.vEgo) > IDLE_SPEED_THRESH
+      if has_input:
+        self._last_input_time = time.monotonic()
+
+      if time.monotonic() - self._last_input_time > IDLE_TIMEOUT:
+        self._animator.set_animation(INQUISITIVE)
+      else:
+        self._animator.set_animation(NORMAL)
+    else:
+      self._was_active = False
+      self._animator.set_animation(ASLEEP)
+
+    steer = sm['testJoystick'].axes[1] if len(sm['testJoystick'].axes) > 1 else 0
+    self._turning_left = steer <= -0.05
+    self._turning_right = steer >= 0.05
+
+  # play animation on screen tap
+  def _handle_mouse_release(self, mouse_pos):
+    super()._handle_mouse_release(mouse_pos)
+    if not self._was_active:
+      self._animator.set_animation(SLEEPY)
+
+  def _render(self, rect: rl.Rectangle):
+    dots = self._animator.get_dots()
+    animation = self._animator._animation
+    if self._turning_left and animation.left_turn_remove:
+      remove_set = set(animation.left_turn_remove)
+      dots = [d for d in dots if d not in remove_set]
+    elif self._turning_right and animation.right_turn_remove:
+      remove_set = set(animation.right_turn_remove)
+      dots = [d for d in dots if d not in remove_set]
+    self.draw_dot_grid(rect, dots, rl.WHITE)
+
+    if ui_state.is_offroad():
+      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
+      upper_half = rl.Rectangle(rect.x, rect.y, rect.width, rect.height / 2)
+      self._offroad_label.render(upper_half)
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 0832fbb628..176c2d510f 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -6,7 +6,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
-#include "third_party/raylib/include/raylib.h"
+#include "raylib.h"
 
 int freshClone();
 int cachedFetch(const std::string &cache);
diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py
index 2adecfeaa8..1e599f4ea7 100644
--- a/selfdrive/ui/layouts/main.py
+++ b/selfdrive/ui/layouts/main.py
@@ -2,13 +2,14 @@ import pyray as rl
 from enum import IntEnum
 import cereal.messaging as messaging
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
 from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
 from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
@@ -31,7 +32,9 @@ class MainLayout(Widget):
     self._prev_onroad = False
 
     # Initialize layouts
-    self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
+    self._home_layout = HomeLayout()
+    self._home_body_layout = BodyLayout()
+    self._layouts = {MainState.HOME: self._home_layout, MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
 
     self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
     self._content_rect = rl.Rectangle(0, 0, 0, 0)
@@ -57,14 +60,18 @@ class MainLayout(Widget):
     self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
     self._layouts[MainState.HOME].set_settings_callback(lambda: self.open_settings(PanelType.TOGGLES))
     self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
-    self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
+
+    for layout in (self._layouts[MainState.ONROAD], self._home_body_layout):
+      layout.set_click_callback(self._on_onroad_clicked)
+
     device.add_interactive_timeout_callback(self._set_mode_for_state)
+    ui_state.add_on_body_changed_callbacks(self._on_body_changed)
 
   def _update_layout_rects(self):
     self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
 
     x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
-    self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
+    self._content_rect = rl.Rectangle(self._rect.x + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
 
   def _handle_onroad_transition(self):
     if ui_state.started != self._prev_onroad:
@@ -73,6 +80,12 @@ class MainLayout(Widget):
       self._set_mode_for_state()
 
   def _set_mode_for_state(self):
+    # Don't go onroad if body, home is onroad
+    if ui_state.is_body:
+      self._set_current_layout(MainState.HOME)
+      self._sidebar.set_visible(not ui_state.ignition)
+      return
+
     if ui_state.started:
       # Don't hide sidebar from interactive timeout
       if self._current_mode != MainState.ONROAD:
@@ -104,6 +117,10 @@ class MainLayout(Widget):
   def _on_onroad_clicked(self):
     self._sidebar.set_visible(not self._sidebar.is_visible)
 
+  def _on_body_changed(self):
+    self._layouts[MainState.HOME] = self._home_body_layout if ui_state.is_body else self._home_layout
+    self._set_mode_for_state()
+
   def _render_main_content(self):
     # Render sidebar
     if self._sidebar.is_visible:
diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
index 452ed53c08..6e683c0922 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -69,7 +69,7 @@ class TrainingGuide(Widget):
       if self._step == DM_RECORD_STEP:
         yes = rl.check_collision_point_rec(mouse_pos, DM_RECORD_YES_RECT)
         print(f"putting RecordFront to {yes}")
-        ui_state.params.put_bool("RecordFront", yes)
+        ui_state.params.put_bool("RecordFront", yes, block=True)
 
       # Restart training?
       elif self._step == len(self._image_paths) - 1:
@@ -156,7 +156,7 @@ class DeclinePage(Widget):
                                  click_callback=self._on_uninstall_clicked)
 
   def _on_uninstall_clicked(self):
-    ui_state.params.put_bool("DoUninstall", True)
+    ui_state.params.put_bool("DoUninstall", True, block=True)
     gui_app.request_close()
 
   def _render(self, _):
@@ -209,8 +209,8 @@ class OnboardingWindow(Widget):
     self._state = OnboardingState.TERMS
 
   def _on_terms_accepted(self):
-    ui_state.params.put("HasAcceptedTerms", terms_version)
-    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
+    ui_state.params.put("HasAcceptedTerms", terms_version, block=True)
+    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp, block=True)
     if not self._sunnylink.completed:
       self._state = OnboardingState.SUNNYLINK_CONSENT
     elif not self._training_done:
@@ -219,7 +219,7 @@ class OnboardingWindow(Widget):
       gui_app.pop_widget()
 
   def _on_completed_training(self):
-    ui_state.params.put("CompletedTrainingVersion", training_version)
+    ui_state.params.put("CompletedTrainingVersion", training_version, block=True)
 
   def _render(self, _):
     if self._training_guide is None:
diff --git a/selfdrive/ui/layouts/settings/common.py b/selfdrive/ui/layouts/settings/common.py
index 5e87a6447a..bba8606e64 100644
--- a/selfdrive/ui/layouts/settings/common.py
+++ b/selfdrive/ui/layouts/settings/common.py
@@ -1,5 +1,5 @@
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 
-def restart_needed_callback(_):
+def restart_needed_callback(_=None):
   ui_state.params.put_bool("OnroadCycleRequested", True)
diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
index 964d28bf9c..a9fbca768d 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -23,7 +23,7 @@ DESCRIPTIONS = {
     "other than your own. A comma employee will NEVER ask you to add their GitHub username."
   ),
   'alpha_longitudinal': tr_noop(
-    "<b>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
+    "<b>WARNING: sunnypilot longitudinal control is in alpha for this car and may disable Automatic Emergency Braking (AEB).</b><br><br>" +
     "On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. " +
     "Enable this to switch to sunnypilot longitudinal control. " +
     "Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. " +
@@ -135,12 +135,6 @@ class DeveloperLayout(Widget):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.action_item.set_state(False)
-        self._params.put_bool("LongitudinalManeuverMode", False)
-
-      lat_man_enabled = ui_state.is_offroad()
-      self._lat_maneuver_toggle.action_item.set_enabled(lat_man_enabled)
     else:
       self._long_maneuver_toggle.action_item.set_enabled(False)
       self._lat_maneuver_toggle.action_item.set_enabled(False)
@@ -160,45 +154,45 @@ class DeveloperLayout(Widget):
       item.action_item.set_state(self._params.get_bool(key))
 
   def _on_enable_ui_debug(self, state: bool):
-    self._params.put_bool("ShowDebugInfo", state)
+    self._params.put_bool("ShowDebugInfo", state, block=True)
     gui_app.set_show_touches(state)
     gui_app.set_show_fps(state)
     gui_app.set_show_mouse_coords(state)
 
   def _on_enable_adb(self, state: bool):
-    self._params.put_bool("AdbEnabled", state)
+    self._params.put_bool("AdbEnabled", state, block=True)
 
   def _on_enable_ssh(self, state: bool):
-    self._params.put_bool("SshEnabled", state)
+    self._params.put_bool("SshEnabled", state, block=True)
 
   def _on_joystick_debug_mode(self, state: bool):
-    self._params.put_bool("JoystickDebugMode", state)
-    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._params.put_bool("JoystickDebugMode", state, block=True)
+    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.action_item.set_state(False)
-    self._params.put_bool("LateralManeuverMode", False)
+    self._params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.action_item.set_state(False)
 
   def _on_long_maneuver_mode(self, state: bool):
-    self._params.put_bool("LongitudinalManeuverMode", state)
-    self._params.put_bool("JoystickDebugMode", False)
+    self._params.put_bool("LongitudinalManeuverMode", state, block=True)
+    self._params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.action_item.set_state(False)
-    self._params.put_bool("LateralManeuverMode", False)
+    self._params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.action_item.set_state(False)
 
   def _on_lat_maneuver_mode(self, state: bool):
-    self._params.put_bool("LateralManeuverMode", state)
-    self._params.put_bool("ExperimentalMode", False)
-    self._params.put_bool("JoystickDebugMode", False)
+    self._params.put_bool("LateralManeuverMode", state, block=True)
+    self._params.put_bool("ExperimentalMode", False, block=True)
+    self._params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.action_item.set_state(False)
-    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.action_item.set_state(False)
 
   def _on_alpha_long_enabled(self, state: bool):
     if state:
       def confirm_callback(result: DialogResult):
         if result == DialogResult.CONFIRM:
-          self._params.put_bool("AlphaLongitudinalEnabled", True)
-          self._params.put_bool("OnroadCycleRequested", True)
+          self._params.put_bool("AlphaLongitudinalEnabled", True, block=True)
+          self._params.put_bool("OnroadCycleRequested", True, block=True)
           self._update_toggles()
         else:
           self._alpha_long_toggle.action_item.set_state(False)
@@ -211,6 +205,6 @@ class DeveloperLayout(Widget):
       gui_app.push_widget(dlg)
 
     else:
-      self._params.put_bool("AlphaLongitudinalEnabled", False)
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("AlphaLongitudinalEnabled", False, block=True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
       self._update_toggles()
diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
index 126ad22a3a..2e0493c8d3 100644
--- a/selfdrive/ui/layouts/settings/device.py
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -108,7 +108,7 @@ class DeviceLayout(Widget):
       self._params.remove("LiveParameters")
       self._params.remove("LiveParametersV2")
       self._params.remove("LiveDelay")
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
       self._update_calib_description()
 
     dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"), callback=reset_calibration)
@@ -169,7 +169,7 @@ class DeviceLayout(Widget):
 
     def perform_reboot(result: DialogResult):
       if not ui_state.engaged and result == DialogResult.CONFIRM:
-        self._params.put_bool_nonblocking("DoReboot", True)
+        self._params.put_bool("DoReboot", True)
 
     dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"), callback=perform_reboot)
     gui_app.push_widget(dialog)
@@ -181,7 +181,7 @@ class DeviceLayout(Widget):
 
     def perform_power_off(result: DialogResult):
       if not ui_state.engaged and result == DialogResult.CONFIRM:
-        self._params.put_bool_nonblocking("DoShutdown", True)
+        self._params.put_bool("DoShutdown", True)
 
     dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"), callback=perform_power_off)
     gui_app.push_widget(dialog)
diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py
index 18514feeb9..8ac6fe3d23 100644
--- a/selfdrive/ui/layouts/settings/firehose.py
+++ b/selfdrive/ui/layouts/settings/firehose.py
@@ -1,7 +1,7 @@
 import pyray as rl
 
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
-from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
+from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
@@ -65,12 +65,13 @@ class FirehoseLayout(FirehoseLayoutBase):
     y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
     y += 20 + 20
 
+    # TODO: add back once reliable
     # Contribution count (if available)
-    if self._segment_count > 0:
-      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
-      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
-      y += 20 + 20
+    #if self._segment_count > 0:
+    #  contrib_text = trn("{} segment of your driving is in the training dataset so far.",
+    #                     "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+    #  y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
+    #  y += 20 + 20
 
     # Separator
     rl.draw_rectangle(x, y, w, 2, self.GRAY)
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
index f42682e2f7..4ed9f8fe19 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -170,7 +170,7 @@ class SoftwareLayout(Widget):
   def _on_uninstall(self):
     def handle_uninstall_confirmation(result: DialogResult):
       if result == DialogResult.CONFIRM:
-        ui_state.params.put_bool("DoUninstall", True)
+        ui_state.params.put_bool("DoUninstall", True, block=True)
 
     dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"), callback=handle_uninstall_confirmation)
     gui_app.push_widget(dialog)
@@ -178,7 +178,7 @@ class SoftwareLayout(Widget):
   def _on_install_update(self):
     # Trigger reboot to install update
     self._install_btn.action_item.set_enabled(False)
-    ui_state.params.put_bool("DoReboot", True)
+    ui_state.params.put_bool("DoReboot", True, block=True)
 
   def _on_select_branch(self):
     # Get available branches and order
@@ -197,7 +197,7 @@ class SoftwareLayout(Widget):
       # Confirmed selection
       if result == DialogResult.CONFIRM and self._branch_dialog is not None and self._branch_dialog.selection:
         selection = self._branch_dialog.selection
-        ui_state.params.put("UpdaterTargetBranch", selection)
+        ui_state.params.put("UpdaterTargetBranch", selection, block=True)
         self._branch_btn.action_item.set_value(selection)
         os.system("pkill -SIGUSR1 -f system.updated.updated")
       self._branch_dialog = None
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index dfd0c73f61..4c83584ad5 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -221,8 +221,8 @@ class TogglesLayout(Widget):
     if state and not confirmed:
       def confirm_callback(result: DialogResult):
         if result == DialogResult.CONFIRM:
-          self._params.put_bool("ExperimentalMode", True)
-          self._params.put_bool("ExperimentalModeConfirmed", True)
+          self._params.put_bool("ExperimentalMode", True, block=True)
+          self._params.put_bool("ExperimentalModeConfirmed", True, block=True)
         else:
           self._toggles["ExperimentalMode"].action_item.set_state(False)
         self._update_experimental_mode_icon()
@@ -234,16 +234,16 @@ class TogglesLayout(Widget):
       gui_app.push_widget(dlg)
     else:
       self._update_experimental_mode_icon()
-      self._params.put_bool("ExperimentalMode", state)
+      self._params.put_bool("ExperimentalMode", state, block=True)
 
   def _toggle_callback(self, state: bool, param: str):
     if param == "ExperimentalMode":
       self._handle_experimental_mode_toggle(state)
       return
 
-    self._params.put_bool(param, state)
+    self._params.put_bool(param, state, block=True)
     if self._toggle_defs[param][3]:
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
 
   def _set_longitudinal_personality(self, button_index: int):
-    self._params.put("LongitudinalPersonality", button_index)
+    self._params.put("LongitudinalPersonality", button_index, block=True)
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
index 1dad597ca3..3405667245 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -125,10 +125,8 @@ class Sidebar(Widget, SidebarSP):
   def _update_temperature_status(self, device_state):
     thermal_status = device_state.thermalStatus
 
-    if thermal_status == ThermalStatus.green:
+    if thermal_status == ThermalStatus.ok:
       self._temp_status.update(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
-    elif thermal_status == ThermalStatus.yellow:
-      self._temp_status.update(tr_noop("TEMP"), tr_noop("OK"), Colors.WARNING)
     else:
       self._temp_status.update(tr_noop("TEMP"), tr_noop("HIGH"), Colors.DANGER)
 
diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index 1aed949bee..b57380ac57 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -6,6 +6,7 @@ import time
 
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
@@ -69,6 +70,7 @@ class PrimeState:
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
+    drop_realtime()
     from openpilot.selfdrive.ui.ui_state import ui_state, device
     while self._running:
       if not ui_state.started and device._awake:
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index cc424fa62b..d41165a79d 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -14,7 +14,6 @@ from openpilot.system.version import RELEASE_BRANCHES
 
 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8
-SETTINGS_ZONE_WIDTH = 280
 ALERTS_ZONE_WIDTH = 180
 
 NetworkType = log.DeviceState.NetworkType
@@ -39,11 +38,16 @@ class AlertsPill(Widget):
     self.set_rect(rl.Rectangle(0, 0, 104, 52))
 
     self._pill_bg_txt = gui_app.texture("icons_mici/alerts_pill.png", 104, 52)
-    self._warning_txt = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
+    self._icon_red = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
+    self._icon_orange = gui_app.texture("icons_mici/offroad_alerts/orange_warning.png", 36, 36)
+    self._icon_green = gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", 36, 36)
     self._alert_count_callback: Callable[[], int] | None = None
+    self._max_severity_callback: Callable[[], int | None] | None = None
 
-  def set_alert_count_callback(self, callback: Callable[[], int] | None):
+  def set_alert_count_callback(self, callback: Callable[[], int] | None,
+                               severity_callback: Callable[[], int | None] | None = None):
     self._alert_count_callback = callback
+    self._max_severity_callback = severity_callback
 
   def _render(self, _):
     alert_count = self._alert_count_callback() if self._alert_count_callback else 0
@@ -51,9 +55,17 @@ class AlertsPill(Widget):
       pill_w, pill_h = self._pill_bg_txt.width, self._pill_bg_txt.height
       rl.draw_texture_ex(self._pill_bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, rl.WHITE)
 
+      severity = self._max_severity_callback() if self._max_severity_callback else None
+      if severity == -1:
+        warning_txt = self._icon_green
+      elif severity is not None and severity > 0:
+        warning_txt = self._icon_red
+      else:
+        warning_txt = self._icon_orange
+
       warn_x = self.rect.x + self.ICON_OFFSET
-      warn_y = self.rect.y + (pill_h - self._warning_txt.height) / 2
-      rl.draw_texture_ex(self._warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
+      warn_y = self.rect.y + (pill_h - warning_txt.height) / 2
+      rl.draw_texture_ex(warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
 
       count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
       gui_label(count_rect, str(alert_count), font_size=36,
@@ -120,16 +132,17 @@ class MiciHomeLayout(Widget):
     self._on_alerts_click: Callable | None = None
     self._alert_count_callback: Callable[[], int] | None = None
 
-    self._last_refresh = 0
     self._mouse_down_t: None | float = None
     self._did_long_press = False
     self._is_pressed_prev = False
 
-    self._version_text = None
-    self._experimental_mode = False
+    self._version_text = self._get_version_text()
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
+    self._egpu_icon = IconWidget("icons_mici/egpu.png", (50, 37))
+    self._egpu_icon_gray = IconWidget("icons_mici/egpu_gray.png", (50, 37))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
+    self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
 
     self._alerts_pill = AlertsPill()
 
@@ -137,6 +150,9 @@ class MiciHomeLayout(Widget):
       IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
       NetworkIcon(),
       self._experimental_icon,
+      self._egpu_icon,
+      self._egpu_icon_gray,
+      self._body_icon,
       self._mic_icon,
     ], spacing=18)
 
@@ -147,14 +163,6 @@ class MiciHomeLayout(Widget):
     self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
     self._version_commit_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
 
-  def show_event(self):
-    super().show_event()
-    self._version_text = self._get_version_text()
-    self._update_params()
-
-  def _update_params(self):
-    self._experimental_mode = ui_state.params.get_bool("ExperimentalMode")
-
   def _update_state(self):
     if self.is_pressed and not self._is_pressed_prev:
       self._mouse_down_t = time.monotonic()
@@ -167,34 +175,28 @@ class MiciHomeLayout(Widget):
       if time.monotonic() - self._mouse_down_t > 0.5:
         # long gating for experimental mode - only allow toggle if longitudinal control is available
         if ui_state.has_longitudinal_control:
-          self._experimental_mode = not self._experimental_mode
-          ui_state.params.put("ExperimentalMode", self._experimental_mode)
+          ui_state.experimental_mode = not ui_state.experimental_mode
+          ui_state.params.put("ExperimentalMode", ui_state.experimental_mode, block=True)
         self._mouse_down_t = None
         self._did_long_press = True
 
-    if rl.get_time() - self._last_refresh > 5.0:
-      # Update version text
-      self._version_text = self._get_version_text()
-      self._last_refresh = rl.get_time()
-      self._update_params()
-
   def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
-                    alert_count_callback: Callable[[], int] | None = None):
+                    alert_count_callback: Callable[[], int] | None = None,
+                    max_severity_callback: Callable[[], int | None] | None = None):
     self._on_settings_click = on_settings
     self._on_alerts_click = on_alerts
     self._alert_count_callback = alert_count_callback
-    self._alerts_pill.set_alert_count_callback(alert_count_callback)
+    self._alerts_pill.set_alert_count_callback(alert_count_callback, max_severity_callback)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     if not self._did_long_press:
       relative_x = mouse_pos.x - self.rect.x
       has_alerts = self._alert_count_callback and self._alert_count_callback() > 0
-      if relative_x < SETTINGS_ZONE_WIDTH:
-        if self._on_settings_click:
-          self._on_settings_click()
-      elif has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
+      if has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
         if self._on_alerts_click:
           self._on_alerts_click()
+      elif self._on_settings_click:
+        self._on_settings_click()
     self._did_long_press = False
 
   def _get_version_text(self) -> tuple[str, str, str, str] | None:
@@ -245,8 +247,11 @@ class MiciHomeLayout(Widget):
         self._version_commit_label.render()
 
     # ***** Center-aligned bottom section icons *****
-    self._experimental_icon.set_visible(self._experimental_mode)
+    self._experimental_icon.set_visible(ui_state.experimental_mode)
+    self._egpu_icon.set_visible(ui_state.usbgpu and ui_state.usbgpu_compiled)
+    self._egpu_icon_gray.set_visible(ui_state.usbgpu and not ui_state.usbgpu_compiled)
     self._mic_icon.set_visible(ui_state.recording_audio)
+    self._body_icon.set_visible(ui_state.is_body)
 
     footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
     self._status_bar_layout.render(footer_rect)
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index 0c762e098d..e25b2840f7 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -6,6 +6,7 @@ from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
 from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
@@ -31,22 +32,25 @@ class MiciMainLayout(Scroller):
     self._home_layout = MiciHomeLayout()
     self._alerts_layout = MiciOffroadAlerts()
     self._settings_layout = SettingsLayout()
-    self._onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._body_onroad_layout = BodyLayout()
 
     # Initialize widget rects
-    for widget in (self._home_layout, self._settings_layout, self._alerts_layout, self._onroad_layout):
+    for widget in (self._home_layout, self._alerts_layout, self._settings_layout,
+                   self._car_onroad_layout, self._body_onroad_layout):
       # TODO: set parent rect and use it if never passed rect from render (like in Scroller)
       widget.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
     self._scroller.add_widgets([
       self._alerts_layout,
       self._home_layout,
-      self._onroad_layout,
+      self._car_onroad_layout,
+      self._body_onroad_layout,
     ])
     self._scroller.set_reset_scroll_at_show(False)
 
     # Disable scrolling when onroad is interacting with bookmark
-    self._scroller.set_scrolling_enabled(lambda: not self._onroad_layout.is_swiping_left())
+    self._scroller.set_scrolling_enabled(lambda: not self._car_onroad_layout.is_swiping_left())
 
     # Set callbacks
     self._setup_callbacks()
@@ -59,14 +63,23 @@ class MiciMainLayout(Scroller):
     if not self._onboarding_window.completed:
       gui_app.push_widget(self._onboarding_window)
 
+  @property
+  def _onroad_layout(self) -> Widget:
+    # For scroll_to
+    return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
+
   def _setup_callbacks(self):
     self._home_layout.set_callbacks(
       on_settings=lambda: gui_app.push_widget(self._settings_layout),
       on_alerts=lambda: self._scroll_to(self._alerts_layout),
       alert_count_callback=self._alerts_layout.active_alerts,
+      max_severity_callback=self._alerts_layout.max_severity,
     )
-    self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
+    for layout in (self._car_onroad_layout, self._body_onroad_layout):
+      layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
+
     device.add_interactive_timeout_callback(self._on_interactive_timeout)
+    ui_state.add_on_body_changed_callbacks(self._on_body_changed)
 
   def _scroll_to(self, layout: Widget):
     layout_x = int(layout.rect.x)
@@ -132,3 +145,7 @@ class MiciMainLayout(Scroller):
     user_bookmark = messaging.new_message('bookmarkButton')
     user_bookmark.valid = True
     self._pm.send('bookmarkButton', user_bookmark)
+
+  def _on_body_changed(self):
+    self._car_onroad_layout.set_visible(not ui_state.is_body)
+    self._body_onroad_layout.set_visible(ui_state.is_body)
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index 57ddfdbc48..e0c574dc07 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -1,9 +1,11 @@
 import pyray as rl
 import re
+import threading
 import time
 from dataclasses import dataclass
 from enum import IntEnum
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
@@ -195,7 +197,6 @@ class MiciOffroadAlerts(Scroller):
     self.params = Params()
     self.sorted_alerts: list[AlertData] = []
     self.alert_items: list[AlertItem] = []
-    self._last_refresh = 0.0
 
     # Create empty state label
     self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE,
@@ -205,9 +206,17 @@ class MiciOffroadAlerts(Scroller):
     # Build initial alert list
     self._build_alerts()
 
+    # Start param thread
+    self._pending_params: dict | None = None
+    self._params_thread = threading.Thread(target=self._params_worker, daemon=True)
+    self._params_thread.start()
+
   def active_alerts(self) -> int:
     return sum(alert.visible for alert in self.sorted_alerts)
 
+  def max_severity(self) -> int | None:
+    return max((alert.severity for alert in self.sorted_alerts if alert.visible), default=None)
+
   def scrolling(self):
     return self._scroller.scroll_panel.is_touch_valid()
 
@@ -234,12 +243,19 @@ class MiciOffroadAlerts(Scroller):
       self.alert_items.append(alert_item)
       self._scroller.add_widget(alert_item)
 
-  def refresh(self) -> int:
+  def _params_worker(self):
+    drop_realtime()
+    while True:
+      self._pending_params = ({"UpdaterNewDescription": self.params.get("UpdaterNewDescription")} |
+                              {alert_data.key: self.params.get(alert_data.key) for alert_data in self.sorted_alerts})
+      time.sleep(REFRESH_INTERVAL)
+
+  def _refresh(self) -> int:
     """Refresh alerts from params and return active count."""
     active_count = 0
 
     # Handle UpdateAvailable alert specially
-    update_available = self.params.get_bool("UpdateAvailable")
+    update_available = self._pending_params["UpdateAvailable"]
     update_alert_data = next((alert_data for alert_data in self.sorted_alerts if alert_data.key == "UpdateAvailable"), None)
 
     if update_alert_data:
@@ -247,7 +263,7 @@ class MiciOffroadAlerts(Scroller):
         version_string = ""
 
         # Get new version description and parse version and date
-        new_desc = self.params.get("UpdaterNewDescription") or ""
+        new_desc = self._pending_params["UpdaterNewDescription"] or ""
         if new_desc:
           # format: "version / branch / commit / date"
           parts = new_desc.split(" / ")
@@ -268,11 +284,16 @@ class MiciOffroadAlerts(Scroller):
         continue  # Skip, already handled above
 
       text = ""
-      alert_json = self.params.get(alert_data.key)
+      alert_json = self._pending_params[alert_data.key]
 
       if alert_json:
         text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
 
+      if text and not alert_data.visible:
+        # Bump newly visible alerts to the top, severity sort keeps it at the top of its category
+        widget = next(w for w in self._scroller.items if w.alert_data is alert_data)
+        self._scroller.items.remove(widget)
+        self._scroller.items.insert(0, widget)
       alert_data.text = text
       alert_data.visible = bool(text)
 
@@ -283,21 +304,16 @@ class MiciOffroadAlerts(Scroller):
     for alert_item in self.alert_items:
       alert_item.update_alert_data(alert_item.alert_data)
 
-    return active_count
+    self._scroller.items.sort(key=lambda w: -w.alert_data.severity)
 
-  def show_event(self):
-    """Reset scroll position when shown and refresh alerts."""
-    super().show_event()
-    self._last_refresh = time.monotonic()
-    self.refresh()
+    return active_count
 
   def _update_state(self):
     """Periodically refresh alerts."""
-    # Refresh alerts periodically, not every frame
-    current_time = time.monotonic()
-    if current_time - self._last_refresh >= REFRESH_INTERVAL:
-      self.refresh()
-      self._last_refresh = current_time
+    # Refresh alerts when thread updates params
+    if self._pending_params is not None:
+      self._refresh()
+      self._pending_params = None
 
   def _render(self, rect: rl.Rectangle):
     """Render the alerts scroller or empty state."""
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index d6d3f70330..f070ec5d5c 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -71,7 +71,7 @@ class TrainingGuidePreDMTutorial(NavScroller):
   def show_event(self):
     super().show_event()
     # Get driver monitoring model ready for next step
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+    ui_state.params.put_bool("IsDriverViewEnabled", True)
 
 
 class DMBadFaceDetected(NavScroller):
@@ -123,7 +123,7 @@ class TrainingGuideDMTutorial(NavWidget):
   def _update_state(self):
     super()._update_state()
     if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
-      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+      ui_state.params.put_bool("IsDriverViewEnabled", True)
 
     sm = ui_state.sm
     if sm.recv_frame.get("driverMonitoringState", 0) == 0:
@@ -140,7 +140,7 @@ class TrainingGuideDMTutorial(NavWidget):
 
     # stay at 100% once reached
     in_bad_face = gui_app.get_active_widget() == self._bad_face_page
-    if ((dm_state.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
+    if ((dm_state.visionPolicyState.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
       slow = self._progress.x < 0.25
       duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
       self._progress.x += 1.0 / (duration * gui_app.target_fps)
@@ -219,11 +219,11 @@ class TrainingGuideRecordFront(NavScroller):
     super().__init__()
 
     def on_accept():
-      ui_state.params.put_bool_nonblocking("RecordFront", True)
+      ui_state.params.put_bool("RecordFront", True)
       continue_callback()
 
     def on_decline():
-      ui_state.params.put_bool_nonblocking("RecordFront", False)
+      ui_state.params.put_bool("RecordFront", False)
       continue_callback()
 
     self._accept_button = BigConfirmationCircleButton("allow data uploading", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
@@ -367,7 +367,7 @@ class OnboardingWindow(Widget):
     self._needs_initial_push = False
 
   def _on_uninstall(self):
-    ui_state.params.put_bool("DoUninstall", True)
+    ui_state.params.put_bool("DoUninstall", True, block=True)
 
   def show_event(self):
     super().show_event()
@@ -386,12 +386,12 @@ class OnboardingWindow(Widget):
     return self._accepted_terms and self._sunnylink_consent_done and self._training_done
 
   def close(self):
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
     self._completed_callback()
 
   def _on_terms_accepted(self):
-    ui_state.params.put("HasAcceptedTerms", terms_version)
-    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
+    ui_state.params.put("HasAcceptedTerms", terms_version, block=True)
+    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp, block=True)
     self._accepted_terms = True
     if not self._sunnylink_consent_done:
       gui_app.push_widget(self._sunnylink_consent)
@@ -401,7 +401,7 @@ class OnboardingWindow(Widget):
       self.close()
 
   def _on_sunnylink_accepted(self):
-    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version, block=True)
     ui_state.params.put_bool("SunnylinkEnabled", True)
     self._sunnylink_consent_done = True
     if not self._training_done:
@@ -410,7 +410,7 @@ class OnboardingWindow(Widget):
       self.close()
 
   def _on_sunnylink_declined(self):
-    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined, block=True)
     ui_state.params.put_bool("SunnylinkEnabled", False)
     self._sunnylink_consent_done = True
     if not self._training_done:
@@ -419,7 +419,7 @@ class OnboardingWindow(Widget):
       self.close()
 
   def _on_completed_training(self):
-    ui_state.params.put("CompletedTrainingVersion", training_version)
+    ui_state.params.put("CompletedTrainingVersion", training_version, block=True)
     self._training_done = True
     self.close()
 
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index f47614c073..2f0250ff5f 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -1,13 +1,34 @@
+from collections.abc import Callable
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl, GreyBigButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog, BigConfirmationCircleButton
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher
 
 
+class AlphaLongConfirmPage(NavScroller):
+  def __init__(self, on_confirm: Callable[[], None]):
+    super().__init__()
+
+    accept = BigConfirmationCircleButton("enable alpha\nlongitudinal",
+                                         gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                         lambda: self.dismiss(on_confirm))
+
+    self._scroller.add_widgets([
+      GreyBigButton("enabling alpha longitudinal", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
+      GreyBigButton("", "WARNING: alpha longitudinal control may disable Automatic Emergency Braking (AEB)"),
+      GreyBigButton("", "On this car, openpilot defaults to the stock system's built-in ACC."),
+      GreyBigButton("", "Enabling this will switch to openpilot longitudinal control."),
+      GreyBigButton("", "Using Experimental mode is recommended with openpilot longitudinal control alpha."),
+      GreyBigButton("", "Changing this setting will restart openpilot if the car is powered on."),
+      accept,
+    ])
+
+
 class DeveloperLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
@@ -131,12 +152,6 @@ class DeveloperLayoutMici(NavScroller):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.set_checked(False)
-        ui_state.params.put_bool("LongitudinalManeuverMode", False)
-
-      lat_man_enabled = ui_state.is_offroad()
-      self._lat_maneuver_toggle.set_enabled(lat_man_enabled)
     else:
       self._long_maneuver_toggle.set_enabled(False)
       self._lat_maneuver_toggle.set_enabled(False)
@@ -147,31 +162,38 @@ class DeveloperLayoutMici(NavScroller):
       item.set_checked(ui_state.params.get_bool(key))
 
   def _on_joystick_debug_mode(self, state: bool):
-    ui_state.params.put_bool("JoystickDebugMode", state)
-    ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    ui_state.params.put_bool("JoystickDebugMode", state, block=True)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.set_checked(False)
-    ui_state.params.put_bool("LateralManeuverMode", False)
+    ui_state.params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.set_checked(False)
 
   def _on_long_maneuver_mode(self, state: bool):
-    ui_state.params.put_bool("LongitudinalManeuverMode", state)
-    ui_state.params.put_bool("JoystickDebugMode", False)
+    ui_state.params.put_bool("LongitudinalManeuverMode", state, block=True)
+    ui_state.params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.set_checked(False)
-    ui_state.params.put_bool("LateralManeuverMode", False)
+    ui_state.params.put_bool("LateralManeuverMode", False, block=True)
     self._lat_maneuver_toggle.set_checked(False)
-    restart_needed_callback(state)
+    restart_needed_callback()
 
   def _on_lat_maneuver_mode(self, state: bool):
-    ui_state.params.put_bool("LateralManeuverMode", state)
-    ui_state.params.put_bool("ExperimentalMode", False)
-    ui_state.params.put_bool("JoystickDebugMode", False)
+    ui_state.params.put_bool("LateralManeuverMode", state, block=True)
+    ui_state.params.put_bool("ExperimentalMode", False, block=True)
+    ui_state.params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.set_checked(False)
-    ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.set_checked(False)
-    restart_needed_callback(state)
+    restart_needed_callback()
 
   def _on_alpha_long_enabled(self, state: bool):
-    # TODO: show confirmation dialog before enabling
-    ui_state.params.put_bool("AlphaLongitudinalEnabled", state)
-    restart_needed_callback(state)
-    self._update_toggles()
+    def do_toggle(_state: bool):
+      ui_state.params.put_bool("AlphaLongitudinalEnabled", _state, block=True)
+      restart_needed_callback()
+      self._update_toggles()
+
+    if state:
+      # Don't show enabled state until confirm
+      self._alpha_long_toggle.set_checked(False)
+      gui_app.push_widget(AlphaLongConfirmPage(lambda: do_toggle(True)))
+    else:
+      do_toggle(False)
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index e0d89a5419..4a8fc50d53 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -40,7 +40,7 @@ class ReviewTrainingGuide(TrainingGuide):
   def hide_event(self):
     super().hide_event()
     device.set_override_interactive_timeout(None)
-    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
 
 
 class MiciFccModal(NavRawScrollPanel):
@@ -200,7 +200,7 @@ class UpdateOpenpilotBigButton(BigButton):
       if self.get_value() == "download update":
         os.system("pkill -SIGHUP -f system.updated.updated")
       elif self.get_value() == "update now":
-        ui_state.params.put_bool("DoReboot", True)
+        ui_state.params.put_bool("DoReboot", True, block=True)
       else:
         os.system("pkill -SIGUSR1 -f system.updated.updated")
 
@@ -258,6 +258,7 @@ class UpdateOpenpilotBigButton(BigButton):
     elif self._state == UpdaterState.IDLE:
       self.set_rotate_icon(False)
       if failed:
+        self.set_enabled(True)  # allow retry when failure came from updater param
         if self.get_value() != "failed to update":
           self.set_value("failed to update")
 
@@ -292,10 +293,10 @@ class DeviceLayoutMici(NavScroller):
     self._fcc_dialog: HtmlModal | None = None
 
     def power_off_callback():
-      ui_state.params.put_bool("DoShutdown", True)
+      ui_state.params.put_bool("DoShutdown", True, block=True)
 
     def reboot_callback():
-      ui_state.params.put_bool("DoReboot", True)
+      ui_state.params.put_bool("DoReboot", True, block=True)
 
     def reset_calibration_callback():
       params = ui_state.params
@@ -304,10 +305,10 @@ class DeviceLayoutMici(NavScroller):
       params.remove("LiveParameters")
       params.remove("LiveParametersV2")
       params.remove("LiveDelay")
-      params.put_bool("OnroadCycleRequested", True)
+      params.put_bool("OnroadCycleRequested", True, block=True)
 
     def uninstall_openpilot_callback():
-      ui_state.params.put_bool("DoUninstall", True)
+      ui_state.params.put_bool("DoUninstall", True, block=True)
 
     reset_calibration_btn = EngagedConfirmationButton("reset calibration", "reset", gui_app.texture("icons_mici/settings/device/lkas.png", 122, 64),
                                                       reset_calibration_callback)
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 5bf7426c77..5e3b6da2cc 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -5,6 +5,7 @@ import pyray as rl
 
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
 from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -212,6 +213,7 @@ class FirehoseLayoutBase(Widget):
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 
   def _update_loop(self):
+    drop_realtime()
     while self._running:
       if not ui_state.started and device._awake:
         self._fetch_firehose_stats()
diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
index 9f6fae4b5f..58b3d0c77d 100644
--- a/selfdrive/ui/mici/layouts/settings/network/network_layout.py
+++ b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
@@ -66,14 +66,14 @@ class NetworkLayoutMici(NavScroller):
 
     # ******** Advanced settings ********
     # ******** Roaming toggle ********
-    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming")
 
     # ******** APN settings ********
     self._apn_btn = BigButton("apn settings", "edit")
     self._apn_btn.set_click_callback(self._edit_apn)
 
     # ******** Cellular metered toggle ********
-    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered")
 
     # Main scroller ----------------------------------
     self._scroller.add_widgets([
@@ -88,11 +88,6 @@ class NetworkLayoutMici(NavScroller):
       # */
     ])
 
-    # Set initial config
-    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
-    metered = ui_state.params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
-
   def _update_state(self):
     super()._update_state()
 
@@ -116,9 +111,6 @@ class NetworkLayoutMici(NavScroller):
 
     gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks)
 
-  def _toggle_roaming(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
-
   def _edit_apn(self):
     def update_apn(apn: str):
       apn = apn.strip()
@@ -127,15 +119,10 @@ class NetworkLayoutMici(NavScroller):
       else:
         ui_state.params.put("GsmApn", apn)
 
-      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
-
     current_apn = ui_state.params.get("GsmApn") or ""
     dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
     gui_app.push_widget(dlg)
 
-  def _toggle_cellular_metered(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
-
   def _on_network_updated(self, networks: list[Network]):
     # Update tethering state
     tethering_active = self._wifi_manager.is_tethering_active()
diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
index 006027e258..8404faf9f7 100644
--- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
+++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
@@ -383,7 +383,7 @@ class WifiUIMici(NavScroller):
 
       if scroll:
         # Scroll to the new position of the network
-        self._scroller.scroll_to(self._scroller.scroll_panel.get_offset(), smooth=True)
+        self._scroller.scroll_to(self._scroller.scroll_panel.get_offset(), smooth=True, block_widget_interaction=True)
 
   def _update_state(self):
     super()._update_state()
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 9910c955ec..8dafc4df57 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -1,7 +1,6 @@
-import time
 import numpy as np
 import pyray as rl
-from cereal import messaging, car, log
+from cereal import car, log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
@@ -143,9 +142,7 @@ class AugmentedRoadView(CameraView):
     self.view_from_calib = view_frame_from_device_frame.copy()
     self.view_from_wide_calib = view_frame_from_device_frame.copy()
 
-    self._last_calib_time: float = 0
-    self._last_rect_dims = (0.0, 0.0)
-    self._last_stream_type = stream_type
+    self._matrix_cache_key: tuple | None = None
     self._cached_matrix: np.ndarray | None = None
     self._content_rect = rl.Rectangle()
     self._last_click_time = 0.0
@@ -165,9 +162,6 @@ class AugmentedRoadView(CameraView):
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 
-    # debug
-    self._pm = messaging.PubMaster(['uiDebug'])
-
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
     return self._bookmark_icon.is_swiping_left()
@@ -189,7 +183,12 @@ class AugmentedRoadView(CameraView):
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
-    start_draw = time.monotonic()
+    # Draw text if not onroad
+    if not ui_state.started:
+      rl.draw_rectangle_rec(self.rect, rl.BLACK)
+      self._offroad_label.render(self._rect)
+      return
+
     self._switch_stream_if_needed(ui_state.sm)
 
     # Update calibration before rendering
@@ -224,7 +223,7 @@ class AugmentedRoadView(CameraView):
     alert_to_render, not_animating_out = self._alert_renderer.will_render()
 
     # Hide DMoji when disengaged unless AlwaysOnDM is enabled
-    should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and ui_state.is_onroad() and
+    should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and
                          (ui_state.status != UIStatus.DISENGAGED or ui_state.always_on_dm))
     self._driver_state_renderer.set_should_draw(should_draw_dmoji)
     self._driver_state_renderer.set_position(self._rect.x + 16, self._rect.y + 10)
@@ -233,9 +232,7 @@ class AugmentedRoadView(CameraView):
     self._hud_renderer.set_can_draw_top_icons(alert_to_render is None)
     self._hud_renderer.set_wheel_critical_icon(alert_to_render is not None and not not_animating_out and
                                                alert_to_render.visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired)
-    # TODO: have alert renderer draw offroad mici label below
-    if ui_state.started:
-      self._alert_renderer.render(self._content_rect)
+    self._alert_renderer.render(self._content_rect)
     self._hud_renderer.render(self._content_rect)
 
     # Draw fake rounded border
@@ -250,16 +247,6 @@ class AugmentedRoadView(CameraView):
 
     self._bookmark_icon.render(self.rect)
 
-    # Draw darkened background and text if not onroad
-    if not ui_state.started:
-      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
-      self._offroad_label.render(self._rect)
-
-    # publish uiDebug
-    msg = messaging.new_message('uiDebug')
-    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
-    self._pm.send('uiDebug', msg)
-
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo
@@ -300,10 +287,18 @@ class AugmentedRoadView(CameraView):
       self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
 
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    cache_key = (
+      ui_state.sm.recv_frame['liveCalibration'],
+      int(self._content_rect.width),
+      int(self._content_rect.height),
+      self.stream_type,
+      round(ui_state.sm['carState'].vEgo, 1),
+    )
+
+    if cache_key == self._matrix_cache_key and self._cached_matrix is not None:
+      return self._cached_matrix
+
     # Get camera configuration
-    # TODO: cache with vEgo?
-    calib_time = ui_state.sm.recv_frame['liveCalibration']
-    current_dims = (self._content_rect.width, self._content_rect.height)
     device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
     is_wide_camera = self.stream_type == WIDE_CAM
     intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
@@ -319,7 +314,6 @@ class AugmentedRoadView(CameraView):
     kep = calib_transform @ inf_point
 
     # Calculate center points and dimensions
-    x, y = self._content_rect.x, self._content_rect.y
     w, h = self._content_rect.width, self._content_rect.height
     cx, cy = intrinsic[0, 2], intrinsic[1, 2]
 
@@ -339,18 +333,17 @@ class AugmentedRoadView(CameraView):
       x_offset, y_offset = 0, 0
 
     # Cache the computed transformation matrix to avoid recalculations
-    self._last_calib_time = calib_time
-    self._last_rect_dims = current_dims
-    self._last_stream_type = self.stream_type
+    self._matrix_cache_key = cache_key
     self._cached_matrix = np.array([
       [zoom * 2 * cx / w, 0, -x_offset / w * 2],
       [0, zoom * 2 * cy / h, -y_offset / h * 2],
       [0, 0, 1.0]
     ])
 
+    # built without rect.x/y so cache stays hot during scroll. ModelRenderer adds offset at draw time
     video_transform = np.array([
-      [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
-      [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
+      [zoom, 0.0, (w / 2 - x_offset) - (cx * zoom)],
+      [0.0, zoom, (h / 2 - y_offset) - (cy * zoom)],
       [0.0, 0.0, 1.0]
     ])
     self._model_renderer.set_transform(video_transform @ calib_transform)
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index 62fcfd0654..86dd95f466 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -150,15 +150,11 @@ class CameraView(Widget):
     ui_state.add_offroad_transition_callback(self._offroad_transition)
 
   def _offroad_transition(self):
-    # Reconnect if not first time going onroad
-    if ui_state.is_onroad() and self.frame is not None:
-      # Prevent old frames from showing when going onroad. Qt has a separate thread
-      # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough
-      # and only clears internal buffers, not the message queue.
-      self.available_streams.clear()
-      if self.client:
-        del self.client
-      self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
+    # Drain queued SubSocket messages to prevent old frames from showing when going
+    # onroad. Qt had a separate thread which drains the VisionIpcClient SubSocket for us.
+    if self.client and self.client.is_connected():
+      while self.client.recv(timeout_ms=0) is not None:
+        pass
     self.frame = None
 
   def _set_placeholder_color(self, color: rl.Color):
@@ -312,8 +308,8 @@ class CameraView(Widget):
       y_data = self.frame.data[: self.frame.uv_offset]
       uv_data = self.frame.data[self.frame.uv_offset:]
 
-      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", rl.ffi.from_buffer(y_data)))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", rl.ffi.from_buffer(uv_data)))
       self._texture_needs_update = False
 
     # Render with shader
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index e8321b099c..df5afe2e7c 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -1,20 +1,15 @@
 import pyray as rl
-from cereal import log, messaging
+from cereal import car, log, messaging
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.label import gui_label
 
-EventName = log.OnroadEvent.EventName
-
-EVENT_TO_INT = EventName.schema.enumerants
-
 
 class DriverCameraView(CameraView):
   def _calc_frame_matrix(self, rect: rl.Rectangle):
@@ -109,11 +104,14 @@ class BaseDriverCameraDialog(Widget):
     if self._pm is None:
       return
 
+    AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+    ALERT_SOUNDS = {
+      'two': AudibleAlert.promptDistracted,
+      'three': AudibleAlert.warningImmediate,
+    }
     msg = messaging.new_message('selfdriveState')
-    if dm_state is not None and len(dm_state.events):
-      event_name = EVENT_TO_INT[dm_state.events[0].name]
-      if event_name is not None and event_name in EVENTS and ET.PERMANENT in EVENTS[event_name]:
-        msg.selfdriveState.alertSound = EVENTS[event_name][ET.PERMANENT].audible_alert
+    if dm_state is not None:
+      msg.selfdriveState.alertSound = ALERT_SOUNDS.get(str(dm_state.alertLevel), AudibleAlert.none)
     self._pm.send('selfdriveState', msg)
 
   def _render_dm_alerts(self, rect: rl.Rectangle):
@@ -121,29 +119,31 @@ class BaseDriverCameraDialog(Widget):
     dm_state = ui_state.sm["driverMonitoringState"]
     self._publish_alert_sound(dm_state)
 
+    is_vision = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
+    awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
     gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
-              f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+              f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(0, 0, 0, 180))
-    gui_label(rect, f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+    gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
 
-    if not dm_state.events:
+    if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
       return
 
-    # Show first event (only one should be active at a time)
-    event_name_str = str(dm_state.events[0].name).split('.')[-1]
+    # Show alert level
+    alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
     alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
-    gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+    gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(0, 0, 0, 180))
-    gui_label(rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+    gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
@@ -160,7 +160,7 @@ class BaseDriverCameraDialog(Widget):
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
     driver_data = self.driver_state_renderer.get_driver_data()
-    if not dm_state.faceDetected:
+    if not dm_state.visionPolicyState.faceDetected:
       return
 
     # Get face position and orientation
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index b2be5a8e34..1855d77b77 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -6,7 +6,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.monitoring.helpers import face_orientation_from_net
+
 
 AlertSize = log.SelfdriveState.AlertSize
 
@@ -16,11 +16,15 @@ DEBUG = False
 LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
 LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
 
+CONE_COLOR_GREEN = (0, 255, 64)
+CONE_COLOR_ORANGE = (255, 115, 0)
+
 
 class DriverStateRenderer(Widget):
   BASE_SIZE = 60
   LINES_ANGLE_INCREMENT = 5
   LINES_STALE_ANGLES = 3.0  # seconds
+  AWARENESS_UNFULL_PERCENT = 95  # ~0.5s
 
   def __init__(self, lines: bool = False, inset: bool = False):
     super().__init__()
@@ -35,11 +39,15 @@ class DriverStateRenderer(Widget):
     self._is_active = False
     self._is_rhd = False
     self._face_detected = False
+    self._face_pitch = 0.
+    self._face_yaw = 0.
     self._should_draw = False
     self._force_active = False
     self._looking_center = False
+    self._awareness_unfull = False
 
     self._fade_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+    self._color_fade_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps) # 1.0 = full green, 0.0 = full orange
     self._pitch_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
     self._yaw_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
     self._rotation_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps, initialized=False)
@@ -97,6 +105,7 @@ class DriverStateRenderer(Widget):
                                   self._rect.y + (self._rect.height - self._dm_person.height) / 2), 0.0, 1.0,
                        rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
 
+    green_amount = self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
     if self.effective_active:
       source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
       dest_rect = rl.Rectangle(
@@ -107,13 +116,16 @@ class DriverStateRenderer(Widget):
       )
 
       if not self._lines:
+        r = int(round(CONE_COLOR_GREEN[0] * green_amount + CONE_COLOR_ORANGE[0] * (1 - green_amount)))
+        g = int(round(CONE_COLOR_GREEN[1] * green_amount + CONE_COLOR_ORANGE[1] * (1 - green_amount)))
+        b = int(round(CONE_COLOR_GREEN[2] * green_amount + CONE_COLOR_ORANGE[2] * (1 - green_amount)))
         rl.draw_texture_pro(
           self._dm_cone,
           source_rect,
           dest_rect,
           rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
           self._rotation_filter.x - 90,
-          rl.Color(255, 255, 255, int(255 * self._fade_filter.x)),
+          rl.Color(r, g, b, int(255 * self._fade_filter.x)),
         )
 
       else:
@@ -153,9 +165,12 @@ class DriverStateRenderer(Widget):
     sm = ui_state.sm
 
     dm_state = sm["driverMonitoringState"]
-    self._is_active = dm_state.isActiveMode
+    self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
-    self._face_detected = dm_state.faceDetected
+    self._face_detected = dm_state.visionPolicyState.faceDetected
+    self._awareness_unfull = self.effective_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
+    self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
+    self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
@@ -163,26 +178,9 @@ class DriverStateRenderer(Widget):
 
   def _update_state(self):
     # Get monitoring state
-    driver_data = self.get_driver_data()
-    driver_orient = driver_data.faceOrientation
-    driver_position = driver_data.facePosition
-
-    if len(driver_orient) != 3:
-      return
-
-    # Calibrate orientation so looking straight ahead at road (instead of at device) is (0, 0, 0)
-    sm = ui_state.sm
-    if sm.valid['liveCalibration'] and len(sm['liveCalibration'].rpyCalib) == 3:
-      cal_rpy = sm['liveCalibration'].rpyCalib
-    else:
-      cal_rpy = [0.0, 0.0, 0.0]
-
-    _, pitch, yaw = face_orientation_from_net(driver_orient, driver_position, cal_rpy)
-    pitch += math.radians(6)  # calib or DM pose is not accurate, add a fake upward pitch to bias forward
-    yaw = -yaw  # undo sign flip in face_orientation_from_net to match UI convention
-
-    pitch = self._pitch_filter.update(pitch)
-    yaw = self._yaw_filter.update(yaw)
+    _ = self.get_driver_data()
+    pitch = self._pitch_filter.update(self._face_pitch)
+    yaw = self._yaw_filter.update(self._face_yaw)
 
     # hysteresis on looking center
     if abs(pitch) < LOOKING_CENTER_THRESHOLD_LOWER and abs(yaw) < LOOKING_CENTER_THRESHOLD_LOWER:
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 76724244d0..c74d3101b0 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -235,7 +235,7 @@ class HudRenderer(Widget):
 
     # draw drop shadow
     circle_radius = 162 // 2
-    rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
+    rl.draw_circle_gradient(rl.Vector2(x + circle_radius, y + circle_radius), circle_radius,
                             rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
 
     set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index ca051c6d94..e88d320a3f 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -76,7 +76,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
     self._ll_color_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
-    # Transform matrix (3x3 for car space to screen space)
+    # 3x3 car space -> rect-origin space (draw methods add rect.x/y)
     self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
     self._transform_dirty = True
     self._clip_region = None
@@ -232,7 +232,8 @@ class ModelRenderer(Widget, ModelRendererSP):
     if not self._experimental_mode:
       return
 
-    max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x))
+    path_pts = self._path.projected_points + np.array([self._rect.x, self._rect.y], dtype=np.float32)
+    max_len = min(len(path_pts) // 2, len(self._acceleration_x))
 
     segment_colors = []
     gradient_stops = []
@@ -240,7 +241,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     i = 0
     while i < max_len:
       # Some points (screen space) are out of frame (rect space)
-      track_y = self._path.projected_points[i][1]
+      track_y = path_pts[i][1]
       if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
         i += 1
         continue
@@ -316,14 +317,15 @@ class ModelRenderer(Widget, ModelRendererSP):
     return color
 
   def _draw_lane_lines(self):
-    """Draw lane lines and road edges"""
-    """Two closest lines should be green (lane line or road edges)"""
+    """Draw lane lines and road edges. Two closest lines should be green (lane line or road edges)."""
+    offset = np.array([self._rect.x, self._rect.y], dtype=np.float32)
+
     for i, lane_line in enumerate(self._lane_lines):
       if lane_line.projected_points.size == 0:
         continue
 
       color = self._get_ll_color(float(self._lane_line_probs[i]), i in (1, 2), i in (0, 1))
-      draw_polygon(self._rect, lane_line.projected_points, color)
+      draw_polygon(self._rect, lane_line.projected_points + offset, color)
 
     for i, road_edge in enumerate(self._road_edges):
       if road_edge.projected_points.size == 0:
@@ -331,7 +333,7 @@ class ModelRenderer(Widget, ModelRendererSP):
 
       # if closest lane lines are not confident, make road edges green
       color = self._get_ll_color(float(1.0 - self._road_edge_stds[i]), float(self._lane_line_probs[i + 1]) < 0.25, i == 0)
-      draw_polygon(self._rect, road_edge.projected_points, color)
+      draw_polygon(self._rect, road_edge.projected_points + offset, color)
 
   def _draw_path(self, sm):
     """Draw path with dynamic coloring based on mode and throttle state."""
@@ -345,14 +347,16 @@ class ModelRenderer(Widget, ModelRendererSP):
       self.rainbow_path.draw_rainbow_path(self._rect, self._path)
       return
 
+    path_pts = self._path.projected_points + np.array([self._rect.x, self._rect.y], dtype=np.float32)
+
     if self._experimental_mode:
       # Draw with acceleration coloring
       if ui_state.status == UIStatus.DISENGAGED:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(0, 0, 0, 90))
+        draw_polygon(self._rect, path_pts, rl.Color(0, 0, 0, 90))
       elif len(self._exp_gradient.colors) > 1:
-        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
+        draw_polygon(self._rect, path_pts, gradient=self._exp_gradient)
       else:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
+        draw_polygon(self._rect, path_pts, rl.Color(255, 255, 255, 30))
     else:
       # Blend throttle/no throttle colors based on transition
       blend_factor = round(self._blend_filter.x * 100) / 100
@@ -365,9 +369,9 @@ class ModelRenderer(Widget, ModelRendererSP):
       )
 
       if ui_state.status == UIStatus.DISENGAGED:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(0, 0, 0, 90))
+        draw_polygon(self._rect, path_pts, rl.Color(0, 0, 0, 90))
       else:
-        draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
+        draw_polygon(self._rect, path_pts, gradient=gradient)
 
   def _draw_lead_indicator(self):
     # Draw lead vehicles if available
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index f0690c0abf..861bfe493e 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -23,9 +23,9 @@ def quantized_lru_cache(maxsize=128):
   def decorator(func):
     cache = OrderedDict()
     @wraps(func)
-    def wrapper(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs):
+    def wrapper(r_mid, thickness, a0_deg, a1_deg, **kwargs):
       # Quantize inputs: balanced for smoothness vs cache effectiveness
-      key = (round(cx), round(cy), round(r_mid),
+      key = (round(r_mid),
              round(thickness),           # 1px precision for smoother height transitions
              round(a0_deg * 10) / 10,    # 0.1° precision for smoother angle transitions
              round(a1_deg * 10) / 10,
@@ -37,7 +37,7 @@ def quantized_lru_cache(maxsize=128):
         if len(cache) >= maxsize:
           cache.popitem(last=False)
 
-        result = func(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs)
+        result = func(r_mid, thickness, a0_deg, a1_deg, **kwargs)
         cache[key] = result
       return cache[key]
     return wrapper
@@ -45,12 +45,11 @@ def quantized_lru_cache(maxsize=128):
 
 
 @quantized_lru_cache(maxsize=256)
-def arc_bar_pts(cx: float, cy: float,
-                r_mid: float, thickness: float,
+def arc_bar_pts(r_mid: float, thickness: float,
                 a0_deg: float, a1_deg: float,
                 *, max_points: int = 100, cap_segs: int = 10,
                 cap_radius: float = 7, px_per_seg: float = 2.0) -> np.ndarray:
-  """Return Nx2 np.float32 points for a single closed polygon (rounded thick arc)."""
+  """Return Nx2 np.float32 points for a single closed polygon (rounded thick arc), centered at origin."""
 
   def get_cap(left: bool, a_deg: float):
     # end cap at a1: center (a1), sweep a1→a1+180 (skip endpoints to avoid dupes)
@@ -59,7 +58,7 @@ def arc_bar_pts(cx: float, cy: float,
     nx, ny = math.cos(math.radians(a_deg)), math.sin(math.radians(a_deg))  # outward normal
     tx, ty = -ny, nx  # tangent (CCW)
 
-    mx, my = cx + nx * r_mid, cy + ny * r_mid  # mid-point at a1
+    mx, my = nx * r_mid, ny * r_mid  # mid-point at a1
     if DEBUG:
       rl.draw_circle(int(mx), int(my), 4, rl.PURPLE)
 
@@ -114,16 +113,16 @@ def arc_bar_pts(cx: float, cy: float,
 
   # outer arc a0→a1
   ang_o = np.deg2rad(np.linspace(a0_deg, a1_deg, arc_segs + 1))
-  outer = np.c_[cx + np.cos(ang_o) * (r_mid + half),
-                cy + np.sin(ang_o) * (r_mid + half)]
+  outer = np.c_[np.cos(ang_o) * (r_mid + half),
+                np.sin(ang_o) * (r_mid + half)]
 
   # end cap at a1
   cap_end = get_cap(False, a1_deg)
 
   # inner arc a1→a0
   ang_i = np.deg2rad(np.linspace(a1_deg, a0_deg, arc_segs + 1))
-  inner = np.c_[cx + np.cos(ang_i) * (r_mid - half),
-                cy + np.sin(ang_i) * (r_mid - half)]
+  inner = np.c_[np.cos(ang_i) * (r_mid - half),
+                np.sin(ang_i) * (r_mid - half)]
 
   # start cap at a0
   cap_start = get_cap(True, a0_deg)
@@ -217,15 +216,16 @@ class TorqueBar(Widget):
 
     cx = rect.x + rect.width / 2 + 8  # offset 8px to right of camera feed
     cy = rect.y + rect.height + torque_line_radius - torque_line_offset
+    offset = np.array([cx, cy], dtype=np.float32)
 
     # draw bg torque indicator line
-    bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle, cap_radius=7 * self._scale)
+    bg_pts = arc_bar_pts(mid_r, torque_line_height, torque_start_angle, torque_end_angle, cap_radius=7 * self._scale) + offset
     draw_polygon(rect, bg_pts, color=torque_line_bg_color)
 
     # draw torque indicator line
     a0s = top_angle
     a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x
-    sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s, cap_radius=7 * self._scale)
+    sl_pts = arc_bar_pts(mid_r, torque_line_height, a0s, a1s, cap_radius=7 * self._scale) + offset
 
     # draw beautiful gradient from center to 65% of the bg torque bar width
     start_grad_pt = cx / rect.width
diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py
index 058c351fb6..1dceb79691 100644
--- a/selfdrive/ui/mici/widgets/button.py
+++ b/selfdrive/ui/mici/widgets/button.py
@@ -387,7 +387,7 @@ class BigMultiParamToggle(BigMultiToggle):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     new_idx = self._options.index(self.value)
-    self._params.put_nonblocking(self._param, new_idx)
+    self._params.put(self._param, new_idx)
 
 
 class BigParamControl(BigToggle):
@@ -399,7 +399,7 @@ class BigParamControl(BigToggle):
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
-    self.params.put_bool(self.param, self._checked)
+    self.params.put_bool(self.param, self._checked, block=True)
 
   def refresh(self):
     self.set_checked(self.params.get_bool(self.param, False))
@@ -416,7 +416,7 @@ class BigCircleParamControl(BigCircleToggle):
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
-    self.params.put_bool(self._param, self._checked)
+    self.params.put_bool(self._param, self._checked, block=True)
 
   def refresh(self):
     self.set_checked(self.params.get_bool(self._param, False))
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index 8abc8fbb52..21511412e6 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -1,7 +1,6 @@
-import time
 import numpy as np
 import pyray as rl
-from cereal import log, messaging
+from cereal import log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
@@ -58,12 +57,8 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
 
-    # debug
-    self._pm = messaging.PubMaster(['uiDebug'])
-
   def _render(self, rect):
     # Only render when system is started to avoid invalid data access
-    start_draw = time.monotonic()
     if not ui_state.started:
       return
 
@@ -108,11 +103,6 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     # Draw colored border based on driving state
     self._draw_border(rect)
 
-    # publish uiDebug
-    msg = messaging.new_message('uiDebug')
-    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
-    self._pm.send('uiDebug', msg)
-
   def _handle_mouse_press(self, _):
     if not self._hud_renderer.user_interacting() and self._click_callback is not None:
       self._click_callback()
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index 5443948465..53c2ff8b0b 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -267,8 +267,8 @@ class CameraView(Widget):
       y_data = self.frame.data[: self.frame.uv_offset]
       uv_data = self.frame.data[self.frame.uv_offset:]
 
-      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", rl.ffi.from_buffer(y_data)))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", rl.ffi.from_buffer(uv_data)))
       self._texture_needs_update = False
 
     # Render with shader
diff --git a/selfdrive/ui/onroad/driver_camera_dialog.py b/selfdrive/ui/onroad/driver_camera_dialog.py
index e66e04b824..7e07e44210 100644
--- a/selfdrive/ui/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/onroad/driver_camera_dialog.py
@@ -15,11 +15,11 @@ class DriverCameraDialog(CameraView):
     self.driver_state_renderer = DriverStateRenderer()
     # TODO: this can grow unbounded, should be given some thought
     device.add_interactive_timeout_callback(gui_app.pop_widget)
-    ui_state.params.put_bool("IsDriverViewEnabled", True)
+    ui_state.params.put_bool("IsDriverViewEnabled", True, block=True)
 
   def hide_event(self):
     super().hide_event()
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False, block=True)
     self.close()
 
   def _handle_mouse_release(self, _):
diff --git a/selfdrive/ui/onroad/driver_state.py b/selfdrive/ui/onroad/driver_state.py
index 7b3181d1ac..5b09e471b5 100644
--- a/selfdrive/ui/onroad/driver_state.py
+++ b/selfdrive/ui/onroad/driver_state.py
@@ -114,7 +114,7 @@ class DriverStateRenderer(Widget):
 
     # Get monitoring state
     dm_state = sm["driverMonitoringState"]
-    self.is_active = dm_state.isActiveMode
+    self.is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self.is_rhd = dm_state.isRHD
 
     # Update fade state (smoother transition between active/inactive)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index 81f1c47db2..587c3560c9 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -152,7 +152,7 @@ class ModelsLayout(Widget):
     status_changed = self.prev_download_status != self.download_status
     self.prev_download_status = self.download_status
 
-    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex")))
+    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and ui_state.params.get("ModelManager_DownloadIndex") is not None)
 
     if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
       self.last_cache_calc_time = current_time
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/models.py b/selfdrive/ui/sunnypilot/mici/layouts/models.py
index 7f3d9a065b..138ff87b75 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/models.py
+++ b/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -170,7 +170,7 @@ class ModelsLayoutMici(NavScroller):
     self._was_downloading = is_downloading
 
     self.current_model_info.current_model_header.set_text(tr("active model"))
-    model_text = manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else f"{DEFAULT_MODEL} (Default)".lower()
+    model_text = manager.activeBundle.displayName.lower() if manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)".lower()
     self.current_model_info.current_model_text.set_text(model_text)
     self.current_model_info.info_header.set_text(tr("cache size"))
     self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")
diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
index 98f5b29087..346262b86c 100644
--- a/selfdrive/ui/sunnypilot/onroad/speed_limit.py
+++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -75,7 +75,7 @@ class SpeedLimitAlertRenderer:
       speed_limit_final_last = ui_state.sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
 
       v_cruise_cluster = ui_state.sm['carState'].vCruiseCluster
-      set_speed = ui_state.sm['controlsState'].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      set_speed = ui_state.sm['controlsState'].deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
       if not ui_state.is_metric:
         set_speed *= KM_TO_MILE
 
@@ -164,7 +164,7 @@ class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
 
     v_cruise_cluster = car_state.vCruiseCluster
     self.set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
     self.is_cruise_available = self.set_speed != -1
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
index 2cfd5bd4f2..8cd37583f3 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -37,8 +37,25 @@ class UIStateSP:
 
     self.sunnylink_state = SunnylinkState()
 
-    self.onroad_brightness_timer: int = 0
+    self.active_bundle = None
+    self.blindspot: bool = False
+    self.chevron_metrics = None
     self.custom_interactive_timeout: int = 0
+    self.developer_ui = None
+    self.hide_v_ego_ui: bool = False
+    self.onroad_brightness: int = 0
+    self.onroad_brightness_timer: int = 0
+    self.onroad_brightness_timer_param: int = 0
+    self.rainbow_path: bool = False
+    self.road_name_toggle: bool = False
+    self.rocket_fuel: bool = False
+    self.speed_limit_mode = None
+    self.standstill_timer: bool = False
+    self.sunnylink_enabled: bool = False
+    self.torque_bar: bool = False
+    self.enforce_torque_control: bool = False
+    self.custom_torque_params: bool = False
+    self.torque_override_enabled: bool = False
     self._sp_initialized: bool = False
 
   def update(self) -> None:
diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py
index b577b74b00..fcb4a72c77 100755
--- a/selfdrive/ui/tests/cycle_offroad_alerts.py
+++ b/selfdrive/ui/tests/cycle_offroad_alerts.py
@@ -18,11 +18,11 @@ if __name__ == "__main__":
   t = 10 if len(sys.argv) < 2 else int(sys.argv[1])
   while True:
     print("setting alert update")
-    params.put_bool("UpdateAvailable", True)
-    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
+    params.put_bool("UpdateAvailable", True, block=True)
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR), block=True)
 
     time.sleep(t)
-    params.put_bool("UpdateAvailable", False)
+    params.put_bool("UpdateAvailable", False, block=True)
 
     # cycle through normal alerts
     for a in offroad_alerts:
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
index fd82e325a3..cb88ee9da8 100755
--- a/selfdrive/ui/tests/diff/replay.py
+++ b/selfdrive/ui/tests/diff/replay.py
@@ -24,20 +24,19 @@ HEADLESS = os.getenv("WINDOWED", "0") != "1"
 
 def setup_state():
   params = Params()
-  params.put("HasAcceptedTerms", terms_version)
-  params.put("CompletedTrainingVersion", training_version)
-  params.put("DongleId", "test123456789")
+  params.put("HasAcceptedTerms", terms_version, block=True)
+  params.put("CompletedTrainingVersion", training_version, block=True)
+  params.put("DongleId", "test123456789", block=True)
   # Combined description for layouts that still use it (BIG home, settings/software)
-  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
-  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
-  params.put("HasAcceptedTermsSP", terms_version_sp)
-  params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
-
+  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30", block=True)
+  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR), block=True)
+  params.put("HasAcceptedTermsSP", terms_version_sp, block=True)
+  params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version, block=True)
   # Params for mici home
-  params.put("Version", "0.10.1")
-  params.put("GitBranch", "test-branch")
-  params.put("GitCommit", "abc12340ff9131237ba23a1d0fbd8edf9c80e87")
-  params.put("GitCommitDate", "'1732924800 2024-11-30 00:00:00 +0000'")
+  params.put("Version", "0.10.1", block=True)
+  params.put("GitBranch", "test-branch", block=True)
+  params.put("GitCommit", "abc12340ff9131237ba23a1d0fbd8edf9c80e87", block=True)
+  params.put("GitCommitDate", "'1732924800 2024-11-30 00:00:00 +0000'", block=True)
 
   # Patch Api.get_token to return a static token so the pairing QR code is deterministic across runs
   Api.get_token = lambda self, payload_extra=None, expiry_hours=0: "test_token"
diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py
index c53d2f116b..ad7e8952d6 100644
--- a/selfdrive/ui/tests/diff/replay_script.py
+++ b/selfdrive/ui/tests/diff/replay_script.py
@@ -126,12 +126,12 @@ def setup_offroad_alerts() -> None:
 
 def setup_update_available(available: bool = True) -> None:
   params = Params()
-  params.put_bool("UpdateAvailable", available)
-  params.put("UpdaterAvailableBranches", ",".join(["test-branch", "test-branch-2", BRANCH_NAME]))
+  params.put_bool("UpdateAvailable", available, block=True)
+  params.put("UpdaterAvailableBranches", ",".join(["test-branch", "test-branch-2", BRANCH_NAME]), block=True)
   if available:
-    params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01")
-    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
-    params.put("UpdaterTargetBranch", BRANCH_NAME)
+    params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01", block=True)
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR), block=True)
+    params.put("UpdaterTargetBranch", BRANCH_NAME, block=True)
   else:
     params.remove("UpdaterNewDescription")
     params.remove("UpdaterNewReleaseNotes")
@@ -144,22 +144,22 @@ def setup_calibration_params() -> None:
   calib = messaging.new_message('liveCalibration')
   calib.liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
   calib.liveCalibration.rpyCalib = [0.0, math.radians(2.5), math.radians(-1.2)]
-  params.put("CalibrationParams", calib.to_bytes())
+  params.put("CalibrationParams", calib.to_bytes(), block=True)
   # live delay
   delay = messaging.new_message('liveDelay')
   delay.liveDelay.calPerc = 75
-  params.put("LiveDelay", delay.to_bytes())
+  params.put("LiveDelay", delay.to_bytes(), block=True)
   # live torque parameters
   torque = messaging.new_message('liveTorqueParameters')
   torque.liveTorqueParameters.useParams = True
   torque.liveTorqueParameters.calPerc = 60
-  params.put("LiveTorqueParameters", torque.to_bytes())
+  params.put("LiveTorqueParameters", torque.to_bytes(), block=True)
 
 
 def setup_developer_params() -> None:
   CP = car.CarParams()
   CP.alphaLongitudinalAvailable = True
-  Params().put("CarParamsPersistent", CP.to_bytes())
+  Params().put("CarParamsPersistent", CP.to_bytes(), block=True)
 
 
 # --- Send functions ---
@@ -354,7 +354,10 @@ def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
   def setup_offroad_alerts_and_refresh() -> None:
     """Setup function to trigger offroad alerts and force a refresh on the alerts layout."""
     setup_offroad_alerts()
-    main_layout._alerts_layout.refresh()
+    params = Params()
+    main_layout._alerts_layout._pending_params = ({"UpdaterNewDescription": params.get("UpdaterNewDescription")} |
+                                                  {alert_data.key: params.get(alert_data.key) for alert_data in main_layout._alerts_layout.sorted_alerts})
+    main_layout._alerts_layout._refresh()
 
   swipe_right(width, wait_after=WAIT_SHORT)  # open alerts
   script.setup(setup_offroad_alerts_and_refresh)  # show alerts
diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py
index 6b7ec44863..0f7148de04 100644
--- a/selfdrive/ui/tests/test_feedbackd.py
+++ b/selfdrive/ui/tests/test_feedbackd.py
@@ -27,7 +27,7 @@ class TestFeedbackd:
 
   @pytest.mark.parametrize("record_feedback", [False, True])
   def test_audio_feedback(self, record_feedback):
-    Params().put_bool("RecordAudioFeedback", record_feedback)
+    Params().put_bool("RecordAudioFeedback", record_feedback, block=True)
 
     managed_processes["feedbackd"].start()
     assert self.pm.wait_for_readers_to_update('carState', timeout=5)
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index e3cac2618e..e01ddb2513 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -1,8 +1,10 @@
 #!/usr/bin/env python3
 import os
+import time
 
+from cereal import messaging
 from openpilot.system.hardware import TICI
-from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
@@ -13,7 +15,8 @@ BIG_UI = gui_app.big_ui()
 
 def main():
   cores = {5, }
-  config_realtime_process(0, 51)
+  # above plannerd and radard
+  config_realtime_process(0, Priority.CTRL_HIGH)
 
   gui_app.init_window("UI")
   if BIG_UI:
@@ -21,8 +24,11 @@ def main():
   else:
     MiciMainLayout()
 
-  for should_render in gui_app.render():
+  pm = messaging.PubMaster(['uiDebug'])
+  for should_render, frame_time, cpu_time in gui_app.render():
+    extra_start = time.monotonic()
     ui_state.update()
+
     if should_render:
       # reaffine after power save offlines our core
       if TICI and os.sched_getaffinity(0) != cores:
@@ -31,6 +37,12 @@ def main():
         except OSError:
           pass
 
+      extra_cpu = time.monotonic() - extra_start
+      msg = messaging.new_message('uiDebug')
+      msg.uiDebug.cpuTimeMillis = (cpu_time + extra_cpu) * 1000
+      msg.uiDebug.frameTimeMillis = frame_time * 1000
+      pm.send('uiDebug', msg)
+
 
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 64c0b88d1f..806dc11a6d 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -7,6 +7,7 @@ from enum import Enum
 from cereal import messaging, car, log
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
@@ -15,6 +16,7 @@ from openpilot.system.hardware import HARDWARE, PC
 from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
+PARAM_UPDATE_TIME = 1 / 5.0
 
 
 class UIStatus(Enum):
@@ -59,6 +61,7 @@ class UIState(UIStateSP):
         "carOutput",
         "carControl",
         "liveParameters",
+        "testJoystick",
         "rawAudioData",
       ] + self.sm_services_ext
     )
@@ -76,21 +79,25 @@ class UIState(UIStateSP):
     self.is_metric: bool = self.params.get_bool("IsMetric")
     self.is_release = False  # self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
+    self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
+    self.usbgpu: bool = self.params.get_bool("UsbGpuPresent")
+    self.usbgpu_compiled: bool = self.params.get_bool("UsbGpuCompiled")
     self.started: bool = False
     self.ignition: bool = False
     self.recording_audio: bool = False
     self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
     self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
     self.has_longitudinal_control: bool = False
+    self.is_body: bool | None = None
     self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
-    self._param_update_time: float = 0.0
+
+    self._params_thread: threading.Thread | None = None
 
     # Callbacks
     self._offroad_transition_callbacks: list[Callable[[], None]] = []
     self._engaged_transition_callbacks: list[Callable[[], None]] = []
-
-    self.update_params()
+    self._on_body_changed_callbacks: list[Callable[[], None]] = []
 
   def add_offroad_transition_callback(self, callback: Callable[[], None]):
     self._offroad_transition_callbacks.append(callback)
@@ -98,6 +105,9 @@ class UIState(UIStateSP):
   def add_engaged_transition_callback(self, callback: Callable[[], None]):
     self._engaged_transition_callbacks.append(callback)
 
+  def add_on_body_changed_callbacks(self, callback: Callable[[], None]):
+    self._on_body_changed_callbacks.append(callback)
+
   @property
   def engaged(self) -> bool:
     return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled)
@@ -110,14 +120,22 @@ class UIState(UIStateSP):
 
   def update(self) -> None:
     self.prime_state.start()  # start thread after manager forks ui
+    if self._params_thread is None:
+      self._params_thread = threading.Thread(target=self._params_refresh_worker, daemon=True)
+      self._params_thread.start()
+
     self.sm.update(0)
     self._update_state()
     self._update_status()
-    if time.monotonic() - self._param_update_time > 5.0:
-      self.update_params()
     device.update()
     UIStateSP.update(self)
 
+  def _params_refresh_worker(self):
+    drop_realtime()
+    while True:
+      self.update_params()
+      time.sleep(PARAM_UPDATE_TIME)
+
   def _update_state(self) -> None:
     # Handle panda states updates
     if self.sm.updated["pandaStates"]:
@@ -142,11 +160,11 @@ class UIState(UIStateSP):
     # Update started state
     self.started = self.sm["deviceState"].started and self.ignition
 
-    # Update recording audio state
-    self.recording_audio = self.params.get_bool("RecordAudio") and self.started
-
-    self.is_metric = self.params.get_bool("IsMetric")
-    self.always_on_dm = self.params.get_bool("AlwaysOnDM")
+    # Update body state
+    if self.CP is not None and self.is_body != self.CP.notCar:
+      self.is_body = self.CP.notCar
+      for callback in self._on_body_changed_callbacks:
+        callback()
 
   def _update_status(self) -> None:
     if self.started and self.sm.updated["selfdriveState"]:
@@ -188,8 +206,15 @@ class UIState(UIStateSP):
         self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
       else:
         self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
+
+    self.recording_audio = self.params.get_bool("RecordAudio") and self.started
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.always_on_dm = self.params.get_bool("AlwaysOnDM")
+    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.usbgpu = self.params.get_bool("UsbGpuPresent")
+    self.usbgpu_compiled = self.params.get_bool("UsbGpuCompiled")
+
     UIStateSP.update_params(self)
-    self._param_update_time = time.monotonic()
 
 
 class Device(DeviceSP):
@@ -206,6 +231,8 @@ class Device(DeviceSP):
     self._last_brightness: int = 0
     self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / gui_app.target_fps)
     self._brightness_thread: threading.Thread | None = None
+    self._brightness_event = threading.Event()
+    self._brightness_target: int = 0
 
   @property
   def awake(self) -> bool:
@@ -234,6 +261,8 @@ class Device(DeviceSP):
     self._interactive_timeout_callbacks.append(callback)
 
   def update(self):
+    self._start_brightness_thread()  # start thread after manager forks ui
+
     # do initial reset
     if self._interaction_time <= 0:
       self._reset_interactive_timeout()
@@ -241,6 +270,18 @@ class Device(DeviceSP):
     self._update_brightness()
     self._update_wakefulness()
 
+  def _start_brightness_thread(self):
+    if self._brightness_thread is None or not self._brightness_thread.is_alive():
+      self._brightness_thread = threading.Thread(target=self._brightness_worker, daemon=True)
+      self._brightness_thread.start()
+
+  def _brightness_worker(self):
+    drop_realtime()
+    while True:
+      self._brightness_event.wait()
+      self._brightness_event.clear()
+      HARDWARE.set_screen_brightness(self._brightness_target)
+
   def set_offroad_brightness(self, brightness: int | None):
     if brightness is None:
       brightness = BACKLIGHT_OFFROAD
@@ -273,10 +314,9 @@ class Device(DeviceSP):
       brightness = 0
 
     if brightness != self._last_brightness:
-      if self._brightness_thread is None or not self._brightness_thread.is_alive():
-        self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
-        self._brightness_thread.start()
-        self._last_brightness = brightness
+      self._brightness_target = brightness
+      self._brightness_event.set()
+      self._last_brightness = brightness
 
   def _update_wakefulness(self):
     # Handle interactive timeout
diff --git a/selfdrive/ui/widgets/ssh_key.py b/selfdrive/ui/widgets/ssh_key.py
index b3ff5c1711..aa7cb91b1f 100644
--- a/selfdrive/ui/widgets/ssh_key.py
+++ b/selfdrive/ui/widgets/ssh_key.py
@@ -59,8 +59,8 @@ class SshKeyFetcher:
       if not keys:
         raise requests.exceptions.HTTPError("No SSH keys found")
 
-      self._params.put("GithubUsername", username)
-      self._params.put("GithubSshKeys", keys)
+      self._params.put("GithubUsername", username, block=True)
+      self._params.put("GithubSshKeys", keys, block=True)
     except requests.exceptions.Timeout:
       self._error = tr("Request timed out")
     except Exception:
diff --git a/sunnypilot/__init__.py b/sunnypilot/__init__.py
index ccacd0be0a..59b3600531 100644
--- a/sunnypilot/__init__.py
+++ b/sunnypilot/__init__.py
@@ -34,6 +34,6 @@ def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
   clipped_val = max(min_val, min(max_val, val))
 
   if clipped_val != val:
-    params.put(key, clipped_val)
+    params.put(key, clipped_val, block=True)
 
   return clipped_val
diff --git a/sunnypilot/livedelay/lagd_toggle.py b/sunnypilot/livedelay/lagd_toggle.py
index 8495dcee0a..279aa353a3 100644
--- a/sunnypilot/livedelay/lagd_toggle.py
+++ b/sunnypilot/livedelay/lagd_toggle.py
@@ -30,9 +30,9 @@ class LagdToggle:
       steer_actuator_delay = self.CP.steerActuatorDelay
       delay = self.software_delay
       self.lag = (steer_actuator_delay + delay)
-      self.params.put_nonblocking("LagdValueCache", self.lag)
+      self.params.put("LagdValueCache", self.lag)
       return
 
     lateral_delay = lag_msg.liveDelay.lateralDelay
     self.lag = lateral_delay
-    self.params.put_nonblocking("LagdValueCache", self.lag)
+    self.params.put("LagdValueCache", self.lag)
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index f9c4057bab..b9efd620f3 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -65,8 +65,8 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
   # TODO-SP: To enable MADS full support for Rivian and most Tesla, identify consistent signals for MADS toggling
   mads_partial_support = get_mads_limited_brands(CP, CP_SP)
   if mads_partial_support:
-    params.put("MadsSteeringMode", 2)
-    params.put_bool("MadsUnifiedEngagementMode", True)
+    params.put("MadsSteeringMode", 2, block=True)
+    params.put_bool("MadsUnifiedEngagementMode", True, block=True)
 
   # no ACC MAIN button for these brands
   if CP.brand in MADS_NO_ACC_MAIN_BUTTON:
diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/sunnypilot/mapd/live_map_data/osm_map_data.py
index 0662e2d589..e2a4ec667f 100644
--- a/sunnypilot/mapd/live_map_data/osm_map_data.py
+++ b/sunnypilot/mapd/live_map_data/osm_map_data.py
@@ -38,7 +38,7 @@ class OsmMapData(BaseMapData):
     if self.last_bearing is not None:
       params['bearing'] = self.last_bearing
 
-    self.mem_params.put("LastGPSPosition", json.dumps(params))
+    self.mem_params.put("LastGPSPosition", json.dumps(params), block=True)
 
   def get_current_speed_limit(self) -> float:
     return float(self.mem_params.get("MapSpeedLimit") or 0.0)
diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py
index 08d17376d6..0e287ed405 100755
--- a/sunnypilot/mapd/mapd_installer.py
+++ b/sunnypilot/mapd/mapd_installer.py
@@ -30,7 +30,7 @@ def update_installed_version(version: str, params: Params = None) -> None:
   if params is None:
     params = Params()
 
-  params.put("MapdVersion", version)
+  params.put("MapdVersion", version, block=True)
 
 
 class MapdInstallManager:
diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py
index 9de7dee8b9..88ee564190 100755
--- a/sunnypilot/mapd/mapd_manager.py
+++ b/sunnypilot/mapd/mapd_manager.py
@@ -56,8 +56,8 @@ def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
 
 
 def request_refresh_osm_location_data(nations: list[str], states: list[str] | None = None) -> None:
-  params.put("OsmDownloadedDate", str(datetime.now().timestamp()))
-  params.put_bool("OsmDbUpdatesCheck", False)
+  params.put("OsmDownloadedDate", str(datetime.now().timestamp()), block=True)
+  params.put_bool("OsmDbUpdatesCheck", False, block=True)
 
   osm_download_locations = {
     "nations": nations,
@@ -65,7 +65,7 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] | No
   }
 
   print(f"Downloading maps for {json.dumps(osm_download_locations)}")
-  mem_params.put("OSMDownloadLocations", osm_download_locations)
+  mem_params.put("OSMDownloadLocations", osm_download_locations, block=True)
 
 
 def filter_nations_and_states(nations: list[str], states: list[str] | None = None) -> tuple[list[str], list[str]]:
@@ -106,10 +106,10 @@ def update_osm_db() -> None:
     request_refresh_osm_location_data(filtered_nations, filtered_states)
 
   if not mem_params.get("OSMDownloadBounds"):
-    mem_params.put("OSMDownloadBounds", "")
+    mem_params.put("OSMDownloadBounds", "", block=True)
 
   if not mem_params.get("LastGPSPosition"):
-    mem_params.put("LastGPSPosition", "{}")
+    mem_params.put("LastGPSPosition", "{}", block=True)
 
 
 def main_thread():
diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py
index f0469a4601..1d1064863f 100755
--- a/sunnypilot/models/default_model.py
+++ b/sunnypilot/models/default_model.py
@@ -9,7 +9,7 @@ from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL
 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "model_name.py")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
 VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
-POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
+POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_on_policy.onnx")
 
 
 def update_model_hash():
diff --git a/sunnypilot/selfdrive/car/cruise_helpers.py b/sunnypilot/selfdrive/car/cruise_helpers.py
index 1c0026e12f..263d6f58cd 100644
--- a/sunnypilot/selfdrive/car/cruise_helpers.py
+++ b/sunnypilot/selfdrive/car/cruise_helpers.py
@@ -45,6 +45,6 @@ class CruiseHelper:
   def update_experimental_mode(self, events, experimental_mode) -> None:
     if self.button_frame_counts[ButtonType.gapAdjustCruise] >= DISTANCE_LONG_PRESS and not self.experimental_mode_switched:
       self._experimental_mode = not experimental_mode
-      self.params.put_bool_nonblocking("ExperimentalMode", self._experimental_mode)
+      self.params.put_bool("ExperimentalMode", self._experimental_mode)
       events.add(EventNameSP.experimentalModeSwitched)
       self.experimental_mode_switched = True
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index e4db6c8e97..5be227c262 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -93,17 +93,14 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
 
 
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
-  CP = CI.CP
-  CP_SP = CI.CP_SP
-
-  enforce_torque = _enforce_torque_lateral_control(CP, params)
-  nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
-  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
-  _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
-  _cleanup_unsupported_params(CP, CP_SP)
+  enforce_torque = _enforce_torque_lateral_control(CI.CP, params)
+  nnlc_enabled = _initialize_neural_network_lateral_control(CI.CP, CI.CP_SP, params)
+  _initialize_intelligent_cruise_button_management(CI.CP, CI.CP_SP, params)
+  _initialize_torque_lateral_control(CI, CI.CP, enforce_torque, nnlc_enabled)
+  _cleanup_unsupported_params(CI.CP, CI.CP_SP)
 
   try:
-    STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
+    STATSLOGSP.raw('sunnypilot.car_params', CI.CP.to_dict())
   except RuntimeError:
     pass  # to_dict fails on macOS due to library issues.
   # STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361
diff --git a/sunnypilot/selfdrive/car/sync_sunnylink_params.py b/sunnypilot/selfdrive/car/sync_sunnylink_params.py
index 5e25f6da9a..7539e741c6 100755
--- a/sunnypilot/selfdrive/car/sync_sunnylink_params.py
+++ b/sunnypilot/selfdrive/car/sync_sunnylink_params.py
@@ -21,7 +21,7 @@ def update_car_list_param():
 
   params = Params()
   if params.get("CarList") != current_car_list:
-    params.put("CarList", current_car_list)
+    params.put("CarList", current_car_list, block=True)
     cloudlog.warning("Updated CarList param with latest platform list")
   else:
     cloudlog.warning("CarList param is up to date, no need to update")
diff --git a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
index 7276af43e7..878bc78b03 100644
--- a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
+++ b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
@@ -21,9 +21,9 @@ class TestCustomAccIncrements(TestVCruiseHelper):
 
   def reset_custom_params(self) -> None:
     """Reset to default custom ACC parameters"""
-    self.params.put_bool("CustomAccIncrementsEnabled", False)
-    self.params.put("CustomAccShortPressIncrement", 1)
-    self.params.put("CustomAccLongPressIncrement", 5)
+    self.params.put_bool("CustomAccIncrementsEnabled", False, block=True)
+    self.params.put("CustomAccShortPressIncrement", 1, block=True)
+    self.params.put("CustomAccLongPressIncrement", 5, block=True)
     self.v_cruise_helper.read_custom_set_speed_params()
 
   def press_button_short(self, button_type: car.CarState.ButtonEvent.Type) -> None:
@@ -51,9 +51,9 @@ class TestCustomAccIncrements(TestVCruiseHelper):
 
   def set_custom_increments(self, enabled: bool, short_inc: int, long_inc: int) -> None:
     """Set custom ACC increment parameters"""
-    self.params.put_bool("CustomAccIncrementsEnabled", enabled)
-    self.params.put("CustomAccShortPressIncrement", short_inc)
-    self.params.put("CustomAccLongPressIncrement", long_inc)
+    self.params.put_bool("CustomAccIncrementsEnabled", enabled, block=True)
+    self.params.put("CustomAccShortPressIncrement", short_inc, block=True)
+    self.params.put("CustomAccLongPressIncrement", long_inc, block=True)
     self.v_cruise_helper.read_custom_set_speed_params()
 
   def test_default_behavior_when_disabled(self):
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index dfda5549f2..c8d054243f 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -68,35 +68,41 @@ class ControlsExt(ModelStateBase):
     return bool(sm['selfdriveState'].active)
 
   @staticmethod
-  def get_lead_data(ld: log.RadarState.LeadData) -> dict:
-    return {
-      "dRel": ld.dRel,
-      "yRel": ld.yRel,
-      "vRel": ld.vRel,
-      "aRel": ld.aRel,
-      "vLead": ld.vLead,
-      "dPath": ld.dPath,
-      "vLat": ld.vLat,
-      "vLeadK": ld.vLeadK,
-      "aLeadK": ld.aLeadK,
-      "fcw": ld.fcw,
-      "status": ld.status,
-      "aLeadTau": ld.aLeadTau,
-      "modelProb": ld.modelProb,
-      "radar": ld.radar,
-      "radarTrackId": ld.radarTrackId,
-    }
+  def get_lead_data(_lead, src: log.RadarState.LeadData) -> None:
+    _lead.dRel = src.dRel
+    _lead.yRel = src.yRel
+    _lead.vRel = src.vRel
+    _lead.aRel = src.aRel
+    _lead.vLead = src.vLead
+    _lead.dPath = src.dPath
+    _lead.vLat = src.vLat
+    _lead.vLeadK = src.vLeadK
+    _lead.aLeadK = src.aLeadK
+    _lead.fcw = src.fcw
+    _lead.status = src.status
+    _lead.aLeadTau = src.aLeadTau
+    _lead.modelProb = src.modelProb
+    _lead.radar = src.radar
+    _lead.radarTrackId = src.radarTrackId
 
   def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
     CC_SP = custom.CarControlSP.new_message()
 
-    CC_SP.leadOne = self.get_lead_data(sm['radarState'].leadOne)
-    CC_SP.leadTwo = self.get_lead_data(sm['radarState'].leadTwo)
+    self.get_lead_data(CC_SP.leadOne, sm['radarState'].leadOne)
+    self.get_lead_data(CC_SP.leadTwo, sm['radarState'].leadTwo)
 
     # MADS state
-    CC_SP.mads = sm['selfdriveStateSP'].mads
+    mads_src = sm['selfdriveStateSP'].mads
+    CC_SP.mads.state = mads_src.state
+    CC_SP.mads.enabled = mads_src.enabled
+    CC_SP.mads.active = mads_src.active
+    CC_SP.mads.available = mads_src.available
 
-    CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
+    # ICBM state
+    icbm_src = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
+    CC_SP.intelligentCruiseButtonManagement.state = icbm_src.state
+    CC_SP.intelligentCruiseButtonManagement.sendButton = icbm_src.sendButton
+    CC_SP.intelligentCruiseButtonManagement.vTarget = icbm_src.vTarget
 
     return CC_SP
 
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
index 3594588ea2..2f4e0d6993 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
@@ -15,7 +15,7 @@ class TestNNTorqueModel:
   @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
   def test_load_model(self, car_name):
     params = Params()
-    params.put_bool("NeuralNetworkLateralControl", True)
+    params.put_bool("NeuralNetworkLateralControl", True, block=True)
 
     CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
index a108e4ce29..f2009926cf 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -46,7 +46,7 @@ class TestNeuralNetworkLateralControl:
   @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, GM.CHEVROLET_BOLT_EUV])
   def test_saturation(self, car_name):
     params = Params()
-    params.put_bool("NeuralNetworkLateralControl", True)
+    params.put_bool("NeuralNetworkLateralControl", True, block=True)
 
     CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
index 537f0033f0..254e85f573 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
@@ -24,11 +24,11 @@ class TestSmartCruiseControlMap:
     self.scc_m = SmartCruiseControlMap()
 
   def reset_params(self):
-    self.params.put_bool("SmartCruiseControlMap", True)
+    self.params.put_bool("SmartCruiseControlMap", True, block=True)
 
     # TODO-SP: mock data from gpsLocation
-    self.params.put("LastGPSPosition", "{}")
-    self.params.put("MapTargetVelocities", "{}")
+    self.params.put("LastGPSPosition", "{}", block=True)
+    self.params.put("MapTargetVelocities", "{}", block=True)
 
   def test_initial_state(self):
     assert self.scc_m.state == VisionState.disabled
@@ -37,7 +37,7 @@ class TestSmartCruiseControlMap:
     assert self.scc_m.output_a_target == 0.
 
   def test_system_disabled(self):
-    self.params.put_bool("SmartCruiseControlMap", False)
+    self.params.put_bool("SmartCruiseControlMap", False, block=True)
     self.scc_m.enabled = self.params.get_bool("SmartCruiseControlMap")
 
     for _ in range(int(10. / DT_MDL)):
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
index d35b79a73b..2a2c6a6be1 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
@@ -116,7 +116,7 @@ class TestSmartCruiseControlVision:
     self.sm = {'modelV2': mdl.modelV2, 'carState': cs.carState, 'controlsState': controls_state.controlsState}
 
   def reset_params(self):
-    self.params.put_bool("SmartCruiseControlVision", True)
+    self.params.put_bool("SmartCruiseControlVision", True, block=True)
 
   def test_initial_state(self):
     assert self.scc_v.state == VisionState.disabled
@@ -125,7 +125,7 @@ class TestSmartCruiseControlVision:
     assert self.scc_v.output_a_target == 0.
 
   def test_system_disabled(self):
-    self.params.put_bool("SmartCruiseControlVision", False)
+    self.params.put_bool("SmartCruiseControlVision", False, block=True)
     self.scc_v.enabled = self.params.get_bool("SmartCruiseControlVision")
 
     for _ in range(int(10. / DT_MDL)):
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
index 4f388befc7..9eddceb820 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
@@ -39,6 +39,6 @@ def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarPara
 
   if not allowed:
     if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
-      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+      params.put("SpeedLimitMode", int(SpeedLimitMode.warning), block=True)
 
   return allowed
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
index f857966a73..6dbe32eaf4 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -75,11 +75,11 @@ class TestSpeedLimitAssist:
     return CI
 
   def reset_custom_params(self):
-    self.params.put("IsReleaseSpBranch", True)
-    self.params.put("SpeedLimitMode", int(Mode.assist))
-    self.params.put_bool("IsMetric", False)
-    self.params.put("SpeedLimitOffsetType", 0)
-    self.params.put("SpeedLimitValueOffset", 0)
+    self.params.put("IsReleaseSpBranch", True, block=True)
+    self.params.put("SpeedLimitMode", int(Mode.assist), block=True)
+    self.params.put_bool("IsMetric", False, block=True)
+    self.params.put("SpeedLimitOffsetType", 0, block=True)
+    self.params.put("SpeedLimitValueOffset", 0, block=True)
 
   def reset_state(self):
     self.sla.state = SpeedLimitAssistState.disabled
@@ -115,14 +115,14 @@ class TestSpeedLimitAssist:
     assert not self.sla.enabled
 
     # stay disallowed even when the param may have changed from somewhere else
-    self.params.put("SpeedLimitMode", int(Mode.assist))
+    self.params.put("SpeedLimitMode", int(Mode.assist), block=True)
     for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL)):
       self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'],
                       SPEED_LIMITS['city'], True, 0, self.events_sp)
     assert not self.sla.enabled
 
   def test_disabled(self):
-    self.params.put("SpeedLimitMode", int(Mode.off))
+    self.params.put("SpeedLimitMode", int(Mode.off), block=True)
     for _ in range(int(10. / DT_MDL)):
       self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
     assert self.sla.state == SpeedLimitAssistState.disabled
diff --git a/sunnypilot/selfdrive/locationd/locationd.cc b/sunnypilot/selfdrive/locationd/locationd.cc
index c42ab13f25..b24daa961b 100644
--- a/sunnypilot/selfdrive/locationd/locationd.cc
+++ b/sunnypilot/selfdrive/locationd/locationd.cc
@@ -255,7 +255,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
   }
 
   // Gyro Uncalibrated
-  if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
+  if (log.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
     auto v = log.getGyroUncalibrated().getV();
     auto meas = Vector3d(-v[2], -v[1], -v[0]);
 
@@ -273,7 +273,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
   }
 
   // Accelerometer
-  if (log.getSensor() == SENSOR_ACCELEROMETER && log.getType() == SENSOR_TYPE_ACCELEROMETER) {
+  if (log.which() == cereal::SensorEventData::ACCELERATION) {
     auto v = log.getAcceleration().getV();
 
     // TODO: reduce false positives and re-enable this check
diff --git a/sunnypilot/selfdrive/locationd/tests/test_locationd.py b/sunnypilot/selfdrive/locationd/tests/test_locationd.py
index 877bc821da..1f5bfd3b25 100644
--- a/sunnypilot/selfdrive/locationd/tests/test_locationd.py
+++ b/sunnypilot/selfdrive/locationd/tests/test_locationd.py
@@ -19,7 +19,7 @@ if platform.system() == 'Darwin':
 
 class TestLocationdProc:
   LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
-              'accelerometer', 'gyroscope', 'magnetometer']
+              'accelerometer', 'gyroscope']
 
   def setup_method(self):
     self.pm = messaging.PubMaster(self.LLD_MSGS)
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index b1343b2a08..27b44fb4fc 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -40,7 +40,7 @@ def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.
 def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
   v_cruise_cluster = CS.vCruiseCluster
-  set_speed = sm['controlsState'].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+  set_speed = sm['controlsState'].deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
   set_speed_conv = round(set_speed * speed_conv)
 
   speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index 5260f6bd9d..a881faca04 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -85,7 +85,7 @@ class SunnylinkApi(BaseApi):
       sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
       self._status_update("Public key not found, setting dongle ID to unregistered.")
     else:
-      Params().put("LastSunnylinkPingTime", 0)  # Reset the last ping time to 0 if we are trying to register
+      Params().put("LastSunnylinkPingTime", 0, block=True)  # Reset the last ping time to 0 if we are trying to register
 
       backoff = 1
       while True:
@@ -137,15 +137,15 @@ class SunnylinkApi(BaseApi):
           time.sleep(3)
           break
 
-    self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID)
+    self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID, block=True)
 
     # Set the last ping time to the current time since we were just talking to the API
     last_ping = int((time.monotonic() if successful_registration else start_time) * 1e9)
-    Params().put("LastSunnylinkPingTime", last_ping)
+    Params().put("LastSunnylinkPingTime", last_ping, block=True)
 
     # Disable sunnylink if registration was not successful
     if not successful_registration:
-      Params().put_bool("SunnylinkEnabled", False)
+      Params().put_bool("SunnylinkEnabled", False, block=True)
 
     self.spinner = None
     return sunnylink_dongle_id
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 5e7b400d97..ce622bc5ad 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -126,7 +126,7 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
       elif opcode in (ABNF.OPCODE_PING, ABNF.OPCODE_PONG):
         cloudlog.debug("sunnylinkd.ws_recv.pong")
         last_ping = int(time.monotonic() * 1e9)
-        Params().put("LastSunnylinkPingTime", last_ping)
+        Params().put("LastSunnylinkPingTime", last_ping, block=True)
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > SUNNYLINK_RECONNECT_TIMEOUT_S * 1e9:
@@ -281,7 +281,7 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
   # Increment version counter for frontend change detection
   try:
     current = int(params.get("ParamsVersion") or "0")
-    params.put("ParamsVersion", str(current + 1))
+    params.put("ParamsVersion", str(current + 1), block=True)
   except Exception:
     pass
 
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 83a0cec94a..764f37ffde 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -620,6 +620,10 @@
     "title": "Self-Tune",
     "description": "Enables self-tune for Torque lateral control"
   },
+  "LivestreamEncoderBitrate": {
+    "title": "Livestream Encoder Bitrate",
+    "description": ""
+  },
   "LocationFilterInitialState": {
     "title": "Location Filter Initial State",
     "description": ""
@@ -1392,6 +1396,14 @@
     "title": "Uptime Onroad",
     "description": ""
   },
+  "UsbGpuCompiled": {
+    "title": "Usb Gpu Compiled",
+    "description": ""
+  },
+  "UsbGpuPresent": {
+    "title": "Usb Gpu Present",
+    "description": ""
+  },
   "Version": {
     "title": "openpilot Version",
     "description": ""
diff --git a/sunnypilot/sunnylink/registration_manager.py b/sunnypilot/sunnylink/registration_manager.py
index 1b822e5c2d..3e00c5c013 100755
--- a/sunnypilot/sunnylink/registration_manager.py
+++ b/sunnypilot/sunnylink/registration_manager.py
@@ -27,7 +27,7 @@ def main():
     register_sunnylink()
   except Exception:
     cloudlog.exception("Sunnylink registration failed")
-    Params().put_bool("SunnylinkTempFault", True)
+    Params().put_bool("SunnylinkTempFault", True, block=True)
     raise
 
 
diff --git a/sunnypilot/sunnylink/sunnylink_state.py b/sunnypilot/sunnylink/sunnylink_state.py
index 927d041991..a4a3df3a2b 100644
--- a/sunnypilot/sunnylink/sunnylink_state.py
+++ b/sunnypilot/sunnylink/sunnylink_state.py
@@ -141,7 +141,7 @@ class SunnylinkState:
       response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/roles", method='GET', access_token=token, session=self._session)
       if response.status_code == 200:
         roles = response.text
-        self._params.put("SunnylinkCache_Roles", roles)
+        self._params.put("SunnylinkCache_Roles", roles, block=True)
         with self._lock:
           self._roles = _parse_roles(roles)
           sponsor_tier = self._get_highest_tier()
@@ -160,7 +160,7 @@ class SunnylinkState:
       response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/users", method='GET', access_token=token, session=self._session)
       if response.status_code == 200:
         users = response.text
-        self._params.put("SunnylinkCache_Users", users)
+        self._params.put("SunnylinkCache_Users", users, block=True)
         with self._lock:
           self._users = _parse_users(users)
     except Exception as e:
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index f4f14f7e81..89c3c8a0c8 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -52,7 +52,7 @@ def register_sunnylink():
     sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
     print(f"SunnyLinkId: {sunnylink_id}")
   except Exception:
-    Params().put_bool("SunnylinkTempFault", True)
+    Params().put_bool("SunnylinkTempFault", True, block=True)
     raise
 
 
@@ -98,7 +98,7 @@ def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data:
 
   # We convert to string anything that isn't bytes first. We later transform further.
   param_value = _convert_param_to_type(value, param_type)
-  params.put(param_name, param_value)
+  params.put(param_name, param_value, block=True)
 
 
 def _convert_param_to_type(value: bytes, param_type: ParamKeyType) -> bytes | str | int | float | bool | dict | None:
diff --git a/sunnypilot/system/params_migration.py b/sunnypilot/system/params_migration.py
index 2f796c174e..f9d7d1bc43 100644
--- a/sunnypilot/system/params_migration.py
+++ b/sunnypilot/system/params_migration.py
@@ -43,7 +43,7 @@ def _migrate_car_platform_bundle(_params):
   else:
     bundle["platform"] = new_platform
 
-  _params.put("CarPlatformBundle", bundle)
+  _params.put("CarPlatformBundle", bundle, block=True)
   cloudlog.info(f"params_migration: CarPlatformBundle migrated {old_platform!r} -> {new_platform!r}")
 
 
@@ -54,12 +54,12 @@ def run_migration(_params):
       val = _params.get("OnroadScreenOffBrightness", return_default=True)
       if val >= 2:  # old: 5%, new: Screen Off
         new_val = val + 1
-        _params.put("OnroadScreenOffBrightness", new_val)
+        _params.put("OnroadScreenOffBrightness", new_val, block=True)
         log_str = f"Successfully migrated OnroadScreenOffBrightness from {val} to {new_val}."
       else:
         log_str = "Migration not required for OnroadScreenOffBrightness."
 
-      _params.put("OnroadScreenOffBrightnessMigrated", ONROAD_BRIGHTNESS_MIGRATION_VERSION)
+      _params.put("OnroadScreenOffBrightnessMigrated", ONROAD_BRIGHTNESS_MIGRATION_VERSION, block=True)
       cloudlog.info(log_str + f" Setting OnroadScreenOffBrightnessMigrated to {ONROAD_BRIGHTNESS_MIGRATION_VERSION}")
     except Exception as e:
       cloudlog.exception(f"Error migrating OnroadScreenOffBrightness: {e}")
@@ -69,12 +69,12 @@ def run_migration(_params):
     try:
       val = _params.get("OnroadScreenOffTimer", return_default=True)
       if val not in VALID_TIMER_VALUES:
-        _params.put("OnroadScreenOffTimer", 15)
+        _params.put("OnroadScreenOffTimer", 15, block=True)
         log_str = f"Successfully migrated OnroadScreenOffTimer from {val} to 15 (default)."
       else:
         log_str = "Migration not required for OnroadScreenOffTimer."
 
-      _params.put("OnroadScreenOffTimerMigrated", ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION)
+      _params.put("OnroadScreenOffTimerMigrated", ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION, block=True)
       cloudlog.info(log_str + f" Setting OnroadScreenOffTimerMigrated to {ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION}")
     except Exception as e:
       cloudlog.exception(f"Error migrating OnroadScreenOffTimer: {e}")
diff --git a/sunnypilot/system/updated/tests/test_sp_branch_migrations.py b/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
index 661fa19840..b2742841a0 100644
--- a/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
+++ b/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
@@ -48,7 +48,7 @@ def test_sp_branch_migrations_from_current_branch(mocker, device_type, branch, e
 ])
 def test_sp_branch_migrations_from_param(mocker, device_type, branch, expected):
   params = Params()
-  params.put("UpdaterTargetBranch", branch)
+  params.put("UpdaterTargetBranch", branch, block=True)
 
   mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
 
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 9773eec090..9b3262ad99 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -29,7 +29,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                        create_connection)
 
 import cereal.messaging as messaging
-from cereal import log
+from cereal import car, log
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
@@ -45,6 +45,7 @@ from openpilot.system.hardware.hw import Paths
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {22, }  # SSH
+WEBRTCD_PORT = 5001
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@@ -163,7 +164,7 @@ class UploadQueueCache:
     try:
       queue: list[UploadItem | None] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      Params().put("AthenadUploadQueue", items)
+      Params().put("AthenadUploadQueue", items, block=True)
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -504,7 +505,7 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
   # remove duplicates
   routes = list(dict.fromkeys(routes))
 
-  params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:]))
+  params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:]), block=True)
   return {"success": 1}
 
 
@@ -567,6 +568,16 @@ def getSshAuthorizedKeys() -> str:
 def getGithubUsername() -> str:
   return cast(str, Params().get("GithubUsername") or "")
 
+
+@dispatcher.add_method
+def getNotCar() -> bool:
+  cp_bytes = Params().get("CarParamsPersistent")
+  if cp_bytes is not None:
+    with car.CarParams.from_bytes(cp_bytes) as CP:
+      return CP.notCar
+  return False
+
+
 @dispatcher.add_method
 def getSimInfo():
   return HARDWARE.get_sim_info()
@@ -588,6 +599,35 @@ def getNetworks():
   return HARDWARE.get_networks()
 
 
+@dispatcher.add_method
+def startStream(sdp: str) -> dict:
+  from openpilot.system.webrtc.webrtcd import StreamRequestBody
+  bridge_services_in = []
+
+  # get live car params to avoid stale notCar edge case
+  cp_bytes = Params().get("CarParams")
+  if cp_bytes is not None:
+    with car.CarParams.from_bytes(cp_bytes) as CP:
+      if CP.notCar:
+        bridge_services_in.append("testJoystick")
+
+  body = StreamRequestBody(sdp, "wideRoad", bridge_services_in, ["carState"])
+  try:
+    resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
+                       json=asdict(body), timeout=10)
+    if not resp.ok:
+      try:
+        error_body = resp.json()
+        raise Exception(error_body.get("message", f"webrtcd returned {resp.status_code}"))
+      except ValueError:
+        resp.raise_for_status()
+    return resp.json()
+  except requests.ConnectTimeout as e:
+    raise Exception("webrtc took too long to respond. is it on?") from e
+  except requests.ConnectionError as e:
+    raise Exception("webrtc is not running. turn on comma body ignition.") from e
+
+
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
   from openpilot.system.camerad.snapshot import jpeg_write, snapshot
@@ -843,7 +883,7 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
         recv_queue.put_nowait(data)
       elif opcode == ABNF.OPCODE_PING:
         last_ping = int(time.monotonic() * 1e9)
-        Params().put("LastAthenaPingTime", last_ping)
+        Params().put("LastAthenaPingTime", last_ping, block=True)
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
diff --git a/system/athena/registration.py b/system/athena/registration.py
index 26a2adb1af..bc7cf6c748 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -97,7 +97,7 @@ def register(show_spinner=False) -> str | None:
       spinner.close()
 
   if dongle_id:
-    params.put("DongleId", dongle_id)
+    params.put("DongleId", dongle_id, block=True)
     set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
   return dongle_id
 
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index 5b3e0b41f4..b0c20a26a9 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -73,8 +73,8 @@ class TestAthenadMethods:
 
     self.params = Params()
     for k, v in self.default_params.items():
-      self.params.put(k, v)
-    self.params.put_bool("GsmMetered", True)
+      self.params.put(k, v, block=True)
+    self.params.put_bool("GsmMetered", True, block=True)
 
     athenad.upload_queue = queue.PriorityQueue()
     athenad.cur_upload_items.clear()
diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py
index c20722659a..f5d900d4db 100644
--- a/system/athena/tests/test_registration.py
+++ b/system/athena/tests/test_registration.py
@@ -37,7 +37,7 @@ class TestRegistration:
     dongle = "DONGLE_ID_123"
     m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     for persist, params in [(True, True), (True, False), (False, True)]:
-      self.params.put("DongleId", dongle if params else "")
+      self.params.put("DongleId", dongle if params else "", block=True)
       with open(self.dongle_id, "w") as f:
         f.write(dongle if persist else "")
       assert register() == dongle
diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h
index 54941b8d76..ee31698e7f 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/system/camerad/cameras/bps_blobs.h
@@ -8,23 +8,23 @@
 
 
 unsigned char bps_cfg[4][768] = {
+{ /* placeholder */ },
 { /* placeholder */ },
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 };
 
-unsigned char bps_striping_output[4][0x9a0] = {
+unsigned char bps_striping_output[4][0xc58] = {
 { /* placeholder */ },
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 };
 
 unsigned char bps_settings[4][684] = {
 { /* placeholder */ },
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+  {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
 };
 
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 6a7f599ab6..63640920db 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -12,8 +12,6 @@
 #include <string>
 #include <vector>
 
-#include "media/cam_sensor_cmn_header.h"
-
 #include "common/params.h"
 #include "common/swaglog.h"
 
diff --git a/system/camerad/cameras/cdm.cc b/system/camerad/cameras/cdm.cc
index d4ef20c48c..8a070fa3aa 100644
--- a/system/camerad/cameras/cdm.cc
+++ b/system/camerad/cameras/cdm.cc
@@ -1,9 +1,9 @@
 #include "cdm.h"
 #include "stddef.h"
 
-int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel) {
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel, uint8_t opcode) {
   struct cdm_dmi_cmd *cmd = (struct cdm_dmi_cmd*)dst;
-  cmd->cmd = CAM_CDM_CMD_DMI_32;
+  cmd->cmd = opcode;
   cmd->length = length - 1;
   cmd->reserved = 0;
   cmd->addr = 0; // gets patched in
diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h
index adda600400..d9640cee3e 100644
--- a/system/camerad/cameras/cdm.h
+++ b/system/camerad/cameras/cdm.h
@@ -6,11 +6,6 @@
 #include <vector>
 #include <memory>
 
-// our helpers
-int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
-int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
-int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel);
-
 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
 
 enum cam_cdm_command {
@@ -32,6 +27,11 @@ enum cam_cdm_command {
   CAM_CDM_CMD_PRIVATE_BASE_MAX = 0x7F
 };
 
+// our helpers
+int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
+int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel, uint8_t opcode = CAM_CDM_CMD_DMI_32);
+
 /**
  * struct cdm_regrandom_cmd - Definition for CDM random register command.
  * @count: Number of register writes
diff --git a/system/camerad/cameras/nv12_info.h b/system/camerad/cameras/nv12_info.h
index e8eb117406..c0460caee3 100644
--- a/system/camerad/cameras/nv12_info.h
+++ b/system/camerad/cameras/nv12_info.h
@@ -4,7 +4,115 @@
 #include <cstdint>
 #include <tuple>
 
-#include "third_party/linux/include/msm_media_info.h"
+// NV12 subset copied from media/msm_media_info.h.
+#ifndef MSM_MEDIA_ALIGN
+#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ? \
+  ((((__sz) + (__align) - 1) / (__align)) * (__align)) : \
+  (((__sz) + (__align) - 1) & (~((__align) - 1))))
+#endif
+
+#ifndef MSM_MEDIA_MAX
+#define MSM_MEDIA_MAX(__a, __b) ((__a) > (__b) ? (__a) : (__b))
+#endif
+
+enum color_fmts {
+  COLOR_FMT_NV12,
+};
+
+static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height) {
+  (void)height;
+  (void)width;
+  return 16 * 1024;
+}
+
+static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width) {
+  unsigned int stride = 0;
+  if (!width) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      stride = MSM_MEDIA_ALIGN(width, 128);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return stride;
+}
+
+static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width) {
+  unsigned int stride = 0;
+  if (!width) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      stride = MSM_MEDIA_ALIGN(width, 128);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return stride;
+}
+
+static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height) {
+  unsigned int sclines = 0;
+  if (!height) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      sclines = MSM_MEDIA_ALIGN(height, 32);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return sclines;
+}
+
+static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) {
+  unsigned int sclines = 0;
+  if (!height) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      sclines = MSM_MEDIA_ALIGN((height + 1) >> 1, 16);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return sclines;
+}
+
+static inline unsigned int VENUS_BUFFER_SIZE(int color_fmt, int width, int height) {
+  const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height);
+  unsigned int size = 0;
+  unsigned int y_stride = 0, uv_stride = 0, y_sclines = 0, uv_sclines = 0;
+
+  if (!width || !height) goto invalid_input;
+
+  y_stride = VENUS_Y_STRIDE(color_fmt, width);
+  uv_stride = VENUS_UV_STRIDE(color_fmt, width);
+  y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
+  uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12: {
+      const unsigned int y_plane = y_stride * y_sclines;
+      const unsigned int uv_plane = uv_stride * uv_sclines + 4096;
+      size = y_plane + uv_plane + MSM_MEDIA_MAX(extra_size, 8 * y_stride);
+      size = MSM_MEDIA_ALIGN(size, 4096);
+      size += MSM_MEDIA_ALIGN(width, 512) * 512;
+      size = MSM_MEDIA_ALIGN(size, 4096);
+      break;
+    }
+    default:
+      break;
+  }
+invalid_input:
+  return size;
+}
 
 // Returns NV12 aligned (stride, y_height, uv_height, buffer_size) for the given frame dimensions.
 inline std::tuple<uint32_t, uint32_t, uint32_t, uint32_t> get_nv12_info(int width, int height) {
diff --git a/system/camerad/cameras/nv12_info.py b/system/camerad/cameras/nv12_info.py
index bcb6312d2b..2cadc29364 100644
--- a/system/camerad/cameras/nv12_info.py
+++ b/system/camerad/cameras/nv12_info.py
@@ -1,5 +1,5 @@
 # Python version of system/camerad/cameras/nv12_info.h
-# Calculations from third_party/linux/include/msm_media_info.h (VENUS_BUFFER_SIZE)
+# Calculations from media/msm_media_info.h (VENUS_BUFFER_SIZE)
 
 def align(val: int, alignment: int) -> int:
   return ((val + alignment - 1) // alignment) * alignment
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index ab9d8e069a..0b5f5327f5 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -10,7 +10,6 @@
 #include "media/cam_isp.h"
 #include "media/cam_icp.h"
 #include "media/cam_isp_ife.h"
-#include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 
 #include "common/util.h"
@@ -466,8 +465,11 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     * BPS = Bayer Processing Segment
   */
 
-  int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2;
-  size += sizeof(struct cam_patch_desc)*9;
+  bool needs_downscale = sensor->out_scale > 1;
+  int num_io_cfgs = needs_downscale ? 3 : 2;
+  int num_patches = needs_downscale ? 14 : 12;
+  int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*num_io_cfgs;
+  size += sizeof(struct cam_patch_desc)*num_patches;
 
   uint32_t cam_packet_handle = 0;
   auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
@@ -545,8 +547,15 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     int cdm_len = 0;
 
     if (bps_lin_reg.size() == 0) {
+      // set first knee pt to do BLC
+      uint32_t new_knee[8];
+      new_knee[0] = sensor->black_level << (14 - sensor->bits_per_pixel);
+      for (int i = 0; i < 7; i++) {
+        uint32_t pts = sensor->linearization_pts[i / 2];
+        new_knee[i + 1] = (i % 2 == 0) ? (pts >> 16) : (pts & 0xffff);
+      }
       for (int i = 0; i < 4; i++) {
-        bps_lin_reg.push_back(((sensor->linearization_pts[i] & 0xffff) << 0x10) | (sensor->linearization_pts[i] >> 0x10));
+        bps_lin_reg.push_back((new_knee[2*i + 1] << 16) | new_knee[2*i]);
       }
     }
 
@@ -569,20 +578,24 @@ void SpectraCamera::config_bps(int idx, int request_id) {
       0x00000080,
       0x00800066,
     });
-    // linearization, EN=0
+    // linearization
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1868, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1878, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1888, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1898, bps_lin_reg);
-    /*
-    uint8_t *start = (unsigned char *)bps_cdm_program_array.ptr + cdm_len;
     uint64_t addr;
-    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1);
-    patches.push_back(addr - (uint64_t)start);
-    */
+    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1, CAM_CDM_CMD_DMI);
+    patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
+
     // color correction
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2e68, bps_ccm_reg);
 
+    // gamma
+    for (uint8_t ch = 1; ch <= 3; ch++) {
+      cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x3208, ch, CAM_CDM_CMD_DMI);
+      patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
+    }
+
     cdm_len += build_common_ife_bps((unsigned char *)bps_cdm_program_array.ptr + cdm_len, cc, sensor.get(), patches, false);
 
     pa->length = cdm_len - 1;
@@ -596,7 +609,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK;
     tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8;
     tmp.clk.budget_ns = 0x1fca058;
-    tmp.clk.frame_cycles = 2329024; // comes from the striping lib
+    tmp.clk.frame_cycles = sensor->frame_width * sensor->frame_height; // matches striping lib pixelCount
     tmp.clk.rt_flag = 0x0;
     tmp.clk.uncompressed_bw = 0x38512180;
     tmp.clk.compressed_bw = 0x38512180;
@@ -611,7 +624,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
   }
 
   // *** io config ***
-  pkt->num_io_configs = 2;
+  pkt->num_io_configs = num_io_cfgs;
   pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
   struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
   {
@@ -655,28 +668,69 @@ void SpectraCamera::config_bps(int idx, int request_id) {
 
     io_cfg[1].format = CAM_FORMAT_NV12;  // TODO: why is this 21 in the dump? should be 12
     io_cfg[1].color_space = CAM_COLOR_SPACE_BT601_FULL;
-    io_cfg[1].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
+    io_cfg[1].resource_type = needs_downscale ? CAM_ICP_BPS_OUTPUT_IMAGE_REG1 : CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
     io_cfg[1].fence = sync_objs_bps[idx];
     io_cfg[1].direction = CAM_BUF_OUTPUT;
     io_cfg[1].subsample_pattern = 0x1;
     io_cfg[1].framedrop_pattern = 0x1;
+
+    if (needs_downscale) {
+      // downscaling needs a full res placeholder
+      uint32_t full_stride, full_y_h, full_uv_h, full_yuv_size;
+      std::tie(full_stride, full_y_h, full_uv_h, full_yuv_size) = get_nv12_info(sensor->frame_width, sensor->frame_height);
+      io_cfg[2].mem_handle[0] = bps_fullres_dummy.handle;
+      io_cfg[2].mem_handle[1] = bps_fullres_dummy.handle;
+      io_cfg[2].planes[0] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height,
+        .plane_stride = full_stride,
+        .slice_height = full_y_h,
+      };
+      io_cfg[2].planes[1] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height / 2,
+        .plane_stride = full_stride,
+        .slice_height = full_uv_h,
+      };
+      io_cfg[2].offsets[1] = ALIGNED_SIZE(full_stride * full_y_h, 0x1000);
+      io_cfg[2].format = CAM_FORMAT_NV12;
+      io_cfg[2].color_space = CAM_COLOR_SPACE_BT601_FULL;
+      io_cfg[2].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
+      io_cfg[2].fence = sync_objs_bps[idx];
+      io_cfg[2].direction = CAM_BUF_OUTPUT;
+      io_cfg[2].subsample_pattern = 0x1;
+      io_cfg[2].framedrop_pattern = 0x1;
+    }
   }
 
   // *** patches ***
   {
-    assert(patches.size() == 0 | patches.size() == 1);
+    assert(patches.size() == 0 || patches.size() == 4);
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
 
     if (patches.size() > 0) {
-      add_patch(pkt.get(), bps_cmd.handle, patches[0], bps_linearization_lut.handle, 0);
+      // linearization LUT
+      add_patch(pkt.get(), bps_cdm_program_array.handle, patches[0], bps_linearization_lut.handle, 0);
+      // gamma LUTs
+      for (int i = 0; i < 3; i++) {
+        add_patch(pkt.get(), bps_cdm_program_array.handle, patches[i+1], bps_gamma_lut.handle, 0);
+      }
     }
 
     // input frame
     add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[0].ptr[0]), buf_handle_raw[idx], 0);
 
-    // output frame
-    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0);
-    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    if (needs_downscale) {
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), bps_fullres_dummy.handle, 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), bps_fullres_dummy.handle, io_cfg[2].offsets[1]);
+      // output frame at REG1
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[7].ptr[0]), buf_handle_yuv[idx], 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[7].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    } else {
+      // output frame at FULL
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    }
 
     // rest of buffers
     add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, settings_addr), bps_iq.handle, 0);
@@ -987,9 +1041,6 @@ bool SpectraCamera::openSensor() {
   LOGD("-- Probing sensor %d", cc.camera_num);
 
   auto init_sensor_lambda = [this](SensorInfo *s) {
-    if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
-      ((OS04C10*)s)->ife_downscale_configure();
-    }
     sensor.reset(s);
     return (sensors_init() == 0);
   };
@@ -1167,13 +1218,39 @@ void SpectraCamera::configICP() {
 
   // used internally by the BPS, we just allocate it.
   // size comes from the BPSStripingLib
-  bps_cdm_striping_bl.init(m, 0xa100, 0x20, true, m->icp_device_iommu);
+  bps_cdm_striping_bl.init(m, 0xcfe0, 0x20, true, m->icp_device_iommu);
+
+  if (sensor->out_scale > 1) {
+    uint32_t full_stride, full_y_h, full_uv_h, full_yuv_size;
+    std::tie(full_stride, full_y_h, full_uv_h, full_yuv_size) = get_nv12_info(sensor->frame_width, sensor->frame_height);
+    bps_fullres_dummy.init(m, full_yuv_size, 0x1000, true, m->icp_device_iommu);
+  }
 
   // LUTs
-  /*
+  assert(sensor->linearization_lut.size() == 36);
   bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
-  memcpy(bps_linearization_lut.ptr, sensor->linearization_lut.data(), bps_linearization_lut.size);
-  */
+
+  // bit shift linearization_lut to bps specs, also compensate for black level here
+  uint32_t bl = sensor->black_level << (14 - sensor->bits_per_pixel);
+  uint32_t* bps_lut = (uint32_t*)bps_linearization_lut.ptr;
+  for (size_t i = 0; i < sensor->linearization_lut.size(); i++) {
+    size_t seg = i / 4;
+    size_t ch = i % 4;
+    if (seg == 0) {
+      bps_lut[i] = 0;
+      continue;
+    }
+    uint32_t e = sensor->linearization_lut[(seg - 1) * 4 + ch];
+    uint32_t base = e & 0x3fff;
+    uint32_t slope_q11 = (e >> 14) & 0x3fff;
+    uint32_t slope_q12 = std::min<uint32_t>(slope_q11 << 1, 0x3fff);
+    base = (base > bl) ? (base - bl) : 0;
+    bps_lut[i] = base | (slope_q12 << 14);
+  }
+
+  assert(sensor->gamma_lut_rgb.size() == 64);
+  bps_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
+  memcpy(bps_gamma_lut.ptr, sensor->gamma_lut_rgb.data(), bps_gamma_lut.size);
 }
 
 void SpectraCamera::configCSIPHY() {
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 7dd1135254..eb6d95af1c 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -30,6 +30,29 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 #define OpcodesIFEInitialConfig  0x0
 #define OpcodesIFEUpdate         0x1
 
+// Sensor command values from the SDM845 kernel's private camera header:
+// drivers/media/platform/msm/camera/cam_sensor_module/cam_sensor_utils/cam_sensor_cmn_header.h
+// These are userspace-visible ioctl payload values, but Qualcomm did not export them through UAPI.
+enum {
+  CAMERA_SENSOR_CMD_TYPE_PROBE = 1,
+  CAMERA_SENSOR_CMD_TYPE_PWR_UP = 2,
+  CAMERA_SENSOR_CMD_TYPE_PWR_DOWN = 3,
+  CAMERA_SENSOR_CMD_TYPE_I2C_INFO = 4,
+  CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR = 5,
+  CAMERA_SENSOR_CMD_TYPE_WAIT = 9,
+
+  CAMERA_SENSOR_WAIT_OP_SW_UCND = 3,
+
+  CAMERA_SENSOR_I2C_TYPE_BYTE = 1,
+  CAMERA_SENSOR_I2C_TYPE_WORD = 2,
+
+  I2C_FAST_MODE = 1,
+
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE = 3,
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG = 4,
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127,
+};
+
 std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
 int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
 int device_control(int fd, int op_code, int session_handle, int dev_handle);
@@ -173,6 +196,8 @@ public:
   SpectraBuf bps_iq;
   SpectraBuf bps_striping;
   SpectraBuf bps_linearization_lut;
+  SpectraBuf bps_gamma_lut;
+  SpectraBuf bps_fullres_dummy;
   std::vector<uint32_t> bps_lin_reg;
   std::vector<uint32_t> bps_ccm_reg;
 
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 62c26ca809..d14c288b91 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -1,7 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
-#include "third_party/linux/include/msm_camsensor_sdk.h"
+#include <media/msm_camsensor_sdk.h>
 
 namespace {
 
@@ -21,27 +21,16 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 }  // namespace
 
-void OS04C10::ife_downscale_configure() {
-  out_scale = 2;
-
-  pixel_size_mm = 0.002;
-  frame_width = 2688;
-  frame_height = 1520;
-  exposure_time_max = 2352;
-
-  init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
-}
-
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
-  pixel_size_mm = 0.004;
+  pixel_size_mm = 0.002;
   data_word = false;
 
-  // hdr_offset = 64 * 2 + 8; // stagger
-  frame_width = 1344;
-  frame_height = 760; //760 * 2 + hdr_offset;
-  frame_stride = (frame_width * 12 / 8); // no alignment
+  out_scale = 2;
+  frame_width = 2688;
+  frame_height = 1520;
+  frame_stride = frame_width * 12 / 8;
 
   extra_height = 0;
   frame_offset = 0;
@@ -65,7 +54,7 @@ OS04C10::OS04C10() {
   dc_gain_on_grey = 0.9;
   dc_gain_off_grey = 1.0;
   exposure_time_min = 2;
-  exposure_time_max = 1684;
+  exposure_time_max = 2352;
   analog_gain_min_idx = 0x0;
   analog_gain_rec_idx = 0x0;  // 1x
   analog_gain_max_idx = 0x28;
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 28d6b3310c..45512851bc 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -4,7 +4,7 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
 const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
 
 const struct i2c_random_wr_payload init_array_os04c10[] = {
-  // baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
   {0x0103, 0x01}, // software reset
 
   // PLL + clocks
@@ -93,7 +93,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x388b, 0x00},
   {0x3c80, 0x10},
   {0x3c86, 0x00},
-  {0x3c8c, 0x20},
+  {0x3c8c, 0x40},
   {0x3c9f, 0x01},
   {0x3d85, 0x1b},
   {0x3d8c, 0x71},
@@ -197,7 +197,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0x48},
   {0x370c, 0x01},
   {0x370f, 0x00},
-  {0x3714, 0x28},
+  {0x3714, 0x24},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -229,7 +229,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
-  {0x37c2, 0x14},
+  {0x37c2, 0x04},
   {0x37cd, 0x19},
   {0x37e0, 0x08},
   {0x37e6, 0x04},
@@ -239,14 +239,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37d8, 0x02},
   {0x37e2, 0x10},
   {0x3739, 0x10},
-  {0x3662, 0x08},
+  {0x3662, 0x10},
   {0x37e4, 0x20},
   {0x37e3, 0x08},
-  {0x37d9, 0x04},
+  {0x37d9, 0x08},
   {0x4040, 0x00},
-  {0x4041, 0x03},
-  {0x4008, 0x01},
-  {0x4009, 0x06},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
 
   // FSIN - frame sync
   {0x3002, 0x22},
@@ -267,20 +267,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
-  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x02}, {0x380b, 0xf8},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
   {0x3811, 0x08},
   {0x3813, 0x08},
-  {0x3814, 0x03},
+  {0x3814, 0x01},
   {0x3815, 0x01},
-  {0x3816, 0x03},
+  {0x3816, 0x01},
   {0x3817, 0x01},
 
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS (line length)
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS (frame length)
 
-  {0x3820, 0xb3},
-  {0x3821, 0x01},
+  {0x3820, 0xb0},
+  {0x3821, 0x00},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
@@ -330,23 +330,3 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x5104, 0x08}, {0x5105, 0xd6},
   {0x5144, 0x08}, {0x5145, 0xd6},
 };
-
-const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
-  {0x3c8c, 0x40},
-  {0x3714, 0x24},
-  {0x37c2, 0x04},
-  {0x3662, 0x10},
-  {0x37d9, 0x08},
-  {0x4041, 0x07},
-  {0x4008, 0x02},
-  {0x4009, 0x0d},
-  {0x3808, 0x0a}, {0x3809, 0x80},
-  {0x380a, 0x05}, {0x380b, 0xf0},
-  {0x3814, 0x01},
-  {0x3816, 0x01},
-  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
-  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
-  {0x3820, 0xb0},
-  {0x3821, 0x00},
-};
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 05d58f03c6..e0e0dec2ff 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -1,7 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
-#include "third_party/linux/include/msm_camsensor_sdk.h"
+#include <media/msm_camsensor_sdk.h>
 
 namespace {
 
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 96aa8b604f..1a647d1528 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -98,7 +98,6 @@ public:
 class OS04C10 : public SensorInfo {
 public:
   OS04C10();
-  void ife_downscale_configure();
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;
diff --git a/system/camerad/snapshot.py b/system/camerad/snapshot.py
index 035a4acdcf..ec6cbc8ad3 100755
--- a/system/camerad/snapshot.py
+++ b/system/camerad/snapshot.py
@@ -87,7 +87,7 @@ def snapshot():
     return None, None
 
   front_camera_allowed = params.get_bool("RecordFront")
-  params.put_bool("IsTakingSnapshot", True)
+  params.put_bool("IsTakingSnapshot", True, block=True)
   set_offroad_alert("Offroad_IsTakingSnapshot", True)
   time.sleep(2.0)  # Give hardwared time to read the param, or if just started give camerad time to start
 
@@ -95,7 +95,7 @@ def snapshot():
   try:
     subprocess.check_call(["pgrep", "camerad"])
     print("Camerad already running")
-    params.put_bool("IsTakingSnapshot", False)
+    params.put_bool("IsTakingSnapshot", False, block=True)
     params.remove("Offroad_IsTakingSnapshot")
     return None, None
   except subprocess.CalledProcessError:
@@ -111,7 +111,7 @@ def snapshot():
     rear, front = get_snapshots(frame, front_frame)
   finally:
     managed_processes['camerad'].stop()
-    params.put_bool("IsTakingSnapshot", False)
+    params.put_bool("IsTakingSnapshot", False, block=True)
     set_offroad_alert("Offroad_IsTakingSnapshot", False)
 
   if not front_camera_allowed:
diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh
index a031be6923..eba167ce6a 100755
--- a/system/camerad/test/debug.sh
+++ b/system/camerad/test/debug.sh
@@ -8,7 +8,7 @@ echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 #echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 
 sudo dmesg -C
-scons -u -j8 --minimal .
+scons -u --minimal .
 export DEBUG_FRAMES=1
 export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
 #export DISABLE_DRIVER=1
diff --git a/system/hardware/base.py b/system/hardware/base.py
index ef2b146043..5bcf886ae8 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -20,6 +20,10 @@ class Profile:
   enabled: bool
   provider: str
 
+  @property
+  def is_comma(self) -> bool:
+    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
+
 @dataclass
 class ThermalZone:
   # a zone from /sys/class/thermal/thermal_zone*
@@ -94,8 +98,9 @@ class LPABase(ABC):
   def process_notifications(self) -> None:
     pass
 
-  def is_comma_profile(self, iccid: str) -> bool:
-    return any(iccid.startswith(prefix) for prefix in ('8985235',))
+  @abstractmethod
+  def is_euicc(self) -> bool:
+    pass
 
 class HardwareBase(ABC):
   @staticmethod
@@ -194,12 +199,6 @@ class HardwareBase(ABC):
   def initialize_hardware(self):
     pass
 
-  def configure_modem(self):
-    pass
-
-  def reboot_modem(self):
-    pass
-
   def get_networks(self):
     return None
 
diff --git a/system/hardware/esim.py b/system/hardware/esim.py
index 40600d26b5..18d84de983 100755
--- a/system/hardware/esim.py
+++ b/system/hardware/esim.py
@@ -2,34 +2,69 @@
 
 import argparse
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.base import LPABase, Profile
+
+
+def sorted_profiles(lpa: LPABase) -> list[Profile]:
+  return sorted(lpa.list_profiles(), key=lambda p: p.iccid)
+
+
+def resolve_iccid(lpa: LPABase, ref: str) -> str:
+  # ref is either a 1-based index into the sorted list, or a literal iccid
+  if ref.isdigit():
+    profiles = sorted_profiles(lpa)
+    idx = int(ref) - 1
+    if not 0 <= idx < len(profiles):
+      raise SystemExit(f'no profile at index {ref} (have {len(profiles)})')
+    return profiles[idx].iccid
+  return ref
+
+
+def print_profiles(lpa: LPABase) -> None:
+  profiles = sorted_profiles(lpa)
+  print(f'\n{len(profiles)} profile{"s" if len(profiles) != 1 else ""}:')
+  for i, p in enumerate(profiles, start=1):
+    print(f'{i}. {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
 
 
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
-  parser.add_argument('--switch', metavar='iccid', help='switch to profile')
-  parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)')
-  parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
-  parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
+  sub = parser.add_subparsers(dest='cmd')
+
+  sub.add_parser('list', help='list profiles')
+
+  p_switch = sub.add_parser('switch', help='switch to profile')
+  p_switch.add_argument('profile', help='iccid or 1-based index from `list`')
+
+  p_delete = sub.add_parser('delete', help='delete profile (warning: this cannot be undone)')
+  p_delete.add_argument('profile', help='iccid or 1-based index from `list`')
+
+  p_download = sub.add_parser('download', help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
+  p_download.add_argument('qr')
+  p_download.add_argument('name')
+
+  p_nickname = sub.add_parser('nickname', help='update the nickname for a profile')
+  p_nickname.add_argument('profile', help='iccid or 1-based index from `list`')
+  p_nickname.add_argument('name')
+
   args = parser.parse_args()
 
   lpa = HARDWARE.get_sim_lpa()
-  if args.switch:
-    lpa.switch_profile(args.switch)
-  elif args.delete:
-    confirm = input('are you sure you want to delete this profile? (y/N) ')
+  if args.cmd == 'switch':
+    lpa.switch_profile(resolve_iccid(lpa, args.profile))
+  elif args.cmd == 'delete':
+    iccid = resolve_iccid(lpa, args.profile)
+    confirm = input(f'are you sure you want to delete profile {iccid}? (y/N) ')
     if confirm == 'y':
-      lpa.delete_profile(args.delete)
+      lpa.delete_profile(iccid)
     else:
       print('cancelled')
       exit(0)
-  elif args.download:
-    lpa.download_profile(args.download[0], args.download[1])
-  elif args.nickname:
-    lpa.nickname_profile(args.nickname[0], args.nickname[1])
+  elif args.cmd == 'download':
+    lpa.download_profile(args.qr, args.name)
+  elif args.cmd == 'nickname':
+    lpa.nickname_profile(resolve_iccid(lpa, args.profile), args.name)
   else:
-    parser.print_help()
-
-  profiles = lpa.list_profiles()
-  print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
-  for p in profiles:
-    print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
+    if args.cmd is None:
+      parser.print_help()
+    print_profiles(lpa)
diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index b2140d33d4..eafde599ad 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -2,6 +2,11 @@
 import numpy as np
 
 from openpilot.common.pid import PIDController
+from openpilot.system.hardware import HARDWARE
+
+# raise fan setpoint on tici/tizi to reduce noise
+# after raising LMH threshold in AGNOS 18.1 to prevent CPU throttling
+OFFSET = 0 if HARDWARE.get_device_type() == "mici" else 5
 
 
 class FanController:
@@ -18,6 +23,6 @@ class FanController:
     self.last_ignition = ignition
 
     return int(self.controller.update(
-                 error=(cur_temp - 75),  # temperature setpoint in C
-                 feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
+                 error=(cur_temp - (75 + OFFSET)),  # temperature setpoint in C
+                 feedforward=np.interp(cur_temp, [60.0 + OFFSET, 100.0 + OFFSET], [0, 100])
               ))
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index d4d28418a3..6c84ccfe8a 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -40,15 +40,21 @@ HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'ne
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
-THERMAL_BANDS = OrderedDict({
-  ThermalStatus.green: ThermalBand(None, 80.0),
-  ThermalStatus.yellow: ThermalBand(75.0, 96.0),
-  ThermalStatus.red: ThermalBand(88.0, 107.),
-  ThermalStatus.danger: ThermalBand(94.0, None),
-})
+if HARDWARE.get_device_type() == "mici":
+  THERMAL_BANDS = OrderedDict({
+    ThermalStatus.ok: ThermalBand(None, 100.0),
+    ThermalStatus.overheated: ThermalBand(92.0, 107.),
+    ThermalStatus.critical: ThermalBand(98.0, None),
+  })
+else:
+  THERMAL_BANDS = OrderedDict({
+    ThermalStatus.ok: ThermalBand(None, 96.0),
+    ThermalStatus.overheated: ThermalBand(88.0, 107.),
+    ThermalStatus.critical: ThermalBand(94.0, None),
+  })
 
 # Override to highest thermal band when offroad and above this temp
-OFFROAD_DANGER_TEMP = 75
+OFFROAD_DANGER_TEMP = 85 if HARDWARE.get_device_type() == "mici" else 75
 
 prev_offroad_states: dict[str, tuple[bool, str | None]] = {}
 
@@ -101,9 +107,6 @@ def hw_state_thread(end_event, hw_queue):
   prev_hw_state = None
 
   modem_version = None
-  modem_configured = False
-  modem_missing_count = 0
-  modem_restart_count = 0
 
   while not end_event.is_set():
     # these are expensive calls. update every 10s
@@ -121,18 +124,6 @@ def hw_state_thread(end_event, hw_queue):
           if modem_version is not None:
             cloudlog.event("modem version", version=modem_version)
 
-        if AGNOS and modem_restart_count < 3 and HARDWARE.get_modem_version() is None:
-          # TODO: we may be able to remove this with a MM update
-          # ModemManager's probing on startup can fail
-          # rarely, restart the service to probe again.
-          # Also, AT commands sometimes timeout resulting in ModemManager not
-          # trying to use this modem anymore.
-          modem_missing_count += 1
-          if (modem_missing_count % 4) == 0:
-            modem_restart_count += 1
-            cloudlog.event("restarting ModemManager")
-            os.system("sudo systemctl restart --no-block ModemManager")
-
         tx, rx = HARDWARE.get_modem_data_usage()
 
         hw_state = HardwareState(
@@ -149,11 +140,6 @@ def hw_state_thread(end_event, hw_queue):
         except queue.Full:
           pass
 
-        if not modem_configured and HARDWARE.get_modem_version() is not None:
-          cloudlog.warning("configuring modem")
-          HARDWARE.configure_modem()
-          modem_configured = True
-
         prev_hw_state = hw_state
       except Exception:
         cloudlog.exception("Error getting hardware state")
@@ -180,7 +166,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   started_ts: float | None = None
   started_seen = False
   startup_blocked_ts: float | None = None
-  thermal_status = ThermalStatus.yellow
+  thermal_status = ThermalStatus.ok
 
   last_hw_state = HardwareState(
     network_type=NetworkType.none,
@@ -219,7 +205,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     # handle requests to cycle system started state
     if params.get_bool("OnroadCycleRequested"):
-      params.put_bool("OnroadCycleRequested", False)
+      params.put_bool("OnroadCycleRequested", False, block=True)
       offroad_cycle_count = sm.frame
     onroad_conditions["not_onroad_cycle"] = (sm.frame - offroad_cycle_count) >= ONROAD_CYCLE_TIME * SERVICE_LIST['pandaStates'].frequency
 
@@ -288,7 +274,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
       # if device is offroad and already hot without the extra onroad load,
       # we want to cool down first before increasing load
-      thermal_status = ThermalStatus.danger
+      thermal_status = ThermalStatus.critical
     else:
       current_band = THERMAL_BANDS[thermal_status]
       band_idx = list(THERMAL_BANDS.keys()).index(thermal_status)
@@ -312,7 +298,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
 
     # must be at an engageable thermal band to go onroad
-    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red
+    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.overheated
 
     # ensure device is fully booted
     startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
@@ -333,7 +319,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
 
     # if the temperature enters the danger zone, go offroad to cool down
-    onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
+    onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.critical
     extra_text = f"{offroad_comp_temp:.1f}C"
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
@@ -347,13 +333,13 @@ def hardware_thread(end_event, hw_queue) -> None:
       should_start = should_start and all(startup_conditions.values())
 
     if should_start != should_start_prev or (count == 0):
-      params.put_bool("IsEngaged", False)
+      params.put_bool("IsEngaged", False, block=True)
       engaged_prev = False
 
     if sm.updated['selfdriveState']:
       engaged = sm['selfdriveState'].enabled
       if engaged != engaged_prev:
-        params.put_bool("IsEngaged", engaged)
+        params.put_bool("IsEngaged", engaged, block=True)
         engaged_prev = engaged
 
       try:
@@ -392,7 +378,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     # GitHub runner auto off: 9V is used as the threshold because most desktop runners
     # will rarely exceed 5V so 9V is set as our buffer between desk use and car use.
-    params.put_bool_nonblocking("GithubRunnerSufficientVoltage", ((voltage or 0) and voltage > 9000))
+    params.put_bool("GithubRunnerSufficientVoltage", ((voltage or 0) and voltage > 9000))
 
     power_monitor.calculate(voltage, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
@@ -408,7 +394,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     # Check if we need to shut down
     if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
       cloudlog.warning(f"shutting device down, offroad since {off_ts}")
-      params.put_bool("DoShutdown", True)
+      params.put_bool("DoShutdown", True, block=True)
 
     msg.deviceState.started = started_ts is not None and not offroad_mode
     msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0))
@@ -454,11 +440,11 @@ def hardware_thread(end_event, hw_queue) -> None:
       # save last one before going onroad
       if rising_edge_started:
         try:
-          params.put("LastOffroadStatusPacket", dat)
+          params.put("LastOffroadStatusPacket", dat, block=True)
         except Exception:
           cloudlog.exception("failed to save offroad status")
 
-    params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered)
+    params.put_bool("NetworkMetered", msg.deviceState.networkMetered)
 
     now_ts = time.monotonic()
     if off_ts:
@@ -468,8 +454,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     last_uptime_ts = now_ts
 
     if (count % int(60. / DT_HW)) == 0:
-      params.put("UptimeOffroad", uptime_offroad)
-      params.put("UptimeOnroad", uptime_onroad)
+      params.put("UptimeOffroad", uptime_offroad, block=True)
+      params.put("UptimeOnroad", uptime_onroad, block=True)
 
     count += 1
     should_start_prev = should_start
diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py
index d0a1e623a7..50a83682cf 100644
--- a/system/hardware/power_monitoring.py
+++ b/system/hardware/power_monitoring.py
@@ -56,7 +56,7 @@ class PowerMonitoring:
       self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
       self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh)
       if now - self.last_save_time >= 10:
-        self.params.put_nonblocking("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
+        self.params.put("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
         self.last_save_time = now
 
       # First measurement, set integration time
diff --git a/system/hardware/tests/test_power_monitoring.py b/system/hardware/tests/test_power_monitoring.py
index 451efcd735..f0804c2071 100644
--- a/system/hardware/tests/test_power_monitoring.py
+++ b/system/hardware/tests/test_power_monitoring.py
@@ -139,7 +139,7 @@ class TestPowerMonitoring:
   def test_disable_power_down(self, mocker):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 100
-    self.params.put_bool("DisablePowerDown", True)
+    self.params.put_bool("DisablePowerDown", True, block=True)
     pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
     pm = PowerMonitoring()
     pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
@@ -223,7 +223,7 @@ class TestPowerMonitoring:
   def test_max_time_offroad_exceeded(self, max_time_offroad, offroad_time_min, expected_result):
     # Set the parameter if provided
     if max_time_offroad is not None:
-      self.params.put("MaxTimeOffroad", max_time_offroad)
+      self.params.put("MaxTimeOffroad", max_time_offroad, block=True)
 
     # Convert offroad time from minutes to seconds
     offroad_time_s = offroad_time_min * 60
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 295b0279d9..07e2079ec9 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,83 +1,83 @@
 [
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
-    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
-    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
-    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
-    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
-    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
-    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
-    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
-    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
-    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51.img.xz",
-    "hash": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
-    "hash_raw": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
-    "size": 17500160,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "2454108de1161289bc4a75449ad6421f1772b13b3e5cba68a84fca7530557699"
+    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img.xz",
-    "hash": "5f319030ad05942267b77f1a4686c4ca24cc09b2c2a4688e57342ffc9720fd49",
-    "hash_raw": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
+    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "c12f1b7d790a418aea17424accf4cd59c575e5745cad82bdc9452f384483648c",
+    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
     "alt": {
-      "hash": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img",
+      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
       "size": 4718592000
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 0801907a2d..80a0f7702e 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -130,47 +130,47 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
-    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
-    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
-    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
-    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
-    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
-    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
-    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
   },
   {
     "name": "bluetooth",
@@ -207,14 +207,14 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
-    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
-    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
   },
   {
     "name": "devinfo",
@@ -339,51 +339,51 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51.img.xz",
-    "hash": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
-    "hash_raw": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
-    "size": 17500160,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "2454108de1161289bc4a75449ad6421f1772b13b3e5cba68a84fca7530557699"
+    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img.xz",
-    "hash": "5f319030ad05942267b77f1a4686c4ca24cc09b2c2a4688e57342ffc9720fd49",
-    "hash_raw": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
+    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "c12f1b7d790a418aea17424accf4cd59c575e5745cad82bdc9452f384483648c",
+    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
     "alt": {
-      "hash": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img",
+      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-a7b25ea29255f4fd3a2da99e037f40b4ca10bd4afd57dd96563353b8dfb0f634.img.xz",
-    "hash": "7ea9d7d4685ec36bbfdf06afe0b51650d567416c3092fef96bd97158ed322742",
-    "hash_raw": "a7b25ea29255f4fd3a2da99e037f40b4ca10bd4afd57dd96563353b8dfb0f634",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-14a3fc6e9bd148b9deebf6ae9df2f1b3b759e629b337e41b6895864cdd51f630.img.xz",
+    "hash": "52160dd01b30b3dc572226e8d549a034b03bc328e80f1f4cd6a857b6dd447687",
+    "hash_raw": "14a3fc6e9bd148b9deebf6ae9df2f1b3b759e629b337e41b6895864cdd51f630",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "79ed653c1679d84b13ee23083a511b0e668454e4af9b0db99a3279072ed041c1"
+    "ondevice_hash": "3bbc052c7793087946b0cd668c1778f930084f6b00896aeebd193dfce53fa518"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-8e428632c967aa609cac184bff938a90240e53ffd3b4fca40bc94c33c81202ba.img.xz",
-    "hash": "7104cdb0384e4ecb1ebfa6136a2330251bc8aa829b9ec48c4b740f656252d382",
-    "hash_raw": "8e428632c967aa609cac184bff938a90240e53ffd3b4fca40bc94c33c81202ba",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-425c69d021f4ee2f767963bf7b991d1a492485fa465c5f5d001e1cf7de3d62a0.img.xz",
+    "hash": "02a8c5512754d7781d930d242be3fad01fbce652297c69dfe8722dc92b18dc09",
+    "hash_raw": "425c69d021f4ee2f767963bf7b991d1a492485fa465c5f5d001e1cf7de3d62a0",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "fbede3b0831dbc4a4edd336e5f547f4978902b9421fb1484e86c416192c59165"
+    "ondevice_hash": "3667d500f91b08a4671d7c09623eb6ae8fc905d9273893b50689e214005c7fa6"
   }
 ]
\ No newline at end of file
diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection
deleted file mode 100644
index 74f6f8e82c..0000000000
--- a/system/hardware/tici/esim.nmconnection
+++ /dev/null
@@ -1,30 +0,0 @@
-[connection]
-id=esim
-uuid=fff6553c-3284-4707-a6b1-acc021caaafb
-type=gsm
-permissions=
-autoconnect=true
-autoconnect-retries=100
-autoconnect-priority=2
-metered=1
-
-[gsm]
-apn=
-home-only=false
-auto-config=true
-sim-id=
-
-[ipv4]
-route-metric=1000
-dns-priority=1000
-dns-search=
-method=auto
-
-[ipv6]
-ddr-gen-mode=stable-privacy
-dns-search=
-route-metric=1000
-dns-priority=1000
-method=auto
-
-[proxy]
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index d59b45efcb..a06ce43b35 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -13,8 +13,11 @@
 class HardwareTici : public HardwareNone {
 public:
   static std::string get_name() {
-    std::string model = util::read_file("/sys/firmware/devicetree/base/model");
-    return util::strip(model.substr(std::string("comma ").size()));
+    static const std::string name = []() {
+      std::string model = util::read_file("/sys/firmware/devicetree/base/model");
+      return util::strip(model.substr(std::string("comma ").size()));
+    }();
+    return name;
   }
 
   static cereal::InitData::DeviceType get_device_type() {
@@ -23,7 +26,7 @@ public:
       {"tizi", cereal::InitData::DeviceType::TIZI},
       {"mici", cereal::InitData::DeviceType::MICI}
     };
-    auto it = device_map.find(get_name());
+    static const auto it = device_map.find(get_name());
     assert(it != device_map.end());
     return it->second;
   }
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 15c6e41695..34c426d6e7 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -1,9 +1,9 @@
-import math
+import configparser
+import json
 import os
+import socket
 import subprocess
 import time
-import tempfile
-from enum import IntEnum
 from functools import cached_property, lru_cache
 from pathlib import Path
 
@@ -16,51 +16,11 @@ from openpilot.system.hardware.tici.lpa import TiciLPA
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
-NM = 'org.freedesktop.NetworkManager'
-NM_CON_ACT = NM + '.Connection.Active'
-NM_DEV = NM + '.Device'
-NM_DEV_WL = NM + '.Device.Wireless'
-NM_DEV_STATS = NM + '.Device.Statistics'
-NM_AP = NM + '.AccessPoint'
-DBUS_PROPS = 'org.freedesktop.DBus.Properties'
-
-MM = 'org.freedesktop.ModemManager1'
-MM_MODEM = MM + ".Modem"
-MM_MODEM_SIMPLE = MM + ".Modem.Simple"
-MM_SIM = MM + ".Sim"
-
-class MM_MODEM_STATE(IntEnum):
-  FAILED        = -1
-  UNKNOWN       = 0
-  INITIALIZING  = 1
-  LOCKED        = 2
-  DISABLED      = 3
-  DISABLING     = 4
-  ENABLING      = 5
-  ENABLED       = 6
-  SEARCHING     = 7
-  REGISTERED    = 8
-  DISCONNECTING = 9
-  CONNECTING    = 10
-  CONNECTED     = 11
-
-class NMMetered(IntEnum):
-  NM_METERED_UNKNOWN = 0
-  NM_METERED_YES = 1
-  NM_METERED_NO = 2
-  NM_METERED_GUESS_YES = 3
-  NM_METERED_GUESS_NO = 4
-
-TIMEOUT = 0.1
-REFRESH_RATE_MS = 1000
+MODEM_STATE_PATH = "/dev/shm/modem"
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
 
-# https://developer.gnome.org/ModemManager/unstable/ModemManager-Flags-and-Enumerations.html#MMModemAccessTechnology
-MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
-MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
-
 
 def affine_irq(val, action):
   irqs = get_irqs_for_action(action)
@@ -78,26 +38,40 @@ def get_device_type():
     model = f.read().strip('\x00')
   return model.split('comma ')[-1]
 
+def wpa_supplicant_cmd(cmd: str, timeout: float = 0.2) -> dict[str, str]:
+  with socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM) as sock:
+    sock.settimeout(timeout)
+    sock.bind(f"\0openpilot-wpa-{os.getpid()}-{time.monotonic_ns()}")
+    sock.connect("/run/wpa_supplicant/wlan0")
+    sock.send(cmd.encode())
+
+    while True:
+      out = sock.recv(8192).decode("utf-8", "replace")
+      if out.startswith("<"):
+        continue
+      if out.startswith("FAIL"):
+        return {}
+      return dict(l.split("=", 1) for l in out.splitlines() if "=" in l)
+
+def get_default_route_iface():
+  with open("/proc/net/route") as f:
+    routes = [(int(route[6]), route[0]) for line in f.readlines()[1:] if (route := line.split())[1] == "00000000" and int(route[3], 16) & 0x1]
+  return min(routes)[1] if routes else None
+
 class Tici(HardwareBase):
-  @cached_property
-  def bus(self):
-    import dbus
-    return dbus.SystemBus()
-
-  @cached_property
-  def nm(self):
-    return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
-
-  @property # this should not be cached, in case the modemmanager restarts
-  def mm(self):
-    return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
-
   @cached_property
   def amplifier(self):
     if self.get_device_type() == "mici":
       return None
     return Amplifier()
 
+  def get_modem_state(self) -> dict:
+    try:
+      with open(MODEM_STATE_PATH) as f:
+        return json.load(f)
+    except (FileNotFoundError, json.JSONDecodeError):
+      return {}
+
   def get_os_version(self):
     with open("/VERSION") as f:
       return f.read().strip()
@@ -138,67 +112,37 @@ class Tici(HardwareBase):
 
   def get_network_type(self):
     try:
-      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      primary_connection = self.bus.get_object(NM, primary_connection)
-      primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-      if primary_type == '802-3-ethernet':
-        return NetworkType.ethernet
-      elif primary_type == '802-11-wireless':
-        return NetworkType.wifi
-      else:
-        active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-        for conn in active_connections:
-          c = self.bus.get_object(NM, conn)
-          tp = c.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-          if tp == 'gsm':
-            modem = self.get_modem()
-            access_t = modem.Get(MM_MODEM, 'AccessTechnologies', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-            if access_t >= MM_MODEM_ACCESS_TECHNOLOGY_LTE:
-              return NetworkType.cell4G
-            elif access_t >= MM_MODEM_ACCESS_TECHNOLOGY_UMTS:
-              return NetworkType.cell3G
-            else:
-              return NetworkType.cell2G
+      if (iface := get_default_route_iface()):
+        if iface.startswith('wlan'):
+          return NetworkType.wifi
+        if iface.startswith('eth'):
+          return NetworkType.ethernet
     except Exception:
       pass
 
+    ms = self.get_modem_state()
+    if ms.get('connected'):
+      nt = ms.get('network_type', '')
+      if nt == 'nr':
+        return NetworkType.cell5G
+      elif nt == 'lte':
+        return NetworkType.cell4G
+      elif nt in ('utran', 'umts'):
+        return NetworkType.cell3G
+      elif nt == 'gsm':
+        return NetworkType.cell2G
     return NetworkType.none
 
-  def get_modem(self):
-    objects = self.mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=TIMEOUT)
-    modem_path = list(objects.keys())[0]
-    return self.bus.get_object(MM, modem_path)
-
-  def get_wlan(self):
-    wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
-    return self.bus.get_object(NM, wlan_path)
-
-  def get_wwan(self):
-    wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT)
-    return self.bus.get_object(NM, wwan_path)
-
   def get_sim_info(self):
-    modem = self.get_modem()
-    sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-    if sim_path == "/":
-      return {
-        'sim_id': '',
-        'mcc_mnc': None,
-        'network_type': ["Unknown"],
-        'sim_state': ["ABSENT"],
-        'data_connected': False
-      }
-    else:
-      sim = self.bus.get_object(MM, sim_path)
-      return {
-        'sim_id': str(sim.Get(MM_SIM, 'SimIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
-        'mcc_mnc': str(sim.Get(MM_SIM, 'OperatorIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
-        'network_type': ["Unknown"],
-        'sim_state': ["READY"],
-        'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
-      }
+    ms = self.get_modem_state()
+    sim_id = ms.get('iccid', '')
+    return {
+      'sim_id': sim_id,
+      'mcc_mnc': ms.get('mcc_mnc') or None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"] if not sim_id else ["READY"],
+      'data_connected': ms.get('connected', False),
+    }
 
   def get_sim_lpa(self) -> LPABase:
     return TiciLPA()
@@ -206,40 +150,21 @@ class Tici(HardwareBase):
   def get_imei(self, slot):
     if slot != 0:
       return ""
-
-    return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+    return self.get_modem_state().get('imei', '')
 
   def get_network_info(self):
     if self.get_device_type() == "mici":
       return None
-    try:
-      modem = self.get_modem()
-      info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-    except Exception:
-      return None
 
-    if info and info.startswith('+QNWINFO: '):
-      info = info.replace('+QNWINFO: ', '').replace('"', '').split(',')
-      extra = "" if extra is None else extra.replace('+QENG: "servingcell",', '').replace('"', '')
-      state = "" if state is None else MM_MODEM_STATE(state).name
-
-      if len(info) != 4:
-        return None
-
-      technology, operator, band, channel = info
-
-      return({
-        'technology': technology,
-        'operator': operator,
-        'band': band,
-        'channel': int(channel),
-        'extra': extra,
-        'state': state,
-      })
-    else:
-      return None
+    ms = self.get_modem_state()
+    return {
+      'technology': ms.get('network_type', '').upper() if ms.get('network_type') else '',
+      'operator': ms.get('operator', ''),
+      'band': ms.get('band', ''),
+      'channel': ms.get('channel', 0),
+      'extra': ms.get('extra', ''),
+      'state': ms.get('state', 'UNKNOWN'),
+    }
 
   def parse_strength(self, percentage):
     if percentage < 25:
@@ -257,59 +182,62 @@ class Tici(HardwareBase):
     try:
       if network_type == NetworkType.none:
         pass
+      elif network_type == NetworkType.ethernet:
+        network_strength = NetworkStrength.great
       elif network_type == NetworkType.wifi:
-        wlan = self.get_wlan()
-        active_ap_path = wlan.Get(NM_DEV_WL, 'ActiveAccessPoint', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-        if active_ap_path != "/":
-          active_ap = self.bus.get_object(NM, active_ap_path)
-          strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
-          network_strength = self.parse_strength(strength)
+        rssi = wpa_supplicant_cmd("SIGNAL_POLL").get("RSSI")
+        if rssi is not None:
+          dbm = int(rssi)
+          if -100 < dbm <= 0:
+            network_strength = self.parse_strength(120 + max(-100, min(-20, dbm)))
       else:  # Cellular
-        modem = self.get_modem()
-        strength = int(modem.Get(MM_MODEM, 'SignalQuality', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)[0])
-        network_strength = self.parse_strength(strength)
+        network_strength = self.parse_strength(self.get_modem_state().get('signal_quality', 0))
     except Exception:
       pass
 
     return network_strength
 
   def get_network_metered(self, network_type) -> bool:
+    if network_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
+      from openpilot.common.params import Params
+      return Params().get_bool("GsmMetered")
     try:
-      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      primary_connection = self.bus.get_object(NM, primary_connection)
-      primary_devices = primary_connection.Get(NM_CON_ACT, 'Devices', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      if network_type == NetworkType.wifi:
+        ssid = wpa_supplicant_cmd("STATUS").get("ssid", "")
+        if ssid:
+          # wpa_supplicant escapes non-printable bytes as \xNN; NM keyfile stores ASCII SSIDs as a literal and others as a byte;byte; list
+          ssid_bytes = ssid.encode().decode('unicode_escape').encode('latin-1')
+          ssid_keyfile_list = ';'.join(str(b) for b in ssid_bytes) + ';'
 
-      for dev in primary_devices:
-        dev_obj = self.bus.get_object(NM, str(dev))
-        metered_prop = dev_obj.Get(NM_DEV, 'Metered', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-        if network_type == NetworkType.wifi:
-          if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
-            return True
-        elif network_type in [NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G]:
-          if metered_prop == NMMetered.NM_METERED_NO:
-            return False
+          nm_dirs = ("/run/NetworkManager/system-connections", "/data/etc/NetworkManager/system-connections")
+          for fpath in (p for d in nm_dirs for p in Path(d).glob("*.nmconnection")):
+            raw = sudo_read(str(fpath))
+            if not raw:
+              continue
+            cp = configparser.ConfigParser(interpolation=None)
+            try:
+              cp.read_string(raw)
+              keyfile_ssid = cp.get("wifi", "ssid", fallback="")
+              if keyfile_ssid != ssid and keyfile_ssid != ssid_keyfile_list:
+                continue
+              metered = cp.getint("connection", "metered", fallback=0)
+            except (configparser.Error, ValueError):
+              continue
+            if metered == 1:  # NM_METERED_YES
+              return True
+            if metered == 2:  # NM_METERED_NO
+              return False
+            break
     except Exception:
       pass
 
     return super().get_network_metered(network_type)
 
   def get_modem_version(self):
-    try:
-      modem = self.get_modem()
-      return modem.Get(MM_MODEM, 'Revision', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-    except Exception:
-      return None
+    return self.get_modem_state().get('modem_version') or None
 
   def get_modem_temperatures(self):
-    timeout = 0.2  # Default timeout is too short
-    try:
-      modem = self.get_modem()
-      temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
-      return list(filter(lambda t: t != 255, map(int, temps.split(' ')[1].split(','))))
-    except Exception:
-      return []
-
+    return self.get_modem_state().get('temperatures', [])
 
   def get_current_power_draw(self):
     return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
@@ -455,68 +383,6 @@ class Tici(HardwareBase):
     except subprocess.CalledProcessException as e:
       print(str(e))
 
-  def configure_modem(self):
-    sim_id = self.get_sim_info().get('sim_id', '')
-
-    cmds = []
-    modem = self.get_modem()
-
-    # Quectel EG25
-    if self.get_device_type() in ("tizi", ):
-      # clear out old blue prime initial APN
-      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
-
-      cmds += [
-        # SIM hot swap
-        'AT+QSIMDET=1,0',
-        'AT+QSIMSTAT=1',
-
-        # configure modem as data-centric
-        'AT+QNVW=5280,0,"0102000000000000"',
-        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
-        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
-      ]
-
-    # Quectel EG916
-    else:
-      # this modem gets upset with too many AT commands
-      if sim_id is None or len(sim_id) == 0:
-        cmds += [
-          # SIM sleep disable
-          'AT$QCSIMSLEEP=0',
-          'AT$QCSIMCFG=SimPowerSave,0',
-
-          # ethernet config
-          'AT$QCPCFG=usbNet,1',
-        ]
-
-    for cmd in cmds:
-      try:
-        modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      except Exception:
-        pass
-
-    # eSIM prime
-    dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if self.get_sim_lpa().is_comma_profile(sim_id) and not os.path.exists(dest):
-      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
-        dat = f.read()
-        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
-        tf.write(dat)
-        tf.flush()
-
-        # needs to be root
-        os.system(f"sudo cp {tf.name} {dest}")
-      os.system(f"sudo nmcli con load {dest}")
-
-  def reboot_modem(self):
-    modem = self.get_modem()
-    for state in (0, 1):
-      try:
-        modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      except Exception:
-        pass
-
   def get_networks(self):
     r = {}
 
@@ -545,20 +411,8 @@ class Tici(HardwareBase):
     return r
 
   def get_modem_data_usage(self):
-    try:
-      wwan = self.get_wwan()
-
-      # Ensure refresh rate is set so values don't go stale
-      refresh_rate = wwan.Get(NM_DEV_STATS, 'RefreshRateMs', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      if refresh_rate != REFRESH_RATE_MS:
-        u = type(refresh_rate)
-        wwan.Set(NM_DEV_STATS, 'RefreshRateMs', u(REFRESH_RATE_MS), dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-      tx = wwan.Get(NM_DEV_STATS, 'TxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      rx = wwan.Get(NM_DEV_STATS, 'RxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      return int(tx), int(rx)
-    except Exception:
-      return -1, -1
+    ms = self.get_modem_state()
+    return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)
 
   def has_internal_panda(self):
     return True
@@ -569,7 +423,7 @@ class Tici(HardwareBase):
 
     gpio_set(GPIO.STM_RST_N, 1)
     gpio_set(GPIO.STM_BOOT0, 0)
-    time.sleep(1)
+    time.sleep(0.01)
     gpio_set(GPIO.STM_RST_N, 0)
 
   def recover_internal_panda(self):
@@ -578,9 +432,9 @@ class Tici(HardwareBase):
 
     gpio_set(GPIO.STM_RST_N, 1)
     gpio_set(GPIO.STM_BOOT0, 1)
-    time.sleep(0.5)
+    time.sleep(0.01)
     gpio_set(GPIO.STM_RST_N, 0)
-    time.sleep(0.5)
+    time.sleep(0.01)
     gpio_set(GPIO.STM_BOOT0, 0)
 
   def booted(self):
@@ -592,7 +446,6 @@ class Tici(HardwareBase):
 
 if __name__ == "__main__":
   t = Tici()
-  t.configure_modem()
   t.initialize_hardware()
   t.set_power_save(False)
   print(t.get_sim_info())
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index e46ac005b8..618d11e5d1 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -4,7 +4,6 @@ import atexit
 import base64
 import fcntl
 import hashlib
-import math
 import os
 import requests
 import serial
@@ -20,7 +19,7 @@ from typing import Any
 from pathlib import Path
 
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.hardware.base import LPABase, LPAError, Profile
+from openpilot.system.hardware.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
 
 GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")
 
@@ -29,15 +28,13 @@ DEFAULT_BAUD = 9600
 DEFAULT_TIMEOUT = 5.0
 # https://euicc-manual.osmocom.org/docs/lpa/applet-id/
 ISDR_AID = "A0000005591010FFFFFFFF8900000100"
-MM = "org.freedesktop.ModemManager1"
-MM_MODEM = MM + ".Modem"
 ES10X_MSS = 120
 HTTP_TIMEOUT = 30
 OPEN_ISDR_RETRIES = 10
 OPEN_ISDR_RETRY_DELAY_S = 0.25
 OPEN_ISDR_RESET_ATTEMPT = 5
 SEND_APDU_RETRIES = 3
-LOCK_FILE = '/dev/shm/modem_lpa.lock'
+LOCK_FILE = '/dev/shm/modem.lock'
 DEBUG = os.environ.get("DEBUG") == "1"
 
 
@@ -97,7 +94,7 @@ BPP_ERROR_MESSAGES = {
   12: "Profile installation failed. The QR code may have already been used.",
 }
 
-# SGP.22 §5.2.6 — SM-DP+ reason/subject codes mapped to user-friendly messages
+# SGP.22 §5.2.6 SM-DP+ reason/subject codes mapped to user-friendly messages
 ES9P_ERROR_MESSAGES: dict[tuple[str, str], str] = {
   ('3.8', '8.2.6'): "This eSIM profile is already installed on another device. Please use a new QR code.",
   ('3.8', '8.2.1'): "This eSIM profile has expired. Please request a new QR code.",
@@ -137,7 +134,6 @@ class AtClient:
     self._baud = baud
     self._timeout = timeout
     self._serial: serial.Serial | None = None
-    self._use_dbus = not os.path.exists(device)
 
   def send_raw(self, data: bytes) -> None:
     self._ensure_serial()
@@ -191,30 +187,7 @@ class AtClient:
     if self._serial is None:
       self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
 
-  def _get_modem(self):
-    import dbus
-    bus = dbus.SystemBus()
-    mm = bus.get_object(MM, '/org/freedesktop/ModemManager1')
-    objects = mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=self._timeout)
-    modem_path = list(objects.keys())[0]
-    return bus.get_object(MM, modem_path)
-
-  def _dbus_query(self, cmd: str) -> list[str]:
-    if DEBUG:
-      print(f"DBUS >> {cmd}", file=sys.stderr)
-    try:
-      result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout))
-    except Exception as e:
-      raise RuntimeError(f"AT command failed: {e}") from e
-    lines = [line.strip() for line in result.splitlines() if line.strip()]
-    if DEBUG:
-      for line in lines:
-        print(f"DBUS << {line}", file=sys.stderr)
-    return lines
-
   def query(self, cmd: str) -> list[str]:
-    if self._use_dbus:
-      return self._dbus_query(cmd)
     self._ensure_serial()
     try:
       self._send(cmd)
@@ -232,7 +205,7 @@ class AtClient:
         pass
       self.channel = None
     # drain any unsolicited responses before opening
-    if self._serial and not self._use_dbus:
+    if self._serial:
       try:
         self._serial.reset_input_buffer()
       except (OSError, serial.SerialException, termios.error):
@@ -604,8 +577,9 @@ def load_bpp(client: AtClient, b64_bpp: str) -> dict:
   result = None
   for chunk in _split_bpp(bpp):
     response = es10x_command(client, chunk)
-    if response:
-      result = _parse_install_result(response) or result
+    if response and (parsed := _parse_install_result(response)):
+      result = parsed
+      break
 
   if result is None:
     raise RuntimeError("Profile installation failed: no result from eUICC")
@@ -716,22 +690,29 @@ class TiciLPA(LPABase):
     atexit.register(self._client.close)
 
   @contextmanager
-  def _acquire_channel(self):
+  def _acquire_lock(self):
     fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
     try:
       fcntl.flock(fd, fcntl.LOCK_EX)
-      self._client.open_isdr()
       yield
     finally:
-      if self._client.channel:
-        try:
-          self._client.query(f"AT+CCHC={self._client.channel}")
-        except (RuntimeError, TimeoutError):
-          pass
-        self._client.channel = None
       fcntl.flock(fd, fcntl.LOCK_UN)
       os.close(fd)
 
+  @contextmanager
+  def _acquire_channel(self):
+    with self._acquire_lock():
+      try:
+        self._client.open_isdr()
+        yield
+      finally:
+        if self._client.channel:
+          try:
+            self._client.query(f"AT+CCHC={self._client.channel}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+
   def list_profiles(self) -> list[Profile]:
     with self._acquire_channel():
       return [
@@ -754,7 +735,10 @@ class TiciLPA(LPABase):
       process_notifications(self._client)
 
   def delete_profile(self, iccid: str) -> None:
-    if self.is_comma_profile(iccid):
+    profile = next((p for p in self.list_profiles() if p.iccid == iccid), None)
+    if profile is None:
+      raise LPAProfileNotFoundError(f"profile not found: {iccid}")
+    if profile.is_comma:
       raise LPAError("refusing to delete a comma profile")
     with self._acquire_channel():
       request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
@@ -788,7 +772,20 @@ class TiciLPA(LPABase):
         code = self._enable_profile(iccid)
       if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE):
         raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
-    from openpilot.system.hardware import HARDWARE
-    if HARDWARE.get_device_type() == "mici":
-      self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r')  # mici has no SIM presence pin; raw because CFUN=0 drops serial
-      self._client._ensure_serial(reconnect=True)
+
+  def is_euicc(self) -> bool:
+    # +CCHO:<n> -> ISD-R applet present, eUICC. Any error -> non-eUICC.
+    with self._acquire_lock():
+      try:
+        lines = self._client.query(f'AT+CCHO="{ISDR_AID}"')
+      except RuntimeError:
+        return False
+      for line in lines:
+        if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
+          try:
+            self._client.query(f"AT+CCHC={ch}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+          return True
+      return False
diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
new file mode 100755
index 0000000000..39266be122
--- /dev/null
+++ b/system/hardware/tici/modem.py
@@ -0,0 +1,587 @@
+#!/usr/bin/env python3
+import fcntl
+import json
+import logging
+import os
+import serial
+import signal
+import subprocess
+import tempfile
+import time
+
+from ipaddress import IPv4Address, AddressValueError
+
+from enum import Enum
+
+logging.basicConfig(
+  level=logging.INFO,
+  format="%(asctime)s.%(msecs)03d %(levelname)-7s modem: %(message)s",
+  datefmt="%H:%M:%S",
+)
+
+AT_PORT = "/dev/modem_at0"
+PPP_PORT = "/dev/modem_at1"
+STATE_PATH = "/dev/shm/modem"
+AT_LOCK = "/dev/shm/modem.lock"  # shared with LPA
+AT_INIT = [
+  "ATE0",       # disable command echo
+  "ATV1",       # verbose result codes (CONNECT/BUSY/NO CARRIER, not numeric)
+  "AT+CMEE=1",  # numeric +CME ERROR codes on failures (per 3GPP 27.007)
+  "ATX4",       # extended result codes: busy + dial tone detection, line speed in CONNECT
+  "AT&C1",      # DCD pin follows carrier state (V.250 default)
+  "AT+CREG=2",  # registration URCs include location info
+  "AT+CGREG=2", # GPRS registration URCs include location info
+]
+CREG = {0: "not_registered", 1: "home", 2: "searching", 3: "denied", 4: "unknown", 5: "roaming"}
+# 3GPP TS 27.007 +COPS <AcT> -> network type
+NETWORK_TYPE = {0: "gsm", 1: "gsm", 3: "gsm", 8: "gsm",
+                2: "utran", 4: "utran", 5: "utran", 6: "utran",
+                7: "lte", 9: "lte", 10: "lte",
+                11: "nr", 12: "nr", 13: "nr"}
+
+DIAL_CID = 1
+WEBBING_ICCID_PREFIX = "8985235"
+
+PPPD_CMD = [
+  "sudo", "pppd", PPP_PORT, "460800", "noauth", "nodetach", "noipdefault", "usepeerdns",
+  "nodefaultroute", "connect",
+  "/usr/sbin/chat -v ABORT 'NO CARRIER' ABORT 'NO DIALTONE' ABORT 'BUSY' " +
+  f"ABORT 'NO ANSWER' ABORT 'ERROR' TIMEOUT 5 '' AT OK ATD*99***{DIAL_CID}# CONNECT ''",
+  "lcp-echo-interval", "30", "lcp-echo-failure", "4", "mtu", "1500", "mru", "1500",
+  "novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
+  "user", '""', "password", '""',
+]
+INITIAL_STATE = {
+  "seconds_since_boot": 0,
+  "state": "INITIALIZING",
+  "connected": False, "ip_address": "",
+  "iccid": "", "mcc_mnc": "", "imei": "", "modem_version": "",
+  "signal_strength": 0, "signal_quality": 0,
+  "network_type": "unknown", "operator": "", "band": "", "channel": 0,
+  "registration": "unknown", "temperatures": [], "extra": "",
+  "tx_bytes": 0, "rx_bytes": 0,
+}
+
+
+class State(Enum):
+  INITIALIZING = "INITIALIZING"
+  SEARCHING = "SEARCHING"
+  CONNECTING = "CONNECTING"
+  CONNECTED = "CONNECTED"
+  DISCONNECTING = "DISCONNECTING"
+
+
+STATE_WAIT = 1.0  # seconds to wait after each state handler returns
+
+
+class PPPSession:
+  """Owns pppd lifecycle, fail tracking, and PPP routing."""
+  MAX_FAILS = 3
+
+  def __init__(self):
+    self._proc: subprocess.Popen | None = None
+    self._fails = 0
+    self._peer = ""
+
+  def start(self):
+    self._proc = subprocess.Popen(PPPD_CMD, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+    self._peer = ""
+    logging.info(f"PPP dialing CID {DIAL_CID}")
+
+  def kill(self):
+    subprocess.run(["sudo", "killall", "-9", "pppd"], capture_output=True)
+    self._peer = ""
+
+  @staticmethod
+  def reset_data_port():
+    """Drop DTR on PPP_PORT so the modem terminates any stuck PPP session."""
+    try:
+      with serial.Serial(PPP_PORT, 460800, timeout=1) as s:
+        s.dtr = False
+        time.sleep(0.2)
+        s.dtr = True
+    except Exception as e:
+      logging.warning(f"data port reset failed: {e}")
+
+  def has_exited(self) -> bool:
+    return self._proc is not None and self._proc.poll() is not None
+
+  def reset_fail_counter(self):
+    self._fails = 0
+
+  def record_fail(self) -> bool:
+    """Bump fail counter; return True if at the give-up limit."""
+    self._fails += 1
+    return self._fails >= self.MAX_FAILS
+
+  @property
+  def fails(self) -> int:
+    return self._fails
+
+  def maybe_install_routes(self, ip: str, peer: str) -> bool:
+    """Install routes if peer changed; kill the session on failure so the state machine reconnects."""
+    if not peer or peer == self._peer:
+      return False
+    try:
+      IPv4Address(ip)
+      IPv4Address(peer)
+    except AddressValueError:
+      logging.warning(f"refusing route install with non-IPv4 ip={ip!r} peer={peer!r}")
+      self.kill()
+      return False
+    self.cleanup_routes()
+    cmds = [
+      ["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "metric", "1000"],
+      ["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "table", "1000"],
+      ["sudo", "ip", "rule", "add", "from", ip, "table", "1000"],
+    ]
+    for cmd in cmds:
+      r = subprocess.run(cmd, capture_output=True, text=True)
+      if r.returncode != 0:
+        logging.warning(f"route install failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
+        self.cleanup_routes()
+        self.kill()
+        return False
+    logging.info(f"route set up for {ip} via {peer}")
+    self._peer = peer
+    return True
+
+  def maybe_install_dns(self, dns_servers: list[str]) -> bool:
+    """Register DNS servers with systemd-resolved; kill the session on failure to force a retry."""
+    if not dns_servers:
+      return False
+    for cmd in (["sudo", "resolvectl", "dns", "ppp0", *dns_servers],
+                ["sudo", "resolvectl", "default-route", "ppp0", "yes"]):
+      r = subprocess.run(cmd, capture_output=True, text=True)
+      if r.returncode != 0:
+        logging.warning(f"resolvectl failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
+        self.kill()
+        return False
+    logging.info(f"resolvectl: ppp0 DNS = {dns_servers}")
+    return True
+
+  @staticmethod
+  def cleanup_routes():
+    subprocess.run(["sudo", "ip", "route", "del", "default", "dev", "ppp0"], capture_output=True)
+    subprocess.run(["sudo", "ip", "route", "flush", "table", "1000"], capture_output=True)
+    # rules don't have a flush; delete until none remain
+    while subprocess.run(["sudo", "ip", "rule", "del", "table", "1000"], capture_output=True).returncode == 0:
+      pass
+    subprocess.run(["sudo", "resolvectl", "revert", "ppp0"], capture_output=True)
+
+
+class Modem:
+  def __init__(self):
+    self._ppp = PPPSession()
+    self._sim_change = False
+    self._apn = ""  # blank = network-provided via PCO
+    self._roaming_allowed = True
+    self.running = True
+    self.S = INITIAL_STATE.copy()
+
+  @staticmethod
+  def _read_param(key):
+    try:
+      with open(f"/data/params/d/{key}") as f:
+        return f.read().strip()
+    except FileNotFoundError:
+      return ""
+
+  @staticmethod
+  def _parse_reg(v: str) -> str:
+    try:
+      return CREG.get(int(v.split(",")[1].strip('"')), "unknown")
+    except (ValueError, IndexError):
+      return "unknown"
+
+  @staticmethod
+  def _has_modem_manager() -> bool:
+    return os.path.isfile("/lib/systemd/system/ModemManager.service")
+
+  def _is_roaming_allowed(self) -> bool:
+    if self.S["iccid"].startswith(WEBBING_ICCID_PREFIX):
+      return True
+    return self._read_param("GsmRoaming") == "1"
+
+  def _publish_state(self, **kwargs):
+    self.S.update(kwargs)
+    self.S["seconds_since_boot"] = time.monotonic()
+    with tempfile.NamedTemporaryFile(mode="w", dir="/dev/shm", delete=False) as f:
+      json.dump(self.S, f, indent=2)
+    os.chmod(f.name, 0o644)
+    os.replace(f.name, STATE_PATH)
+
+  def _at(self, cmd):
+    """Send AT command, return response lines. [] on error or if LPA holds port."""
+    fd = os.open(AT_LOCK, os.O_CREAT | os.O_RDWR, 0o666)
+    try:
+      fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+    except OSError:
+      os.close(fd)
+      return []
+    try:
+      with serial.Serial(AT_PORT, 9600, timeout=5) as ser:
+        ser.reset_input_buffer()
+        ser.write((cmd + "\r").encode())
+        lines = []
+        while True:
+          raw = ser.readline()
+          if not raw:
+            raise TimeoutError("AT timeout")
+          line = raw.decode(errors="ignore").strip()
+          if not line:
+            continue
+          if line == "OK":
+            break
+          if line == "ERROR" or line.startswith("+CME ERROR"):
+            raise RuntimeError(line)
+          lines.append(line)
+        return lines
+    except (RuntimeError, TimeoutError, OSError) as e:
+      logging.info(f"AT {cmd} failed: {e}")
+      return []
+    finally:
+      fcntl.flock(fd, fcntl.LOCK_UN)
+      os.close(fd)
+
+  def _atv(self, cmd, pfx):
+    for line in self._at(cmd):
+      if pfx in line and ":" in line:
+        return line.split(":", 1)[1].strip()
+    return None
+
+  def _init_at_channel(self) -> bool:
+    """Run AT_INIT and confirm ATE0 took effect. Returns False if echo is still on."""
+    for c in AT_INIT:
+      self._at(c)
+    r = self._at("AT+CGMI")
+    return bool(r) and not r[0].startswith("AT")
+
+  def _configure_modem(self, modem_version: str):
+    if not modem_version.startswith("EG25"):
+      return
+    cmds = [
+      # clear initial EPS bearer APN (some carriers reject the default)
+      'AT+CGDCONT=0,"IP",""',
+
+      # SIM hot swap
+      'AT+QSIMDET=1,0',
+      'AT+QSIMSTAT=1',
+
+      # configure modem as data-centric
+      'AT+QNVW=5280,0,"0102000000000000"',
+      'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
+      'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
+    ]
+    for c in cmds:
+      self._at(c)
+
+  def _do_initializing(self):
+    if not os.path.exists(AT_PORT):
+      return State.INITIALIZING
+    logging.info("port found, initializing")
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+
+    if not self._init_at_channel():
+      logging.warning("AT echo still on, retrying")
+      return State.INITIALIZING
+
+    identity = self._read_identity()
+    if not identity["iccid"] or not identity["imei"]:
+      logging.warning(f"identity read incomplete: {identity}, retrying")
+      return State.INITIALIZING
+
+    self._configure_modem(identity["modem_version"])
+
+    self.S.update(identity)
+    self._apn = self._read_param("GsmApn")
+    self._roaming_allowed = self._is_roaming_allowed()
+    # blank APN lets the carrier supply one via PCO
+    self._at(f'AT+CGDCONT={DIAL_CID},"IP","{self._apn}"')
+    logging.info(f"APN '{self._apn or '(network-provided)'}' written to CID {DIAL_CID}, roaming={'on' if self._roaming_allowed else 'off'}")
+
+    self._sim_change = False  # clear since we just re-read identity with the new SIM
+    self._publish_state(**identity)
+    return State.SEARCHING
+
+  def _read_identity(self):
+    def first_line(cmd):
+      r = self._at(cmd)
+      return r[0].strip() if r else ""
+
+    imei = first_line("AT+CGSN")
+    if not (imei.isdigit() and 14 <= len(imei) <= 17):  # 3GPP TS 23.003
+      imei = ""
+
+    iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
+    if not iccid.isdigit():
+      iccid = ""
+
+    imsi = first_line("AT+CIMI")
+    mcc_mnc = imsi[:6] if imsi.isdigit() and len(imsi) >= 6 else ""
+
+    modem_version = first_line("AT+GMR")
+
+    logging.info(f"imei={imei} iccid={iccid} mcc_mnc={mcc_mnc} ver={modem_version}")
+    return {"imei": imei, "iccid": iccid, "mcc_mnc": mcc_mnc, "modem_version": modem_version}
+
+  def _do_searching(self):
+    new_roaming = self._is_roaming_allowed()
+    if new_roaming != self._roaming_allowed:
+      logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
+      self._roaming_allowed = new_roaming
+
+    v = self._atv("AT+CREG?", "+CREG:")
+    if not v:
+      return self._searching_idle()
+
+    reg = self._parse_reg(v)
+    greg = self._parse_reg(self._atv("AT+CGREG?", "+CGREG:") or "")
+    logging.debug(f"creg={reg} cgreg={greg} roaming_allowed={self._roaming_allowed}")
+
+    if reg == "roaming" and not self._roaming_allowed:
+      self._publish_state(registration=reg)
+      return State.SEARCHING
+
+    if reg in ("home", "roaming") and greg in ("home", "roaming"):
+      self._publish_state(registration=reg)
+      return State.CONNECTING
+
+    if reg != self.S.get("registration"):
+      self._publish_state(registration=reg)
+    return self._searching_idle()
+
+  def _searching_idle(self):
+    if self._sim_change or not os.path.exists(AT_PORT):
+      logging.info(f"-> reconnecting (sim_change={self._sim_change} port={os.path.exists(AT_PORT)})")
+      return State.DISCONNECTING
+    return State.SEARCHING
+
+  def _do_connecting(self):
+    logging.info("starting pppd")
+    self._ppp.reset_fail_counter()
+    self._sim_change = False
+    self._ppp.start()
+    return State.CONNECTED
+
+  def _handle_pppd_exit(self):
+    if self._sim_change or not os.path.exists(AT_PORT):
+      return State.DISCONNECTING
+    give_up = self._ppp.record_fail()
+    if give_up:
+      logging.warning(f"PPP fail {self._ppp.fails}/{self._ppp.MAX_FAILS}, reconnecting")
+      return State.DISCONNECTING
+    logging.warning(f"PPP fail {self._ppp.fails}/{self._ppp.MAX_FAILS}, retrying")
+    self._ppp.reset_data_port()
+    if not os.path.exists(AT_PORT):
+      return State.DISCONNECTING
+    self._ppp.start()
+    return State.CONNECTED
+
+  def _params_changed(self) -> bool:
+    new_apn = self._read_param("GsmApn")
+    if new_apn != self._apn:
+      logging.info(f"GsmApn changed: '{self._apn}' -> '{new_apn}'")
+      return True
+    new_roaming = self._is_roaming_allowed()
+    if new_roaming != self._roaming_allowed:
+      logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
+      return True
+    return False
+
+  def _check_iccid(self, state):
+    if state in (State.INITIALIZING, State.DISCONNECTING) or not self.S["iccid"]:
+      return
+    iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
+    if iccid and iccid != self.S["iccid"]:
+      logging.warning(f"iccid changed: {self.S['iccid']} -> {iccid}")
+      self._sim_change = True
+
+  def _do_connected(self):
+    if self._ppp.has_exited():
+      return self._handle_pppd_exit()
+
+    if self._sim_change or not os.path.exists(AT_PORT) or self._params_changed():
+      return State.DISCONNECTING
+
+    self._poll()
+    return State.CONNECTED
+
+  def _do_disconnecting(self):
+    logging.warning("reconnecting")
+    self._publish_state(**INITIAL_STATE)
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+    self._ppp.reset_data_port()
+    self._sim_change = False
+    return State.INITIALIZING
+
+  def _poll_signal(self) -> dict:
+    v = self._atv("AT+CSQ", "+CSQ:")
+    if not v:
+      return {}
+    try:
+      rssi = int(v.split(",")[0])
+      if rssi == 99:
+        return {}
+      return {"signal_strength": rssi, "signal_quality": min(100, int(rssi / 31 * 100))}
+    except (ValueError, IndexError):
+      return {}
+
+  def _poll_operator(self) -> dict:
+    v = self._atv("AT+COPS?", "+COPS:")
+    if not v:
+      return {}
+    p = v.split(",")
+    out: dict = {}
+    try:
+      if len(p) >= 3:
+        out["operator"] = p[2].strip('"')
+      if len(p) >= 4:
+        out["network_type"] = NETWORK_TYPE.get(int(p[3]), "unknown")
+    except (ValueError, IndexError):
+      pass
+    return out
+
+  def _poll_band(self) -> dict:
+    v = self._atv("AT+QNWINFO", "+QNWINFO:")
+    if not v:
+      return {}
+    info = v.replace('"', '').split(",")
+    try:
+      if len(info) >= 4:
+        return {"band": info[2], "channel": int(info[3])}
+    except ValueError:
+      pass
+    return {}
+
+  def _poll_extra(self) -> dict:
+    v = self._atv('AT+QENG="servingcell"', "+QENG:")
+    return {"extra": v.replace('"', '')} if v else {}
+
+  def _poll_temps(self) -> dict:
+    v = self._atv("AT+QTEMP", "+QTEMP:")
+    if not v:
+      return {}
+    try:
+      return {"temperatures": [t for t in (int(x) for x in v.split(",") if x.strip()) if t != 255]}
+    except (ValueError, IndexError):
+      return {}
+
+  def _poll_iface(self) -> dict:
+    try:
+      r = subprocess.run(["ip", "-4", "addr", "show", "ppp0"], capture_output=True, text=True, timeout=2)
+      ip, peer = "", ""
+      for line in r.stdout.splitlines():
+        # `inet 10.x.x.x peer 10.64.64.64/32 ...`
+        parts = line.strip().split()
+        if "inet" in parts:
+          i = parts.index("inet")
+          ip = parts[i + 1].split("/")[0]
+          if "peer" in parts:
+            peer = parts[parts.index("peer") + 1].split("/")[0]
+          break
+      if ip:
+        if self._ppp.maybe_install_routes(ip, peer):
+          self._ppp.maybe_install_dns(self._read_cellular_dns())
+        return {"ip_address": ip, "connected": True}
+      if self.S["connected"]:
+        return {"connected": False, "ip_address": ""}
+    except Exception:
+      pass
+    return {}
+
+  def _read_cellular_dns(self) -> list[str]:
+    v = self._atv(f"AT+CGCONTRDP={DIAL_CID}", "+CGCONTRDP:")
+    if not v:
+      return []
+    # +CGCONTRDP: <cid>,<bearer_id>,<apn>,<local_addr>,<gw_addr>,<dns_prim>,<dns_sec>,...
+    fields = [f.strip().strip('"') for f in v.split(",")]
+    dns_servers = []
+    for d in fields[5:7]:
+      try:
+        dns_servers.append(str(IPv4Address(d)))
+      except (AddressValueError, ValueError):
+        pass
+    if not dns_servers:
+      logging.warning(f"no cellular DNS servers reported by modem: {v!r}")
+    return dns_servers
+
+  def _poll_byte_counters(self) -> dict:
+    try:
+      with open("/sys/class/net/ppp0/statistics/tx_bytes") as f:
+        tx = int(f.read().strip())
+      with open("/sys/class/net/ppp0/statistics/rx_bytes") as f:
+        rx = int(f.read().strip())
+    except Exception:
+      return {}
+    return {"tx_bytes": tx, "rx_bytes": rx}
+
+  def _poll(self):
+    s: dict = {}
+    for fn in (self._poll_signal, self._poll_operator, self._poll_band,
+               self._poll_extra, self._poll_temps, self._poll_iface,
+               self._poll_byte_counters):
+      s.update(fn())
+    if s:
+      self._publish_state(**s)
+
+  def run(self):
+    logging.info("starting")
+    self._publish_state(state=State.INITIALIZING.value)
+    if self._has_modem_manager():
+      subprocess.run(["sudo", "systemctl", "mask", "--runtime", "ModemManager"], capture_output=True)
+      subprocess.run(["sudo", "systemctl", "stop", "ModemManager"], capture_output=True)
+    self._ppp.kill()
+
+    state = State.INITIALIZING
+
+    handlers = {
+      State.INITIALIZING: self._do_initializing,
+      State.SEARCHING: self._do_searching,
+      State.CONNECTING: self._do_connecting,
+      State.CONNECTED: self._do_connected,
+      State.DISCONNECTING: self._do_disconnecting,
+    }
+
+    while self.running:
+      try:
+        self._check_iccid(state)
+        prev = state
+        state = handlers[state]()
+        if state != prev:
+          self._publish_state(state=state.value)
+          logging.info(f"{prev.value} -> {state.value}")
+      except Exception:
+        logging.exception(f"error in {state.value}")
+        state = State.DISCONNECTING
+      time.sleep(STATE_WAIT)
+
+  def stop(self):
+    self.running = False
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+    try:
+      os.remove(STATE_PATH)
+    except FileNotFoundError:
+      pass
+    if self._has_modem_manager():
+      subprocess.run(["sudo", "systemctl", "unmask", "--runtime", "ModemManager"], capture_output=True)
+      subprocess.run(["sudo", "systemctl", "start", "ModemManager"], capture_output=True)
+
+
+def main():
+  m = Modem()
+
+  def _sig(*_):
+    m.running = False
+
+  signal.signal(signal.SIGINT, _sig)
+  signal.signal(signal.SIGTERM, _sig)
+  m.run()
+  m.stop()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh
deleted file mode 100755
index 741dc72050..0000000000
--- a/system/hardware/tici/restart_modem.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env bash
-
-#nmcli connection modify --temporary lte gsm.home-only yes
-#nmcli connection modify --temporary lte gsm.auto-config yes
-#nmcli connection modify --temporary lte connection.autoconnect-retries 20
-sudo nmcli connection reload
-
-sudo systemctl stop ModemManager
-nmcli con down lte
-nmcli con down blue-prime
-
-# power cycle modem
-/usr/comma/lte/lte.sh stop_blocking
-/usr/comma/lte/lte.sh start
-
-sudo systemctl restart NetworkManager
-#sudo systemctl restart ModemManager
-sudo ModemManager --debug
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index c4401c9583..6656addf73 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -42,7 +42,7 @@ PROCS = [
 class TestPowerDraw:
 
   def setup_method(self):
-    Params().put("CarParams", get_demo_car_params().to_bytes())
+    Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)
 
     # wait a bit for power save to disable
     time.sleep(5)
diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater
index 69ce323a10..44b82d0c54 100755
--- a/system/hardware/tici/updater
+++ b/system/hardware/tici/updater
@@ -1,17 +1,3 @@
-#!/usr/bin/env bash
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-AGNOS_PY=$1
-MANIFEST=$2
-
-if [[ ! -f "$AGNOS_PY" || ! -f "$MANIFEST" ]]; then
-  echo "invalid args"
-  exit 1
-fi
-
-if systemctl is-active --quiet weston-ready; then
-  $DIR/updater_weston $AGNOS_PY $MANIFEST
-else
-  $DIR/updater_magic $AGNOS_PY $MANIFEST
-fi
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
+size 24709205
diff --git a/system/hardware/tici/updater_magic b/system/hardware/tici/updater_magic
deleted file mode 100755
index 44b82d0c54..0000000000
--- a/system/hardware/tici/updater_magic
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
-size 24709205
diff --git a/system/hardware/tici/updater_weston b/system/hardware/tici/updater_weston
deleted file mode 100755
index 23cdc140f4..0000000000
--- a/system/hardware/tici/updater_weston
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eba5f44e6a763e1f74d1c718993218adcc72cba4caafe99b595fa701151a4c54
-size 10448792
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index 45e8b25d20..a638704dca 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -5,18 +5,17 @@ libs = [common, messaging, visionipc,
         'pthread', 'z', 'm', 'zstd']
 frameworks = []
 
-src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
-if arch != "larch64":
+src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/jpeg_encoder.cc']
+if arch == "larch64":
+  src += ['encoder/v4l_encoder.cc']
+else:
   src += ['encoder/ffmpeg_encoder.cc']
   libs += ['yuv']
   if arch == "Darwin":
     frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo']
-  else:
-    libs += ['va', 'va-drm', 'drm']
 
-if arch == "Darwin":
-  # exclude v4l
-  del src[src.index('encoder/v4l_encoder.cc')]
+if arch != "Darwin":
+  libs += ['va', 'va-drm', 'drm']
 
 logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 57146fafc3..0a136f769c 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -2,7 +2,7 @@
 
 // has to be in this order
 #ifdef __linux__
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 #else
 #define V4L2_BUF_FLAG_KEYFRAME 8
@@ -26,6 +26,7 @@ public:
   virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
   virtual void encoder_open() = 0;
   virtual void encoder_close() = 0;
+  virtual void set_bitrate(int bitrate) = 0;
 
   void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index 275a2e481e..f6399659b4 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -72,6 +72,10 @@ void FfmpegEncoder::encoder_close() {
   is_open = false;
 }
 
+void FfmpegEncoder::set_bitrate(int bitrate) {
+  LOGE("adaptive bitrate is not supported for ffmpeg encoder %s", encoder_info.publish_name);
+}
+
 int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
   assert(buf->width == this->in_width);
   assert(buf->height == this->in_height);
diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h
index cd5ac1e13a..a85e1d3816 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.h
+++ b/system/loggerd/encoder/ffmpeg_encoder.h
@@ -21,6 +21,7 @@ public:
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open();
   void encoder_close();
+  void set_bitrate(int bitrate);
 
 private:
   int segment_num = -1;
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index cabd9fd997..96a565f4ae 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -7,10 +7,10 @@
 #include "common/util.h"
 #include "common/timing.h"
 
-#include "third_party/linux/include/msm_media_info.h"
+#include <media/msm_media_info.h>
 
 // has to be in this order
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 #define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000
 #define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
@@ -155,6 +155,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
 
   EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
+  current_bitrate = encoder_settings.bitrate;
+  adaptive_bitrate = encoder_info.adaptive_bitrate;
   bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
 
   struct v4l2_format fmt_out = {
@@ -304,6 +306,25 @@ void V4LEncoder::encoder_close() {
   this->is_open = false;
 }
 
+void V4LEncoder::set_bitrate(int bitrate) {
+  if (!adaptive_bitrate || bitrate == current_bitrate) return;
+  if (bitrate <= 0) {
+    LOGE("invalid livestream encoder bitrate %d", bitrate);
+    return;
+  }
+
+  struct v4l2_control ctrl = {
+    .id = V4L2_CID_MPEG_VIDEO_BITRATE,
+    .value = bitrate,
+  };
+
+  if (util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl) == -1) {
+    LOGE("failed to update %s bitrate to %d", encoder_info.publish_name, bitrate);
+    return;
+  }
+  current_bitrate = bitrate;
+}
+
 V4LEncoder::~V4LEncoder() {
   encoder_close();
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h
index 58011d60e1..2985409605 100644
--- a/system/loggerd/encoder/v4l_encoder.h
+++ b/system/loggerd/encoder/v4l_encoder.h
@@ -13,6 +13,7 @@ public:
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open();
   void encoder_close();
+  void set_bitrate(int bitrate);
 
 private:
   int fd;
@@ -20,6 +21,8 @@ private:
   bool is_open = false;
   int segment_num = -1;
   int counter = 0;
+  int current_bitrate = -1;
+  bool adaptive_bitrate;
 
   SafeQueue<VisionIpcBufExtra> extras;
 
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 9d4b81a3f9..546990041a 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -44,11 +44,24 @@ bool sync_encoders(EncoderdState *s, VisionStreamType cam_type, uint32_t frame_i
   }
 }
 
+void apply_bitrate(std::vector<std::unique_ptr<Encoder>> &encoders) {
+  static Params params;
+  std::string val = params.get("LivestreamEncoderBitrate");
+  if (val.empty()) return;
+  int bitrate = std::stoi(val);
+  for (auto &e : encoders) {
+    e->set_bitrate(bitrate);
+  }
+}
 
 void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
   util::set_thread_name(cam_info.thread_name);
 
   std::vector<std::unique_ptr<Encoder>> encoders;
+
+  bool has_adaptive = std::any_of(cam_info.encoder_infos.begin(), cam_info.encoder_infos.end(),
+                                  [](const auto &ei) { return ei.adaptive_bitrate; });
+
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
   std::unique_ptr<JpegEncoder> jpeg_encoder;
@@ -108,6 +121,8 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
         ++cur_seg;
       }
 
+      if (has_adaptive) apply_bitrate(encoders);
+
       // encode a frame
       for (int i = 0; i < encoders.size(); ++i) {
         int out_id = encoders[i]->encode_frame(buf, &extra);
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 6aa0c8be40..340e72e6fd 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -47,8 +47,8 @@ struct EncoderSettings {
   }
 
   static EncoderSettings StreamEncoderSettings() {
-    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 1'000'000;
-    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 15};
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 5'000'000;
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 5};
   }
 };
 
@@ -59,6 +59,7 @@ public:
   const char *filename = NULL;
   bool record = true;
   bool include_audio = false;
+  bool adaptive_bitrate = false;
   int frame_width = -1;
   int frame_height = -1;
   int fps = MAIN_FPS;
@@ -104,6 +105,7 @@ const EncoderInfo stream_road_encoder_info = {
   .publish_name = "livestreamRoadEncodeData",
   //.thumbnail_name = "thumbnail",
   .record = false,
+  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
 };
@@ -111,6 +113,7 @@ const EncoderInfo stream_road_encoder_info = {
 const EncoderInfo stream_wide_road_encoder_info = {
   .publish_name = "livestreamWideRoadEncodeData",
   .record = false,
+  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
@@ -118,6 +121,7 @@ const EncoderInfo stream_wide_road_encoder_info = {
 const EncoderInfo stream_driver_encoder_info = {
   .publish_name = "livestreamDriverEncodeData",
   .record = false,
+  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
 };
@@ -153,19 +157,19 @@ const LogCameraInfo driver_camera_info{
 const LogCameraInfo stream_road_camera_info{
   .thread_name = "road_cam_encoder",
   .stream_type = VISION_STREAM_ROAD,
-  .encoder_infos = {stream_road_encoder_info}
+  .encoder_infos = {stream_road_encoder_info},
 };
 
 const LogCameraInfo stream_wide_road_camera_info{
   .thread_name = "wide_road_cam_encoder",
   .stream_type = VISION_STREAM_WIDE_ROAD,
-  .encoder_infos = {stream_wide_road_encoder_info}
+  .encoder_infos = {stream_wide_road_encoder_info},
 };
 
 const LogCameraInfo stream_driver_camera_info{
   .thread_name = "driver_cam_encoder",
   .stream_type = VISION_STREAM_DRIVER,
-  .encoder_infos = {stream_driver_encoder_info}
+  .encoder_infos = {stream_driver_encoder_info},
 };
 
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 8bf609ae8d..fd071486df 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -76,8 +76,8 @@ class UploaderTestCase:
     self.seg_dir = self.seg_format.format(self.seg_num)
 
     self.params = Params()
-    self.params.put("IsOffroad", True)
-    self.params.put("DongleId", "0000000000000000")
+    self.params.put("IsOffroad", True, block=True)
+    self.params.put("DongleId", "0000000000000000", block=True)
 
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
                           upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index a9de0690aa..2b74fe2276 100644
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -53,7 +53,7 @@ class TestEncoder:
   # TODO: this should run faster than real time
   @parameterized.expand([(True, ), (False, )])
   def test_log_rotation(self, record_front):
-    Params().put_bool("RecordFront", record_front)
+    Params().put_bool("RecordFront", record_front, block=True)
 
     managed_processes['sensord'].start()
     managed_processes['loggerd'].start()
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 9703ac2f5f..9fd1b2d434 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -82,7 +82,7 @@ class TestLoggerd:
       assert pm.wait_for_readers_to_update(s, timeout=5)
 
     sent_msgs = defaultdict(list)
-    for _ in range(random.randint(2, 10) * 100):
+    for i in range(random.randint(2, 10) * 100):
       for s in services:
         try:
           m = messaging.new_message(s)
@@ -91,6 +91,12 @@ class TestLoggerd:
         pm.send(s, m)
         sent_msgs[s].append(m)
 
+      # Keep msgq's finite per-service queues from wrapping; this test asserts
+      # that loggerd logged every message we sent.
+      if (i + 1) % 100 == 0:
+        for s in services:
+          assert pm.wait_for_readers_to_update(s, timeout=5)
+
     for s in services:
       assert pm.wait_for_readers_to_update(s, timeout=5)
     managed_processes["loggerd"].stop()
@@ -161,8 +167,8 @@ class TestLoggerd:
     ]
     params = Params()
     for k, _, v in fake_params:
-      params.put(k, v)
-    params.put("AccessToken", "abc")
+      params.put(k, v, block=True)
+    params.put("AccessToken", "abc", block=True)
 
     lr = list(LogReader(str(self._gen_bootlog())))
     initData = lr[0].initData
@@ -188,7 +194,7 @@ class TestLoggerd:
 
   @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
   def test_rotation(self):
-    Params().put("RecordFront", True)
+    Params().put("RecordFront", True, block=True)
 
     expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
 
@@ -309,7 +315,7 @@ class TestLoggerd:
   @pytest.mark.parametrize("record_front", [True, False])
   def test_record_front(self, record_front):
     params = Params()
-    params.put_bool("RecordFront", record_front)
+    params.put_bool("RecordFront", record_front, block=True)
 
     self._publish_camera_and_audio_messages()
 
@@ -320,7 +326,7 @@ class TestLoggerd:
   @pytest.mark.parametrize("record_audio", [True, False])
   def test_record_audio(self, record_audio):
     params = Params()
-    params.put_bool("RecordAudio", record_audio)
+    params.put_bool("RecordAudio", record_audio, block=True)
 
     self._publish_camera_and_audio_messages()
 
diff --git a/system/manager/build.py b/system/manager/build.py
index d79e7fd2ad..470cfccdaa 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -1,73 +1,58 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-from pathlib import Path
 
 # NOTE: Do NOT import anything here that needs be built (e.g. params)
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.spinner import Spinner
 from openpilot.common.text_window import TextWindow
-from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.hardware import HARDWARE, AGNOS
-from openpilot.system.version import get_build_metadata
 
-MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
-CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
-
-TOTAL_SCONS_NODES = 2705
-MAX_BUILD_PROGRESS = 100
-
-def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
-  env = os.environ.copy()
-  env['SCONS_PROGRESS'] = "1"
-  nproc = os.cpu_count()
-  if nproc is None:
-    nproc = 2
-
-  extra_args = ["--minimal"] if minimal else []
+def build() -> None:
+  spinner = Spinner()
+  spinner.update_progress(0, 100)
 
+  HARDWARE.set_power_save(False)
   if AGNOS:
-    HARDWARE.set_power_save(False)
     os.sched_setaffinity(0, range(8))  # ensure we can use the isolcpus cores
 
-  # building with all cores can result in using too
-  # much memory, so retry with less parallelism
+  # building with all cores can result in using too much memory, so retry serially
   compile_output: list[bytes] = []
-  for n in (nproc, nproc/2, 1):
+  for parallelism in ([], ["-j4"], ["-j1"]):
     compile_output.clear()
-    scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
-    assert scons.stderr is not None
+    with subprocess.Popen(["scons", *parallelism], cwd=BASEDIR, env={**os.environ, "PWD": BASEDIR}, stderr=subprocess.PIPE) as scons:
+      assert scons.stderr is not None
 
-    # Read progress from stderr and update spinner
-    while scons.poll() is None:
-      try:
-        line = scons.stderr.readline()
-        if line is None:
-          continue
+      # Read progress from stderr and update spinner
+      while scons.poll() is None:
+        try:
+          line = scons.stderr.readline()
+          if line is None:
+            continue
+          line = line.rstrip()
+
+          prefix = b'progress: '
+          if line.startswith(prefix):
+            progress = float(line[len(prefix):])
+            spinner.update_progress(100 * min(1., progress / 100.), 100.)
+          elif len(line):
+            compile_output.append(line)
+            print(line.decode('utf8', 'replace'))
+        except Exception:
+          pass
+
+      # Drain and close the pipe before retrying or returning.
+      for line in scons.stderr.read().split(b'\n'):
         line = line.rstrip()
-
-        prefix = b'progress: '
-        if line.startswith(prefix):
-          i = int(line[len(prefix):])
-          spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
-        elif len(line):
+        if len(line):
           compile_output.append(line)
-          print(line.decode('utf8', 'replace'))
-      except Exception:
-        pass
 
     if scons.returncode == 0:
       break
 
   if scons.returncode != 0:
-    # Read remaining output
-    if scons.stderr is not None:
-      compile_output += scons.stderr.read().split(b'\n')
-
     # Build failed log errors
     error_s = b"\n".join(compile_output).decode('utf8', 'replace')
-    add_file_handler(cloudlog)
-    cloudlog.error("scons build failed\n" + error_s)
 
     # Show TextWindow
     spinner.close()
@@ -76,19 +61,5 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
         t.wait_for_exit()
     exit(1)
 
-  # enforce max cache size
-  cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()]
-  cache_files.sort(key=lambda f: f.stat().st_mtime)
-  cache_size = sum(f.stat().st_size for f in cache_files)
-  for f in cache_files:
-    if cache_size < MAX_CACHE_SIZE:
-      break
-    cache_size -= f.stat().st_size
-    f.unlink()
-
-
 if __name__ == "__main__":
-  spinner = Spinner()
-  spinner.update_progress(0, 100)
-  build_metadata = get_build_metadata()
-  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
+  build()
diff --git a/system/manager/helpers.py b/system/manager/helpers.py
index 047d0ac2d6..6af4a799e4 100644
--- a/system/manager/helpers.py
+++ b/system/manager/helpers.py
@@ -46,8 +46,8 @@ def unblock_stdout() -> None:
 
 
 def write_onroad_params(started, params):
-  params.put_bool("IsOnroad", started)
-  params.put_bool("IsOffroad", not started)
+  params.put_bool("IsOnroad", started, block=True)
+  params.put_bool("IsOffroad", not started, block=True)
 
 
 def save_bootlog():
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 15a09d0a37..0eb55c2727 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -40,7 +40,7 @@ def manager_init() -> None:
 
   # device boot mode
   if params.get("DeviceBootMode") == 1:  # start in Always Offroad mode
-    params.put_bool("OffroadMode", True)
+    params.put_bool("OffroadMode", True, block=True)
 
   # quick boot
   if params.get_bool("QuickBootToggle") and not PC:
@@ -49,7 +49,7 @@ def manager_init() -> None:
       open(prebuilt_path, 'x').close()
 
   if params.get_bool("RecordFrontLock"):
-    params.put_bool("RecordFront", True)
+    params.put_bool("RecordFront", True, block=True)
 
   if not PC:
     run_migration(params)
@@ -58,7 +58,7 @@ def manager_init() -> None:
   for k in params.all_keys():
     default_value = params.get_default_value(k)
     if default_value is not None and params.get(k) is None:
-      params.put(k, default_value)
+      params.put(k, default_value, block=True)
 
   # Create folders needed for msgq
   try:
@@ -70,16 +70,16 @@ def manager_init() -> None:
 
   # set params
   serial = HARDWARE.get_serial()
-  params.put("Version", build_metadata.openpilot.version)
-  params.put("GitCommit", build_metadata.openpilot.git_commit)
-  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
-  params.put("GitBranch", build_metadata.channel)
-  params.put("GitRemote", build_metadata.openpilot.git_origin)
-  params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
-  params.put_bool("IsTestedBranch", build_metadata.tested_channel)
-  params.put_bool("IsReleaseBranch", build_metadata.release_channel)
-  params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel)
-  params.put("HardwareSerial", serial)
+  params.put("Version", build_metadata.openpilot.version, block=True)
+  params.put("GitCommit", build_metadata.openpilot.git_commit, block=True)
+  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date, block=True)
+  params.put("GitBranch", build_metadata.channel, block=True)
+  params.put("GitRemote", build_metadata.openpilot.git_origin, block=True)
+  params.put_bool("IsDevelopmentBranch", build_metadata.development_channel, block=True)
+  params.put_bool("IsTestedBranch", build_metadata.tested_channel, block=True)
+  params.put_bool("IsReleaseBranch", build_metadata.release_channel, block=True)
+  params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel, block=True)
+  params.put("HardwareSerial", serial, block=True)
 
   # set dongle id
   reg_res = register(show_spinner=True)
@@ -191,7 +191,7 @@ def manager_thread() -> None:
     for param in ("DoUninstall", "DoShutdown", "DoReboot"):
       if params.get_bool(param):
         shutdown = True
-        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
+        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}", block=True)
         cloudlog.warning(f"Shutting down manager - {param} set")
 
     if shutdown:
diff --git a/system/manager/process.py b/system/manager/process.py
index 36e1ba77b2..cdb316e1a1 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -190,12 +190,8 @@ class PythonProcess(ManagerProcess):
     if self.proc is not None:
       return
 
-    # TODO: this is just a workaround for this tinygrad check:
-    # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
-    name = self.name if "modeld" not in self.name else "MainProcess"
-
     cloudlog.info(f"starting python {self.module}")
-    self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name))
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
     self.proc.start()
     self.shutting_down = False
 
@@ -240,7 +236,7 @@ class DaemonProcess(ManagerProcess):
                                stderr=open('/dev/null', 'w'),
                                preexec_fn=os.setpgrp)
 
-    self.params.put(self.param_name, proc.pid)
+    self.params.put(self.param_name, proc.pid, block=True)
 
   def stop(self, retry=True, block=True, sig=None) -> None:
     pass
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index a9ecf302f2..2b8def95b5 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -34,7 +34,7 @@ def ublox_available() -> bool:
 def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
   use_ublox = ublox_available()
   if use_ublox != params.get_bool("UbloxAvailable"):
-    params.put_bool("UbloxAvailable", use_ublox)
+    params.put_bool("UbloxAvailable", use_ublox, block=True)
   return started and use_ublox
 
 def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
@@ -148,6 +148,7 @@ procs = [
   PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
+  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", uploader_ready),
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 47d64ff4e9..7e0d304872 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -1,15 +1,13 @@
 #!/usr/bin/env python3
+import fcntl
 import os
 import sys
 import signal
 import itertools
 import math
 import time
-import requests
-import shutil
 from serial import Serial
 import datetime
-from multiprocessing import Process, Event
 from typing import NoReturn
 from struct import unpack_from, calcsize, pack
 
@@ -30,9 +28,6 @@ from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, r
                                               LOG_GNSS_OEMDRE_SVPOLY_REPORT)
 
 DEBUG = int(os.getenv("DEBUG", "0"))==1
-ASSIST_DATA_FILE = '/tmp/xtra3grc.bin'
-ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download'
-ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin'
 
 LOG_TYPES = [
   LOG_GNSS_GPS_MEASUREMENT_REPORT,
@@ -91,70 +86,32 @@ def try_setup_logs(diag, logs):
   return setup_logs(diag, logs)
 
 AT_PORT = "/dev/modem_at0"
+AT_LOCK = "/dev/shm/modem.lock"  # shared with modem.py and LPA
 
 @retry(attempts=5, delay=1.0)
 def at_cmd(cmd: str) -> str:
-  with Serial(AT_PORT, baudrate=115200, timeout=5) as ser:
-    ser.reset_input_buffer()
-    ser.write(f"{cmd}\r".encode())
-    lines = []
-    while True:
-      line = ser.readline()
-      if not line:
-        raise RuntimeError(f"AT command timeout: {cmd}")
-      line = line.decode('utf-8', errors='replace').strip()
-      if line in ("OK", "ERROR") or line.startswith("+CME ERROR"):
-        break
-      if line and line != cmd:
-        lines.append(line)
-  return '\n'.join(lines)
+  with os.fdopen(os.open(AT_LOCK, os.O_CREAT | os.O_RDWR, 0o666), "r+") as lock:
+    fcntl.flock(lock.fileno(), fcntl.LOCK_EX)
+    with Serial(AT_PORT, baudrate=115200, timeout=5) as ser:
+      ser.reset_input_buffer()
+      ser.write(f"{cmd}\r".encode())
+      lines = []
+      while True:
+        line = ser.readline()
+        if not line:
+          raise RuntimeError(f"AT command timeout: {cmd}")
+        line = line.decode('utf-8', errors='replace').strip()
+        if line in ("OK", "ERROR") or line.startswith("+CME ERROR"):
+          break
+        if line and line != cmd:
+          lines.append(line)
+    return '\n'.join(lines)
 
 def gps_enabled() -> bool:
   return "QGPS: 1" in at_cmd("AT+QGPS?")
 
-def download_assistance():
-  try:
-    response = requests.get(ASSISTANCE_URL, timeout=5, stream=True)
-
-    with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp:
-      for chunk in response.iter_content(chunk_size=8192):
-        fp.write(chunk)
-        if fp.tell() > 1e5:
-          cloudlog.error("Qcom assistance data larger than expected")
-          return
-
-    os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE)
-
-  except requests.exceptions.RequestException:
-    cloudlog.exception("Failed to download assistance file")
-    return
-
-def downloader_loop(event):
-  if os.path.exists(ASSIST_DATA_FILE):
-    os.remove(ASSIST_DATA_FILE)
-
-  alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None)
-  if alt_path is not None and os.path.exists(alt_path):
-    shutil.copyfile(alt_path, ASSIST_DATA_FILE)
-
-  try:
-    while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set():
-      download_assistance()
-      event.wait(timeout=10)
-  except KeyboardInterrupt:
-    pass
-
-@retry(attempts=5, delay=0.2, ignore_failure=True)
-def inject_assistance():
-  import subprocess
-  cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
-  subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
-  cloudlog.info("successfully loaded assistance data")
-
 @retry(attempts=5, delay=1.0)
-def setup_quectel(diag: ModemDiag) -> bool:
-  ret = False
-
+def setup_quectel(diag: ModemDiag):
   # enable OEMDRE in the NV
   # TODO: it has to reboot for this to take effect
   DIAG_NV_READ_F = 38
@@ -168,26 +125,11 @@ def setup_quectel(diag: ModemDiag) -> bool:
   if gps_enabled():
     at_cmd("AT+QGPSEND")
 
-  if "GPS_COLD_START" in os.environ:
-    # deletes all assistance
-    at_cmd("AT+QGPSDEL=0")
-  else:
-    # allow module to perform hot start
-    at_cmd("AT+QGPSDEL=1")
-
   # disable DPO power savings for more accuracy
   at_cmd("AT+QGPSCFG=\"dpoenable\",0")
   # don't automatically turn on GNSS on powerup
   at_cmd("AT+QGPSCFG=\"autogps\",0")
 
-  # Do internet assistance
-  at_cmd("AT+QGPSXTRA=1")
-  at_cmd("AT+QGPSSUPLURL=\"NULL\"")
-  if os.path.exists(ASSIST_DATA_FILE):
-    ret = True
-    inject_assistance()
-    os.remove(ASSIST_DATA_FILE)
-  #at_cmd("AT+QGPSXTRADATA?")
   if system_time_valid():
     time_str = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).strftime("%Y/%m/%d,%H:%M:%S")
     at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
@@ -214,7 +156,6 @@ def setup_quectel(diag: ModemDiag) -> bool:
     0,0
   ))
 
-  return ret
 
 def teardown_quectel(diag):
   at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
@@ -255,9 +196,6 @@ def main() -> NoReturn:
 
   wait_for_modem()
 
-  stop_download_event = Event()
-  assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,))
-  assist_fetch_proc.start()
   def cleanup(sig, frame):
     cloudlog.warning("caught sig disabling quectel gps")
 
@@ -268,18 +206,13 @@ def main() -> NoReturn:
     except NameError:
       cloudlog.warning('quectel not yet setup')
 
-    stop_download_event.set()
-    assist_fetch_proc.kill()
-    assist_fetch_proc.join()
-
     sys.exit(0)
   signal.signal(signal.SIGINT, cleanup)
   signal.signal(signal.SIGTERM, cleanup)
 
   # connect to modem
   diag = ModemDiag()
-  r = setup_quectel(diag)
-  want_assistance = not r
+  setup_quectel(diag)
   cloudlog.warning("quectel setup done")
   gpio_init(GPIO.GNSS_PWR_EN, True)
   gpio_set(GPIO.GNSS_PWR_EN, True)
@@ -287,10 +220,6 @@ def main() -> NoReturn:
   pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])
 
   while 1:
-    if os.path.exists(ASSIST_DATA_FILE) and want_assistance:
-      setup_quectel(diag)
-      want_assistance = False
-
     opcode, payload = diag.recv()
     if opcode != DIAG_LOG_F:
       cloudlog.error(f"Unhandled opcode: {opcode}")
@@ -383,9 +312,6 @@ def main() -> NoReturn:
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
       # quectel gps verticalAccuracy is clipped to 500, set invalid if so
       gps.hasFix = gps.verticalAccuracy != 500
-      if gps.hasFix:
-        want_assistance = False
-        stop_download_event.set()
       pm.send('gpsLocation', msg)
 
     elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT:
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
deleted file mode 100644
index 75e8707591..0000000000
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ /dev/null
@@ -1,119 +0,0 @@
-import os
-import pytest
-import time
-import datetime
-
-import cereal.messaging as messaging
-from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
-from openpilot.system.manager.process_config import managed_processes
-
-GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
-
-
-@pytest.mark.tici
-class TestRawgpsd:
-  @classmethod
-  def setup_class(cls):
-    os.environ['GPS_COLD_START'] = '1'
-    os.system("sudo systemctl start systemd-resolved")
-    os.system("sudo systemctl restart ModemManager lte")
-    wait_for_modem()
-
-  @classmethod
-  def teardown_class(cls):
-    managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart systemd-resolved")
-    os.system("sudo systemctl restart ModemManager lte")
-
-  def setup_method(self):
-    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
-
-  def teardown_method(self):
-    managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart systemd-resolved")
-
-  def _wait_for_output(self, t):
-    dt = 0.1
-    for _ in range(t*int(1/dt)):
-      self.sm.update(0)
-      if self.sm.updated['qcomGnss']:
-        break
-      time.sleep(dt)
-    return self.sm.updated['qcomGnss']
-
-  def test_no_crash_double_command(self):
-    wait_for_modem()
-    at_cmd("AT+QGPSDEL=0")
-    at_cmd("AT+QGPSDEL=0")
-
-  def test_wait_for_modem(self):
-    os.system("sudo systemctl stop ModemManager")
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(30)
-
-  def test_startup_time(self, subtests):
-    for internet in (True, False):
-      if not internet:
-        os.system("sudo systemctl stop systemd-resolved")
-      with subtests.test(internet=internet):
-        managed_processes['qcomgpsd'].start()
-        assert self._wait_for_output(30)
-        managed_processes['qcomgpsd'].stop()
-
-  def test_turns_off_gnss(self, subtests):
-    for s in (0.1, 1, 5):
-      with subtests.test(runtime=s):
-        managed_processes['qcomgpsd'].start()
-        time.sleep(s)
-        managed_processes['qcomgpsd'].stop()
-
-        wait_for_modem()
-        resp = at_cmd("AT+QGPS?")
-        assert "+QGPS: 0" in resp
-
-
-  def check_assistance(self, should_be_loaded):
-    # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"'
-    # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"'
-    wait_for_modem()
-    out = at_cmd("AT+QGPSXTRADATA?")
-    out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip()
-    valid_duration, injected_time_str = out.split(",", 1)
-    if should_be_loaded:
-      assert valid_duration == "10080"  # should be max time
-      injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
-      assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12
-    else:
-      valid_duration, injected_time_str = out.split(",", 1)
-      injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
-      assert injected_time_str[:] == '1980/01/05,19:00:00'[:]
-      assert valid_duration == '0'
-
-  @pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
-  def test_assistance_loading(self):
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(30)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(True)
-
-  @pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
-  def test_no_assistance_loading(self):
-    os.system("sudo systemctl stop systemd-resolved")
-
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(30)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(False)
-
-  @pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
-  def test_late_assistance_loading(self):
-    os.system("sudo systemctl stop systemd-resolved")
-
-    managed_processes['qcomgpsd'].start()
-    self._wait_for_output(17)
-    assert self.sm.updated['qcomGnss']
-
-    os.system("sudo systemctl restart systemd-resolved")
-    time.sleep(15)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(True)
diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py
index 62908c6f18..ce6fb9ccb2 100755
--- a/system/sensord/sensord.py
+++ b/system/sensord/sensord.py
@@ -11,19 +11,21 @@ from openpilot.common.utils import sudo_write
 from openpilot.common.realtime import config_realtime_process, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data
-from openpilot.system.hardware import HARDWARE
 
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel
 from openpilot.system.sensord.sensors.lsm6ds3_gyro import LSM6DS3_Gyro
 from openpilot.system.sensord.sensors.lsm6ds3_temp import LSM6DS3_Temp
-from openpilot.system.sensord.sensors.mmc5603nj_magn import MMC5603NJ_Magn
 
 I2C_BUS_IMU = 1
 
 def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None:
   pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt])
 
+  # NOTE: the gyro and accelerometer share an IRQ due to the comma three
+  # routing only one GPIO from the LSM to the SOC, but comma 3X and four
+  # have two. if we want better timestamps in the future, we can use both.
+
   # Requesting both edges as the data ready pulse from the lsm6ds sensor is
   # very short (75us) and is mostly detected as falling edge instead of rising.
   # So if it is detected as rising the following falling edge is skipped.
@@ -97,10 +99,6 @@ def main() -> None:
     (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
     (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
   ]
-  if HARDWARE.get_device_type() == "tizi":
-    sensors_cfg.append(
-      (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
-    )
 
   # Reset sensors
   for sensor, _, _ in sensors_cfg:
diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/system/sensord/sensors/lsm6ds3_accel.py
index 43863daa93..761ae828bb 100644
--- a/system/sensord/sensors/lsm6ds3_accel.py
+++ b/system/sensord/sensors/lsm6ds3_accel.py
@@ -77,13 +77,9 @@ class LSM6DS3_Accel(Sensor):
 
     event = log.SensorEventData.new_message()
     event.timestamp = ts
-    event.version = 1
-    event.sensor = 1  # SENSOR_ACCELEROMETER
-    event.type = 1    # SENSOR_TYPE_ACCELEROMETER
     event.source = self.source
     a = event.init('acceleration')
     a.v = [y, -x, z]
-    a.status = 1
     return event
 
   def shutdown(self) -> None:
diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/system/sensord/sensors/lsm6ds3_gyro.py
index 60de2bbe02..654cff9da8 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.py
+++ b/system/sensord/sensors/lsm6ds3_gyro.py
@@ -73,13 +73,9 @@ class LSM6DS3_Gyro(Sensor):
 
     event = log.SensorEventData.new_message()
     event.timestamp = ts
-    event.version = 2
-    event.sensor = 5  # SENSOR_GYRO_UNCALIBRATED
-    event.type = 16   # SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
     event.source = self.source
     g = event.init('gyroUncalibrated')
     g.v = xyz
-    g.status = 1
     return event
 
   def shutdown(self) -> None:
diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/system/sensord/sensors/lsm6ds3_temp.py
index b9bb9fe3da..ffe970c22c 100644
--- a/system/sensord/sensors/lsm6ds3_temp.py
+++ b/system/sensord/sensors/lsm6ds3_temp.py
@@ -23,7 +23,6 @@ class LSM6DS3_Temp(Sensor):
 
   def get_event(self, ts: int | None = None) -> log.SensorEventData:
     event = log.SensorEventData.new_message()
-    event.version = 1
     event.timestamp = int(time.monotonic() * 1e9)
     event.source = self.source
     event.temperature = self._read_temperature()
diff --git a/system/sensord/sensors/mmc5603nj_magn.py b/system/sensord/sensors/mmc5603nj_magn.py
deleted file mode 100644
index 255e99eb3e..0000000000
--- a/system/sensord/sensors/mmc5603nj_magn.py
+++ /dev/null
@@ -1,76 +0,0 @@
-import time
-
-from cereal import log
-from openpilot.system.sensord.sensors.i2c_sensor import Sensor
-
-# https://www.mouser.com/datasheet/2/821/Memsic_09102019_Datasheet_Rev.B-1635324.pdf
-
-# Register addresses
-REG_ODR = 0x1A
-REG_INTERNAL_0 = 0x1B
-REG_INTERNAL_1 = 0x1C
-
-# Control register settings
-CMM_FREQ_EN = (1 << 7)
-AUTO_SR_EN  = (1 << 5)
-SET         = (1 << 3)
-RESET       = (1 << 4)
-
-class MMC5603NJ_Magn(Sensor):
-  @property
-  def device_address(self) -> int:
-    return 0x30
-
-  def init(self):
-    self.verify_chip_id(0x39, [0x10, ])
-    self.writes((
-      (REG_ODR, 0),
-
-      # Set BW to 0b01 for 1-150 Hz operation
-      (REG_INTERNAL_1, 0b01),
-    ))
-
-  def _read_data(self, cycle) -> list[float]:
-    # start measurement
-    self.write(REG_INTERNAL_0, cycle)
-    self.wait()
-
-    # read out XYZ
-    scale = 1.0 / 16384.0
-    b = self.read(0x00, 9)
-    return [
-      (self.parse_20bit(b[6], b[1], b[0]) * scale) - 32.0,
-      (self.parse_20bit(b[7], b[3], b[2]) * scale) - 32.0,
-      (self.parse_20bit(b[8], b[5], b[4]) * scale) - 32.0,
-    ]
-
-  def get_event(self, ts: int | None = None) -> log.SensorEventData:
-    ts = time.monotonic_ns()
-
-    # SET - RESET cycle
-    xyz = self._read_data(SET)
-    reset_xyz = self._read_data(RESET)
-    vals = [*xyz, *reset_xyz]
-
-    event = log.SensorEventData.new_message()
-    event.timestamp = ts
-    event.version = 1
-    event.sensor = 3 # SENSOR_MAGNETOMETER_UNCALIBRATED
-    event.type = 14  # SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
-    event.source = log.SensorEventData.SensorSource.mmc5603nj
-
-    m = event.init('magneticUncalibrated')
-    m.v = vals
-    m.status = int(all(int(v) != -32 for v in vals))
-
-    return event
-
-  def shutdown(self) -> None:
-    v = self.read(REG_INTERNAL_0, 1)[0]
-    self.writes((
-      # disable auto-reset of measurements
-      (REG_INTERNAL_0, (v & (~(CMM_FREQ_EN | AUTO_SR_EN)))),
-
-      # disable continuous mode
-      (REG_ODR, 0),
-    ))
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 20214e12ff..3d7d26f9fa 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -5,44 +5,19 @@ import numpy as np
 from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
-from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 
-LSM = {
-  ('lsm6ds3', 'acceleration'),
-  ('lsm6ds3', 'gyroUncalibrated'),
-  ('lsm6ds3', 'temperature'),
-}
-LSM_C = {(x[0]+'trc', x[1]) for x in LSM}
+SensorConfig = namedtuple('SensorConfig', ['service', 'measurement', 'sanity_min', 'sanity_max', 'std_max'])
 
-MMC = {
-  ('mmc5603nj', 'magneticUncalibrated'),
-}
-
-SENSOR_CONFIGURATIONS: list[set] = {
-  "mici": [LSM, LSM_C],
-  "tizi": [MMC | LSM, MMC | LSM_C],
-  "tici": [LSM, LSM_C, MMC | LSM, MMC | LSM_C],
-}.get(HARDWARE.get_device_type(), [])
-
-Sensor = log.SensorEventData.SensorSource
-SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
-ALL_SENSORS = {
-  Sensor.lsm6ds3trc: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 10, 40),  # set for max range of our office
-  },
-
-  Sensor.mmc5603nj: {
-    SensorConfig("magneticUncalibrated", 0, 300),
-  }
-}
-ALL_SENSORS[Sensor.lsm6ds3] = ALL_SENSORS[Sensor.lsm6ds3trc]
+SENSOR_CONFIGS = (
+  SensorConfig("accelerometer", "acceleration", 5, 15, 5),
+  SensorConfig("gyroscope", "gyroUncalibrated", 0, .15, 0.5),
+  SensorConfig("temperatureSensor", "temperature", 10, 40, 0.5),  # set for max range of our office
+)
+SENSOR_CONFIGS_BY_MEASUREMENT = {config.measurement: config for config in SENSOR_CONFIGS}
 
 def get_irq_count(irq: int):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
@@ -50,12 +25,11 @@ def get_irq_count(irq: int):
     return sum(per_cpu)
 
 def read_sensor_events(duration_sec):
-  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'temperatureSensor',]
   socks = {}
   poller = messaging.Poller()
   events = defaultdict(list)
-  for stype in sensor_types:
-    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
+  for config in SENSOR_CONFIGS:
+    socks[config.service] = messaging.sub_sock(config.service, poller=poller, timeout=100)
 
   # wait for sensors to come up
   with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"):
@@ -70,11 +44,15 @@ def read_sensor_events(duration_sec):
     for s in socks:
       events[s] += messaging.drain_sock(socks[s])
     time.sleep(0.1)
-
   assert sum(map(len, events.values())) != 0, "No sensor events collected!"
 
   return {k: v for k, v in events.items() if len(v) > 0}
 
+def iter_measurements(events):
+  for msgs in events.values():
+    for measurement in msgs:
+      yield measurement, getattr(measurement, measurement.which())
+
 @pytest.mark.tici
 class TestSensord:
   @classmethod
@@ -102,31 +80,19 @@ class TestSensord:
   def teardown_method(self):
     managed_processes["sensord"].stop()
 
-  def test_sensors_present(self):
-    # verify correct sensors configuration
-    seen = set()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-        seen.add((str(m.source), m.which()))
-
-    assert seen in SENSOR_CONFIGURATIONS
+  def test_all_sensors_present(self):
+    missing = [config.service for config in SENSOR_CONFIGS if config.service not in self.events]
+    assert len(missing) == 0, f"missing sensors: {missing}"
 
   def test_lsm6ds3_timing(self, subtests):
     # verify measurements are sampled and published at 104Hz
 
-    sensor_t = {
-      1: [], # accel
-      5: [], # gyro
-    }
+    sensor_t = {service: [] for service in ('accelerometer', 'gyroscope')}
 
-    for measurement in self.events['accelerometer']:
-      m = getattr(measurement, measurement.which())
-      sensor_t[m.sensor].append(m.timestamp)
-
-    for measurement in self.events['gyroscope']:
-      m = getattr(measurement, measurement.which())
-      sensor_t[m.sensor].append(m.timestamp)
+    for service in sensor_t:
+      for measurement in self.events.get(service, []):
+        m = getattr(measurement, measurement.which())
+        sensor_t[service].append(m.timestamp)
 
     for s, vals in sensor_t.items():
       with subtests.test(sensor=s):
@@ -153,19 +119,16 @@ class TestSensord:
   def test_logmonottime_timestamp_diff(self):
     # ensure diff between the message logMonotime and sample timestamp is small
 
-    tdiffs = list()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
+    tdiffs = []
+    for measurement, m in iter_measurements(self.events):
+      # check if gyro and accel timestamps are before logMonoTime
+      if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
+        err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
+        assert m.timestamp < measurement.logMonoTime, err_msg
 
-        # check if gyro and accel timestamps are before logMonoTime
-        if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
-          err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
-          assert m.timestamp < measurement.logMonoTime, err_msg
-
-        # negative values might occur, as non interrupt packages created
-        # before the sensor is read
-        tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
+      # negative values might occur, as non interrupt packages created
+      # before the sensor is read
+      tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
 
     # some sensors have a read procedure that will introduce an expected diff on the order of 20ms
     high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs))
@@ -175,32 +138,29 @@ class TestSensord:
     assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms"
 
   def test_sensor_values(self):
-    sensor_values = dict()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-        key = (m.source.raw, m.which())
-        values = getattr(m, m.which())
+    sensor_values = defaultdict(list)
+    for _, m in iter_measurements(self.events):
+      key = (m.source.raw, m.which())
+      values = getattr(m, m.which())
 
-        if hasattr(values, 'v'):
-          values = values.v
-        values = np.atleast_1d(values)
-
-        if key in sensor_values:
-          sensor_values[key].append(values)
-        else:
-          sensor_values[key] = [values]
+      if hasattr(values, 'v'):
+        values = values.v
+      sensor_values[key].append(np.atleast_1d(values))
 
     # Sanity check sensor values
-    for sensor, stype in sensor_values:
-      for s in ALL_SENSORS[sensor]:
-        if s.type != stype:
-          continue
+    for (sensor, stype), values in sensor_values.items():
+      config = SENSOR_CONFIGS_BY_MEASUREMENT[stype]
 
-        key = (sensor, s.type)
-        mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1))
-        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}"
-        assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg
+      if config.measurement == 'temperature':
+        measurement_stat = np.mean(values)
+      else:
+        measurement_stat = np.mean(np.linalg.norm(values, axis=1))
+      err_msg = f"Sensor '{sensor} {config.measurement}' failed sanity checks {measurement_stat} is not between {config.sanity_min} and {config.sanity_max}"
+      assert config.sanity_min <= measurement_stat <= config.sanity_max, err_msg
+
+      std_dev = np.std(values, axis=0)
+      err_msg = f"Sensor '{sensor} {config.measurement}' failed std dev test {std_dev} is not under {config.std_max}"
+      assert np.all(std_dev <= config.std_max), err_msg
 
   def test_sensor_verify_no_interrupts_after_stop(self):
     managed_processes["sensord"].start()
@@ -222,4 +182,3 @@ class TestSensord:
     time.sleep(1)
     state_two = get_irq_count(self.sensord_irq)
     assert state_one == state_two, "Interrupts received after sensord stop!"
-
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index a9e2982c95..42c0db7545 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -321,8 +321,9 @@ class GuiApplication(GuiApplicationExt):
         self._ffmpeg_thread = threading.Thread(target=self._ffmpeg_writer_thread, daemon=True)
         self._ffmpeg_thread.start()
 
-      # OFFSCREEN disables FPS limiting for fast offline rendering (e.g. clips)
-      rl.set_target_fps(0 if OFFSCREEN else fps)
+      # four display runs slightly faster than 60 FPS, let it dictate rate so we don't drift and drop frames
+      vblank_control = HARDWARE.get_device_type() == 'mici'
+      rl.set_target_fps(0 if OFFSCREEN or vblank_control else fps)
 
       self._target_fps = fps
       self._set_styles()
@@ -590,6 +591,8 @@ class GuiApplication(GuiApplicationExt):
         self._render_profiler.enable()
 
       while not (self._window_close_requested or rl.window_should_close()):
+        frame_start = time.monotonic()
+
         if PC:
           # Thread is not used on PC, need to manually add mouse events
           self._mouse._handle_mouse_event()
@@ -604,7 +607,7 @@ class GuiApplication(GuiApplicationExt):
           if PC:
             rl.poll_input_events()
           time.sleep(1 / self._target_fps)
-          yield False
+          yield False, 0.0, 0.0
           continue
 
         if self._render_texture:
@@ -626,7 +629,9 @@ class GuiApplication(GuiApplicationExt):
         for widget in self._nav_stack[-self._nav_stack_widgets_to_render:]:
           widget.render(rl.Rectangle(0, 0, self.width, self.height))
 
-        yield True
+        frame_time = rl.get_frame_time()
+        cpu_time = time.monotonic() - frame_start
+        yield True, frame_time, cpu_time
 
         if self._scale != 1.0:
           rl.rl_pop_matrix()
diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py
index 9d25427867..c7d39e4794 100644
--- a/system/ui/lib/multilang.py
+++ b/system/ui/lib/multilang.py
@@ -177,7 +177,7 @@ class Multilang:
       self._plurals = {}
 
   def change_language(self, language_code: str) -> None:
-    self._params.put("LanguageSetting", language_code)
+    self._params.put("LanguageSetting", language_code, block=True)
     self._language = language_code
     self.setup()
 
diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py
index 18fd8a9a67..7fae60119c 100644
--- a/system/ui/lib/scroll_panel2.py
+++ b/system/ui/lib/scroll_panel2.py
@@ -14,6 +14,7 @@ MIN_DRAG_PIXELS = 12
 AUTO_SCROLL_TC_SNAP = 0.025
 AUTO_SCROLL_TC = 0.18
 BOUNCE_RETURN_RATE = 10.0
+SNAP_RATE = 6.3  # matches previous Scroller snapping. exp rate of approach to snap target, 1/s
 REJECT_DECELERATION_FACTOR = 3
 MAX_SPEED = 10000.0  # px/s
 
@@ -44,10 +45,8 @@ class ScrollState(Enum):
 
 
 class GuiScrollPanel2:
-  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
+  def __init__(self, horizontal: bool = True) -> None:
     self._horizontal = horizontal
-    self._handle_out_of_bounds = handle_out_of_bounds
-    self._AUTO_SCROLL_TC = AUTO_SCROLL_TC_SNAP if not self._handle_out_of_bounds else AUTO_SCROLL_TC
     self._state = ScrollState.STEADY
     self._offset: rl.Vector2 = rl.Vector2(0, 0)
     self._initial_click_event: MouseEvent | None = None
@@ -63,7 +62,7 @@ class GuiScrollPanel2:
   def enabled(self) -> bool:
     return self._enabled() if callable(self._enabled) else self._enabled
 
-  def update(self, bounds: rl.Rectangle, content_size: float) -> float:
+  def update(self, bounds: rl.Rectangle, content_size: float, snap_target: float | None = None) -> float:
     if DEBUG:
       print('Old state:', self._state)
 
@@ -73,7 +72,7 @@ class GuiScrollPanel2:
       self._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
       self._previous_mouse_event = mouse_event
 
-    self._update_state(bounds_size, content_size)
+    self._update_state(bounds_size, content_size, snap_target)
 
     if DEBUG:
       print('Velocity:', self._velocity)
@@ -86,7 +85,7 @@ class GuiScrollPanel2:
     """Returns (max_offset, min_offset) for the given bounds and content size."""
     return 0.0, min(0.0, bounds_size - content_size)
 
-  def _update_state(self, bounds_size: float, content_size: float) -> None:
+  def _update_state(self, bounds_size: float, content_size: float, snap_target: float | None) -> None:
     """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
     max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
 
@@ -97,8 +96,9 @@ class GuiScrollPanel2:
 
     elif self._state == ScrollState.AUTO_SCROLL:
       # simple exponential return if out of bounds
+      # out of bounds is handled by snapping, so skip if set
       out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
-      if out_of_bounds and self._handle_out_of_bounds:
+      if out_of_bounds and snap_target is None:
         target = max_offset if self.get_offset() > max_offset else min_offset
 
         dt = rl.get_frame_time() or 1e-6
@@ -121,9 +121,23 @@ class GuiScrollPanel2:
       # Update the offset based on the current velocity
       dt = rl.get_frame_time()
       self.set_offset(self.get_offset() + self._velocity * dt)  # Adjust the offset based on velocity
-      alpha = 1 - (dt / (self._AUTO_SCROLL_TC + dt))
+      # fast decay in snap mode so velocity yields to the snap pull instead of fighting it
+      auto_scroll_tc = AUTO_SCROLL_TC_SNAP if snap_target is not None else AUTO_SCROLL_TC
+      alpha = 1 - (dt / (auto_scroll_tc + dt))
       self._velocity *= alpha
 
+    # Ease toward snap target when not in user control. Composes with velocity coast above:
+    # high velocity dominates initially, snap dominates as velocity decays.
+    if snap_target is not None and self._state not in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL):
+      snap_target = max(min_offset, min(max_offset, snap_target))
+      dist = snap_target - self.get_offset()
+      if abs(dist) < 1:  # finished snap
+        self.set_offset(snap_target)
+      else:
+        dt = rl.get_frame_time() or 1e-6
+        factor = 1.0 - math.exp(-SNAP_RATE * dt)
+        self.set_offset(self.get_offset() + dist * factor)
+
   def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
                           content_size: float) -> None:
     max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index b83f7bacc9..87f0ebda83 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -23,7 +23,7 @@ from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_80
                                                     NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS,
                                                     NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH,
                                                     NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE,
-                                                    NM_DEVICE_TYPE_WIFI, NM_DEVICE_TYPE_MODEM, NM_ACTIVE_CONNECTION_IFACE,
+                                                    NM_DEVICE_TYPE_WIFI, NM_ACTIVE_CONNECTION_IFACE,
                                                     NM_IP4_CONFIG_IFACE, NM_PROPERTIES_IFACE, NMDeviceState, NMDeviceStateReason)
 
 try:
@@ -207,15 +207,16 @@ class WifiManager:
     def worker():
       self._wait_for_wifi_device()
 
+      # TODO: wait for state thread to start before adding tethering connection, tiny race currently
+      self._scan_thread.start()
+      self._state_thread.start()
+
       self._init_connections()
       if Params is not None and self._tethering_ssid not in self._connections:
         self._add_tethering_connection()
 
       self._init_wifi_state()
 
-      self._scan_thread.start()
-      self._state_thread.start()
-
       self._tethering_password = self._get_tethering_password()
       cloudlog.debug("WifiManager initialized")
 
@@ -930,89 +931,6 @@ class WifiManager:
   def __del__(self):
     self.stop()
 
-  def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
-    """Update GSM settings for cellular connection"""
-
-    def worker():
-      try:
-        lte_connection_path = self._get_lte_connection_path()
-        if not lte_connection_path:
-          cloudlog.warning("No LTE connection found")
-          return
-
-        settings = self._get_connection_settings(lte_connection_path)
-
-        if len(settings) == 0:
-          cloudlog.warning(f"Failed to get connection settings for {lte_connection_path}")
-          return
-
-        # Ensure dicts exist
-        if 'gsm' not in settings:
-          settings['gsm'] = {}
-        if 'connection' not in settings:
-          settings['connection'] = {}
-
-        changes = False
-        auto_config = apn == ""
-
-        if settings['gsm'].get('auto-config', ('b', False))[1] != auto_config:
-          cloudlog.warning(f'Changing gsm.auto-config to {auto_config}')
-          settings['gsm']['auto-config'] = ('b', auto_config)
-          changes = True
-
-        if settings['gsm'].get('apn', ('s', ''))[1] != apn:
-          cloudlog.warning(f'Changing gsm.apn to {apn}')
-          settings['gsm']['apn'] = ('s', apn)
-          changes = True
-
-        if settings['gsm'].get('home-only', ('b', False))[1] == roaming:
-          cloudlog.warning(f'Changing gsm.home-only to {not roaming}')
-          settings['gsm']['home-only'] = ('b', not roaming)
-          changes = True
-
-        # Unknown means NetworkManager decides
-        metered_int = int(MeteredType.UNKNOWN if metered else MeteredType.NO)
-        if settings['connection'].get('metered', ('i', 0))[1] != metered_int:
-          cloudlog.warning(f'Changing connection.metered to {metered_int}')
-          settings['connection']['metered'] = ('i', metered_int)
-          changes = True
-
-        if changes:
-          # Update the connection settings (temporary update)
-          conn_addr = DBusAddress(lte_connection_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-          reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'UpdateUnsaved', 'a{sa{sv}}', (settings,)))
-
-          if reply.header.message_type == MessageType.error:
-            cloudlog.warning(f"Failed to update GSM settings: {reply}")
-            return
-
-          self._activate_modem_connection(lte_connection_path)
-      except Exception as e:
-        cloudlog.exception(f"Error updating GSM settings: {e}")
-
-    threading.Thread(target=worker, daemon=True).start()
-
-  def _get_lte_connection_path(self) -> str | None:
-    try:
-      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
-      known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
-
-      for conn_path in known_connections:
-        settings = self._get_connection_settings(conn_path)
-        if settings and settings.get('connection', {}).get('id', ('s', ''))[1] == 'lte':
-          return str(conn_path)
-    except Exception as e:
-      cloudlog.exception(f"Error finding LTE connection: {e}")
-    return None
-
-  def _activate_modem_connection(self, connection_path: str):
-    try:
-      modem_device = self._get_adapter(NM_DEVICE_TYPE_MODEM)
-      if modem_device and connection_path:
-        self._router_main.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo', (connection_path, modem_device, "/")))
-    except Exception as e:
-      cloudlog.exception(f"Error activating modem connection: {e}")
-
   def stop(self):
     if not self._exit:
       self._exit = True
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index d04f08ca37..8f4541e9e6 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -316,7 +316,7 @@ class NetworkSetupPageBase(Scroller):
 
     def on_waiting_click():
       offset = (self._wifi_button.rect.x + self._wifi_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
-      self._scroller.scroll_to(offset, smooth=True, block_interaction=True)
+      self._scroller.scroll_to(offset, smooth=True, block_interrupt=True, block_widget_interaction=True)
       # trigger grow when wifi button in view
       self._pending_wifi_grow_animation = True
 
@@ -399,7 +399,7 @@ class NetworkSetupPageBase(Scroller):
     self._scroller._layout()
     end_offset = -(self._scroller.content_size - self._rect.width)
     remaining = self._scroller.scroll_panel.get_offset() - end_offset
-    self._scroller.scroll_to(remaining, smooth=True, block_interaction=True)
+    self._scroller.scroll_to(remaining, smooth=True, block_interrupt=True, block_widget_interaction=True)
     self._pending_continue_grow_animation = True
 
   def set_custom_software(self, custom_software: bool):
diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py
index 75a3c29e6b..bc3041aa3c 100644
--- a/system/ui/widgets/mici_keyboard.py
+++ b/system/ui/widgets/mici_keyboard.py
@@ -353,7 +353,7 @@ class MiciKeyboard(Widget):
 
           # draw black circle behind selected key
           circle_alpha = int(self._selected_key_filter.x * 225)
-          rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2),
+          rl.draw_circle_gradient(rl.Vector2(key_x + key.rect.width / 2, key_y + key.rect.height / 2),
                                   SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
         else:
           # move other keys away from selected key a bit
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index 69be42f502..c2fc427c42 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -160,10 +160,6 @@ class AdvancedNetworkSettings(Widget):
 
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
-    # Set initial config
-    metered = self._params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, self._params.get("GsmApn") or "", metered)
-
   def _on_network_updated(self, networks: list[Network]):
     self._tethering_action.set_enabled(True)
     self._tethering_action.set_state(self._wifi_manager.is_tethering_active())
@@ -185,9 +181,7 @@ class AdvancedNetworkSettings(Widget):
     self._wifi_manager.set_tethering_active(checked)
 
   def _toggle_roaming(self):
-    roaming_state = self._roaming_action.get_state()
-    self._params.put_bool("GsmRoaming", roaming_state)
-    self._wifi_manager.update_gsm_settings(roaming_state, self._params.get("GsmApn") or "", self._params.get_bool("GsmMetered"))
+    self._params.put_bool("GsmRoaming", self._roaming_action.get_state(), block=True)
 
   def _edit_apn(self):
     def update_apn(result: DialogResult):
@@ -198,9 +192,7 @@ class AdvancedNetworkSettings(Widget):
       if apn == "":
         self._params.remove("GsmApn")
       else:
-        self._params.put("GsmApn", apn)
-
-      self._wifi_manager.update_gsm_settings(self._params.get_bool("GsmRoaming"), apn, self._params.get_bool("GsmMetered"))
+        self._params.put("GsmApn", apn, block=True)
 
     current_apn = self._params.get("GsmApn") or ""
     self._keyboard.reset(min_text_size=0)
@@ -210,9 +202,7 @@ class AdvancedNetworkSettings(Widget):
     gui_app.push_widget(self._keyboard)
 
   def _toggle_cellular_metered(self):
-    metered = self._cellular_metered_action.get_state()
-    self._params.put_bool("GsmMetered", metered)
-    self._wifi_manager.update_gsm_settings(self._params.get_bool("GsmRoaming"), self._params.get("GsmApn") or "", metered)
+    self._params.put_bool("GsmMetered", self._cellular_metered_action.get_state(), block=True)
 
   def _toggle_wifi_metered(self, metered):
     metered_type = {0: MeteredType.UNKNOWN, 1: MeteredType.YES, 2: MeteredType.NO}.get(metered, MeteredType.UNKNOWN)
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index a3a0d2b38f..b7b6bf5932 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -75,12 +75,13 @@ class _Scroller(Widget):
     self._items: list[Widget] = []
     self._horizontal = horizontal
     self._snap_items = snap_items
+    assert not self._snap_items or self._horizontal, "Snapping is only supported for horizontal scrolling"
     self._spacing = spacing
     self._pad = pad
 
     self._reset_scroll_at_show = True
 
-    self._scrolling_to: tuple[float | None, bool] = (None, False)  # target offset, block_interaction
+    self._scrolling_to: tuple[float | None, bool, bool] = (None, False, False)  # target offset, block_interrupt, block_widget_interaction
     self._scrolling_to_filter = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps)
     self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps)
     self._zoom_out_t: float = 0.0
@@ -92,10 +93,7 @@ class _Scroller(Widget):
 
     self._item_pos_filter = BounceFilter(0.0, 0.05, 1 / gui_app.target_fps)
 
-    # when not pressed, snap to closest item to be center
-    self._scroll_snap_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
-
-    self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items)
+    self.scroll_panel = GuiScrollPanel2(self._horizontal)
     self._scroll_enabled: bool | Callable[[], bool] = True
 
     self._show_scroll_indicator = scroll_indicator and self._horizontal
@@ -116,8 +114,8 @@ class _Scroller(Widget):
   def set_reset_scroll_at_show(self, scroll: bool):
     self._reset_scroll_at_show = scroll
 
-  def scroll_to(self, pos: float, smooth: bool = False, block_interaction: bool = False):
-    assert not block_interaction or smooth, "Instant scroll cannot block user interaction"
+  def scroll_to(self, pos: float, smooth: bool = False, block_interrupt: bool = False, block_widget_interaction: bool = False):
+    assert smooth or (not block_interrupt and not block_widget_interaction), "Instant scroll cannot block interaction"
 
     # already there
     if abs(pos) < 1:
@@ -127,7 +125,7 @@ class _Scroller(Widget):
     scroll_offset = self.scroll_panel.get_offset() - pos
     if smooth:
       self._scrolling_to_filter.x = self.scroll_panel.get_offset()
-      self._scrolling_to = scroll_offset, block_interaction
+      self._scrolling_to = scroll_offset, block_interrupt, block_widget_interaction
     else:
       self.scroll_panel.set_offset(scroll_offset)
 
@@ -148,7 +146,7 @@ class _Scroller(Widget):
 
     # preserve original touch valid callback
     original_touch_valid_callback = item._touch_valid_callback
-    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled and self._scrolling_to[0] is None
+    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled and not self._scrolling_to[2]
                                           and not self.moving_items and (original_touch_valid_callback() if
                                                                          original_touch_valid_callback else True))
 
@@ -175,56 +173,29 @@ class _Scroller(Widget):
     # Cancel auto-scroll if user starts manually scrolling (unless block_interaction)
     if (self.scroll_panel.state in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL) and
         self._scrolling_to[0] is not None and not self._scrolling_to[1]):
-      self._scrolling_to = None, False
+      self._scrolling_to = None, False, False
 
     if self._scrolling_to[0] is not None and len(self._pending_lift) == 0:
       self._scrolling_to_filter.update(self._scrolling_to[0])
       self.scroll_panel.set_offset(self._scrolling_to_filter.x)
 
-      if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:
+      if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:  # finished scroll
         self.scroll_panel.set_offset(self._scrolling_to[0])
-        self._scrolling_to = None, False
+        self._scrolling_to = None, False, False
 
   def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float:
     scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled
     self.scroll_panel.set_enabled(scroll_enabled and self.enabled and not self._scrolling_to[1])
-    self.scroll_panel.update(self._rect, content_size)
-    if not self._snap_items:
-      return self.scroll_panel.get_offset()
 
-    # Snap closest item to center
-    center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
-    closest_delta_pos = float('inf')
-    scroll_snap_idx: int | None = None
-    for idx, item in enumerate(visible_items):
-      if self._horizontal:
-        delta_pos = (item.rect.x + item.rect.width / 2) - center_pos
-      else:
-        delta_pos = (item.rect.y + item.rect.height / 2) - center_pos
-      if abs(delta_pos) < abs(closest_delta_pos):
-        closest_delta_pos = delta_pos
-        scroll_snap_idx = idx
+    # Snap closest item to center. Skipped while scroll_to() is animating
+    snap_target: float | None = None
+    if self._snap_items and visible_items and self._scrolling_to[0] is None:
+      # TODO: this doesn't handle two small buttons at the edges well
+      center_pos = self._rect.x + self._rect.width / 2
+      closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
+      snap_target = self.scroll_panel.get_offset() - closest_delta_pos
 
-    if scroll_snap_idx is not None:
-      snap_item = visible_items[scroll_snap_idx]
-      if self.is_pressed:
-        # no snapping until released
-        self._scroll_snap_filter.x = 0
-      else:
-        # TODO: this doesn't handle two small buttons at the edges well
-        if self._horizontal:
-          snap_delta_pos = (center_pos - (snap_item.rect.x + snap_item.rect.width / 2)) / 10
-          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
-          snap_delta_pos = max(snap_delta_pos, (self._rect.width - self.scroll_panel.get_offset() - content_size) / 10)
-        else:
-          snap_delta_pos = (center_pos - (snap_item.rect.y + snap_item.rect.height / 2)) / 10
-          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
-          snap_delta_pos = max(snap_delta_pos, (self._rect.height - self.scroll_panel.get_offset() - content_size) / 10)
-        self._scroll_snap_filter.update(snap_delta_pos)
-
-      self.scroll_panel.set_offset(self.scroll_panel.get_offset() + self._scroll_snap_filter.x)
-
-    return self.scroll_panel.get_offset()
+    return self.scroll_panel.update(self._rect, content_size, snap_target=snap_target)
 
   @property
   def moving_items(self) -> bool:
@@ -409,7 +380,7 @@ class _Scroller(Widget):
     self._move_lift.clear()
     self._pending_lift.clear()
     self._pending_move.clear()
-    self._scrolling_to = None, False
+    self._scrolling_to = None, False, False
     self._scrolling_to_filter.x = 0.0
 
   def hide_event(self):
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
index c4894f2711..db38bfa840 100644
--- a/system/updated/tests/test_base.py
+++ b/system/updated/tests/test_base.py
@@ -86,7 +86,7 @@ class TestBaseUpdate:
     mocker.patch("openpilot.common.basedir.BASEDIR", self.basedir)
 
   def set_target_branch(self, branch):
-    self.params.put("UpdaterTargetBranch", branch)
+    self.params.put("UpdaterTargetBranch", branch, block=True)
 
   def setup_basedir_release(self, release):
     self.params = Params()
diff --git a/system/updated/tests/test_updated.py b/system/updated/tests/test_updated.py
index d36d4dd4e1..18ee0e706a 100644
--- a/system/updated/tests/test_updated.py
+++ b/system/updated/tests/test_updated.py
@@ -28,7 +28,7 @@ def test_target_branch_migration_from_current_branch(mocker, device_type, branch
 ])
 def test_target_branch_migration_from_param(mocker, device_type, branch, expected):
   params = Params()
-  params.put("UpdaterTargetBranch", branch)
+  params.put("UpdaterTargetBranch", branch, block=True)
 
   mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
 
diff --git a/system/updated/updated.py b/system/updated/updated.py
index c10a7097ce..8e28f7c52d 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -65,7 +65,7 @@ class WaitTimeHelper:
 
 def write_time_to_param(params, param) -> None:
   t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-  params.put(param, t)
+  params.put(param, t, block=True)
 
 def run(cmd: list[str], cwd: str | None = None) -> str:
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
@@ -138,7 +138,7 @@ def init_overlay() -> None:
   cloudlog.info("preparing new safe staging area")
 
   params = Params()
-  params.put_bool("UpdateAvailable", False)
+  params.put_bool("UpdateAvailable", False, block=True)
   set_consistent_flag(False)
   dismount_overlay()
   run(["sudo", "rm", "-rf", STAGING_ROOT])
@@ -169,7 +169,7 @@ def init_overlay() -> None:
   run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")])
 
   git_diff = run(["git", "diff", "--submodule=diff"], OVERLAY_MERGED)
-  params.put("GitDiff", git_diff)
+  params.put("GitDiff", git_diff, block=True)
   cloudlog.info(f"git diff output:\n{git_diff}")
 
 
@@ -260,19 +260,19 @@ class Updater:
     return run(["git", "rev-parse", "HEAD"], path).rstrip()
 
   def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None:
-    self.params.put("UpdateFailedCount", failed_count)
-    self.params.put("UpdaterTargetBranch", self.target_branch)
+    self.params.put("UpdateFailedCount", failed_count, block=True)
+    self.params.put("UpdaterTargetBranch", self.target_branch, block=True)
 
-    self.params.put_bool("UpdaterFetchAvailable", self.update_available)
+    self.params.put_bool("UpdaterFetchAvailable", self.update_available, block=True)
     if len(self.branches):
-      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
+      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()), block=True)
 
     last_uptime_onroad = self.params.get("UptimeOnroad", return_default=True)
     last_route_count = self.params.get("RouteCount", return_default=True)
     if update_success:
-      self.params.put("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None))
-      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
-      self.params.put("LastUpdateRouteCount", last_route_count)
+      self.params.put("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None), block=True)
+      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad, block=True)
+      self.params.put("LastUpdateRouteCount", last_route_count, block=True)
     else:
       last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True)
       last_route_count = self.params.get("LastUpdateRouteCount", return_default=True)
@@ -280,7 +280,7 @@ class Updater:
     if exception is None:
       self.params.remove("LastUpdateException")
     else:
-      self.params.put("LastUpdateException", exception)
+      self.params.put("LastUpdateException", exception, block=True)
 
     # Write out current and new version info
     def get_description(basedir: str) -> str:
@@ -303,11 +303,11 @@ class Updater:
       except Exception:
         cloudlog.exception("updater.get_description")
       return f"{version} / {branch} / {commit} / {commit_date}"
-    self.params.put("UpdaterCurrentDescription", get_description(BASEDIR))
-    self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
-    self.params.put("UpdaterNewDescription", get_description(FINALIZED))
-    self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED))
-    self.params.put_bool("UpdateAvailable", self.update_ready)
+    self.params.put("UpdaterCurrentDescription", get_description(BASEDIR), block=True)
+    self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR), block=True)
+    self.params.put("UpdaterNewDescription", get_description(FINALIZED), block=True)
+    self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED), block=True)
+    self.params.put_bool("UpdateAvailable", self.update_ready, block=True)
 
     # Handle user prompt
     for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"):
@@ -362,11 +362,11 @@ class Updater:
   def fetch_update(self) -> None:
     cloudlog.info("attempting git fetch inside staging overlay")
 
-    self.params.put("UpdaterState", "downloading...")
+    self.params.put("UpdaterState", "downloading...", block=True)
 
     # TODO: cleanly interrupt this and invalidate old update
     set_consistent_flag(False)
-    self.params.put_bool("UpdateAvailable", False)
+    self.params.put_bool("UpdateAvailable", False, block=True)
 
     setup_git_options(OVERLAY_MERGED)
 
@@ -394,7 +394,7 @@ class Updater:
       handle_agnos_update()
 
     # Create the finalized, ready-to-swap update
-    self.params.put("UpdaterState", "finalizing update...")
+    self.params.put("UpdaterState", "finalizing update...", block=True)
     finalize_update()
     cloudlog.info("finalize success!")
 
@@ -423,7 +423,7 @@ def main() -> None:
 
     if not params.get("InstallDate"):
       t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-      params.put("InstallDate", t)
+      params.put("InstallDate", t, block=True)
 
     updater = Updater()
     update_failed_count = 0 # TODO: Load from param?
@@ -433,7 +433,7 @@ def main() -> None:
     set_consistent_flag(False)
 
     # set initial state
-    params.put("UpdaterState", "idle")
+    params.put("UpdaterState", "idle", block=True)
 
     # Run the update loop
     first_run = True
@@ -457,7 +457,7 @@ def main() -> None:
         update_failed_count += 1
 
         # check for update
-        params.put("UpdaterState", "checking...")
+        params.put("UpdaterState", "checking...", block=True)
         updater.check_for_update()
 
         # download update
@@ -487,7 +487,7 @@ def main() -> None:
         OVERLAY_INIT.unlink(missing_ok=True)
 
       try:
-        params.put("UpdaterState", "idle")
+        params.put("UpdaterState", "idle", block=True)
         update_successful = (update_failed_count == 0)
         updater.set_params(update_successful, update_failed_count, exception)
       except Exception:
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 50feab4f4a..8a07c5b9be 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -1,4 +1,5 @@
 import asyncio
+import struct
 import time
 
 import av
@@ -7,6 +8,13 @@ from teleoprtc.tracks import TiciVideoStreamTrack
 from cereal import messaging
 from openpilot.common.realtime import DT_MDL, DT_DMON
 
+# arbitrary 16-byte UUID identifying openpilot frame-timing SEI messages
+TIMING_SEI_UUID = bytes([
+  0xa5, 0xe0, 0xc4, 0xa4, 0x5b, 0x6e, 0x4e, 0x1e,
+  0x9c, 0x7e, 0x12, 0x34, 0x56, 0x78, 0x9a, 0xbc,
+])
+_SEI_PREFIX = b'\x00\x00\x00\x01\x06\x05\x30' + TIMING_SEI_UUID
+
 
 class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
   camera_to_sock_mapping = {
@@ -19,9 +27,30 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
     dt = DT_DMON if camera_type == "driver" else DT_MDL
     super().__init__(camera_type, dt)
 
-    self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+    self._sock = self._make_sock(camera_type)
     self._pts = 0
     self._t0_ns = time.monotonic_ns()
+    self.timing_sei_enabled = False
+
+  def _make_sock(self, camera_type: str) -> messaging.SubSocket:
+    return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+
+  def switch_camera(self, camera_type: str) -> None:
+    self._sock = self._make_sock(camera_type)
+
+  def _build_frame_data(self, msg) -> bytes:
+    encode_data = getattr(msg, msg.which())
+    if not self.timing_sei_enabled:
+      return encode_data.header + encode_data.data
+
+    idx = encode_data.idx
+    sei_nal = _SEI_PREFIX + struct.pack('>4d',
+      (idx.timestampEof - idx.timestampSof) / 1e6,
+      (msg.logMonoTime - idx.timestampEof) / 1e6,
+      (time.monotonic_ns() - msg.logMonoTime) / 1e6,
+      time.time() * 1000,  # noqa: TID251
+    ) + b'\x80'
+    return encode_data.header + sei_nal + encode_data.data
 
   async def recv(self):
     while True:
@@ -30,9 +59,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
         break
       await asyncio.sleep(0.005)
 
-    evta = getattr(msg, msg.which())
-
-    packet = av.Packet(evta.header + evta.data)
+    packet = av.Packet(self._build_frame_data(msg))
     packet.time_base = self._time_base
 
     self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index d2c90cafb5..aac020dd06 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,7 +1,11 @@
 #!/usr/bin/env python3
 
+from abc import abstractmethod
+import os
+import time
 import argparse
 import asyncio
+import contextlib
 import json
 import uuid
 import logging
@@ -19,11 +23,39 @@ if TYPE_CHECKING:
   from aiortc.rtcdatachannel import RTCDataChannel
 
 from openpilot.system.webrtc.schema import generate_field
+from openpilot.common.params import Params
 from cereal import messaging, log
 
 
-class CerealOutgoingMessageProxy:
+class AsyncTaskRunner:
+  def __init__(self):
+    self.is_running = False
+    self.task = None
+    self.logger = logging.getLogger("webrtcd")
+
+  def start(self):
+    assert self.task is None
+    self.task = asyncio.create_task(self.run())
+
+  async def stop(self):
+    if self.task is None:
+      return
+    task = self.task
+    self.task = None
+    if task.done():
+      return
+    task.cancel()
+    with contextlib.suppress(asyncio.CancelledError):
+      await task
+
+  @abstractmethod
+  async def run(self):
+    pass
+
+
+class CerealOutgoingMessageProxy(AsyncTaskRunner):
   def __init__(self, sm: messaging.SubMaster):
+    super().__init__()
     self.sm = sm
     self.channels: list[RTCDataChannel] = []
 
@@ -55,6 +87,19 @@ class CerealOutgoingMessageProxy:
       for channel in self.channels:
         channel.send(encoded_msg)
 
+  async def run(self):
+    from aiortc.exceptions import InvalidStateError
+
+    while True:
+      try:
+        self.update()
+      except InvalidStateError:
+        self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
+        break
+      except Exception:
+        self.logger.exception("Cereal outgoing proxy failure")
+      await asyncio.sleep(0.01)
+
 
 class CerealIncomingMessageProxy:
   def __init__(self, pm: messaging.PubMaster):
@@ -72,37 +117,6 @@ class CerealIncomingMessageProxy:
     self.pm.send(msg_type, msg)
 
 
-class CerealProxyRunner:
-  def __init__(self, proxy: CerealOutgoingMessageProxy):
-    self.proxy = proxy
-    self.is_running = False
-    self.task = None
-    self.logger = logging.getLogger("webrtcd")
-
-  def start(self):
-    assert self.task is None
-    self.task = asyncio.create_task(self.run())
-
-  def stop(self):
-    if self.task is None or self.task.done():
-      return
-    self.task.cancel()
-    self.task = None
-
-  async def run(self):
-    from aiortc.exceptions import InvalidStateError
-
-    while True:
-      try:
-        self.proxy.update()
-      except InvalidStateError:
-        self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
-        break
-      except Exception:
-        self.logger.exception("Cereal outgoing proxy failure")
-      await asyncio.sleep(0.01)
-
-
 class DynamicPubMaster(messaging.PubMaster):
   def __init__(self, *args, **kwargs):
     super().__init__(*args, **kwargs)
@@ -115,21 +129,90 @@ class DynamicPubMaster(messaging.PubMaster):
           self.sock[service] = messaging.pub_sock(service)
 
 
+class LivestreamBitrateController(AsyncTaskRunner):
+  bitrates = [500_000, 1_500_000, int(os.environ.get("STREAM_BITRATE", 5_000_000))]
+  label_to_bitrate = { "high": bitrates[2], "med": bitrates[1], "low": bitrates[0]}
+  sample_interval = 0.2
+  high_level = 0.1 # drop immediately
+  med_level = 0.05 # drop after # of samples
+  low_level = 0 # raise after # of samples
+  down_samples = 5 # 1s
+  param_name = "LivestreamEncoderBitrate"
+
+  def __init__(self, peer_connection: Any):
+    super().__init__()
+    self.pc = peer_connection
+    self.params = Params()
+
+    self.level = 0
+    self.prev_lost, self.prev_sent = None, None
+    self.counter = 0
+    self.up_samples = 5 # 1s
+    self._auto = True
+
+  async def run(self):
+    while True:
+      await asyncio.sleep(self.sample_interval)
+      if not self._auto:
+        continue
+
+      loss_rate = await self._sample()
+      if loss_rate is None:
+        continue
+      if loss_rate >= self.med_level and self.level > 0:
+        self.counter += 1
+        if self.counter >= self.down_samples or loss_rate >= self.high_level:
+          self.level -= 1
+          self.up_samples *= 2 # exponential backoff before raising again
+          self.counter = 0
+          self._publish(self.bitrates[self.level])
+      elif loss_rate <= self.low_level and self.level < len(self.bitrates) - 1:
+        self.counter -= 1
+        if -self.counter >= self.up_samples:
+          self.level += 1
+          self.counter = 0
+          self._publish(self.bitrates[self.level])
+
+  async def _sample(self) -> float | None:
+    report = await self.pc.getStats()
+    packets_lost = packets_sent = 0
+    for s in report.values():
+      if s.type == "remote-inbound-rtp":
+        packets_lost += s.packetsLost
+      elif s.type == "outbound-rtp":
+        packets_sent += s.packetsSent
+
+    if self.prev_lost is None:
+      self.prev_lost, self.prev_sent = packets_lost, packets_sent
+      return None
+    lost_delta = max(0, packets_lost - self.prev_lost)
+    sent_delta = max(0, packets_sent - self.prev_sent)
+    self.prev_lost, self.prev_sent = packets_lost, packets_sent
+    return lost_delta / sent_delta if sent_delta else 0.0
+
+  def _publish(self, bitrate: float):
+    self.params.put(self.param_name, bitrate)
+
+  def set_quality(self, quality):
+    if quality in self.label_to_bitrate:
+      self._publish(self.label_to_bitrate[quality])
+      self._auto = False
+    elif quality == "auto":
+      self._auto = True
+
+
 class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
-  def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
+  def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
     from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc import WebRTCAnswerBuilder
-    from teleoprtc.info import parse_info_from_offer
 
-    config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
 
-    assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
-    for cam in cameras:
-      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
+    self.video_track = LiveStreamVideoStreamTrack(init_camera) if not debug_mode else VideoStreamTrack()
+    builder.add_video_stream(init_camera, self.video_track)
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -137,35 +220,60 @@ class StreamSession:
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = incoming_services
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
-    self.outgoing_bridge_runner: CerealProxyRunner | None = None
+    self.bitrate_controller: LivestreamBitrateController | None = None
     if len(incoming_services) > 0:
       self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
     if len(outgoing_services) > 0:
       self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
-      self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
+    self.bitrate_controller = LivestreamBitrateController(self.stream.peer_connection)
 
     self.run_task: asyncio.Task | None = None
+    self._cleanup_lock = asyncio.Lock()
+    self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
-    self.logger.info("New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
-                      self.identifier, cameras, incoming_services, outgoing_services)
+    self.logger.info(
+      "New stream session (%s), init camera %s, incoming services %s, outgoing services %s",
+      self.identifier, init_camera, incoming_services, outgoing_services,
+    )
 
   def start(self):
     self.run_task = asyncio.create_task(self.run())
 
-  def stop(self):
-    if self.run_task.done():
-      return
-    self.run_task.cancel()
+  async def stop(self):
+    if self.run_task is not None and not self.run_task.done() and self.run_task is not asyncio.current_task():
+      self.run_task.cancel()
+      with contextlib.suppress(asyncio.CancelledError):
+        await self.run_task
     self.run_task = None
-    asyncio.run(self.post_run_cleanup())
+    await self.post_run_cleanup()
 
   async def get_answer(self):
     return await self.stream.start()
 
-  async def message_handler(self, message: bytes):
+  def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
-      self.incoming_bridge.send(message)
+      payload = json.loads(message) if isinstance(message, (bytes, str)) else None
+      if isinstance(payload, dict):
+        msg_type = payload.get("type")
+
+        match msg_type:
+          case "livestreamCameraSwitch":
+            self.video_track.switch_camera(payload["data"]["camera"])
+          case "livestreamSettings":
+            self.bitrate_controller.set_quality(payload["data"]["quality"])
+          case "clockSync":
+            pong = json.dumps({"type": "clockSync", "data": {
+              "action": "pong", "browserSendTime": payload["data"]["browserSendTime"], "deviceTime": time.time() * 1000, # noqa: TID251
+            }})
+            self.stream.get_messaging_channel().send(pong)
+          case "enableTimingSei":
+            if hasattr(self.video_track, 'timing_sei_enabled'):
+              self.video_track.timing_sei_enabled = bool(payload["data"]["enabled"])
+          case _:
+            if payload.get("type") not in self.incoming_bridge_services:
+              return
+            self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
 
@@ -176,29 +284,38 @@ class StreamSession:
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
           self.stream.set_message_handler(self.message_handler)
-        if self.outgoing_bridge_runner is not None:
+        if self.outgoing_bridge is not None:
           channel = self.stream.get_messaging_channel()
-          self.outgoing_bridge_runner.proxy.add_channel(channel)
-          self.outgoing_bridge_runner.start()
+          self.outgoing_bridge.add_channel(channel)
+          self.outgoing_bridge.start()
+      self.bitrate_controller.start()
+
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
-      await self.post_run_cleanup()
 
       self.logger.info("Stream session (%s) ended", self.identifier)
     except Exception:
       self.logger.exception("Stream session failure")
+    finally:
+      await self.post_run_cleanup()
 
   async def post_run_cleanup(self):
-    await self.stream.stop()
-    if self.outgoing_bridge is not None:
-      self.outgoing_bridge_runner.stop()
+    async with self._cleanup_lock:
+      if self._cleanup_done:
+        return
+      self._cleanup_done = True
+      if self.bitrate_controller is not None:
+        await self.bitrate_controller.stop()
+      if self.outgoing_bridge is not None:
+        await self.outgoing_bridge.stop()
+      await self.stream.stop()
 
 
 @dataclass
 class StreamRequestBody:
   sdp: str
-  cameras: list[str]
+  initCamera: str
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
 
@@ -208,11 +325,33 @@ async def get_stream(request: 'web.Request'):
   raw_body = await request.json()
   body = StreamRequestBody(**raw_body)
 
-  session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
-  answer = await session.get_answer()
-  session.start()
+  async with request.app['stream_lock']:
+    # Fully disconnect any other active stream before starting the replacement.
+    for sid, s in list(stream_dict.items()):
+      if s.run_task and not s.run_task.done():
+        try:
+          ch = s.stream.get_messaging_channel()
+          ch.send(json.dumps({"type": "connectionReplaced", "data": "Another device has connected, closing this session."}))
+        except Exception:
+          pass
+      await s.stop()
+      del stream_dict[sid]
 
-  stream_dict[session.identifier] = session
+    session = StreamSession(body.sdp, body.initCamera, body.bridge_services_in, body.bridge_services_out, debug_mode)
+    try:
+      answer = await session.get_answer()
+    except ValueError as e:
+      await session.stop()
+      raise web.HTTPBadRequest(
+        text=json.dumps({"error": "invalid_sdp", "message": str(e)}),
+        content_type="application/json",
+      ) from e
+    except Exception:
+      await session.stop()
+      raise
+    session.start()
+
+    stream_dict[session.identifier] = session
 
   return web.json_response({"sdp": answer.sdp, "type": answer.type})
 
@@ -224,6 +363,7 @@ async def get_schema(request: 'web.Request'):
   schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
   return web.json_response(schema_dict)
 
+
 async def post_notify(request: 'web.Request'):
   try:
     payload = await request.json()
@@ -239,9 +379,10 @@ async def post_notify(request: 'web.Request'):
 
   return web.Response(status=200, text="OK")
 
+
 async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
-    session.stop()
+    await session.stop()
   del app['streams']
 
 
@@ -254,6 +395,7 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   app = web.Application()
 
   app['streams'] = dict()
+  app['stream_lock'] = asyncio.Lock()
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)
diff --git a/teleoprtc_repo b/teleoprtc_repo
index 389815b8ca..22df577821 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit 389815b8ca5302ce7c1504b7841d4eb61a8cd51b
+Subproject commit 22df577821862e32a011fb0cf42577599f3a79c4
diff --git a/third_party/SConscript b/third_party/SConscript
deleted file mode 100644
index 3a7497d162..0000000000
--- a/third_party/SConscript
+++ /dev/null
@@ -1,3 +0,0 @@
-Import('env')
-
-env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore
deleted file mode 100644
index 0ae664dff6..0000000000
--- a/third_party/acados/.gitignore
+++ /dev/null
@@ -1,9 +0,0 @@
-acados_repo/
-/lib
-!x86_64/
-!larch64/
-!aarch64/
-!Darwin/
-!*.so
-!*.so.*
-!*.dylib
diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib
deleted file mode 100755
index 8cd5a41f14..0000000000
--- a/third_party/acados/Darwin/lib/libacados.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:620195ff61aaccf9adf00a66b8acf4e9915a0895d0a86f9f51ec952e44fad70a
-size 853776
diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib
deleted file mode 100755
index 442a6c736d..0000000000
--- a/third_party/acados/Darwin/lib/libblasfeo.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1d9dbeb68b2ac13c884f606a1f6032f399640e0928cecad4c22b700a8d8ae970
-size 2010877
diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib
deleted file mode 100755
index 019ec8019e..0000000000
--- a/third_party/acados/Darwin/lib/libhpipm.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:35783dba64c2d5bbe7e4c98ad01accac56b478b1bf874969ab5c31d7495499a2
-size 2290624
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
deleted file mode 100755
index caaa8ec775..0000000000
--- a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f57eea51f4b91deff47fbf599eedc3eafedd395f23465b5fb24b2148fdaa2859
-size 496707
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.dylib
deleted file mode 120000
index e3d94c4bc2..0000000000
--- a/third_party/acados/Darwin/lib/libqpOASES_e.dylib
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.3.1.dylib
\ No newline at end of file
diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer
deleted file mode 100755
index 83a74ea5a3..0000000000
--- a/third_party/acados/Darwin/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c6c78791cfdd841da14266c62a6099d0af53cec348051118f1a70518729aa5ba
-size 8483768
diff --git a/third_party/acados/aarch64 b/third_party/acados/aarch64
deleted file mode 120000
index 062c65e8d9..0000000000
--- a/third_party/acados/aarch64
+++ /dev/null
@@ -1 +0,0 @@
-larch64/
\ No newline at end of file
diff --git a/third_party/acados/acados_template/.gitignore b/third_party/acados/acados_template/.gitignore
deleted file mode 100644
index 63b741bb9d..0000000000
--- a/third_party/acados/acados_template/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-__pycache__/
-
-# Cython intermediates
-*_pyx.c
-*_pyx.o
-*_pyx.so
diff --git a/third_party/acados/acados_template/__init__.py b/third_party/acados/acados_template/__init__.py
deleted file mode 100644
index bfbe907990..0000000000
--- a/third_party/acados/acados_template/__init__.py
+++ /dev/null
@@ -1,40 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from .acados_model import AcadosModel
-from .acados_ocp import AcadosOcp, AcadosOcpConstraints, AcadosOcpCost, AcadosOcpDims, AcadosOcpOptions
-from .acados_sim import AcadosSim, AcadosSimDims, AcadosSimOpts
-from .acados_ocp_solver import AcadosOcpSolver, get_simulink_default_opts, ocp_get_default_cmake_builder
-from .acados_sim_solver import AcadosSimSolver, sim_get_default_cmake_builder
-from .utils import print_casadi_expression, get_acados_path, get_python_interface_path, \
-    get_tera_exec_path, get_tera, check_casadi_version, acados_dae_model_json_dump, \
-    casadi_length, make_object_json_dumpable, J_to_idx, get_default_simulink_opts
-
-from .zoro_description import ZoroDescription, process_zoro_description
diff --git a/third_party/acados/acados_template/acados_layout.json b/third_party/acados/acados_template/acados_layout.json
deleted file mode 100644
index a1cc5bbdf3..0000000000
--- a/third_party/acados/acados_template/acados_layout.json
+++ /dev/null
@@ -1,834 +0,0 @@
-{
-    "code_export_directory": [
-        "str"
-    ],
-    "acados_include_path": [
-        "str"
-    ],
-    "cython_include_dirs": [
-        "list"
-    ],
-    "json_file": [
-        "str"
-    ],
-    "shared_lib_ext": [
-        "str"
-    ],
-    "model": {
-         "name" : [
-            "str"
-        ],
-        "dyn_ext_fun_type" : [
-            "str"
-        ],
-        "dyn_generic_source" : [
-            "str"
-        ],
-        "dyn_impl_dae_fun" : [
-            "str"
-        ],
-        "dyn_impl_dae_fun_jac" : [
-            "str"
-        ],
-        "dyn_impl_dae_jac" : [
-            "str"
-        ],
-        "dyn_disc_fun_jac_hess" : [
-            "str"
-        ],
-        "dyn_disc_fun_jac" : [
-            "str"
-        ],
-        "dyn_disc_fun" : [
-            "str"
-        ],
-        "gnsf" : {
-            "nontrivial_f_LO": [
-                "int"
-            ],
-            "purely_linear": [
-                "int"
-            ]
-        }
-    },
-    "parameter_values": [
-        "ndarray",
-        [
-            "np"
-        ]
-    ],
-    "acados_lib_path": [
-        "str"
-    ],
-    "problem_class": [
-        "str"
-    ],
-    "constraints": {
-        "constr_type": [
-            "str"
-        ],
-        "constr_type_e": [
-            "str"
-        ],
-        "lbx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "lbu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "ubx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "ubu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "idxbx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "idxbu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "lbx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "ubx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "idxbx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "lbx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "ubx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "idxbx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "idxbxe_0": [
-            "ndarray",
-            [
-                "nbxe_0"
-            ]
-        ],
-        "lg": [
-            "ndarray",
-            [
-                "ng"
-            ]
-        ],
-        "ug": [
-            "ndarray",
-            [
-                "ng"
-            ]
-        ],
-        "D": [
-            "ndarray",
-                [
-                    "ng",
-                    "nu"
-                ]
-        ],
-        "C": [
-            "ndarray",
-            [
-                "ng",
-                "nx"
-            ]
-        ],
-        "C_e": [
-            "ndarray",
-            [
-                "ng_e",
-                "nx"
-            ]
-        ],
-        "lg_e": [
-            "ndarray",
-            [
-                "ng_e"
-            ]
-        ],
-        "ug_e": [
-            "ndarray",
-            [
-                "ng_e"
-            ]
-        ],
-        "lh": [
-            "ndarray",
-            [
-                "nh"
-            ]
-        ],
-        "uh": [
-            "ndarray",
-            [
-                "nh"
-            ]
-        ],
-        "lh_e": [
-            "ndarray",
-            [
-                "nh_e"
-            ]
-        ],
-        "uh_e": [
-            "ndarray",
-            [
-                "nh_e"
-            ]
-        ],
-        "lphi": [
-            "ndarray",
-            [
-                "nphi"
-            ]
-        ],
-        "uphi": [
-            "ndarray",
-            [
-                "nphi"
-            ]
-        ],
-        "lphi_e": [
-            "ndarray",
-            [
-                "nphi_e"
-            ]
-        ],
-        "uphi_e": [
-            "ndarray",
-            [
-                "nphi_e"
-            ]
-        ],
-        "lsbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "usbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "lsbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "usbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "idxsbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "idxsbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "lsbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "usbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "idxsbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "lsg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "usg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "idxsg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "lsg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "usg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "idxsg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "lsh": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "ush": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "idxsh": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "lsh_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "ush_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "idxsh_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "lsphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "usphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "idxsphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "lsphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ],
-        "usphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ],
-        "idxsphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ]
-    },
-    "cost": {
-        "cost_type_0": [
-            "str"
-        ],
-        "cost_type": [
-            "str"
-        ],
-        "cost_type_e": [
-            "str"
-        ],
-        "cost_ext_fun_type_0": [
-            "str"
-        ],
-        "cost_ext_fun_type": [
-            "str"
-        ],
-        "cost_ext_fun_type_e": [
-            "str"
-        ],
-        "Vu_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nu"
-            ]
-        ],
-        "Vu": [
-            "ndarray",
-            [
-                "ny",
-                "nu"
-            ]
-        ],
-        "Vx_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nx"
-            ]
-        ],
-        "Vx": [
-            "ndarray",
-            [
-                "ny",
-                "nx"
-            ]
-        ],
-        "Vx_e": [
-            "ndarray",
-            [
-                "ny_e",
-                "nx"
-            ]
-        ],
-        "Vz_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nz"
-            ]
-        ],
-        "Vz": [
-            "ndarray",
-            [
-                "ny",
-                "nz"
-            ]
-        ],
-        "W_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "ny_0"
-            ]
-        ],
-        "W": [
-            "ndarray",
-            [
-                "ny",
-                "ny"
-            ]
-        ],
-        "Zl": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "Zu": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "zl": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "zu": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "W_e": [
-            "ndarray",
-            [
-                "ny_e",
-                "ny_e"
-            ]
-        ],
-        "yref_0": [
-            "ndarray",
-            [
-                "ny_0"
-            ]
-        ],
-        "yref": [
-            "ndarray",
-            [
-                "ny"
-            ]
-        ],
-        "yref_e": [
-            "ndarray",
-            [
-                "ny_e"
-            ]
-        ],
-        "Zl_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "Zu_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "zl_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "zu_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ]
-    },
-    "dims": {
-        "N": [
-            "int"
-        ],
-        "nbu": [
-            "int"
-        ],
-        "nbx": [
-            "int"
-        ],
-        "nsbu": [
-            "int"
-        ],
-        "nsbx": [
-            "int"
-        ],
-        "nsbx_e": [
-            "int"
-        ],
-        "nbx_0": [
-            "int"
-        ],
-        "nbx_e": [
-            "int"
-        ],
-        "nbxe_0": [
-            "int"
-        ],
-        "nsg": [
-            "int"
-        ],
-        "nsg_e": [
-            "int"
-        ],
-        "nsh": [
-            "int"
-        ],
-        "nsh_e": [
-            "int"
-        ],
-        "nsphi": [
-            "int"
-        ],
-        "nsphi_e": [
-            "int"
-        ],
-        "ns": [
-            "int"
-        ],
-        "ns_e": [
-            "int"
-        ],
-        "ng": [
-            "int"
-        ],
-        "ng_e": [
-            "int"
-        ],
-        "np": [
-            "int"
-        ],
-        "nr": [
-            "int"
-        ],
-        "nr_e": [
-            "int"
-        ],
-        "nh": [
-            "int"
-        ],
-        "nh_e": [
-            "int"
-        ],
-        "nphi": [
-            "int"
-        ],
-        "nphi_e": [
-            "int"
-        ],
-        "nu": [
-            "int"
-        ],
-        "nx": [
-            "int"
-        ],
-        "ny": [
-            "int"
-        ],
-        "ny_0": [
-            "int"
-        ],
-        "ny_e": [
-            "int"
-        ],
-        "nz": [
-            "int"
-        ],
-        "gnsf_nx1": [
-            "int"
-        ],
-        "gnsf_nz1": [
-            "int"
-        ],
-        "gnsf_nuhat": [
-            "int"
-        ],
-        "gnsf_ny": [
-            "int"
-        ],
-        "gnsf_nout": [
-            "int"
-        ]
-    },
-    "solver_options": {
-        "time_steps": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "hessian_approx": [
-            "str"
-        ],
-        "hpipm_mode": [
-            "str"
-        ],
-        "regularize_method": [
-            "str"
-        ],
-        "integrator_type": [
-            "str"
-        ],
-        "nlp_solver_type": [
-            "str"
-        ],
-        "collocation_type": [
-            "str"
-        ],
-        "globalization": [
-            "str"
-        ],
-        "nlp_solver_step_length": [
-            "float"
-        ],
-        "levenberg_marquardt": [
-            "float"
-        ],
-        "qp_solver": [
-            "str"
-        ],
-        "tf": [
-            "float"
-        ],
-        "Tsim": [
-            "float"
-        ],
-        "alpha_min": [
-            "float"
-        ],
-        "alpha_reduction": [
-            "float"
-        ],
-        "line_search_use_sufficient_descent": [
-            "int"
-        ],
-        "globalization_use_SOC": [
-            "int"
-        ],
-        "full_step_dual": [
-            "int"
-        ],
-        "eps_sufficient_descent": [
-            "float"
-        ],
-        "sim_method_num_stages": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "sim_method_num_steps": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "sim_method_newton_iter": [
-            "int"
-        ],
-        "sim_method_newton_tol": [
-            "float"
-        ],
-        "sim_method_jac_reuse": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "qp_solver_cond_N": [
-            "int"
-        ],
-        "qp_solver_warm_start": [
-            "int"
-        ],
-        "qp_solver_tol_stat": [
-            "float"
-        ],
-        "qp_solver_tol_eq": [
-            "float"
-        ],
-        "qp_solver_tol_ineq": [
-            "float"
-        ],
-        "qp_solver_tol_comp": [
-            "float"
-        ],
-        "qp_solver_iter_max": [
-            "int"
-        ],
-        "qp_solver_cond_ric_alg": [
-            "int"
-        ],
-        "qp_solver_ric_alg": [
-            "int"
-        ],
-        "nlp_solver_tol_stat": [
-            "float"
-        ],
-        "nlp_solver_tol_eq": [
-            "float"
-        ],
-        "nlp_solver_tol_ineq": [
-            "float"
-        ],
-        "nlp_solver_tol_comp": [
-            "float"
-        ],
-        "nlp_solver_max_iter": [
-            "int"
-        ],
-        "nlp_solver_ext_qp_res": [
-            "int"
-        ],
-        "print_level": [
-            "int"
-        ],
-        "initialize_t_slacks": [
-            "int"
-        ],
-        "exact_hess_cost": [
-            "int"
-        ],
-        "exact_hess_constr": [
-            "int"
-        ],
-        "exact_hess_dyn": [
-            "int"
-        ],
-        "ext_cost_num_hess": [
-            "int"
-        ],
-        "ext_fun_compile_flags": [
-            "str"
-        ],
-        "model_external_shared_lib_dir": [
-            "str"
-        ],
-        "model_external_shared_lib_name": [
-            "str"
-        ]
-    }
-}
diff --git a/third_party/acados/acados_template/acados_model.py b/third_party/acados/acados_template/acados_model.py
deleted file mode 100644
index b7c6945442..0000000000
--- a/third_party/acados/acados_template/acados_model.py
+++ /dev/null
@@ -1,154 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-class AcadosModel():
-    """
-    Class containing all the information to code generate the external CasADi functions
-    that are needed when creating an acados ocp solver or acados integrator.
-    Thus, this class contains:
-
-    a) the :py:attr:`name` of the model,
-    b) all CasADi variables/expressions needed in the CasADi function generation process.
-    """
-    def __init__(self):
-        ## common for OCP and Integrator
-        self.name = None
-        """
-        The model name is used for code generation. Type: string. Default: :code:`None`
-        """
-        self.x = None           #: CasADi variable describing the state of the system; Default: :code:`None`
-        self.xdot = None        #: CasADi variable describing the derivative of the state wrt time; Default: :code:`None`
-        self.u = None           #: CasADi variable describing the input of the system; Default: :code:`None`
-        self.z = []             #: CasADi variable describing the algebraic variables of the DAE; Default: :code:`empty`
-        self.p = []             #: CasADi variable describing parameters of the DAE; Default: :code:`empty`
-        # dynamics
-        self.f_impl_expr = None
-        """
-        CasADi expression for the implicit dynamics :math:`f_\\text{impl}(\dot{x}, x, u, z, p) = 0`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'IRK'.
-        Default: :code:`None`
-        """
-        self.f_expl_expr = None
-        """
-        CasADi expression for the explicit dynamics :math:`\dot{x} = f_\\text{expl}(x, u, p)`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'ERK'.
-        Default: :code:`None`
-        """
-        self.disc_dyn_expr = None
-        """
-        CasADi expression for the discrete dynamics :math:`x_{+} = f_\\text{disc}(x, u, p)`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'DISCRETE'.
-        Default: :code:`None`
-        """
-
-        self.dyn_ext_fun_type = 'casadi'  #: type of external functions for dynamics module; 'casadi' or 'generic'; Default: 'casadi'
-        self.dyn_generic_source = None  #: name of source file for discrete dyanamics; Default: :code:`None`
-        self.dyn_disc_fun_jac_hess = None  #: name of function discrete dyanamics + jacobian and hessian; Default: :code:`None`
-        self.dyn_disc_fun_jac = None  #: name of function discrete dyanamics + jacobian; Default: :code:`None`
-        self.dyn_disc_fun = None  #: name of function discrete dyanamics; Default: :code:`None`
-
-        # for GNSF models
-        self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0}
-        """
-        dictionary containing information on GNSF structure needed when rendering templates.
-        Contains integers `nontrivial_f_LO`, `purely_linear`.
-        """
-
-        ## for OCP
-        # constraints
-        # BGH(default): lh <= h(x, u) <= uh
-        self.con_h_expr = None  #: CasADi expression for the constraint :math:`h`; Default: :code:`None`
-        # BGP(convex over nonlinear): lphi <= phi(r(x, u)) <= uphi
-        self.con_phi_expr = None  #: CasADi expression for the constraint phi; Default: :code:`None`
-        self.con_r_expr = None  #: CasADi expression for the constraint phi(r); Default: :code:`None`
-        self.con_r_in_phi = None
-        # terminal
-        self.con_h_expr_e = None  #: CasADi expression for the terminal constraint :math:`h^e`; Default: :code:`None`
-        self.con_r_expr_e = None  #: CasADi expression for the terminal constraint; Default: :code:`None`
-        self.con_phi_expr_e = None  #: CasADi expression for the terminal constraint; Default: :code:`None`
-        self.con_r_in_phi_e = None
-        # cost
-        self.cost_y_expr = None  #: CasADi expression for nonlinear least squares; Default: :code:`None`
-        self.cost_y_expr_e = None  #: CasADi expression for nonlinear least squares, terminal; Default: :code:`None`
-        self.cost_y_expr_0 = None  #: CasADi expression for nonlinear least squares, initial; Default: :code:`None`
-        self.cost_expr_ext_cost = None  #: CasADi expression for external cost; Default: :code:`None`
-        self.cost_expr_ext_cost_e = None  #: CasADi expression for external cost, terminal; Default: :code:`None`
-        self.cost_expr_ext_cost_0 = None  #: CasADi expression for external cost, initial; Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess = None  #: CasADi expression for custom hessian (only for external cost); Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess_e = None  #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess_0 = None  #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None`
-
-        ## CONVEX_OVER_NONLINEAR convex-over-nonlinear cost: psi(y(x, u, p) - y_ref; p)
-        self.cost_psi_expr_0 = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_psi_expr = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_psi_expr_e = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr_0 = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr_e = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess_0 = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost); Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess_e = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
diff --git a/third_party/acados/acados_template/acados_ocp.py b/third_party/acados/acados_template/acados_ocp.py
deleted file mode 100644
index d6236e1f6e..0000000000
--- a/third_party/acados/acados_template/acados_ocp.py
+++ /dev/null
@@ -1,3166 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import numpy as np
-import os
-from .acados_model import AcadosModel
-from .utils import get_acados_path, J_to_idx, J_to_idx_slack, get_lib_ext
-
-class AcadosOcpDims:
-    """
-    Class containing the dimensions of the optimal control problem.
-    """
-    def __init__(self):
-        self.__nx      = None
-        self.__nu      = None
-        self.__nz      = 0
-        self.__np      = 0
-        self.__ny      = 0
-        self.__ny_e    = 0
-        self.__ny_0    = 0
-        self.__nr      = 0
-        self.__nr_e    = 0
-        self.__nh      = 0
-        self.__nh_e    = 0
-        self.__nphi    = 0
-        self.__nphi_e  = 0
-        self.__nbx     = 0
-        self.__nbx_0   = 0
-        self.__nbx_e   = 0
-        self.__nbu     = 0
-        self.__nsbx    = 0
-        self.__nsbx_e  = 0
-        self.__nsbu    = 0
-        self.__nsh     = 0
-        self.__nsh_e   = 0
-        self.__nsphi   = 0
-        self.__nsphi_e = 0
-        self.__ns      = 0
-        self.__ns_e    = 0
-        self.__ng      = 0
-        self.__ng_e    = 0
-        self.__nsg     = 0
-        self.__nsg_e   = 0
-        self.__nbxe_0  = None
-        self.__N       = None
-
-
-    @property
-    def nx(self):
-        """:math:`n_x` - number of states.
-        Type: int; default: None"""
-        return self.__nx
-
-    @property
-    def nz(self):
-        """:math:`n_z` - number of algebraic variables.
-        Type: int; default: 0"""
-        return self.__nz
-
-    @property
-    def nu(self):
-        """:math:`n_u` - number of inputs.
-        Type: int; default: None"""
-        return self.__nu
-
-    @property
-    def np(self):
-        """:math:`n_p` - number of parameters.
-        Type: int; default: 0"""
-        return self.__np
-
-    @property
-    def ny(self):
-        """:math:`n_y` - number of residuals in Lagrange term.
-        Type: int; default: 0"""
-        return self.__ny
-
-    @property
-    def ny_0(self):
-        """:math:`n_{y}^0` - number of residuals in Mayer term.
-        Type: int; default: 0"""
-        return self.__ny_0
-
-    @property
-    def ny_e(self):
-        """:math:`n_{y}^e` - number of residuals in Mayer term.
-        Type: int; default: 0"""
-        return self.__ny_e
-
-    @property
-    def nr(self):
-        """:math:`n_{\pi}` - dimension of the image of the inner nonlinear function in positive definite constraints.
-        Type: int; default: 0"""
-        return self.__nr
-
-    @property
-    def nr_e(self):
-        """:math:`n_{\pi}^e` - dimension of the image of the inner nonlinear function in positive definite constraints.
-        Type: int; default: 0"""
-        return self.__nr_e
-
-    @property
-    def nh(self):
-        """:math:`n_h` - number of nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nh
-
-    @property
-    def nh_e(self):
-        """:math:`n_{h}^e` - number of nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nh_e
-
-    @property
-    def nphi(self):
-        """:math:`n_{\phi}` - number of convex-over-nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nphi
-
-    @property
-    def nphi_e(self):
-        """:math:`n_{\phi}^e` - number of convex-over-nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nphi_e
-
-    @property
-    def nbx(self):
-        """:math:`n_{b_x}` - number of state bounds.
-        Type: int; default: 0"""
-        return self.__nbx
-
-    @property
-    def nbxe_0(self):
-        """:math:`n_{be_{x0}}` - number of state bounds at initial shooting node that are equalities.
-        Type: int; default: None"""
-        return self.__nbxe_0
-
-    @property
-    def nbx_0(self):
-        """:math:`n_{b_{x0}}` - number of state bounds for initial state.
-        Type: int; default: 0"""
-        return self.__nbx_0
-
-    @property
-    def nbx_e(self):
-        """:math:`n_{b_x}` - number of state bounds at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nbx_e
-
-    @property
-    def nbu(self):
-        """:math:`n_{b_u}` - number of input bounds.
-        Type: int; default: 0"""
-        return self.__nbu
-
-    @property
-    def nsbx(self):
-        """:math:`n_{{sb}_x}` - number of soft state bounds.
-        Type: int; default: 0"""
-        return self.__nsbx
-
-    @property
-    def nsbx_e(self):
-        """:math:`n_{{sb}^e_{x}}` - number of soft state bounds at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsbx_e
-
-    @property
-    def nsbu(self):
-        """:math:`n_{{sb}_u}` - number of soft input bounds.
-        Type: int; default: 0"""
-        return self.__nsbu
-
-    @property
-    def nsg(self):
-        """:math:`n_{{sg}}` - number of soft general linear constraints.
-        Type: int; default: 0"""
-        return self.__nsg
-
-    @property
-    def nsg_e(self):
-        """:math:`n_{{sg}^e}` - number of soft general linear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsg_e
-
-    @property
-    def nsh(self):
-        """:math:`n_{{sh}}` - number of soft nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nsh
-
-    @property
-    def nsh_e(self):
-        """:math:`n_{{sh}}^e` - number of soft nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsh_e
-
-    @property
-    def nsphi(self):
-        """:math:`n_{{s\phi}}` - number of soft convex-over-nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nsphi
-
-    @property
-    def nsphi_e(self):
-        """:math:`n_{{s\phi}^e}` - number of soft convex-over-nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsphi_e
-
-    @property
-    def ns(self):
-        """:math:`n_{s}` - total number of slacks.
-        Type: int; default: 0"""
-        return self.__ns
-
-    @property
-    def ns_e(self):
-        """:math:`n_{s}^e` - total number of slacks at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__ns_e
-
-    @property
-    def ng(self):
-        """:math:`n_{g}` - number of general polytopic constraints.
-        Type: int; default: 0"""
-        return self.__ng
-
-    @property
-    def ng_e(self):
-        """:math:`n_{g}^e` - number of general polytopic constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__ng_e
-
-    @property
-    def N(self):
-        """:math:`N` - prediction horizon.
-        Type: int; default: None"""
-        return self.__N
-
-    @nx.setter
-    def nx(self, nx):
-        if isinstance(nx, int) and nx > 0:
-            self.__nx = nx
-        else:
-            raise Exception('Invalid nx value, expected positive integer.')
-
-    @nz.setter
-    def nz(self, nz):
-        if isinstance(nz, int) and nz > -1:
-            self.__nz = nz
-        else:
-            raise Exception('Invalid nz value, expected nonnegative integer.')
-
-    @nu.setter
-    def nu(self, nu):
-        if isinstance(nu, int) and nu > -1:
-            self.__nu = nu
-        else:
-            raise Exception('Invalid nu value, expected nonnegative integer.')
-
-    @np.setter
-    def np(self, np):
-        if isinstance(np, int) and np > -1:
-            self.__np = np
-        else:
-            raise Exception('Invalid np value, expected nonnegative integer.')
-
-    @ny_0.setter
-    def ny_0(self, ny_0):
-        if isinstance(ny_0, int) and ny_0 > -1:
-            self.__ny_0 = ny_0
-        else:
-            raise Exception('Invalid ny_0 value, expected nonnegative integer.')
-
-    @ny.setter
-    def ny(self, ny):
-        if isinstance(ny, int) and ny > -1:
-            self.__ny = ny
-        else:
-            raise Exception('Invalid ny value, expected nonnegative integer.')
-
-    @ny_e.setter
-    def ny_e(self, ny_e):
-        if isinstance(ny_e, int) and ny_e > -1:
-            self.__ny_e = ny_e
-        else:
-            raise Exception('Invalid ny_e value, expected nonnegative integer.')
-
-    @nr.setter
-    def nr(self, nr):
-        if isinstance(nr, int) and nr > -1:
-            self.__nr = nr
-        else:
-            raise Exception('Invalid nr value, expected nonnegative integer.')
-
-    @nr_e.setter
-    def nr_e(self, nr_e):
-        if isinstance(nr_e, int) and nr_e > -1:
-            self.__nr_e = nr_e
-        else:
-            raise Exception('Invalid nr_e value, expected nonnegative integer.')
-
-    @nh.setter
-    def nh(self, nh):
-        if isinstance(nh, int) and nh > -1:
-            self.__nh = nh
-        else:
-            raise Exception('Invalid nh value, expected nonnegative integer.')
-
-    @nh_e.setter
-    def nh_e(self, nh_e):
-        if isinstance(nh_e, int) and nh_e > -1:
-            self.__nh_e = nh_e
-        else:
-            raise Exception('Invalid nh_e value, expected nonnegative integer.')
-
-    @nphi.setter
-    def nphi(self, nphi):
-        if isinstance(nphi, int) and nphi > -1:
-            self.__nphi = nphi
-        else:
-            raise Exception('Invalid nphi value, expected nonnegative integer.')
-
-    @nphi_e.setter
-    def nphi_e(self, nphi_e):
-        if isinstance(nphi_e, int) and nphi_e > -1:
-            self.__nphi_e = nphi_e
-        else:
-            raise Exception('Invalid nphi_e value, expected nonnegative integer.')
-
-    @nbx.setter
-    def nbx(self, nbx):
-        if isinstance(nbx, int) and nbx > -1:
-            self.__nbx = nbx
-        else:
-            raise Exception('Invalid nbx value, expected nonnegative integer.')
-
-    @nbxe_0.setter
-    def nbxe_0(self, nbxe_0):
-        if isinstance(nbxe_0, int) and nbxe_0 > -1:
-            self.__nbxe_0 = nbxe_0
-        else:
-            raise Exception('Invalid nbxe_0 value, expected nonnegative integer.')
-
-    @nbx_0.setter
-    def nbx_0(self, nbx_0):
-        if isinstance(nbx_0, int) and nbx_0 > -1:
-            self.__nbx_0 = nbx_0
-        else:
-            raise Exception('Invalid nbx_0 value, expected nonnegative integer.')
-
-    @nbx_e.setter
-    def nbx_e(self, nbx_e):
-        if isinstance(nbx_e, int) and nbx_e > -1:
-            self.__nbx_e = nbx_e
-        else:
-            raise Exception('Invalid nbx_e value, expected nonnegative integer.')
-
-    @nbu.setter
-    def nbu(self, nbu):
-        if isinstance(nbu, int) and nbu > -1:
-            self.__nbu = nbu
-        else:
-            raise Exception('Invalid nbu value, expected nonnegative integer.')
-
-    @nsbx.setter
-    def nsbx(self, nsbx):
-        if isinstance(nsbx, int) and nsbx > -1:
-            self.__nsbx = nsbx
-        else:
-            raise Exception('Invalid nsbx value, expected nonnegative integer.')
-
-    @nsbx_e.setter
-    def nsbx_e(self, nsbx_e):
-        if isinstance(nsbx_e, int) and nsbx_e > -1:
-            self.__nsbx_e = nsbx_e
-        else:
-            raise Exception('Invalid nsbx_e value, expected nonnegative integer.')
-
-    @nsbu.setter
-    def nsbu(self, nsbu):
-        if isinstance(nsbu, int) and nsbu > -1:
-            self.__nsbu = nsbu
-        else:
-            raise Exception('Invalid nsbu value, expected nonnegative integer.')
-
-    @nsg.setter
-    def nsg(self, nsg):
-        if isinstance(nsg, int) and nsg > -1:
-            self.__nsg = nsg
-        else:
-            raise Exception('Invalid nsg value, expected nonnegative integer.')
-
-    @nsg_e.setter
-    def nsg_e(self, nsg_e):
-        if isinstance(nsg_e, int) and nsg_e > -1:
-            self.__nsg_e = nsg_e
-        else:
-            raise Exception('Invalid nsg_e value, expected nonnegative integer.')
-
-    @nsh.setter
-    def nsh(self, nsh):
-        if isinstance(nsh, int) and nsh > -1:
-            self.__nsh = nsh
-        else:
-            raise Exception('Invalid nsh value, expected nonnegative integer.')
-
-    @nsh_e.setter
-    def nsh_e(self, nsh_e):
-        if isinstance(nsh_e, int) and nsh_e > -1:
-            self.__nsh_e = nsh_e
-        else:
-            raise Exception('Invalid nsh_e value, expected nonnegative integer.')
-
-    @nsphi.setter
-    def nsphi(self, nsphi):
-        if isinstance(nsphi, int) and nsphi > -1:
-            self.__nsphi = nsphi
-        else:
-            raise Exception('Invalid nsphi value, expected nonnegative integer.')
-
-    @nsphi_e.setter
-    def nsphi_e(self, nsphi_e):
-        if isinstance(nsphi_e, int) and nsphi_e > -1:
-            self.__nsphi_e = nsphi_e
-        else:
-            raise Exception('Invalid nsphi_e value, expected nonnegative integer.')
-
-    @ns.setter
-    def ns(self, ns):
-        if isinstance(ns, int) and ns > -1:
-            self.__ns = ns
-        else:
-            raise Exception('Invalid ns value, expected nonnegative integer.')
-
-    @ns_e.setter
-    def ns_e(self, ns_e):
-        if isinstance(ns_e, int) and ns_e > -1:
-            self.__ns_e = ns_e
-        else:
-            raise Exception('Invalid ns_e value, expected nonnegative integer.')
-
-    @ng.setter
-    def ng(self, ng):
-        if isinstance(ng, int) and ng > -1:
-            self.__ng = ng
-        else:
-            raise Exception('Invalid ng value, expected nonnegative integer.')
-
-    @ng_e.setter
-    def ng_e(self, ng_e):
-        if isinstance(ng_e, int) and ng_e > -1:
-            self.__ng_e = ng_e
-        else:
-            raise Exception('Invalid ng_e value, expected nonnegative integer.')
-
-    @N.setter
-    def N(self, N):
-        if isinstance(N, int) and N > 0:
-            self.__N = N
-        else:
-            raise Exception('Invalid N value, expected positive integer.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcpCost:
-    """
-    Class containing the numerical data of the cost:
-
-    NOTE: all cost terms, except for the terminal one are weighted with the corresponding time step.
-    This means given the time steps are :math:`\Delta t_0,..., \Delta t_N`, the total cost is given by:
-    :math:`c_\\text{total} = \Delta t_0 \cdot c_0(x_0, u_0, p_0, z_0) + ... + \Delta t_{N-1} \cdot c_{N-1}(x_0, u_0, p_0, z_0) + c_N(x_N, p_N)`.
-
-    This means the Lagrange cost term is given in continuous time, this makes up for a seeminglessly OCP discretization with a nonuniform time grid.
-
-    In case of LINEAR_LS:
-    stage cost is
-    :math:`l(x,u,z) = || V_x \, x + V_u \, u + V_z \, z - y_\\text{ref}||^2_W`,
-    terminal cost is
-    :math:`m(x) = || V^e_x \, x - y_\\text{ref}^e||^2_{W^e}`
-
-    In case of NONLINEAR_LS:
-    stage cost is
-    :math:`l(x,u,z,p) = || y(x,u,z,p) - y_\\text{ref}||^2_W`,
-    terminal cost is
-    :math:`m(x,p) = || y^e(x,p) - y_\\text{ref}^e||^2_{W^e}`
-
-    In case of CONVEX_OVER_NONLINEAR:
-    stage cost is
-    :math:`l(x,u,p) = \psi(y(x,u,p) - y_\\text{ref}, p)`,
-    terminal cost is
-    :math:`m(x, p) = \psi^e (y^e(x,p) - y_\\text{ref}^e, p)`
-    """
-    def __init__(self):
-        # initial stage
-        self.__cost_type_0 = None
-        self.__W_0 = None
-        self.__Vx_0 = None
-        self.__Vu_0 = None
-        self.__Vz_0 = None
-        self.__yref_0 = None
-        self.__cost_ext_fun_type_0 = 'casadi'
-        # Lagrange term
-        self.__cost_type   = 'LINEAR_LS'  # cost type
-        self.__W           = np.zeros((0,0))
-        self.__Vx          = np.zeros((0,0))
-        self.__Vu          = np.zeros((0,0))
-        self.__Vz          = np.zeros((0,0))
-        self.__yref        = np.array([])
-        self.__Zl          = np.array([])
-        self.__Zu          = np.array([])
-        self.__zl          = np.array([])
-        self.__zu          = np.array([])
-        self.__cost_ext_fun_type = 'casadi'
-        # Mayer term
-        self.__cost_type_e = 'LINEAR_LS'
-        self.__W_e         = np.zeros((0,0))
-        self.__Vx_e        = np.zeros((0,0))
-        self.__yref_e      = np.array([])
-        self.__Zl_e        = np.array([])
-        self.__Zu_e        = np.array([])
-        self.__zl_e        = np.array([])
-        self.__zu_e        = np.array([])
-        self.__cost_ext_fun_type_e = 'casadi'
-
-    # initial stage
-    @property
-    def cost_type_0(self):
-        """Cost type at initial shooting node (0)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR} or :code:`None`.
-        Default: :code:`None`.
-
-            .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
-
-            .. note:: If :py:attr:`cost_type_0` is set to :code:`None` values in :py:attr:`W_0`, :py:attr:`Vx_0`, :py:attr:`Vu_0`, :py:attr:`Vz_0` and :py:attr:`yref_0` are ignored (set to :code:`None`).
-        """
-        return self.__cost_type_0
-
-    @property
-    def W_0(self):
-        """:math:`W_0` - weight matrix at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__W_0
-
-    @property
-    def Vx_0(self):
-        """:math:`V_x^0` - x matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vx_0
-
-    @property
-    def Vu_0(self):
-        """:math:`V_u^0` - u matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vu_0
-
-    @property
-    def Vz_0(self):
-        """:math:`V_z^0` - z matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vz_0
-
-    @property
-    def yref_0(self):
-        """:math:`y_\\text{ref}^0` - reference at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__yref_0
-
-    @property
-    def cost_ext_fun_type_0(self):
-        """Type of external function for cost at initial shooting node (0)
-        -- string in {casadi, generic} or :code:`None`
-        Default: :code:'casadi'.
-
-            .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
-        """
-        return self.__cost_ext_fun_type_0
-
-    @yref_0.setter
-    def yref_0(self, yref_0):
-        if isinstance(yref_0, np.ndarray) and len(yref_0.shape) == 1:
-            self.__yref_0 = yref_0
-        else:
-            raise Exception('Invalid yref_0 value, expected 1-dimensional numpy array.')
-
-    @W_0.setter
-    def W_0(self, W_0):
-        if isinstance(W_0, np.ndarray) and len(W_0.shape) == 2:
-            self.__W_0 = W_0
-        else:
-            raise Exception('Invalid cost W_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vx_0.setter
-    def Vx_0(self, Vx_0):
-        if isinstance(Vx_0, np.ndarray) and len(Vx_0.shape) == 2:
-            self.__Vx_0 = Vx_0
-        else:
-            raise Exception('Invalid cost Vx_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vu_0.setter
-    def Vu_0(self, Vu_0):
-        if isinstance(Vu_0, np.ndarray) and len(Vu_0.shape) == 2:
-            self.__Vu_0 = Vu_0
-        else:
-            raise Exception('Invalid cost Vu_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vz_0.setter
-    def Vz_0(self, Vz_0):
-        if isinstance(Vz_0, np.ndarray) and len(Vz_0.shape) == 2:
-            self.__Vz_0 = Vz_0
-        else:
-            raise Exception('Invalid cost Vz_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @cost_ext_fun_type_0.setter
-    def cost_ext_fun_type_0(self, cost_ext_fun_type_0):
-        if cost_ext_fun_type_0 in ['casadi', 'generic']:
-            self.__cost_ext_fun_type_0 = cost_ext_fun_type_0
-        else:
-            raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array.')
-
-    # Lagrange term
-    @property
-    def cost_type(self):
-        """
-        Cost type at intermediate shooting nodes (1 to N-1)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}.
-        Default: 'LINEAR_LS'.
-        """
-        return self.__cost_type
-
-    @property
-    def W(self):
-        """:math:`W` - weight matrix at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__W
-
-    @property
-    def Vx(self):
-        """:math:`V_x` - x matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vx
-
-    @property
-    def Vu(self):
-        """:math:`V_u` - u matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vu
-
-    @property
-    def Vz(self):
-        """:math:`V_z` - z matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vz
-
-    @property
-    def yref(self):
-        """:math:`y_\\text{ref}` - reference at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__yref
-
-    @property
-    def Zl(self):
-        """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zl
-
-    @property
-    def Zu(self):
-        """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zu
-
-    @property
-    def zl(self):
-        """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zl
-
-    @property
-    def zu(self):
-        """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zu
-
-    @property
-    def cost_ext_fun_type(self):
-        """Type of external function for cost at intermediate shooting nodes (1 to N-1).
-        -- string in {casadi, generic}
-        Default: :code:'casadi'.
-        """
-        return self.__cost_ext_fun_type
-
-    @cost_type.setter
-    def cost_type(self, cost_type):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-        if cost_type in cost_types:
-            self.__cost_type = cost_type
-        else:
-            raise Exception('Invalid cost_type value.')
-
-    @cost_type_0.setter
-    def cost_type_0(self, cost_type_0):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-        if cost_type_0 in cost_types:
-            self.__cost_type_0 = cost_type_0
-        else:
-            raise Exception('Invalid cost_type_0 value.')
-
-    @W.setter
-    def W(self, W):
-        if isinstance(W, np.ndarray) and len(W.shape) == 2:
-            self.__W = W
-        else:
-            raise Exception('Invalid cost W value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-
-    @Vx.setter
-    def Vx(self, Vx):
-        if isinstance(Vx, np.ndarray) and len(Vx.shape) == 2:
-            self.__Vx = Vx
-        else:
-            raise Exception('Invalid cost Vx value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vu.setter
-    def Vu(self, Vu):
-        if isinstance(Vu, np.ndarray) and len(Vu.shape) == 2:
-            self.__Vu = Vu
-        else:
-            raise Exception('Invalid cost Vu value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vz.setter
-    def Vz(self, Vz):
-        if isinstance(Vz, np.ndarray) and len(Vz.shape) == 2:
-            self.__Vz = Vz
-        else:
-            raise Exception('Invalid cost Vz value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @yref.setter
-    def yref(self, yref):
-        if isinstance(yref, np.ndarray) and len(yref.shape) == 1:
-            self.__yref = yref
-        else:
-            raise Exception('Invalid yref value, expected 1-dimensional numpy array.')
-
-    @Zl.setter
-    def Zl(self, Zl):
-        if isinstance(Zl, np.ndarray):
-            self.__Zl = Zl
-        else:
-            raise Exception('Invalid Zl value, expected numpy array.')
-
-    @Zu.setter
-    def Zu(self, Zu):
-        if isinstance(Zu, np.ndarray):
-            self.__Zu = Zu
-        else:
-            raise Exception('Invalid Zu value, expected numpy array.')
-
-    @zl.setter
-    def zl(self, zl):
-        if isinstance(zl, np.ndarray):
-            self.__zl = zl
-        else:
-            raise Exception('Invalid zl value, expected numpy array.')
-
-    @zu.setter
-    def zu(self, zu):
-        if isinstance(zu, np.ndarray):
-            self.__zu = zu
-        else:
-            raise Exception('Invalid zu value, expected numpy array.')
-
-    @cost_ext_fun_type.setter
-    def cost_ext_fun_type(self, cost_ext_fun_type):
-        if cost_ext_fun_type in ['casadi', 'generic']:
-            self.__cost_ext_fun_type = cost_ext_fun_type
-        else:
-            raise Exception("Invalid cost_ext_fun_type value, expected one in ['casadi', 'generic'].")
-
-    # Mayer term
-    @property
-    def cost_type_e(self):
-        """
-        Cost type at terminal shooting node (N)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}.
-        Default: 'LINEAR_LS'.
-        """
-        return self.__cost_type_e
-
-    @property
-    def W_e(self):
-        """:math:`W_e` - weight matrix at terminal shooting node (N).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__W_e
-
-    @property
-    def Vx_e(self):
-        """:math:`V_x^e` - x matrix coefficient for cost at terminal shooting node (N).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vx_e
-
-    @property
-    def yref_e(self):
-        """:math:`y_\\text{ref}^e` - cost reference at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__yref_e
-
-    @property
-    def Zl_e(self):
-        """:math:`Z_l^e` - diagonal of Hessian wrt lower slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zl_e
-
-    @property
-    def Zu_e(self):
-        """:math:`Z_u^e` - diagonal of Hessian wrt upper slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zu_e
-
-    @property
-    def zl_e(self):
-        """:math:`z_l^e` - gradient wrt lower slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zl_e
-
-    @property
-    def zu_e(self):
-        """:math:`z_u^e` - gradient wrt upper slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zu_e
-
-    @property
-    def cost_ext_fun_type_e(self):
-        """Type of external function for cost at terminal shooting node (N).
-        -- string in {casadi, generic}
-        Default: :code:'casadi'.
-        """
-        return self.__cost_ext_fun_type_e
-
-    @cost_type_e.setter
-    def cost_type_e(self, cost_type_e):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-
-        if cost_type_e in cost_types:
-            self.__cost_type_e = cost_type_e
-        else:
-            raise Exception('Invalid cost_type_e value.')
-
-    @W_e.setter
-    def W_e(self, W_e):
-        if isinstance(W_e, np.ndarray) and len(W_e.shape) == 2:
-            self.__W_e = W_e
-        else:
-            raise Exception('Invalid cost W_e value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vx_e.setter
-    def Vx_e(self, Vx_e):
-        if isinstance(Vx_e, np.ndarray) and len(Vx_e.shape) == 2:
-            self.__Vx_e = Vx_e
-        else:
-            raise Exception('Invalid cost Vx_e value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @yref_e.setter
-    def yref_e(self, yref_e):
-        if isinstance(yref_e, np.ndarray) and len(yref_e.shape) == 1:
-            self.__yref_e = yref_e
-        else:
-            raise Exception('Invalid yref_e value, expected 1-dimensional numpy array.')
-
-    @Zl_e.setter
-    def Zl_e(self, Zl_e):
-        if isinstance(Zl_e, np.ndarray):
-            self.__Zl_e = Zl_e
-        else:
-            raise Exception('Invalid Zl_e value, expected numpy array.')
-
-    @Zu_e.setter
-    def Zu_e(self, Zu_e):
-        if isinstance(Zu_e, np.ndarray):
-            self.__Zu_e = Zu_e
-        else:
-            raise Exception('Invalid Zu_e value, expected numpy array.')
-
-    @zl_e.setter
-    def zl_e(self, zl_e):
-        if isinstance(zl_e, np.ndarray):
-            self.__zl_e = zl_e
-        else:
-            raise Exception('Invalid zl_e value, expected numpy array.')
-
-    @zu_e.setter
-    def zu_e(self, zu_e):
-        if isinstance(zu_e, np.ndarray):
-            self.__zu_e = zu_e
-        else:
-            raise Exception('Invalid zu_e value, expected numpy array.')
-
-    @cost_ext_fun_type_e.setter
-    def cost_ext_fun_type_e(self, cost_ext_fun_type_e):
-        if cost_ext_fun_type_e in ['casadi', 'generic']:
-            self.__cost_ext_fun_type_e = cost_ext_fun_type_e
-        else:
-            raise Exception("Invalid cost_ext_fun_type_e value, expected one in ['casadi', 'generic'].")
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-def print_J_to_idx_note():
-    print("NOTE: J* matrix is converted to zero based vector idx* vector, which is returned here.")
-
-
-class AcadosOcpConstraints:
-    """
-    class containing the description of the constraints
-    """
-    def __init__(self):
-        self.__constr_type   = 'BGH'
-        self.__constr_type_e = 'BGH'
-        # initial x
-        self.__lbx_0   = np.array([])
-        self.__ubx_0   = np.array([])
-        self.__idxbx_0 = np.array([])
-        self.__idxbxe_0 = np.array([])
-        # state bounds
-        self.__lbx     = np.array([])
-        self.__ubx     = np.array([])
-        self.__idxbx   = np.array([])
-        # bounds on x at shooting node N
-        self.__lbx_e   = np.array([])
-        self.__ubx_e   = np.array([])
-        self.__idxbx_e = np.array([])
-        # bounds on u
-        self.__lbu     = np.array([])
-        self.__ubu     = np.array([])
-        self.__idxbu   = np.array([])
-        # polytopic constraints
-        self.__lg      = np.array([])
-        self.__ug      = np.array([])
-        self.__D       = np.zeros((0,0))
-        self.__C       = np.zeros((0,0))
-        # polytopic constraints at shooting node N
-        self.__C_e     = np.zeros((0,0))
-        self.__lg_e    = np.array([])
-        self.__ug_e    = np.array([])
-        # nonlinear constraints
-        self.__lh      = np.array([])
-        self.__uh      = np.array([])
-        # nonlinear constraints at shooting node N
-        self.__uh_e    = np.array([])
-        self.__lh_e    = np.array([])
-        # convex-over-nonlinear constraints
-        self.__lphi    = np.array([])
-        self.__uphi    = np.array([])
-        # nonlinear constraints at shooting node N
-        self.__uphi_e = np.array([])
-        self.__lphi_e = np.array([])
-        # SLACK BOUNDS
-        # soft bounds on x
-        self.__lsbx   = np.array([])
-        self.__usbx   = np.array([])
-        self.__idxsbx = np.array([])
-        # soft bounds on u
-        self.__lsbu   = np.array([])
-        self.__usbu   = np.array([])
-        self.__idxsbu = np.array([])
-        # soft bounds on x at shooting node N
-        self.__lsbx_e  = np.array([])
-        self.__usbx_e  = np.array([])
-        self.__idxsbx_e= np.array([])
-        # soft bounds on general linear constraints
-        self.__lsg    = np.array([])
-        self.__usg    = np.array([])
-        self.__idxsg  = np.array([])
-        # soft bounds on nonlinear constraints
-        self.__lsh    = np.array([])
-        self.__ush    = np.array([])
-        self.__idxsh  = np.array([])
-        # soft bounds on nonlinear constraints
-        self.__lsphi  = np.array([])
-        self.__usphi  = np.array([])
-        self.__idxsphi  = np.array([])
-        # soft bounds on general linear constraints at shooting node N
-        self.__lsg_e    = np.array([])
-        self.__usg_e    = np.array([])
-        self.__idxsg_e  = np.array([])
-        # soft bounds on nonlinear constraints at shooting node N
-        self.__lsh_e    = np.array([])
-        self.__ush_e    = np.array([])
-        self.__idxsh_e  = np.array([])
-        # soft bounds on nonlinear constraints at shooting node N
-        self.__lsphi_e    = np.array([])
-        self.__usphi_e    = np.array([])
-        self.__idxsphi_e  = np.array([])
-
-
-    # types
-    @property
-    def constr_type(self):
-        """Constraints type for shooting nodes (0 to N-1). string in {BGH, BGP}.
-        Default: BGH; BGP is for convex over nonlinear."""
-        return self.__constr_type
-
-    @property
-    def constr_type_e(self):
-        """Constraints type for terminal shooting node N. string in {BGH, BGP}.
-        Default: BGH; BGP is for convex over nonlinear."""
-        return self.__constr_type_e
-
-    # initial bounds on x
-    @property
-    def lbx_0(self):
-        """:math:`\\underline{x_0}` - lower bounds on x at initial stage 0.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`."""
-        return self.__lbx_0
-
-    @property
-    def ubx_0(self):
-        """:math:`\\bar{x_0}` - upper bounds on x at initial stage 0.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx_0
-
-    @property
-    def Jbx_0(self):
-        """:math:`J_{bx,0}` - matrix coefficient for bounds on x at initial stage 0.
-        Translated internally to :py:attr:`idxbx_0`"""
-        print_J_to_idx_note()
-        return self.__idxbx_0
-
-    @property
-    def idxbx_0(self):
-        """Indices of bounds on x at initial stage 0
-        -- can be set automatically via x0.
-        Can be set by using :py:attr:`Jbx_0`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx_0
-
-    @property
-    def idxbxe_0(self):
-        """Indices of bounds on x0 that are equalities -- can be set automatically via :py:attr:`x0`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbxe_0
-
-    # bounds on x
-    @property
-    def lbx(self):
-        """:math:`\\underline{x}` - lower bounds on x at intermediate shooting nodes (1 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__lbx
-
-    @property
-    def ubx(self):
-        """:math:`\\bar{x}` - upper bounds on x at intermediate shooting nodes (1 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx
-
-    @property
-    def idxbx(self):
-        """indices of bounds on x (defines :math:`J_{bx}`) at intermediate shooting nodes (1 to N-1).
-        Can be set by using :py:attr:`Jbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx
-
-    @property
-    def Jbx(self):
-        """:math:`J_{bx}` - matrix coefficient for bounds on x
-        at intermediate shooting nodes (1 to N-1).
-        Translated internally into :py:attr:`idxbx`."""
-        print_J_to_idx_note()
-        return self.__idxbx
-
-    # bounds on x at shooting node N
-    @property
-    def lbx_e(self):
-        """:math:`\\underline{x}^e` - lower bounds on x at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__lbx_e
-
-    @property
-    def ubx_e(self):
-        """:math:`\\bar{x}^e` - upper bounds on x at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx_e
-
-    @property
-    def idxbx_e(self):
-        """Indices for bounds on x at terminal shooting node N (defines :math:`J_{bx}^e`).
-        Can be set by using :py:attr:`Jbx_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx_e
-
-    @property
-    def Jbx_e(self):
-        """:math:`J_{bx}^e` matrix coefficient for bounds on x at terminal shooting node N.
-        Translated internally into :py:attr:`idxbx_e`."""
-        print_J_to_idx_note()
-        return self.__idxbx_e
-
-    # bounds on u
-    @property
-    def lbu(self):
-        """:math:`\\underline{u}` - lower bounds on u at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lbu
-
-    @property
-    def ubu(self):
-        """:math:`\\bar{u}` - upper bounds on u at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__ubu
-
-    @property
-    def idxbu(self):
-        """Indices of bounds on u (defines :math:`J_{bu}`) at shooting nodes (0 to N-1).
-        Can be set by using :py:attr:`Jbu`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__idxbu
-
-    @property
-    def Jbu(self):
-        """:math:`J_{bu}` - matrix coefficient for bounds on u at shooting nodes (0 to N-1).
-        Translated internally to :py:attr:`idxbu`.
-        """
-        print_J_to_idx_note()
-        return self.__idxbu
-
-    # polytopic constraints
-    @property
-    def C(self):
-        """:math:`C` - C matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}`
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`.
-        """
-        return self.__C
-
-    @property
-    def D(self):
-        """:math:`D` - D matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}`
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`
-        """
-        return self.__D
-
-    @property
-    def lg(self):
-        """:math:`\\underline{g}` - lower bound for general polytopic inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lg
-
-    @property
-    def ug(self):
-        """:math:`\\bar{g}` - upper bound for general polytopic inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__ug
-
-    # polytopic constraints at shooting node N
-    @property
-    def C_e(self):
-        """:math:`C^e` - C matrix at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`.
-        """
-        return self.__C_e
-
-    @property
-    def lg_e(self):
-        """:math:`\\underline{g}^e` - lower bound on general polytopic inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lg_e
-
-    @property
-    def ug_e(self):
-        """:math:`\\bar{g}^e` - upper bound on general polytopic inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__ug_e
-
-
-    # nonlinear constraints
-    @property
-    def lh(self):
-        """:math:`\\underline{h}` - lower bound for nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lh
-
-    @property
-    def uh(self):
-        """:math:`\\bar{h}` - upper bound for nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uh
-
-    # nonlinear constraints at shooting node N
-    @property
-    def lh_e(self):
-        """:math:`\\underline{h}^e` - lower bound on nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lh_e
-
-    @property
-    def uh_e(self):
-        """:math:`\\bar{h}^e` - upper bound on nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uh_e
-
-    # convex-over-nonlinear constraints
-    @property
-    def lphi(self):
-        """:math:`\\underline{\phi}` - lower bound for convex-over-nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lphi
-
-    @property
-    def uphi(self):
-        """:math:`\\bar{\phi}` - upper bound for convex-over-nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uphi
-
-    # convex-over-nonlinear constraints at shooting node N
-    @property
-    def lphi_e(self):
-        """:math:`\\underline{\phi}^e` - lower bound on convex-over-nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lphi_e
-
-    @property
-    def uphi_e(self):
-        """:math:`\\bar{\phi}^e` - upper bound on convex-over-nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uphi_e
-
-
-    # SLACK bounds
-    # soft bounds on x
-    @property
-    def lsbx(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on x
-        at stages (1 to N-1);
-        not required - zeros by default"""
-        return self.__lsbx
-
-    @property
-    def usbx(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on x
-        at stages (1 to N-1);
-        not required - zeros by default"""
-        return self.__usbx
-
-    @property
-    def idxsbx(self):
-        """Indices of soft bounds on x within the indices of bounds on x
-        at stages (1 to N-1).
-        Can be set by using :py:attr:`Jsbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbx
-
-    @property
-    def Jsbx(self):
-        """:math:`J_{sbx}` - matrix coefficient for soft bounds on x
-        at stages (1 to N-1);
-        Translated internally into :py:attr:`idxsbx`."""
-        print_J_to_idx_note()
-        return self.__idxsbx
-
-    # soft bounds on u
-    @property
-    def lsbu(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on u
-        at stages (0 to N-1).
-        Not required - zeros by default."""
-        return self.__lsbu
-
-    @property
-    def usbu(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on u
-        at stages (0 to N-1);
-        not required - zeros by default"""
-        return self.__usbu
-
-    @property
-    def idxsbu(self):
-        """Indices of soft bounds on u within the indices of bounds on u
-        at stages (0 to N-1).
-        Can be set by using :py:attr:`Jsbu`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbu
-
-    @property
-    def Jsbu(self):
-        """:math:`J_{sbu}` - matrix coefficient for soft bounds on u
-        at stages (0 to N-1);
-        internally translated into :py:attr:`idxsbu`"""
-        print_J_to_idx_note()
-        return self.__idxsbu
-
-    # soft bounds on x at shooting node N
-    @property
-    def lsbx_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on x at shooting node N.
-        Not required - zeros by default"""
-        return self.__lsbx_e
-
-    @property
-    def usbx_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on x at shooting node N.
-        Not required - zeros by default"""
-        return self.__usbx_e
-
-    @property
-    def idxsbx_e(self):
-        """Indices of soft bounds on x at shooting node N, within the indices of bounds on x at terminal shooting node N.
-        Can be set by using :py:attr:`Jsbx_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbx_e
-
-    @property
-    def Jsbx_e(self):
-        """:math:`J_{sbx}^e` - matrix coefficient for soft bounds on x at terminal shooting node N.
-        Translated internally to :py:attr:`idxsbx_e`"""
-        print_J_to_idx_note()
-        return self.__idxsbx_e
-
-    # soft general linear constraints
-    @property
-    def lsg(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints
-        at stages (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lsg
-
-    @property
-    def usg(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints.
-        Not required - zeros by default"""
-        return self.__usg
-
-    @property
-    def idxsg(self):
-        """Indices of soft general linear constraints within the indices of general linear constraints.
-        Can be set by using :py:attr:`Jsg`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsg
-
-    @property
-    def Jsg(self):
-        """:math:`J_{sg}` - matrix coefficient for soft bounds on general linear constraints.
-        Translated internally to :py:attr:`idxsg`"""
-        print_J_to_idx_note()
-        return self.__idxsg
-
-    # soft nonlinear constraints
-    @property
-    def lsh(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__lsh
-
-    @property
-    def ush(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__ush
-
-    @property
-    def idxsh(self):
-        """Indices of soft nonlinear constraints within the indices of nonlinear constraints.
-        Can be set by using :py:attr:`Jbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsh
-
-    @property
-    def Jsh(self):
-        """:math:`J_{sh}` - matrix coefficient for soft bounds on nonlinear constraints.
-        Translated internally to :py:attr:`idxsh`"""
-        print_J_to_idx_note()
-        return self.__idxsh
-
-    # soft bounds on convex-over-nonlinear constraints
-    @property
-    def lsphi(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__lsphi
-
-    @property
-    def usphi(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__usphi
-
-    @property
-    def idxsphi(self):
-        """Indices of soft convex-over-nonlinear constraints within the indices of nonlinear constraints.
-        Can be set by using :py:attr:`Jsphi`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsphi
-
-    @property
-    def Jsphi(self):
-        """:math:`J_{s, \phi}` - matrix coefficient for soft bounds on convex-over-nonlinear constraints.
-        Translated internally into :py:attr:`idxsphi`."""
-        print_J_to_idx_note()
-        return self.__idxsphi
-
-
-    # soft bounds on general linear constraints at shooting node N
-    @property
-    def lsg_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints at shooting node N.
-        Not required - zeros by default"""
-        return self.__lsg_e
-
-    @property
-    def usg_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints at shooting node N.
-        Not required - zeros by default"""
-        return self.__usg_e
-
-    @property
-    def idxsg_e(self):
-        """Indices of soft general linear constraints at shooting node N within the indices of general linear constraints at shooting node N.
-        Can be set by using :py:attr:`Jsg_e`."""
-        return self.__idxsg_e
-
-    @property
-    def Jsg_e(self):
-        """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on general linear constraints at terminal shooting node N.
-        Translated internally to :py:attr:`idxsg_e`"""
-        print_J_to_idx_note()
-        return self.__idxsg_e
-
-
-    # soft bounds on nonlinear constraints at shooting node N
-    @property
-    def lsh_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__lsh_e
-
-    @property
-    def ush_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__ush_e
-
-    @property
-    def idxsh_e(self):
-        """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N.
-        Can be set by using :py:attr:`Jsh_e`."""
-        return self.__idxsh_e
-
-    @property
-    def Jsh_e(self):
-        """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on nonlinear constraints at terminal shooting node N; fills :py:attr:`idxsh_e`"""
-        print_J_to_idx_note()
-        return self.__idxsh_e
-
-    # soft bounds on convex-over-nonlinear constraints at shooting node N
-    @property
-    def lsphi_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__lsphi_e
-
-    @property
-    def usphi_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__usphi_e
-
-    @property
-    def idxsphi_e(self):
-        """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N.
-        Can be set by using :py:attr:`Jsphi_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsphi_e
-
-    @property
-    def Jsphi_e(self):
-        """:math:`J_{sh}^e` - matrix coefficient for soft bounds on convex-over-nonlinear constraints at shooting node N.
-        Translated internally to :py:attr:`idxsphi_e`"""
-        print_J_to_idx_note()
-        return self.__idxsphi_e
-
-    @property
-    def x0(self):
-        """:math:`x_0 \\in \mathbb{R}^{n_x}` - initial state --
-        Translated internally to :py:attr:`idxbx_0`, :py:attr:`lbx_0`, :py:attr:`ubx_0`, :py:attr:`idxbxe_0` """
-        print("x0 is converted to lbx_0, ubx_0, idxbx_0")
-        print("idxbx_0: ", self.__idxbx_0)
-        print("lbx_0: ", self.__lbx_0)
-        print("ubx_0: ", self.__ubx_0)
-        print("idxbxe_0: ", self.__idxbxe_0)
-        return None
-
-    # SETTERS
-    @constr_type.setter
-    def constr_type(self, constr_type):
-        constr_types = ('BGH', 'BGP')
-        if constr_type in constr_types:
-            self.__constr_type = constr_type
-        else:
-            raise Exception('Invalid constr_type value. Possible values are:\n\n' \
-                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\n')
-
-    @constr_type_e.setter
-    def constr_type_e(self, constr_type_e):
-        constr_types = ('BGH', 'BGP')
-        if constr_type_e in constr_types:
-            self.__constr_type_e = constr_type_e
-        else:
-            raise Exception('Invalid constr_type_e value. Possible values are:\n\n' \
-                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\n')
-
-    # initial x
-    @lbx_0.setter
-    def lbx_0(self, lbx_0):
-        if isinstance(lbx_0, np.ndarray):
-            self.__lbx_0 = lbx_0
-        else:
-            raise Exception('Invalid lbx_0 value.')
-
-    @ubx_0.setter
-    def ubx_0(self, ubx_0):
-        if isinstance(ubx_0, np.ndarray):
-            self.__ubx_0 = ubx_0
-        else:
-            raise Exception('Invalid ubx_0 value.')
-
-    @idxbx_0.setter
-    def idxbx_0(self, idxbx_0):
-        if isinstance(idxbx_0, np.ndarray):
-            self.__idxbx_0 = idxbx_0
-        else:
-            raise Exception('Invalid idxbx_0 value.')
-
-    @Jbx_0.setter
-    def Jbx_0(self, Jbx_0):
-        if isinstance(Jbx_0, np.ndarray):
-            self.__idxbx_0 = J_to_idx(Jbx_0)
-        else:
-            raise Exception('Invalid Jbx_0 value.')
-
-    @idxbxe_0.setter
-    def idxbxe_0(self, idxbxe_0):
-        if isinstance(idxbxe_0, np.ndarray):
-            self.__idxbxe_0 = idxbxe_0
-        else:
-            raise Exception('Invalid idxbxe_0 value.')
-
-
-    @x0.setter
-    def x0(self, x0):
-        if isinstance(x0, np.ndarray):
-            self.__lbx_0 = x0
-            self.__ubx_0 = x0
-            self.__idxbx_0 = np.arange(x0.size)
-            self.__idxbxe_0 = np.arange(x0.size)
-        else:
-            raise Exception('Invalid x0 value.')
-
-    # bounds on x
-    @lbx.setter
-    def lbx(self, lbx):
-        if isinstance(lbx, np.ndarray):
-            self.__lbx = lbx
-        else:
-            raise Exception('Invalid lbx value.')
-
-    @ubx.setter
-    def ubx(self, ubx):
-        if isinstance(ubx, np.ndarray):
-            self.__ubx = ubx
-        else:
-            raise Exception('Invalid ubx value.')
-
-    @idxbx.setter
-    def idxbx(self, idxbx):
-        if isinstance(idxbx, np.ndarray):
-            self.__idxbx = idxbx
-        else:
-            raise Exception('Invalid idxbx value.')
-
-    @Jbx.setter
-    def Jbx(self, Jbx):
-        if isinstance(Jbx, np.ndarray):
-            self.__idxbx = J_to_idx(Jbx)
-        else:
-            raise Exception('Invalid Jbx value.')
-
-    # bounds on u
-    @lbu.setter
-    def lbu(self, lbu):
-        if isinstance(lbu, np.ndarray):
-            self.__lbu = lbu
-        else:
-            raise Exception('Invalid lbu value.')
-
-    @ubu.setter
-    def ubu(self, ubu):
-        if isinstance(ubu, np.ndarray):
-            self.__ubu = ubu
-        else:
-            raise Exception('Invalid ubu value.')
-
-    @idxbu.setter
-    def idxbu(self, idxbu):
-        if isinstance(idxbu, np.ndarray):
-            self.__idxbu = idxbu
-        else:
-            raise Exception('Invalid idxbu value.')
-
-    @Jbu.setter
-    def Jbu(self, Jbu):
-        if isinstance(Jbu, np.ndarray):
-            self.__idxbu = J_to_idx(Jbu)
-        else:
-            raise Exception('Invalid Jbu value.')
-
-    # bounds on x at shooting node N
-    @lbx_e.setter
-    def lbx_e(self, lbx_e):
-        if isinstance(lbx_e, np.ndarray):
-            self.__lbx_e = lbx_e
-        else:
-            raise Exception('Invalid lbx_e value.')
-
-    @ubx_e.setter
-    def ubx_e(self, ubx_e):
-        if isinstance(ubx_e, np.ndarray):
-            self.__ubx_e = ubx_e
-        else:
-            raise Exception('Invalid ubx_e value.')
-
-    @idxbx_e.setter
-    def idxbx_e(self, idxbx_e):
-        if isinstance(idxbx_e, np.ndarray):
-            self.__idxbx_e = idxbx_e
-        else:
-            raise Exception('Invalid idxbx_e value.')
-
-    @Jbx_e.setter
-    def Jbx_e(self, Jbx_e):
-        if isinstance(Jbx_e, np.ndarray):
-            self.__idxbx_e = J_to_idx(Jbx_e)
-        else:
-            raise Exception('Invalid Jbx_e value.')
-
-    # polytopic constraints
-    @D.setter
-    def D(self, D):
-        if isinstance(D, np.ndarray) and len(D.shape) == 2:
-            self.__D = D
-        else:
-            raise Exception('Invalid constraint D value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @C.setter
-    def C(self, C):
-        if isinstance(C, np.ndarray) and len(C.shape) == 2:
-            self.__C = C
-        else:
-            raise Exception('Invalid constraint C value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @lg.setter
-    def lg(self, lg):
-        if isinstance(lg, np.ndarray):
-            self.__lg = lg
-        else:
-            raise Exception('Invalid lg value.')
-
-    @ug.setter
-    def ug(self, ug):
-        if isinstance(ug, np.ndarray):
-            self.__ug = ug
-        else:
-            raise Exception('Invalid ug value.')
-
-    # polytopic constraints at shooting node N
-    @C_e.setter
-    def C_e(self, C_e):
-        if isinstance(C_e, np.ndarray) and len(C_e.shape) == 2:
-            self.__C_e = C_e
-        else:
-            raise Exception('Invalid constraint C_e value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @lg_e.setter
-    def lg_e(self, lg_e):
-        if isinstance(lg_e, np.ndarray):
-            self.__lg_e = lg_e
-        else:
-            raise Exception('Invalid lg_e value.')
-
-    @ug_e.setter
-    def ug_e(self, ug_e):
-        if isinstance(ug_e, np.ndarray):
-            self.__ug_e = ug_e
-        else:
-            raise Exception('Invalid ug_e value.')
-
-    # nonlinear constraints
-    @lh.setter
-    def lh(self, lh):
-        if isinstance(lh, np.ndarray):
-            self.__lh = lh
-        else:
-            raise Exception('Invalid lh value.')
-
-    @uh.setter
-    def uh(self, uh):
-        if isinstance(uh, np.ndarray):
-            self.__uh = uh
-        else:
-            raise Exception('Invalid uh value.')
-
-    # convex-over-nonlinear constraints
-    @lphi.setter
-    def lphi(self, lphi):
-        if isinstance(lphi, np.ndarray):
-            self.__lphi = lphi
-        else:
-            raise Exception('Invalid lphi value.')
-
-    @uphi.setter
-    def uphi(self, uphi):
-        if isinstance(uphi, np.ndarray):
-            self.__uphi = uphi
-        else:
-            raise Exception('Invalid uphi value.')
-
-    # nonlinear constraints at shooting node N
-    @lh_e.setter
-    def lh_e(self, lh_e):
-        if isinstance(lh_e, np.ndarray):
-            self.__lh_e = lh_e
-        else:
-            raise Exception('Invalid lh_e value.')
-
-    @uh_e.setter
-    def uh_e(self, uh_e):
-        if isinstance(uh_e, np.ndarray):
-            self.__uh_e = uh_e
-        else:
-            raise Exception('Invalid uh_e value.')
-
-    # convex-over-nonlinear constraints at shooting node N
-    @lphi_e.setter
-    def lphi_e(self, lphi_e):
-        if isinstance(lphi_e, np.ndarray):
-            self.__lphi_e = lphi_e
-        else:
-            raise Exception('Invalid lphi_e value.')
-
-    @uphi_e.setter
-    def uphi_e(self, uphi_e):
-        if isinstance(uphi_e, np.ndarray):
-            self.__uphi_e = uphi_e
-        else:
-            raise Exception('Invalid uphi_e value.')
-
-    # SLACK bounds
-    # soft bounds on x
-    @lsbx.setter
-    def lsbx(self, lsbx):
-        if isinstance(lsbx, np.ndarray):
-            self.__lsbx = lsbx
-        else:
-            raise Exception('Invalid lsbx value.')
-
-    @usbx.setter
-    def usbx(self, usbx):
-        if isinstance(usbx, np.ndarray):
-            self.__usbx = usbx
-        else:
-            raise Exception('Invalid usbx value.')
-
-    @idxsbx.setter
-    def idxsbx(self, idxsbx):
-        if isinstance(idxsbx, np.ndarray):
-            self.__idxsbx = idxsbx
-        else:
-            raise Exception('Invalid idxsbx value.')
-
-    @Jsbx.setter
-    def Jsbx(self, Jsbx):
-        if isinstance(Jsbx, np.ndarray):
-            self.__idxsbx = J_to_idx_slack(Jsbx)
-        else:
-            raise Exception('Invalid Jsbx value, expected numpy array.')
-
-    # soft bounds on u
-    @lsbu.setter
-    def lsbu(self, lsbu):
-        if isinstance(lsbu, np.ndarray):
-            self.__lsbu = lsbu
-        else:
-            raise Exception('Invalid lsbu value.')
-
-    @usbu.setter
-    def usbu(self, usbu):
-        if isinstance(usbu, np.ndarray):
-            self.__usbu = usbu
-        else:
-            raise Exception('Invalid usbu value.')
-
-    @idxsbu.setter
-    def idxsbu(self, idxsbu):
-        if isinstance(idxsbu, np.ndarray):
-            self.__idxsbu = idxsbu
-        else:
-            raise Exception('Invalid idxsbu value.')
-
-    @Jsbu.setter
-    def Jsbu(self, Jsbu):
-        if isinstance(Jsbu, np.ndarray):
-            self.__idxsbu = J_to_idx_slack(Jsbu)
-        else:
-            raise Exception('Invalid Jsbu value.')
-
-    # soft bounds on x at shooting node N
-    @lsbx_e.setter
-    def lsbx_e(self, lsbx_e):
-        if isinstance(lsbx_e, np.ndarray):
-            self.__lsbx_e = lsbx_e
-        else:
-            raise Exception('Invalid lsbx_e value.')
-
-    @usbx_e.setter
-    def usbx_e(self, usbx_e):
-        if isinstance(usbx_e, np.ndarray):
-            self.__usbx_e = usbx_e
-        else:
-            raise Exception('Invalid usbx_e value.')
-
-    @idxsbx_e.setter
-    def idxsbx_e(self, idxsbx_e):
-        if isinstance(idxsbx_e, np.ndarray):
-            self.__idxsbx_e = idxsbx_e
-        else:
-            raise Exception('Invalid idxsbx_e value.')
-
-    @Jsbx_e.setter
-    def Jsbx_e(self, Jsbx_e):
-        if isinstance(Jsbx_e, np.ndarray):
-            self.__idxsbx_e = J_to_idx_slack(Jsbx_e)
-        else:
-            raise Exception('Invalid Jsbx_e value.')
-
-
-    # soft bounds on general linear constraints
-    @lsg.setter
-    def lsg(self, lsg):
-        if isinstance(lsg, np.ndarray):
-            self.__lsg = lsg
-        else:
-            raise Exception('Invalid lsg value.')
-
-    @usg.setter
-    def usg(self, usg):
-        if isinstance(usg, np.ndarray):
-            self.__usg = usg
-        else:
-            raise Exception('Invalid usg value.')
-
-    @idxsg.setter
-    def idxsg(self, idxsg):
-        if isinstance(idxsg, np.ndarray):
-            self.__idxsg = idxsg
-        else:
-            raise Exception('Invalid idxsg value.')
-
-    @Jsg.setter
-    def Jsg(self, Jsg):
-        if isinstance(Jsg, np.ndarray):
-            self.__idxsg = J_to_idx_slack(Jsg)
-        else:
-            raise Exception('Invalid Jsg value, expected numpy array.')
-
-
-    # soft bounds on nonlinear constraints
-    @lsh.setter
-    def lsh(self, lsh):
-        if isinstance(lsh, np.ndarray):
-            self.__lsh = lsh
-        else:
-            raise Exception('Invalid lsh value.')
-
-    @ush.setter
-    def ush(self, ush):
-        if isinstance(ush, np.ndarray):
-            self.__ush = ush
-        else:
-            raise Exception('Invalid ush value.')
-
-    @idxsh.setter
-    def idxsh(self, idxsh):
-        if isinstance(idxsh, np.ndarray):
-            self.__idxsh = idxsh
-        else:
-            raise Exception('Invalid idxsh value.')
-
-
-    @Jsh.setter
-    def Jsh(self, Jsh):
-        if isinstance(Jsh, np.ndarray):
-            self.__idxsh = J_to_idx_slack(Jsh)
-        else:
-            raise Exception('Invalid Jsh value, expected numpy array.')
-
-    # soft bounds on convex-over-nonlinear constraints
-    @lsphi.setter
-    def lsphi(self, lsphi):
-        if isinstance(lsphi, np.ndarray):
-            self.__lsphi = lsphi
-        else:
-            raise Exception('Invalid lsphi value.')
-
-    @usphi.setter
-    def usphi(self, usphi):
-        if isinstance(usphi, np.ndarray):
-            self.__usphi = usphi
-        else:
-            raise Exception('Invalid usphi value.')
-
-    @idxsphi.setter
-    def idxsphi(self, idxsphi):
-        if isinstance(idxsphi, np.ndarray):
-            self.__idxsphi = idxsphi
-        else:
-            raise Exception('Invalid idxsphi value.')
-
-    @Jsphi.setter
-    def Jsphi(self, Jsphi):
-        if isinstance(Jsphi, np.ndarray):
-            self.__idxsphi = J_to_idx_slack(Jsphi)
-        else:
-            raise Exception('Invalid Jsphi value, expected numpy array.')
-
-    # soft bounds on general linear constraints at shooting node N
-    @lsg_e.setter
-    def lsg_e(self, lsg_e):
-        if isinstance(lsg_e, np.ndarray):
-            self.__lsg_e = lsg_e
-        else:
-            raise Exception('Invalid lsg_e value.')
-
-    @usg_e.setter
-    def usg_e(self, usg_e):
-        if isinstance(usg_e, np.ndarray):
-            self.__usg_e = usg_e
-        else:
-            raise Exception('Invalid usg_e value.')
-
-    @idxsg_e.setter
-    def idxsg_e(self, idxsg_e):
-        if isinstance(idxsg_e, np.ndarray):
-            self.__idxsg_e = idxsg_e
-        else:
-            raise Exception('Invalid idxsg_e value.')
-
-    @Jsg_e.setter
-    def Jsg_e(self, Jsg_e):
-        if isinstance(Jsg_e, np.ndarray):
-            self.__idxsg_e = J_to_idx_slack(Jsg_e)
-        else:
-            raise Exception('Invalid Jsg_e value, expected numpy array.')
-
-    # soft bounds on nonlinear constraints at shooting node N
-    @lsh_e.setter
-    def lsh_e(self, lsh_e):
-        if isinstance(lsh_e, np.ndarray):
-            self.__lsh_e = lsh_e
-        else:
-            raise Exception('Invalid lsh_e value.')
-
-    @ush_e.setter
-    def ush_e(self, ush_e):
-        if isinstance(ush_e, np.ndarray):
-            self.__ush_e = ush_e
-        else:
-            raise Exception('Invalid ush_e value.')
-
-    @idxsh_e.setter
-    def idxsh_e(self, idxsh_e):
-        if isinstance(idxsh_e, np.ndarray):
-            self.__idxsh_e = idxsh_e
-        else:
-            raise Exception('Invalid idxsh_e value.')
-
-    @Jsh_e.setter
-    def Jsh_e(self, Jsh_e):
-        if isinstance(Jsh_e, np.ndarray):
-            self.__idxsh_e = J_to_idx_slack(Jsh_e)
-        else:
-            raise Exception('Invalid Jsh_e value, expected numpy array.')
-
-
-    # soft bounds on convex-over-nonlinear constraints at shooting node N
-    @lsphi_e.setter
-    def lsphi_e(self, lsphi_e):
-        if isinstance(lsphi_e, np.ndarray):
-            self.__lsphi_e = lsphi_e
-        else:
-            raise Exception('Invalid lsphi_e value.')
-
-    @usphi_e.setter
-    def usphi_e(self, usphi_e):
-        if isinstance(usphi_e, np.ndarray):
-            self.__usphi_e = usphi_e
-        else:
-            raise Exception('Invalid usphi_e value.')
-
-    @idxsphi_e.setter
-    def idxsphi_e(self, idxsphi_e):
-        if isinstance(idxsphi_e, np.ndarray):
-            self.__idxsphi_e = idxsphi_e
-        else:
-            raise Exception('Invalid idxsphi_e value.')
-
-    @Jsphi_e.setter
-    def Jsphi_e(self, Jsphi_e):
-        if isinstance(Jsphi_e, np.ndarray):
-            self.__idxsphi_e = J_to_idx_slack(Jsphi_e)
-        else:
-            raise Exception('Invalid Jsphi_e value.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcpOptions:
-    """
-    class containing the description of the solver options
-    """
-    def __init__(self):
-        self.__qp_solver        = 'PARTIAL_CONDENSING_HPIPM'  # qp solver to be used in the NLP solver
-        self.__hessian_approx   = 'GAUSS_NEWTON'              # hessian approximation
-        self.__integrator_type  = 'ERK'                       # integrator type
-        self.__tf               = None                        # prediction horizon
-        self.__nlp_solver_type  = 'SQP_RTI'                   # NLP solver
-        self.__globalization = 'FIXED_STEP'
-        self.__nlp_solver_step_length = 1.0                   # fixed Newton step length
-        self.__levenberg_marquardt = 0.0
-        self.__collocation_type = 'GAUSS_LEGENDRE'
-        self.__sim_method_num_stages  = 4                     # number of stages in the integrator
-        self.__sim_method_num_steps   = 1                     # number of steps in the integrator
-        self.__sim_method_newton_iter = 3                     # number of Newton iterations in simulation method
-        self.__sim_method_newton_tol = 0.0
-        self.__sim_method_jac_reuse = 0
-        self.__qp_solver_tol_stat = None                      # QP solver stationarity tolerance
-        self.__qp_solver_tol_eq   = None                      # QP solver equality tolerance
-        self.__qp_solver_tol_ineq = None                      # QP solver inequality
-        self.__qp_solver_tol_comp = None                      # QP solver complementarity
-        self.__qp_solver_iter_max = 50                        # QP solver max iter
-        self.__qp_solver_cond_N = None                        # QP solver: new horizon after partial condensing
-        self.__qp_solver_warm_start = 0
-        self.__qp_solver_cond_ric_alg = 1
-        self.__qp_solver_ric_alg = 1
-        self.__nlp_solver_tol_stat = 1e-6                     # NLP solver stationarity tolerance
-        self.__nlp_solver_tol_eq   = 1e-6                     # NLP solver equality tolerance
-        self.__nlp_solver_tol_ineq = 1e-6                     # NLP solver inequality
-        self.__nlp_solver_tol_comp = 1e-6                     # NLP solver complementarity
-        self.__nlp_solver_max_iter = 100                      # NLP solver maximum number of iterations
-        self.__nlp_solver_ext_qp_res = 0
-        self.__Tsim = None                                    # automatically calculated as tf/N
-        self.__print_level = 0                                # print level
-        self.__initialize_t_slacks = 0                        # possible values: 0, 1
-        self.__regularize_method = None
-        self.__time_steps = None
-        self.__shooting_nodes = None
-        self.__exact_hess_cost = 1
-        self.__exact_hess_dyn = 1
-        self.__exact_hess_constr = 1
-        self.__ext_cost_num_hess = 0
-        self.__alpha_min = 0.05
-        self.__alpha_reduction = 0.7
-        self.__line_search_use_sufficient_descent = 0
-        self.__globalization_use_SOC = 0
-        self.__full_step_dual = 0
-        self.__eps_sufficient_descent = 1e-4
-        self.__hpipm_mode = 'BALANCE'
-        # TODO: move those out? they are more about generation than about the acados OCP solver.
-        self.__ext_fun_compile_flags = '-O2'
-        self.__model_external_shared_lib_dir   = None         # path to the the .so lib
-        self.__model_external_shared_lib_name  = None         # name of the the .so lib
-        self.__custom_update_filename = ''
-        self.__custom_update_header_filename = ''
-        self.__custom_templates = []
-        self.__custom_update_copy = True
-
-    @property
-    def qp_solver(self):
-        """QP solver to be used in the NLP solver.
-        String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', 'FULL_CONDENSING_DAQP').
-        Default: 'PARTIAL_CONDENSING_HPIPM'.
-        """
-        return self.__qp_solver
-
-    @property
-    def ext_fun_compile_flags(self):
-        """
-        String with compiler flags for external function compilation.
-        Default: '-O2'.
-        """
-        return self.__ext_fun_compile_flags
-
-
-    @property
-    def custom_update_filename(self):
-        """
-        Filename of the custom C function to update solver data and parameters in between solver calls
-
-        This file has to implement the functions
-        int custom_update_init_function([model.name]_solver_capsule* capsule);
-        int custom_update_function([model.name]_solver_capsule* capsule);
-        int custom_update_terminate_function([model.name]_solver_capsule* capsule);
-
-
-        Default: ''.
-        """
-        return self.__custom_update_filename
-
-
-    @property
-    def custom_templates(self):
-        """
-        List of tuples of the form:
-        (input_filename, output_filename)
-
-        Custom templates are render in OCP solver generation.
-
-        Default: [].
-        """
-        return self.__custom_templates
-
-
-    @property
-    def custom_update_header_filename(self):
-        """
-        Header filename of the custom C function to update solver data and parameters in between solver calls
-
-        This file has to declare the custom_update functions and look as follows:
-
-        ```
-        // Called at the end of solver creation.
-        // This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
-        int custom_update_init_function([model.name]_solver_capsule* capsule);
-
-        // Custom update function that can be called between solver calls
-        int custom_update_function([model.name]_solver_capsule* capsule, double* data, int data_len);
-
-        // Called just before destroying the solver.
-        // Responsible to free allocated memory, stored at capsule->custom_update_memory.
-        int custom_update_terminate_function([model.name]_solver_capsule* capsule);
-
-        Default: ''.
-        """
-        return self.__custom_update_header_filename
-
-    @property
-    def custom_update_copy(self):
-        """
-        Boolean;
-        If True, the custom update function files are copied into the `code_export_directory`.
-        """
-        return self.__custom_update_copy
-
-
-    @property
-    def hpipm_mode(self):
-        """
-        Mode of HPIPM to be used,
-
-        String in ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST').
-
-        Default: 'BALANCE'.
-
-        see https://cdn.syscop.de/publications/Frison2020a.pdf
-        and the HPIPM code:
-        https://github.com/giaf/hpipm/blob/master/ocp_qp/x_ocp_qp_ipm.c#L69
-        """
-        return self.__hpipm_mode
-
-    @property
-    def hessian_approx(self):
-        """Hessian approximation.
-        String in ('GAUSS_NEWTON', 'EXACT').
-        Default: 'GAUSS_NEWTON'.
-        """
-        return self.__hessian_approx
-
-    @property
-    def integrator_type(self):
-        """
-        Integrator type.
-        String in ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK').
-        Default: 'ERK'.
-        """
-        return self.__integrator_type
-
-    @property
-    def nlp_solver_type(self):
-        """NLP solver.
-        String in ('SQP', 'SQP_RTI').
-        Default: 'SQP_RTI'.
-        """
-        return self.__nlp_solver_type
-
-    @property
-    def globalization(self):
-        """Globalization type.
-        String in ('FIXED_STEP', 'MERIT_BACKTRACKING').
-        Default: 'FIXED_STEP'.
-
-        .. note:: preliminary implementation.
-        """
-        return self.__globalization
-
-    @property
-    def collocation_type(self):
-        """Collocation type: relevant for implicit integrators
-        -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}.
-
-        Default: GAUSS_LEGENDRE
-        """
-        return self.__collocation_type
-
-    @property
-    def regularize_method(self):
-        """Regularization method for the Hessian.
-        String in ('NO_REGULARIZE', 'MIRROR', 'PROJECT', 'PROJECT_REDUC_HESS', 'CONVEXIFY') or :code:`None`.
-
-        - MIRROR: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, abs(D_ii))
-        - PROJECT: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, D_ii)
-        - CONVEXIFY: Algorithm 6 from Verschueren2017, https://cdn.syscop.de/publications/Verschueren2017.pdf
-        - PROJECT_REDUC_HESS: experimental
-
-        Note: default eps = 1e-4
-
-        Default: :code:`None`.
-        """
-        return self.__regularize_method
-
-    @property
-    def nlp_solver_step_length(self):
-        """
-        Fixed Newton step length.
-        Type: float > 0.
-        Default: 1.0.
-        """
-        return self.__nlp_solver_step_length
-
-    @property
-    def levenberg_marquardt(self):
-        """
-        Factor for LM regularization.
-        Type: float >= 0
-        Default: 0.0.
-        """
-        return self.__levenberg_marquardt
-
-    @property
-    def sim_method_num_stages(self):
-        """
-        Number of stages in the integrator.
-        Type: int > 0 or ndarray of ints > 0 of shape (N,).
-        Default: 4
-        """
-        return self.__sim_method_num_stages
-
-    @property
-    def sim_method_num_steps(self):
-        """
-        Number of steps in the integrator.
-        Type: int > 0 or ndarray of ints > 0 of shape (N,).
-        Default: 1
-        """
-        return self.__sim_method_num_steps
-
-    @property
-    def sim_method_newton_iter(self):
-        """
-        Number of Newton iterations in simulation method.
-        Type: int > 0
-        Default: 3
-        """
-        return self.__sim_method_newton_iter
-
-    @property
-    def sim_method_newton_tol(self):
-        """
-        Tolerance of Newton system in simulation method.
-        Type: float: 0.0 means not used
-        Default: 0.0
-        """
-        return self.__sim_method_newton_tol
-
-    @property
-    def sim_method_jac_reuse(self):
-        """
-        Integer determining if jacobians are reused within integrator or ndarray of ints > 0 of shape (N,).
-        0: False (no reuse); 1: True (reuse)
-        Default: 0
-        """
-        return self.__sim_method_jac_reuse
-
-    @property
-    def qp_solver_tol_stat(self):
-        """
-        QP solver stationarity tolerance.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_stat
-
-    @property
-    def qp_solver_tol_eq(self):
-        """
-        QP solver equality tolerance.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_eq
-
-    @property
-    def qp_solver_tol_ineq(self):
-        """
-        QP solver inequality.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_ineq
-
-    @property
-    def qp_solver_tol_comp(self):
-        """
-        QP solver complementarity.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_comp
-
-    @property
-    def qp_solver_cond_N(self):
-        """QP solver: New horizon after partial condensing.
-        Set to N by default -> no condensing."""
-        return self.__qp_solver_cond_N
-
-    @property
-    def qp_solver_warm_start(self):
-        """
-        QP solver: Warm starting.
-        0: no warm start; 1: warm start; 2: hot start.
-        Default: 0
-        """
-        return self.__qp_solver_warm_start
-
-    @property
-    def qp_solver_cond_ric_alg(self):
-        """
-        QP solver: Determines which algorithm is used in HPIPM condensing.
-        0: dont factorize hessian in the condensing; 1: factorize.
-        Default: 1
-        """
-        return self.__qp_solver_cond_ric_alg
-
-    @property
-    def qp_solver_ric_alg(self):
-        """
-        QP solver: Determines which algorithm is used in HPIPM OCP QP solver.
-        0 classical Riccati, 1 square-root Riccati.
-
-        Note: taken from [HPIPM paper]:
-
-        (a) the classical implementation requires the reduced Hessian with respect to the dynamics
-            equality constraints to be positive definite, but allows the full-space Hessian to be indefinite)
-        (b) the square-root implementation, which in order to reduce the flop count employs the Cholesky
-            factorization of the Riccati recursion matrix, and therefore requires the full-space Hessian to be positive definite
-
-        [HPIPM paper]: HPIPM: a high-performance quadratic programming framework for model predictive control, Frison and Diehl, 2020
-        https://cdn.syscop.de/publications/Frison2020a.pdf
-
-        Default: 1
-        """
-        return self.__qp_solver_ric_alg
-
-    @property
-    def qp_solver_iter_max(self):
-        """
-        QP solver: maximum number of iterations.
-        Type: int > 0
-        Default: 50
-        """
-        return self.__qp_solver_iter_max
-
-    @property
-    def tol(self):
-        """
-        NLP solver tolerance. Sets or gets the max of :py:attr:`nlp_solver_tol_eq`,
-        :py:attr:`nlp_solver_tol_ineq`, :py:attr:`nlp_solver_tol_comp`
-        and :py:attr:`nlp_solver_tol_stat`.
-        """
-        return max([self.__nlp_solver_tol_eq, self.__nlp_solver_tol_ineq,\
-                    self.__nlp_solver_tol_comp, self.__nlp_solver_tol_stat])
-
-    @property
-    def qp_tol(self):
-        """
-        QP solver tolerance.
-        Sets all of the following at once or gets the max of
-        :py:attr:`qp_solver_tol_eq`, :py:attr:`qp_solver_tol_ineq`,
-        :py:attr:`qp_solver_tol_comp` and
-        :py:attr:`qp_solver_tol_stat`.
-        """
-        return max([self.__qp_solver_tol_eq, self.__qp_solver_tol_ineq,\
-                    self.__qp_solver_tol_comp, self.__qp_solver_tol_stat])
-
-    @property
-    def nlp_solver_tol_stat(self):
-        """
-        NLP solver stationarity tolerance.
-        Type: float > 0
-        Default: 1e-6
-        """
-        return self.__nlp_solver_tol_stat
-
-    @property
-    def nlp_solver_tol_eq(self):
-        """NLP solver equality tolerance"""
-        return self.__nlp_solver_tol_eq
-
-    @property
-    def alpha_min(self):
-        """Minimal step size for globalization MERIT_BACKTRACKING, default: 0.05."""
-        return self.__alpha_min
-
-    @property
-    def alpha_reduction(self):
-        """Step size reduction factor for globalization MERIT_BACKTRACKING, default: 0.7."""
-        return self.__alpha_reduction
-
-    @property
-    def line_search_use_sufficient_descent(self):
-        """
-        Determines if sufficient descent (Armijo) condition is used in line search.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__line_search_use_sufficient_descent
-
-    @property
-    def eps_sufficient_descent(self):
-        """
-        Factor for sufficient descent (Armijo) conditon, see line_search_use_sufficient_descent.
-        Type: float,
-        default: 1e-4.
-        """
-        return self.__eps_sufficient_descent
-
-    @property
-    def globalization_use_SOC(self):
-        """
-        Determines if second order correction (SOC) is done when using MERIT_BACKTRACKING.
-        SOC is done if preliminary line search does not return full step.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__globalization_use_SOC
-
-    @property
-    def full_step_dual(self):
-        """
-        Determines if dual variables are updated with full steps (alpha=1.0) when primal variables are updated with smaller step.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__full_step_dual
-
-    @property
-    def nlp_solver_tol_ineq(self):
-        """NLP solver inequality tolerance"""
-        return self.__nlp_solver_tol_ineq
-
-    @property
-    def nlp_solver_ext_qp_res(self):
-        """Determines if residuals of QP are computed externally within NLP solver (for debugging)
-
-        Type: int; 0 or 1;
-        Default: 0.
-        """
-        return self.__nlp_solver_ext_qp_res
-
-    @property
-    def nlp_solver_tol_comp(self):
-        """NLP solver complementarity tolerance"""
-        return self.__nlp_solver_tol_comp
-
-    @property
-    def nlp_solver_max_iter(self):
-        """
-        NLP solver maximum number of iterations.
-        Type: int > 0
-        Default: 100
-        """
-        return self.__nlp_solver_max_iter
-
-    @property
-    def time_steps(self):
-        """
-        Vector with time steps between the shooting nodes. Set automatically to uniform discretization if :py:attr:`N` and :py:attr:`tf` are provided.
-        Default: :code:`None`
-        """
-        return self.__time_steps
-
-    @property
-    def shooting_nodes(self):
-        """
-        Vector with the shooting nodes, time_steps will be computed from it automatically.
-        Default: :code:`None`
-        """
-        return self.__shooting_nodes
-
-    @property
-    def tf(self):
-        """
-        Prediction horizon
-        Type: float > 0
-        Default: :code:`None`
-        """
-        return self.__tf
-
-    @property
-    def Tsim(self):
-        """
-        Time horizon for one integrator step. Automatically calculated as :py:attr:`tf`/:py:attr:`N`.
-        Default: :code:`None`
-        """
-        return self.__Tsim
-
-    @property
-    def print_level(self):
-        """
-        Verbosity of printing.
-        Type: int >= 0
-        Default: 0
-        """
-        return self.__print_level
-
-    @property
-    def model_external_shared_lib_dir(self):
-        """Path to the .so lib"""
-        return self.__model_external_shared_lib_dir
-
-    @property
-    def model_external_shared_lib_name(self):
-        """Name of the .so lib"""
-        return self.__model_external_shared_lib_name
-
-    @property
-    def exact_hess_constr(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the constraints module.
-        """
-        return self.__exact_hess_constr
-
-    @property
-    def exact_hess_cost(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the cost module.
-        """
-        return self.__exact_hess_cost
-
-    @property
-    def exact_hess_dyn(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the dynamics module.
-        """
-        return self.__exact_hess_dyn
-
-    @property
-    def ext_cost_num_hess(self):
-        """
-        Determines if custom hessian approximation for cost contribution is used (> 0).\n
-        Or if hessian contribution is evaluated exactly using CasADi external function (=0 - default).
-        """
-        return self.__ext_cost_num_hess
-
-    @qp_solver.setter
-    def qp_solver(self, qp_solver):
-        qp_solvers = ('PARTIAL_CONDENSING_HPIPM', \
-                'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', \
-                'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', \
-                'FULL_CONDENSING_DAQP')
-        if qp_solver in qp_solvers:
-            self.__qp_solver = qp_solver
-        else:
-            raise Exception('Invalid qp_solver value. Possible values are:\n\n' \
-                    + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\n')
-
-    @regularize_method.setter
-    def regularize_method(self, regularize_method):
-        regularize_methods = ('NO_REGULARIZE', 'MIRROR', 'PROJECT', \
-                                'PROJECT_REDUC_HESS', 'CONVEXIFY')
-        if regularize_method in regularize_methods:
-            self.__regularize_method = regularize_method
-        else:
-            raise Exception('Invalid regularize_method value. Possible values are:\n\n' \
-                    + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\n')
-
-    @collocation_type.setter
-    def collocation_type(self, collocation_type):
-        collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
-        if collocation_type in collocation_types:
-            self.__collocation_type = collocation_type
-        else:
-            raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
-                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n')
-
-    @hpipm_mode.setter
-    def hpipm_mode(self, hpipm_mode):
-        hpipm_modes = ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST')
-        if hpipm_mode in hpipm_modes:
-            self.__hpipm_mode = hpipm_mode
-        else:
-            raise Exception('Invalid hpipm_mode value. Possible values are:\n\n' \
-                    + ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\n')
-
-    @ext_fun_compile_flags.setter
-    def ext_fun_compile_flags(self, ext_fun_compile_flags):
-        if isinstance(ext_fun_compile_flags, str):
-            self.__ext_fun_compile_flags = ext_fun_compile_flags
-        else:
-            raise Exception('Invalid ext_fun_compile_flags, expected a string.\n')
-
-
-    @custom_update_filename.setter
-    def custom_update_filename(self, custom_update_filename):
-        if isinstance(custom_update_filename, str):
-            self.__custom_update_filename = custom_update_filename
-        else:
-            raise Exception('Invalid custom_update_filename, expected a string.\n')
-
-    @custom_templates.setter
-    def custom_templates(self, custom_templates):
-        if not isinstance(custom_templates, list):
-            raise Exception('Invalid custom_templates, expected a list.\n')
-        for tup in custom_templates:
-            if not isinstance(tup, tuple):
-                raise Exception('Invalid custom_templates, shoubld be list of tuples.\n')
-            for s in tup:
-                if not isinstance(s, str):
-                    raise Exception('Invalid custom_templates, shoubld be list of tuples of strings.\n')
-        self.__custom_templates = custom_templates
-
-    @custom_update_header_filename.setter
-    def custom_update_header_filename(self, custom_update_header_filename):
-        if isinstance(custom_update_header_filename, str):
-            self.__custom_update_header_filename = custom_update_header_filename
-        else:
-            raise Exception('Invalid custom_update_header_filename, expected a string.\n')
-
-    @custom_update_copy.setter
-    def custom_update_copy(self, custom_update_copy):
-        if isinstance(custom_update_copy, bool):
-            self.__custom_update_copy = custom_update_copy
-        else:
-            raise Exception('Invalid custom_update_copy, expected a bool.\n')
-
-    @hessian_approx.setter
-    def hessian_approx(self, hessian_approx):
-        hessian_approxs = ('GAUSS_NEWTON', 'EXACT')
-        if hessian_approx in hessian_approxs:
-            self.__hessian_approx = hessian_approx
-        else:
-            raise Exception('Invalid hessian_approx value. Possible values are:\n\n' \
-                    + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\n')
-
-    @integrator_type.setter
-    def integrator_type(self, integrator_type):
-        integrator_types = ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK')
-        if integrator_type in integrator_types:
-            self.__integrator_type = integrator_type
-        else:
-            raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
-                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n')
-
-    @tf.setter
-    def tf(self, tf):
-        self.__tf = tf
-
-    @time_steps.setter
-    def time_steps(self, time_steps):
-        if isinstance(time_steps, np.ndarray):
-            if len(time_steps.shape) == 1:
-                    self.__time_steps = time_steps
-            else:
-                raise Exception('Invalid time_steps, expected np.ndarray of shape (N,).')
-        else:
-            raise Exception('Invalid time_steps, expected np.ndarray.')
-
-    @shooting_nodes.setter
-    def shooting_nodes(self, shooting_nodes):
-        if isinstance(shooting_nodes, np.ndarray):
-            if len(shooting_nodes.shape) == 1:
-                self.__shooting_nodes = shooting_nodes
-            else:
-                raise Exception('Invalid shooting_nodes, expected np.ndarray of shape (N+1,).')
-        else:
-            raise Exception('Invalid shooting_nodes, expected np.ndarray.')
-
-    @Tsim.setter
-    def Tsim(self, Tsim):
-        self.__Tsim = Tsim
-
-    @globalization.setter
-    def globalization(self, globalization):
-        globalization_types = ('MERIT_BACKTRACKING', 'FIXED_STEP')
-        if globalization in globalization_types:
-            self.__globalization = globalization
-        else:
-            raise Exception('Invalid globalization value. Possible values are:\n\n' \
-                    + ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\n')
-
-    @alpha_min.setter
-    def alpha_min(self, alpha_min):
-        self.__alpha_min = alpha_min
-
-    @alpha_reduction.setter
-    def alpha_reduction(self, alpha_reduction):
-        self.__alpha_reduction = alpha_reduction
-
-    @line_search_use_sufficient_descent.setter
-    def line_search_use_sufficient_descent(self, line_search_use_sufficient_descent):
-        if line_search_use_sufficient_descent in [0, 1]:
-            self.__line_search_use_sufficient_descent = line_search_use_sufficient_descent
-        else:
-            raise Exception(f'Invalid value for line_search_use_sufficient_descent. Possible values are 0, 1, got {line_search_use_sufficient_descent}')
-
-    @globalization_use_SOC.setter
-    def globalization_use_SOC(self, globalization_use_SOC):
-        if globalization_use_SOC in [0, 1]:
-            self.__globalization_use_SOC = globalization_use_SOC
-        else:
-            raise Exception(f'Invalid value for globalization_use_SOC. Possible values are 0, 1, got {globalization_use_SOC}')
-
-    @full_step_dual.setter
-    def full_step_dual(self, full_step_dual):
-        if full_step_dual in [0, 1]:
-            self.__full_step_dual = full_step_dual
-        else:
-            raise Exception(f'Invalid value for full_step_dual. Possible values are 0, 1, got {full_step_dual}')
-
-    @eps_sufficient_descent.setter
-    def eps_sufficient_descent(self, eps_sufficient_descent):
-        if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0:
-            self.__eps_sufficient_descent = eps_sufficient_descent
-        else:
-            raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float.')
-
-    @sim_method_num_stages.setter
-    def sim_method_num_stages(self, sim_method_num_stages):
-
-        # if isinstance(sim_method_num_stages, int):
-        #     self.__sim_method_num_stages = sim_method_num_stages
-        # else:
-        #     raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer.')
-
-        self.__sim_method_num_stages = sim_method_num_stages
-
-    @sim_method_num_steps.setter
-    def sim_method_num_steps(self, sim_method_num_steps):
-
-        # if isinstance(sim_method_num_steps, int):
-        #     self.__sim_method_num_steps = sim_method_num_steps
-        # else:
-        #     raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer.')
-        self.__sim_method_num_steps = sim_method_num_steps
-
-
-    @sim_method_newton_iter.setter
-    def sim_method_newton_iter(self, sim_method_newton_iter):
-
-        if isinstance(sim_method_newton_iter, int):
-            self.__sim_method_newton_iter = sim_method_newton_iter
-        else:
-            raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer.')
-
-    @sim_method_jac_reuse.setter
-    def sim_method_jac_reuse(self, sim_method_jac_reuse):
-        # if sim_method_jac_reuse in (True, False):
-        self.__sim_method_jac_reuse = sim_method_jac_reuse
-        # else:
-            # raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be a Boolean.')
-
-    @nlp_solver_type.setter
-    def nlp_solver_type(self, nlp_solver_type):
-        nlp_solver_types = ('SQP', 'SQP_RTI')
-        if nlp_solver_type in nlp_solver_types:
-            self.__nlp_solver_type = nlp_solver_type
-        else:
-            raise Exception('Invalid nlp_solver_type value. Possible values are:\n\n' \
-                    + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\n')
-
-    @nlp_solver_step_length.setter
-    def nlp_solver_step_length(self, nlp_solver_step_length):
-        if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0:
-            self.__nlp_solver_step_length = nlp_solver_step_length
-        else:
-            raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float.')
-
-    @levenberg_marquardt.setter
-    def levenberg_marquardt(self, levenberg_marquardt):
-        if isinstance(levenberg_marquardt, float) and levenberg_marquardt >= 0:
-            self.__levenberg_marquardt = levenberg_marquardt
-        else:
-            raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float.')
-
-    @qp_solver_iter_max.setter
-    def qp_solver_iter_max(self, qp_solver_iter_max):
-        if isinstance(qp_solver_iter_max, int) and qp_solver_iter_max > 0:
-            self.__qp_solver_iter_max = qp_solver_iter_max
-        else:
-            raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int.')
-
-    @qp_solver_ric_alg.setter
-    def qp_solver_ric_alg(self, qp_solver_ric_alg):
-        if qp_solver_ric_alg in [0, 1]:
-            self.__qp_solver_ric_alg = qp_solver_ric_alg
-        else:
-            raise Exception(f'Invalid qp_solver_ric_alg value. qp_solver_ric_alg must be in [0, 1], got {qp_solver_ric_alg}.')
-
-    @qp_solver_cond_ric_alg.setter
-    def qp_solver_cond_ric_alg(self, qp_solver_cond_ric_alg):
-        if qp_solver_cond_ric_alg in [0, 1]:
-            self.__qp_solver_cond_ric_alg = qp_solver_cond_ric_alg
-        else:
-            raise Exception(f'Invalid qp_solver_cond_ric_alg value. qp_solver_cond_ric_alg must be in [0, 1], got {qp_solver_cond_ric_alg}.')
-
-
-    @qp_solver_cond_N.setter
-    def qp_solver_cond_N(self, qp_solver_cond_N):
-        if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0:
-            self.__qp_solver_cond_N = qp_solver_cond_N
-        else:
-            raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int.')
-
-    @qp_solver_warm_start.setter
-    def qp_solver_warm_start(self, qp_solver_warm_start):
-        if qp_solver_warm_start in [0, 1, 2]:
-            self.__qp_solver_warm_start = qp_solver_warm_start
-        else:
-            raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2.')
-
-    @qp_tol.setter
-    def qp_tol(self, qp_tol):
-        if isinstance(qp_tol, float) and qp_tol > 0:
-            self.__qp_solver_tol_eq = qp_tol
-            self.__qp_solver_tol_ineq = qp_tol
-            self.__qp_solver_tol_stat = qp_tol
-            self.__qp_solver_tol_comp = qp_tol
-        else:
-            raise Exception('Invalid qp_tol value. qp_tol must be a positive float.')
-
-    @qp_solver_tol_stat.setter
-    def qp_solver_tol_stat(self, qp_solver_tol_stat):
-        if isinstance(qp_solver_tol_stat, float) and qp_solver_tol_stat > 0:
-            self.__qp_solver_tol_stat = qp_solver_tol_stat
-        else:
-            raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float.')
-
-    @qp_solver_tol_eq.setter
-    def qp_solver_tol_eq(self, qp_solver_tol_eq):
-        if isinstance(qp_solver_tol_eq, float) and qp_solver_tol_eq > 0:
-            self.__qp_solver_tol_eq = qp_solver_tol_eq
-        else:
-            raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float.')
-
-    @qp_solver_tol_ineq.setter
-    def qp_solver_tol_ineq(self, qp_solver_tol_ineq):
-        if isinstance(qp_solver_tol_ineq, float) and qp_solver_tol_ineq > 0:
-            self.__qp_solver_tol_ineq = qp_solver_tol_ineq
-        else:
-            raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float.')
-
-    @qp_solver_tol_comp.setter
-    def qp_solver_tol_comp(self, qp_solver_tol_comp):
-        if isinstance(qp_solver_tol_comp, float) and qp_solver_tol_comp > 0:
-            self.__qp_solver_tol_comp = qp_solver_tol_comp
-        else:
-            raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float.')
-
-    @tol.setter
-    def tol(self, tol):
-        if isinstance(tol, float) and tol > 0:
-            self.__nlp_solver_tol_eq = tol
-            self.__nlp_solver_tol_ineq = tol
-            self.__nlp_solver_tol_stat = tol
-            self.__nlp_solver_tol_comp = tol
-        else:
-            raise Exception('Invalid tol value. tol must be a positive float.')
-
-    @nlp_solver_tol_stat.setter
-    def nlp_solver_tol_stat(self, nlp_solver_tol_stat):
-        if isinstance(nlp_solver_tol_stat, float) and nlp_solver_tol_stat > 0:
-            self.__nlp_solver_tol_stat = nlp_solver_tol_stat
-        else:
-            raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float.')
-
-    @nlp_solver_tol_eq.setter
-    def nlp_solver_tol_eq(self, nlp_solver_tol_eq):
-        if isinstance(nlp_solver_tol_eq, float) and nlp_solver_tol_eq > 0:
-            self.__nlp_solver_tol_eq = nlp_solver_tol_eq
-        else:
-            raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float.')
-
-    @nlp_solver_tol_ineq.setter
-    def nlp_solver_tol_ineq(self, nlp_solver_tol_ineq):
-        if isinstance(nlp_solver_tol_ineq, float) and nlp_solver_tol_ineq > 0:
-            self.__nlp_solver_tol_ineq = nlp_solver_tol_ineq
-        else:
-            raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float.')
-
-    @nlp_solver_ext_qp_res.setter
-    def nlp_solver_ext_qp_res(self, nlp_solver_ext_qp_res):
-        if nlp_solver_ext_qp_res in [0, 1]:
-            self.__nlp_solver_ext_qp_res = nlp_solver_ext_qp_res
-        else:
-            raise Exception('Invalid nlp_solver_ext_qp_res value. nlp_solver_ext_qp_res must be in [0, 1].')
-
-    @nlp_solver_tol_comp.setter
-    def nlp_solver_tol_comp(self, nlp_solver_tol_comp):
-        if isinstance(nlp_solver_tol_comp, float) and nlp_solver_tol_comp > 0:
-            self.__nlp_solver_tol_comp = nlp_solver_tol_comp
-        else:
-            raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float.')
-
-    @nlp_solver_max_iter.setter
-    def nlp_solver_max_iter(self, nlp_solver_max_iter):
-
-        if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0:
-            self.__nlp_solver_max_iter = nlp_solver_max_iter
-        else:
-            raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int.')
-
-    @print_level.setter
-    def print_level(self, print_level):
-        if isinstance(print_level, int) and print_level >= 0:
-            self.__print_level = print_level
-        else:
-            raise Exception('Invalid print_level value. print_level takes one of the values >=0.')
-
-    @model_external_shared_lib_dir.setter
-    def model_external_shared_lib_dir(self, model_external_shared_lib_dir):
-        if isinstance(model_external_shared_lib_dir, str) :
-            self.__model_external_shared_lib_dir = model_external_shared_lib_dir
-        else:
-            raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\n')
-
-    @model_external_shared_lib_name.setter
-    def model_external_shared_lib_name(self, model_external_shared_lib_name):
-        if isinstance(model_external_shared_lib_name, str) :
-            if model_external_shared_lib_name[-3:] == '.so' : 
-                raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n')
-            else :
-                self.__model_external_shared_lib_name = model_external_shared_lib_name
-        else:
-            raise Exception('Invalid model_external_shared_lib_name value. Str expected.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n')
-
-    @exact_hess_constr.setter
-    def exact_hess_constr(self, exact_hess_constr):
-        if exact_hess_constr in [0, 1]:
-            self.__exact_hess_constr = exact_hess_constr
-        else:
-            raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1.')
-
-    @exact_hess_cost.setter
-    def exact_hess_cost(self, exact_hess_cost):
-        if exact_hess_cost in [0, 1]:
-            self.__exact_hess_cost = exact_hess_cost
-        else:
-            raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1.')
-
-    @exact_hess_dyn.setter
-    def exact_hess_dyn(self, exact_hess_dyn):
-        if exact_hess_dyn in [0, 1]:
-            self.__exact_hess_dyn = exact_hess_dyn
-        else:
-            raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1.')
-
-    @ext_cost_num_hess.setter
-    def ext_cost_num_hess(self, ext_cost_num_hess):
-        if ext_cost_num_hess in [0, 1]:
-            self.__ext_cost_num_hess = ext_cost_num_hess
-        else:
-            raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcp:
-    """
-    Class containing the full description of the optimal control problem.
-    This object can be used to create an :py:class:`acados_template.acados_ocp_solver.AcadosOcpSolver`.
-
-    The class has the following properties that can be modified to formulate a specific OCP, see below:
-
-        - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosOcpDims`
-        - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel`
-        - :py:attr:`cost` of type :py:class:`acados_template.acados_ocp.AcadosOcpCost`
-        - :py:attr:`constraints` of type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`
-        - :py:attr:`solver_options` of type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`
-
-        - :py:attr:`acados_include_path` (set automatically)
-        - :py:attr:`shared_lib_ext` (set automatically)
-        - :py:attr:`acados_lib_path` (set automatically)
-        - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
-    """
-    def __init__(self, acados_path=''):
-        """
-        Keyword arguments:
-        acados_path -- path of your acados installation
-        """
-        if acados_path == '':
-            acados_path = get_acados_path()
-
-        self.dims = AcadosOcpDims()
-        """Dimension definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpDims`"""
-        self.model = AcadosModel()
-        """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`"""
-        self.cost = AcadosOcpCost()
-        """Cost definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpCost`"""
-        self.constraints = AcadosOcpConstraints()
-        """Constraints definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`"""
-        self.solver_options = AcadosOcpOptions()
-        """Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`"""
-
-        self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to acados include directory (set automatically), type: `string`"""
-        self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to where acados library is located, type: `string`"""
-        self.shared_lib_ext = get_lib_ext()
-
-        # get cython paths
-        from sysconfig import get_paths
-        self.cython_include_dirs = [np.get_include(), get_paths()['include']]
-
-        self.__parameter_values = np.array([])
-        self.__problem_class = 'OCP'
-
-        self.code_export_directory = 'c_generated_code'
-        """Path to where code will be exported. Default: `c_generated_code`."""
-
-    @property
-    def parameter_values(self):
-        """:math:`p` - initial values for parameter - can be updated stagewise"""
-        return self.__parameter_values
-
-    @parameter_values.setter
-    def parameter_values(self, parameter_values):
-        if isinstance(parameter_values, np.ndarray):
-            self.__parameter_values = parameter_values
-        else:
-            raise Exception('Invalid parameter_values value. ' +
-                            f'Expected numpy array, got {type(parameter_values)}.')
-
-    def set(self, attr, value):
-        # tokenize string
-        tokens = attr.split('_', 1)
-        if len(tokens) > 1:
-            setter_to_call = getattr(getattr(self, tokens[0]), 'set')
-        else:
-            setter_to_call = getattr(self, 'set')
-
-        setter_to_call(tokens[1], value)
-
-        return
diff --git a/third_party/acados/acados_template/acados_ocp_solver.py b/third_party/acados/acados_template/acados_ocp_solver.py
deleted file mode 100644
index 229bdf6039..0000000000
--- a/third_party/acados/acados_template/acados_ocp_solver.py
+++ /dev/null
@@ -1,1990 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import sys
-import os
-import json
-import numpy as np
-from datetime import datetime
-import importlib
-import shutil
-
-from subprocess import DEVNULL, call, STDOUT
-
-from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
-
-from copy import deepcopy
-from pathlib import Path
-
-from .casadi_function_generation import generate_c_code_explicit_ode, \
-    generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_discrete_dynamics, \
-    generate_c_code_constraint, generate_c_code_nls_cost, generate_c_code_conl_cost, \
-    generate_c_code_external_cost
-from .gnsf.detect_gnsf_structure import detect_gnsf_structure
-from .acados_ocp import AcadosOcp
-from .acados_model import AcadosModel
-from .utils import is_column, is_empty, casadi_length, render_template,\
-     format_class_dict, make_object_json_dumpable, make_model_consistent,\
-     set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path, get_lib_ext, check_casadi_version
-from .builders import CMakeBuilder
-
-
-def make_ocp_dims_consistent(acados_ocp: AcadosOcp):
-    dims = acados_ocp.dims
-    cost = acados_ocp.cost
-    constraints = acados_ocp.constraints
-    model = acados_ocp.model
-    opts = acados_ocp.solver_options
-
-    # nx
-    if is_column(model.x):
-        dims.nx = casadi_length(model.x)
-    else:
-        raise Exception('model.x should be column vector!')
-
-    # nu
-    if is_empty(model.u):
-        dims.nu = 0
-    else:
-        dims.nu = casadi_length(model.u)
-
-    # nz
-    if is_empty(model.z):
-        dims.nz = 0
-    else:
-        dims.nz = casadi_length(model.z)
-
-    # np
-    if is_empty(model.p):
-        dims.np = 0
-    else:
-        dims.np = casadi_length(model.p)
-    if acados_ocp.parameter_values.shape[0] != dims.np:
-        raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
-            f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n')
-
-    ## cost
-    # initial stage - if not set, copy fields from path constraints
-    if cost.cost_type_0 is None:
-        cost.cost_type_0 = cost.cost_type
-        cost.W_0 = cost.W
-        cost.Vx_0 = cost.Vx
-        cost.Vu_0 = cost.Vu
-        cost.Vz_0 = cost.Vz
-        cost.yref_0 = cost.yref
-        cost.cost_ext_fun_type_0 = cost.cost_ext_fun_type
-        model.cost_y_expr_0 = model.cost_y_expr
-        model.cost_expr_ext_cost_0 = model.cost_expr_ext_cost
-        model.cost_expr_ext_cost_custom_hess_0 = model.cost_expr_ext_cost_custom_hess
-
-        model.cost_psi_expr_0 = model.cost_psi_expr
-        model.cost_r_in_psi_expr_0 = model.cost_r_in_psi_expr
-
-    if cost.cost_type_0 == 'LINEAR_LS':
-        ny_0 = cost.W_0.shape[0]
-        if cost.Vx_0.shape[0] != ny_0 or cost.Vu_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}]\n')
-        if dims.nz != 0 and cost.Vz_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0, Vz_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}], Vz_0[{cost.Vz_0.shape}]\n')
-        if cost.Vx_0.shape[1] != dims.nx and ny_0 != 0:
-            raise Exception('inconsistent dimension: Vx_0 should have nx columns.')
-        if cost.Vu_0.shape[1] != dims.nu and ny_0 != 0:
-            raise Exception('inconsistent dimension: Vu_0 should have nu columns.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], yref_0[{cost.yref_0.shape}]\n')
-        dims.ny_0 = ny_0
-
-    elif cost.cost_type_0 == 'NONLINEAR_LS':
-        ny_0 = cost.W_0.shape[0]
-        if is_empty(model.cost_y_expr_0) and ny_0 != 0:
-            raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.')
-        elif casadi_length(model.cost_y_expr_0) != ny_0:
-            raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \
-                            f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n')
-        dims.ny_0 = ny_0
-
-    elif cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr_0):
-            raise Exception('cost_y_expr_0 and/or cost_y_expr not provided.')
-        ny_0 = casadi_length(model.cost_y_expr_0)
-        if is_empty(model.cost_r_in_psi_expr_0) or casadi_length(model.cost_r_in_psi_expr_0) != ny_0:
-            raise Exception('inconsistent dimension ny_0: regarding cost_y_expr_0 and cost_r_in_psi_0.')
-        if is_empty(model.cost_psi_expr_0) or casadi_length(model.cost_psi_expr_0) != 1:
-            raise Exception('cost_psi_expr_0 not provided or not scalar-valued.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding yref_0 and cost_y_expr_0, cost_r_in_psi_0.')
-        dims.ny_0 = ny_0
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-    elif cost.cost_type_0 == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_0 is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type_0: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    # path
-    if cost.cost_type == 'LINEAR_LS':
-        ny = cost.W.shape[0]
-        if cost.Vx.shape[0] != ny or cost.Vu.shape[0] != ny:
-            raise Exception('inconsistent dimension ny, regarding W, Vx, Vu.' + \
-                            f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}]\n')
-        if dims.nz != 0 and cost.Vz.shape[0] != ny:
-            raise Exception('inconsistent dimension ny, regarding W, Vx, Vu, Vz.' + \
-                            f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}], Vz[{cost.Vz.shape}]\n')
-        if cost.Vx.shape[1] != dims.nx and ny != 0:
-            raise Exception('inconsistent dimension: Vx should have nx columns.')
-        if cost.Vu.shape[1] != dims.nu and ny != 0:
-            raise Exception('inconsistent dimension: Vu should have nu columns.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding W, yref.' + \
-                            f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
-        dims.ny = ny
-
-    elif cost.cost_type == 'NONLINEAR_LS':
-        ny = cost.W.shape[0]
-        if is_empty(model.cost_y_expr) and ny != 0:
-            raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.')
-        elif casadi_length(model.cost_y_expr) != ny:
-            raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding W, yref.' + \
-                            f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
-        dims.ny = ny
-
-    elif cost.cost_type == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr):
-            raise Exception('cost_y_expr and/or cost_y_expr not provided.')
-        ny = casadi_length(model.cost_y_expr)
-        if is_empty(model.cost_r_in_psi_expr) or casadi_length(model.cost_r_in_psi_expr) != ny:
-            raise Exception('inconsistent dimension ny: regarding cost_y_expr and cost_r_in_psi.')
-        if is_empty(model.cost_psi_expr) or casadi_length(model.cost_psi_expr) != 1:
-            raise Exception('cost_psi_expr not provided or not scalar-valued.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding yref and cost_y_expr, cost_r_in_psi.')
-        dims.ny = ny
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-
-    elif cost.cost_type == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    # terminal
-    if cost.cost_type_e == 'LINEAR_LS':
-        ny_e = cost.W_e.shape[0]
-        if cost.Vx_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.' + \
-                f'\nGot W_e[{cost.W_e.shape}], Vx_e[{cost.Vx_e.shape}]')
-        if cost.Vx_e.shape[1] != dims.nx and ny_e != 0:
-            raise Exception('inconsistent dimension: Vx_e should have nx columns.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding W_e, yref_e.')
-        dims.ny_e = ny_e
-
-    elif cost.cost_type_e == 'NONLINEAR_LS':
-        ny_e = cost.W_e.shape[0]
-        if is_empty(model.cost_y_expr_e) and ny_e != 0:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.')
-        elif casadi_length(model.cost_y_expr_e) != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding W_e, yref_e.')
-        dims.ny_e = ny_e
-
-    elif cost.cost_type_e == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr_e):
-            raise Exception('cost_y_expr_e not provided.')
-        ny_e = casadi_length(model.cost_y_expr_e)
-        if is_empty(model.cost_r_in_psi_expr_e) or casadi_length(model.cost_r_in_psi_expr_e) != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding cost_y_expr_e and cost_r_in_psi_e.')
-        if is_empty(model.cost_psi_expr_e) or casadi_length(model.cost_psi_expr_e) != 1:
-            raise Exception('cost_psi_expr_e not provided or not scalar-valued.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding yref_e and cost_y_expr_e, cost_r_in_psi_e.')
-        dims.ny_e = ny_e
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-
-
-    elif cost.cost_type_e == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_e is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type_e: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    ## constraints
-    # initial
-    this_shape = constraints.lbx_0.shape
-    other_shape = constraints.ubx_0.shape
-    if not this_shape == other_shape:
-        raise Exception('lbx_0, ubx_0 have different shapes!')
-    if not is_column(constraints.lbx_0):
-        raise Exception('lbx_0, ubx_0 must be column vectors!')
-    dims.nbx_0 = constraints.lbx_0.size
-
-    if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \
-        and dims.nbxe_0 is None \
-        and (constraints.idxbxe_0.shape == constraints.idxbx_0.shape)\
-            and all(constraints.idxbxe_0 == constraints.idxbx_0):
-        # case: x0 was set: nbx0 are all equlities.
-        dims.nbxe_0 = dims.nbx_0
-    elif constraints.idxbxe_0 is not None:
-        dims.nbxe_0 = constraints.idxbxe_0.shape[0]
-    elif dims.nbxe_0 is None:
-        # case: x0 and idxbxe_0 were not set -> dont assume nbx0 to be equality constraints.
-        dims.nbxe_0 = 0
-
-    # path
-    nbx = constraints.idxbx.shape[0]
-    if constraints.ubx.shape[0] != nbx or constraints.lbx.shape[0] != nbx:
-        raise Exception('inconsistent dimension nbx, regarding idxbx, ubx, lbx.')
-    else:
-        dims.nbx = nbx
-
-    nbu = constraints.idxbu.shape[0]
-    if constraints.ubu.shape[0] != nbu or constraints.lbu.shape[0] != nbu:
-        raise Exception('inconsistent dimension nbu, regarding idxbu, ubu, lbu.')
-    else:
-        dims.nbu = nbu
-
-    ng = constraints.lg.shape[0]
-    if constraints.ug.shape[0] != ng or constraints.C.shape[0] != ng \
-       or constraints.D.shape[0] != ng:
-        raise Exception('inconsistent dimension ng, regarding lg, ug, C, D.')
-    else:
-        dims.ng = ng
-
-    if not is_empty(model.con_h_expr):
-        nh = casadi_length(model.con_h_expr)
-    else:
-        nh = 0
-
-    if constraints.uh.shape[0] != nh or constraints.lh.shape[0] != nh:
-        raise Exception('inconsistent dimension nh, regarding lh, uh, con_h_expr.')
-    else:
-        dims.nh = nh
-
-    if is_empty(model.con_phi_expr):
-        dims.nphi = 0
-        dims.nr = 0
-    else:
-        dims.nphi = casadi_length(model.con_phi_expr)
-        if is_empty(model.con_r_expr):
-            raise Exception('convex over nonlinear constraints: con_r_expr but con_phi_expr is nonempty')
-        else:
-            dims.nr = casadi_length(model.con_r_expr)
-
-    # terminal
-    nbx_e = constraints.idxbx_e.shape[0]
-    if constraints.ubx_e.shape[0] != nbx_e or constraints.lbx_e.shape[0] != nbx_e:
-        raise Exception('inconsistent dimension nbx_e, regarding idxbx_e, ubx_e, lbx_e.')
-    else:
-        dims.nbx_e = nbx_e
-
-    ng_e = constraints.lg_e.shape[0]
-    if constraints.ug_e.shape[0] != ng_e or constraints.C_e.shape[0] != ng_e:
-        raise Exception('inconsistent dimension ng_e, regarding_e lg_e, ug_e, C_e.')
-    else:
-        dims.ng_e = ng_e
-
-    if not is_empty(model.con_h_expr_e):
-        nh_e = casadi_length(model.con_h_expr_e)
-    else:
-        nh_e = 0
-
-    if constraints.uh_e.shape[0] != nh_e or constraints.lh_e.shape[0] != nh_e:
-        raise Exception('inconsistent dimension nh_e, regarding lh_e, uh_e, con_h_expr_e.')
-    else:
-        dims.nh_e = nh_e
-
-    if is_empty(model.con_phi_expr_e):
-        dims.nphi_e = 0
-        dims.nr_e = 0
-    else:
-        dims.nphi_e = casadi_length(model.con_phi_expr_e)
-        if is_empty(model.con_r_expr_e):
-            raise Exception('convex over nonlinear constraints: con_r_expr_e but con_phi_expr_e is nonempty')
-        else:
-            dims.nr_e = casadi_length(model.con_r_expr_e)
-
-    # Slack dimensions
-    nsbx = constraints.idxsbx.shape[0]
-    if nsbx > nbx:
-        raise Exception(f'inconsistent dimension nsbx = {nsbx}. Is greater than nbx = {nbx}.')
-    if is_empty(constraints.lsbx):
-        constraints.lsbx = np.zeros((nsbx,))
-    elif constraints.lsbx.shape[0] != nsbx:
-        raise Exception('inconsistent dimension nsbx, regarding idxsbx, lsbx.')
-    if is_empty(constraints.usbx):
-        constraints.usbx = np.zeros((nsbx,))
-    elif constraints.usbx.shape[0] != nsbx:
-        raise Exception('inconsistent dimension nsbx, regarding idxsbx, usbx.')
-    dims.nsbx = nsbx
-
-    nsbu = constraints.idxsbu.shape[0]
-    if nsbu > nbu:
-        raise Exception(f'inconsistent dimension nsbu = {nsbu}. Is greater than nbu = {nbu}.')
-    if is_empty(constraints.lsbu):
-        constraints.lsbu = np.zeros((nsbu,))
-    elif constraints.lsbu.shape[0] != nsbu:
-        raise Exception('inconsistent dimension nsbu, regarding idxsbu, lsbu.')
-    if is_empty(constraints.usbu):
-        constraints.usbu = np.zeros((nsbu,))
-    elif constraints.usbu.shape[0] != nsbu:
-        raise Exception('inconsistent dimension nsbu, regarding idxsbu, usbu.')
-    dims.nsbu = nsbu
-
-    nsh = constraints.idxsh.shape[0]
-    if nsh > nh:
-        raise Exception(f'inconsistent dimension nsh = {nsh}. Is greater than nh = {nh}.')
-    if is_empty(constraints.lsh):
-        constraints.lsh = np.zeros((nsh,))
-    elif constraints.lsh.shape[0] != nsh:
-        raise Exception('inconsistent dimension nsh, regarding idxsh, lsh.')
-    if is_empty(constraints.ush):
-        constraints.ush = np.zeros((nsh,))
-    elif constraints.ush.shape[0] != nsh:
-        raise Exception('inconsistent dimension nsh, regarding idxsh, ush.')
-    dims.nsh = nsh
-
-    nsphi = constraints.idxsphi.shape[0]
-    if nsphi > dims.nphi:
-        raise Exception(f'inconsistent dimension nsphi = {nsphi}. Is greater than nphi = {dims.nphi}.')
-    if is_empty(constraints.lsphi):
-        constraints.lsphi = np.zeros((nsphi,))
-    elif constraints.lsphi.shape[0] != nsphi:
-        raise Exception('inconsistent dimension nsphi, regarding idxsphi, lsphi.')
-    if is_empty(constraints.usphi):
-        constraints.usphi = np.zeros((nsphi,))
-    elif constraints.usphi.shape[0] != nsphi:
-        raise Exception('inconsistent dimension nsphi, regarding idxsphi, usphi.')
-    dims.nsphi = nsphi
-
-    nsg = constraints.idxsg.shape[0]
-    if nsg > ng:
-        raise Exception(f'inconsistent dimension nsg = {nsg}. Is greater than ng = {ng}.')
-    if is_empty(constraints.lsg):
-        constraints.lsg = np.zeros((nsg,))
-    elif constraints.lsg.shape[0] != nsg:
-        raise Exception('inconsistent dimension nsg, regarding idxsg, lsg.')
-    if is_empty(constraints.usg):
-        constraints.usg = np.zeros((nsg,))
-    elif constraints.usg.shape[0] != nsg:
-        raise Exception('inconsistent dimension nsg, regarding idxsg, usg.')
-    dims.nsg = nsg
-
-    ns = nsbx + nsbu + nsh + nsg + nsphi
-    wrong_field = ""
-    if cost.Zl.shape[0] != ns:
-        wrong_field = "Zl"
-        dim = cost.Zl.shape[0]
-    elif cost.Zu.shape[0] != ns:
-        wrong_field = "Zu"
-        dim = cost.Zu.shape[0]
-    elif cost.zl.shape[0] != ns:
-        wrong_field = "zl"
-        dim = cost.zl.shape[0]
-    elif cost.zu.shape[0] != ns:
-        wrong_field = "zu"
-        dim = cost.zu.shape[0]
-
-    if wrong_field != "":
-        raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\
-            + f'Detected ns = {ns} = nsbx + nsbu + nsg + nsh + nsphi.\n\t'\
-            + f'With nsbx = {nsbx}, nsbu = {nsbu}, nsg = {nsg}, nsh = {nsh}, nsphi = {nsphi}')
-
-    dims.ns = ns
-
-    nsbx_e = constraints.idxsbx_e.shape[0]
-    if nsbx_e > nbx_e:
-        raise Exception(f'inconsistent dimension nsbx_e = {nsbx_e}. Is greater than nbx_e = {nbx_e}.')
-    if is_empty(constraints.lsbx_e):
-        constraints.lsbx_e = np.zeros((nsbx_e,))
-    elif constraints.lsbx_e.shape[0] != nsbx_e:
-        raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, lsbx_e.')
-    if is_empty(constraints.usbx_e):
-        constraints.usbx_e = np.zeros((nsbx_e,))
-    elif constraints.usbx_e.shape[0] != nsbx_e:
-        raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, usbx_e.')
-    dims.nsbx_e = nsbx_e
-
-    nsh_e = constraints.idxsh_e.shape[0]
-    if nsh_e > nh_e:
-        raise Exception(f'inconsistent dimension nsh_e = {nsh_e}. Is greater than nh_e = {nh_e}.')
-    if is_empty(constraints.lsh_e):
-        constraints.lsh_e = np.zeros((nsh_e,))
-    elif constraints.lsh_e.shape[0] != nsh_e:
-        raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, lsh_e.')
-    if is_empty(constraints.ush_e):
-        constraints.ush_e = np.zeros((nsh_e,))
-    elif constraints.ush_e.shape[0] != nsh_e:
-        raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, ush_e.')
-    dims.nsh_e = nsh_e
-
-    nsg_e = constraints.idxsg_e.shape[0]
-    if nsg_e > ng_e:
-        raise Exception(f'inconsistent dimension nsg_e = {nsg_e}. Is greater than ng_e = {ng_e}.')
-    if is_empty(constraints.lsg_e):
-        constraints.lsg_e = np.zeros((nsg_e,))
-    elif constraints.lsg_e.shape[0] != nsg_e:
-        raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, lsg_e.')
-    if is_empty(constraints.usg_e):
-        constraints.usg_e = np.zeros((nsg_e,))
-    elif constraints.usg_e.shape[0] != nsg_e:
-        raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, usg_e.')
-    dims.nsg_e = nsg_e
-
-    nsphi_e = constraints.idxsphi_e.shape[0]
-    if nsphi_e > dims.nphi_e:
-        raise Exception(f'inconsistent dimension nsphi_e = {nsphi_e}. Is greater than nphi_e = {dims.nphi_e}.')
-    if is_empty(constraints.lsphi_e):
-        constraints.lsphi_e = np.zeros((nsphi_e,))
-    elif constraints.lsphi_e.shape[0] != nsphi_e:
-        raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, lsphi_e.')
-    if is_empty(constraints.usphi_e):
-        constraints.usphi_e = np.zeros((nsphi_e,))
-    elif constraints.usphi_e.shape[0] != nsphi_e:
-        raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, usphi_e.')
-    dims.nsphi_e = nsphi_e
-
-    # terminal
-    ns_e = nsbx_e + nsh_e + nsg_e + nsphi_e
-    wrong_field = ""
-    if cost.Zl_e.shape[0] != ns_e:
-        wrong_field = "Zl_e"
-        dim = cost.Zl_e.shape[0]
-    elif cost.Zu_e.shape[0] != ns_e:
-        wrong_field = "Zu_e"
-        dim = cost.Zu_e.shape[0]
-    elif cost.zl_e.shape[0] != ns_e:
-        wrong_field = "zl_e"
-        dim = cost.zl_e.shape[0]
-    elif cost.zu_e.shape[0] != ns_e:
-        wrong_field = "zu_e"
-        dim = cost.zu_e.shape[0]
-
-    if wrong_field != "":
-        raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\
-            + f'Detected ns_e = {ns_e} = nsbx_e + nsg_e + nsh_e + nsphi_e.\n\t'\
-            + f'With nsbx_e = {nsbx_e}, nsg_e = {nsg_e}, nsh_e = {nsh_e}, nsphi_e = {nsphi_e}')
-
-    dims.ns_e = ns_e
-
-    # discretization
-    if is_empty(opts.time_steps) and is_empty(opts.shooting_nodes):
-        # uniform discretization
-        opts.time_steps = opts.tf / dims.N * np.ones((dims.N,))
-
-    elif not is_empty(opts.shooting_nodes):
-        if np.shape(opts.shooting_nodes)[0] != dims.N+1:
-            raise Exception('inconsistent dimension N, regarding shooting_nodes.')
-
-        time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
-        # identify constant time_steps: due to numerical reasons the content of time_steps might vary a bit
-        avg_time_steps = np.average(time_steps)
-        # criterion for constant time step detection: the min/max difference in values normalized by the average
-        check_const_time_step = (np.max(time_steps)-np.min(time_steps)) / avg_time_steps
-        # if the criterion is small, we have a constant time_step
-        if check_const_time_step < 1e-9:
-            time_steps[:] = avg_time_steps  # if we have a constant time_step: apply the average time_step
-
-        opts.time_steps = time_steps
-
-    elif (not is_empty(opts.time_steps)) and (not is_empty(opts.shooting_nodes)):
-        Exception('Please provide either time_steps or shooting_nodes for nonuniform discretization')
-
-    tf = np.sum(opts.time_steps)
-    if (tf - opts.tf) / tf > 1e-15:
-        raise Exception(f'Inconsistent discretization: {opts.tf}'\
-            f' = tf != sum(opts.time_steps) = {tf}.')
-
-    # num_steps
-    if isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == 1:
-        opts.sim_method_num_steps = opts.sim_method_num_steps.item()
-
-    if isinstance(opts.sim_method_num_steps, (int, float)) and opts.sim_method_num_steps % 1 == 0:
-        opts.sim_method_num_steps = opts.sim_method_num_steps * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_num_steps, 1), 0)):
-        opts.sim_method_num_steps = np.reshape(opts.sim_method_num_steps, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_num_steps. Should be either int or array of ints of shape (N,).")
-
-    # num_stages
-    if isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == 1:
-        opts.sim_method_num_stages = opts.sim_method_num_stages.item()
-
-    if isinstance(opts.sim_method_num_stages, (int, float)) and opts.sim_method_num_stages % 1 == 0:
-        opts.sim_method_num_stages = opts.sim_method_num_stages * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_num_stages, 1), 0)):
-        opts.sim_method_num_stages = np.reshape(opts.sim_method_num_stages, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_num_stages. Should be either int or array of ints of shape (N,).")
-
-    # jac_reuse
-    if isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == 1:
-        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse.item()
-
-    if isinstance(opts.sim_method_jac_reuse, (int, float)) and opts.sim_method_jac_reuse % 1 == 0:
-        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_jac_reuse, 1), 0)):
-        opts.sim_method_jac_reuse = np.reshape(opts.sim_method_jac_reuse, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_jac_reuse. Should be either int or array of ints of shape (N,).")
-
-
-def get_simulink_default_opts():
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
-    with open(abs_path , 'r') as f:
-        simulink_default_opts = json.load(f)
-    return simulink_default_opts
-
-
-def ocp_formulation_json_dump(acados_ocp, simulink_opts=None, json_file='acados_ocp_nlp.json'):
-    # Load acados_ocp_nlp structure description
-    ocp_layout = get_ocp_nlp_layout()
-
-    # Copy input ocp object dictionary
-    ocp_nlp_dict = dict(deepcopy(acados_ocp).__dict__)
-    # TODO: maybe make one function with formatting
-
-    for acados_struct, v in ocp_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict):
-            continue
-        #  setattr(ocp_nlp, acados_struct, dict(getattr(acados_ocp, acados_struct).__dict__))
-        # Copy ocp object attributes dictionaries
-        ocp_nlp_dict[acados_struct]=dict(getattr(acados_ocp, acados_struct).__dict__)
-
-    ocp_nlp_dict = format_class_dict(ocp_nlp_dict)
-
-    if simulink_opts is not None:
-        ocp_nlp_dict['simulink_opts'] = simulink_opts
-
-    with open(json_file, 'w') as f:
-        json.dump(ocp_nlp_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-
-
-
-def ocp_formulation_json_load(json_file='acados_ocp_nlp.json'):
-    # Load acados_ocp_nlp structure description
-    ocp_layout = get_ocp_nlp_layout()
-
-    with open(json_file, 'r') as f:
-        ocp_nlp_json = json.load(f)
-
-    ocp_nlp_dict = json2dict(ocp_nlp_json, ocp_nlp_json['dims'])
-
-    # Instantiate AcadosOcp object
-    acados_ocp = AcadosOcp()
-
-    # load class dict
-    acados_ocp.__dict__ = ocp_nlp_dict
-
-    # load class attributes dict, dims, constraints, etc
-    for acados_struct, v in ocp_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict):
-            continue
-        acados_attribute = getattr(acados_ocp, acados_struct)
-        acados_attribute.__dict__ = ocp_nlp_dict[acados_struct]
-        setattr(acados_ocp, acados_struct, acados_attribute)
-
-    return acados_ocp
-
-
-def ocp_generate_external_functions(acados_ocp: AcadosOcp, model: AcadosModel):
-
-    model = make_model_consistent(model)
-
-    if acados_ocp.solver_options.hessian_approx == 'EXACT':
-        opts = dict(generate_hess=1)
-    else:
-        opts = dict(generate_hess=0)
-
-    # create code_export_dir, model_dir
-    code_export_dir = acados_ocp.code_export_directory
-    opts['code_export_directory'] = code_export_dir
-    model_dir = os.path.join(code_export_dir, model.name + '_model')
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-
-    check_casadi_version()
-    # TODO: remove dir gen from all the generate_c_* functions
-    if acados_ocp.model.dyn_ext_fun_type == 'casadi':
-        if acados_ocp.solver_options.integrator_type == 'ERK':
-            generate_c_code_explicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'IRK':
-            generate_c_code_implicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK':
-            generate_c_code_implicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'GNSF':
-            generate_c_code_gnsf(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'DISCRETE':
-            generate_c_code_discrete_dynamics(model, opts)
-        else:
-            raise Exception("ocp_generate_external_functions: unknown integrator type.")
-    else:
-        target_location = os.path.join(code_export_dir, model_dir, model.dyn_generic_source)
-        shutil.copyfile(model.dyn_generic_source, target_location)
-
-    if acados_ocp.dims.nphi > 0 or acados_ocp.dims.nh > 0:
-        generate_c_code_constraint(model, model.name, False, opts)
-
-    if acados_ocp.dims.nphi_e > 0 or acados_ocp.dims.nh_e > 0:
-        generate_c_code_constraint(model, model.name, True, opts)
-
-    if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'initial', opts)
-    elif acados_ocp.cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'initial', opts)
-    elif acados_ocp.cost.cost_type_0 == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'initial', opts)
-
-    if acados_ocp.cost.cost_type == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'path', opts)
-    elif acados_ocp.cost.cost_type == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'path', opts)
-    elif acados_ocp.cost.cost_type == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'path', opts)
-
-    if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'terminal', opts)
-    elif acados_ocp.cost.cost_type_e == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'terminal', opts)
-    elif acados_ocp.cost.cost_type_e == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'terminal', opts)
-
-
-def ocp_get_default_cmake_builder() -> CMakeBuilder:
-    """
-    If :py:class:`~acados_template.acados_ocp_solver.AcadosOcpSolver` is used with `CMake` this function returns a good first setting.
-    :return: default :py:class:`~acados_template.builders.CMakeBuilder`
-    """
-    cmake_builder = CMakeBuilder()
-    cmake_builder.options_on = ['BUILD_ACADOS_OCP_SOLVER_LIB']
-    return cmake_builder
-
-
-
-def ocp_render_templates(acados_ocp: AcadosOcp, json_file, cmake_builder=None, simulink_opts=None):
-
-    # setting up loader and environment
-    json_path = os.path.abspath(json_file)
-
-    if not os.path.exists(json_path):
-        raise Exception(f'Path "{json_path}" not found!')
-
-    # Render templates
-    template_list = __ocp_get_template_list(acados_ocp, cmake_builder=cmake_builder, simulink_opts=simulink_opts)
-    for tup in template_list:
-        if len(tup) > 2:
-            output_dir = tup[2]
-        else:
-            output_dir = acados_ocp.code_export_directory
-        render_template(tup[0], tup[1], output_dir, json_path)
-
-    # Custom templates
-    acados_template_path = os.path.dirname(os.path.abspath(__file__))
-    custom_template_glob = os.path.join(acados_template_path, 'custom_update_templates', '*')
-    for tup in acados_ocp.solver_options.custom_templates:
-        render_template(tup[0], tup[1], acados_ocp.code_export_directory, json_path, template_glob=custom_template_glob)
-
-    return
-
-
-
-def __ocp_get_template_list(acados_ocp: AcadosOcp, cmake_builder=None, simulink_opts=None) -> list:
-    """
-    returns a list of tuples in the form:
-    (input_filename, output_filname)
-    or
-    (input_filename, output_filname, output_directory)
-    """
-    name = acados_ocp.model.name
-    code_export_directory = acados_ocp.code_export_directory
-    template_list = []
-
-    template_list.append(('main.in.c', f'main_{name}.c'))
-    template_list.append(('acados_solver.in.c', f'acados_solver_{name}.c'))
-    template_list.append(('acados_solver.in.h', f'acados_solver_{name}.h'))
-    template_list.append(('acados_solver.in.pxd', f'acados_solver.pxd'))
-    if cmake_builder is not None:
-        template_list.append(('CMakeLists.in.txt', 'CMakeLists.txt'))
-    else:
-        template_list.append(('Makefile.in', 'Makefile'))
-
-
-    # sim
-    template_list.append(('acados_sim_solver.in.c', f'acados_sim_solver_{name}.c'))
-    template_list.append(('acados_sim_solver.in.h', f'acados_sim_solver_{name}.h'))
-    template_list.append(('main_sim.in.c', f'main_sim_{name}.c'))
-
-    # model
-    model_dir = os.path.join(code_export_directory, f'{name}_model')
-    template_list.append(('model.in.h', f'{name}_model.h', model_dir))
-    # constraints
-    constraints_dir = os.path.join(code_export_directory, f'{name}_constraints')
-    template_list.append(('constraints.in.h', f'{name}_constraints.h', constraints_dir))
-    # cost
-    cost_dir = os.path.join(code_export_directory, f'{name}_cost')
-    template_list.append(('cost.in.h', f'{name}_cost.h', cost_dir))
-
-    # Simulink
-    if simulink_opts is not None:
-        template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c')
-        template_list.append((template_file, f'acados_solver_sfunction_{name}.c'))
-        template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c')
-        template_list.append((template_file, f'make_sfun_{name}.m'))
-
-    return template_list
-
-
-def remove_x0_elimination(acados_ocp):
-    acados_ocp.constraints.idxbxe_0 = np.zeros((0,))
-    acados_ocp.dims.nbxe_0 = 0
-
-
-class AcadosOcpSolver:
-    """
-    Class to interact with the acados ocp solver C object.
-
-        :param acados_ocp: type :py:class:`~acados_template.acados_ocp.AcadosOcp` - description of the OCP for acados
-        :param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
-        :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
-    """
-    if sys.platform=="win32":
-        from ctypes import wintypes
-        from ctypes import WinDLL
-        dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary
-        dlclose.argtypes = [wintypes.HMODULE]
-    else:
-        dlclose = CDLL(None).dlclose
-        dlclose.argtypes = [c_void_p]
-
-    @classmethod
-    def generate(cls, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = None):
-        """
-        Generates the code for an acados OCP solver, given the description in acados_ocp.
-            :param acados_ocp: type AcadosOcp - description of the OCP for acados
-            :param json_file: name for the json file used to render the templated code - default: `acados_ocp_nlp.json`
-            :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible inputs and
-                   outputs; default: `None`
-            :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
-                   the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-                   `MS Visual Studio`); default: `None`
-        """
-        model = acados_ocp.model
-        acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory)
-
-        # make dims consistent
-        make_ocp_dims_consistent(acados_ocp)
-
-        # module dependent post processing
-        if acados_ocp.solver_options.integrator_type == 'GNSF':
-            if 'gnsf_model' in acados_ocp.__dict__:
-                set_up_imported_gnsf_model(acados_ocp)
-            else:
-                detect_gnsf_structure(acados_ocp)
-
-        if acados_ocp.solver_options.qp_solver == 'PARTIAL_CONDENSING_QPDUNES':
-            remove_x0_elimination(acados_ocp)
-
-        # set integrator time automatically
-        acados_ocp.solver_options.Tsim = acados_ocp.solver_options.time_steps[0]
-
-        # generate external functions
-        ocp_generate_external_functions(acados_ocp, model)
-
-        # dump to json
-        acados_ocp.json_file = json_file
-        ocp_formulation_json_dump(acados_ocp, simulink_opts=simulink_opts, json_file=json_file)
-
-        # render templates
-        ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder, simulink_opts=simulink_opts)
-
-        # copy custom update function
-        if acados_ocp.solver_options.custom_update_filename != "" and acados_ocp.solver_options.custom_update_copy:
-            target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_filename)
-            shutil.copyfile(acados_ocp.solver_options.custom_update_filename, target_location)
-        if acados_ocp.solver_options.custom_update_header_filename != "" and acados_ocp.solver_options.custom_update_copy:
-            target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_header_filename)
-            shutil.copyfile(acados_ocp.solver_options.custom_update_header_filename, target_location)
-
-
-    @classmethod
-    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-        """
-        Builds the code for an acados OCP solver, that has been generated in code_export_dir
-            :param code_export_dir: directory in which acados OCP solver has been generated, see generate()
-            :param with_cython: option indicating if the cython interface is build, default: False.
-            :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
-                   the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-                   `MS Visual Studio`); default: `None`
-            :param verbose: indicating if build command is printed
-        """
-        code_export_dir = os.path.abspath(code_export_dir)
-        cwd = os.getcwd()
-        os.chdir(code_export_dir)
-        if with_cython:
-            call(
-                ['make', 'clean_all'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            call(
-                ['make', 'ocp_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-        else:
-            if cmake_builder is not None:
-                cmake_builder.exec(code_export_dir)
-            else:
-                call(
-                    ['make', 'clean_ocp_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-                call(
-                    ['make', 'ocp_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-        os.chdir(cwd)
-
-
-    @classmethod
-    def create_cython_solver(cls, json_file):
-        """
-        Returns an `AcadosOcpSolverCython` object.
-
-        This is an alternative Cython based Python wrapper to the acados OCP solver in C.
-        This offers faster interaction with the solver, because getter and setter calls, which include shape checking are done in compiled C code.
-
-        The default wrapper `AcadosOcpSolver` is based on ctypes.
-        """
-        with open(json_file, 'r') as f:
-            acados_ocp_json = json.load(f)
-        code_export_directory = acados_ocp_json['code_export_directory']
-
-        importlib.invalidate_caches()
-        rel_code_export_directory = os.path.relpath(code_export_directory)
-        acados_ocp_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_ocp_solver_pyx')
-
-        AcadosOcpSolverCython = getattr(acados_ocp_solver_pyx, 'AcadosOcpSolverCython')
-        return AcadosOcpSolverCython(acados_ocp_json['model']['name'],
-                    acados_ocp_json['solver_options']['nlp_solver_type'],
-                    acados_ocp_json['dims']['N'])
-
-
-    def __init__(self, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None, verbose=True):
-
-        self.solver_created = False
-        if generate:
-            self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder)
-
-        # load json, store options in object
-        with open(json_file, 'r') as f:
-            acados_ocp_json = json.load(f)
-        self.N = acados_ocp_json['dims']['N']
-        self.model_name = acados_ocp_json['model']['name']
-        self.solver_options = acados_ocp_json['solver_options']
-
-        acados_lib_path = acados_ocp_json['acados_lib_path']
-        code_export_directory = acados_ocp_json['code_export_directory']
-
-        if build:
-            self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder, verbose=verbose)
-
-        # prepare library loading
-        lib_prefix = 'lib'
-        lib_ext = get_lib_ext()
-        if os.name == 'nt':
-            lib_prefix = ''
-
-        # Load acados library to avoid unloading the library.
-        # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
-        # Unloading a library which uses OpenMP results in a segfault (on any platform?).
-        # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
-        # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
-        libacados_name = f'{lib_prefix}acados{lib_ext}'
-        libacados_filepath = os.path.join(acados_lib_path, libacados_name)
-        self.__acados_lib = CDLL(libacados_filepath)
-        # find out if acados was compiled with OpenMP
-        try:
-            self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
-        except AttributeError as e:
-            self.__acados_lib_uses_omp = False
-        if self.__acados_lib_uses_omp:
-            print('acados was compiled with OpenMP.')
-        else:
-            print('acados was compiled without OpenMP.')
-        libacados_ocp_solver_name = f'{lib_prefix}acados_ocp_solver_{self.model_name}{lib_ext}'
-        self.shared_lib_name = os.path.join(code_export_directory, libacados_ocp_solver_name)
-
-        # get shared_lib
-        self.shared_lib = CDLL(self.shared_lib_name)
-
-        # create capsule
-        getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule").restype = c_void_p
-        self.capsule = getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule")()
-
-        # create solver
-        getattr(self.shared_lib, f"{self.model_name}_acados_create").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_create").restype = c_int
-        assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0
-        self.solver_created = True
-
-        self.acados_ocp = acados_ocp
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-        self.status = 0
-
-        # gettable fields
-        self.__qp_dynamics_fields = ['A', 'B', 'b']
-        self.__qp_cost_fields = ['Q', 'R', 'S', 'q', 'r']
-        self.__qp_constraint_fields = ['C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu']
-
-
-    def __get_pointers_solver(self):
-        # """
-        # Private function to get the pointers for solver
-        # """
-        # get pointers solver
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p
-        self.nlp_opts = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").restype = c_void_p
-        self.nlp_dims = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").restype = c_void_p
-        self.nlp_config = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p
-        self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").restype = c_void_p
-        self.sens_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p
-        self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p
-        self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule)
-
-
-
-    def solve_for_x0(self, x0_bar):
-        """
-        Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0.
-        """
-        self.set(0, "lbx", x0_bar)
-        self.set(0, "ubx", x0_bar)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_ocp_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados acados_ocp_solver returned status {status}')
-
-        u0 = self.get(0, "u")
-        return u0
-
-
-    def solve(self):
-        """
-        Solve the ocp with current input.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int
-        self.status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
-
-        return self.status
-
-
-    def custom_update(self, data_: np.ndarray):
-        """
-        A custom function that can be implemented by a user to be called between solver calls.
-        By default this does nothing.
-        The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C,
-        in a function that is compiled into the solver library and can be conveniently used in the Python environment.
-        """
-        data = np.ascontiguousarray(data_, dtype=np.float64)
-        c_data = cast(data.ctypes.data, POINTER(c_double))
-        data_len = len(data)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").argtypes = [c_void_p, POINTER(c_double), c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").restype = c_int
-        status = getattr(self.shared_lib, f"{self.model_name}_acados_custom_update")(self.capsule, c_data, data_len)
-
-        return status
-
-
-    def reset(self, reset_qp_solver_mem=1):
-        """
-        Sets current iterate to all zeros.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p, c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset").restype = c_int
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule, reset_qp_solver_mem)
-
-        return
-
-
-    def set_new_time_steps(self, new_time_steps):
-        """
-        Set new time steps.
-        Recreates the solver if N changes.
-
-            :param new_time_steps: 1 dimensional np array of new time steps for the solver
-
-            .. note:: This allows for different use-cases: either set a new size of time_steps or a new distribution of
-                      the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
-                      do not require a new code export and compilation.
-        """
-
-        # unlikely but still possible
-        if not self.solver_created:
-            raise Exception('Solver was not yet created!')
-
-        # check if time steps really changed in value
-        if np.array_equal(self.solver_options['time_steps'], new_time_steps):
-            return
-
-        N = new_time_steps.size
-        new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double))
-
-        # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
-        if len(self.solver_options['time_steps']) == N:
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0
-        else:  # recreate the solver with the new time steps
-            self.solver_created = False
-
-            # delete old memory (analog to __del__)
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
-
-            # create solver with new time steps
-            getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization")(self.capsule, N, new_time_steps_data) == 0
-
-            self.solver_created = True
-
-            # get pointers solver
-            self.__get_pointers_solver()
-
-        # store time_steps, N
-        self.solver_options['time_steps'] = new_time_steps
-        self.N = N
-        self.solver_options['Tsim'] = self.solver_options['time_steps'][0]
-
-
-    def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
-        """
-        Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
-        This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
-        the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
-            :param qp_solver_cond_N: new number of condensing stages for the solver
-
-            .. note:: This function can only be used in combination with a partial condensing QP solver.
-
-            .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
-                      necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
-                      `qp_solver_cond_N < N`.
-        """
-        # unlikely but still possible
-        if not self.solver_created:
-            raise Exception('Solver was not yet created!')
-        if self.N < qp_solver_cond_N:
-            raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
-        if self.solver_options['qp_solver_cond_N'] != qp_solver_cond_N:
-            self.solver_created = False
-
-            # recreate the solver
-            fun_name = f'{self.model_name}_acados_update_qp_solver_cond_N'
-            getattr(self.shared_lib, fun_name).argtypes = [c_void_p, c_int]
-            getattr(self.shared_lib, fun_name).restype = c_int
-            assert getattr(self.shared_lib, fun_name)(self.capsule, qp_solver_cond_N) == 0
-
-            # store the new value
-            self.solver_options['qp_solver_cond_N'] = qp_solver_cond_N
-            self.solver_created = True
-
-            # get pointers solver
-            self.__get_pointers_solver()
-
-
-    def eval_param_sens(self, index, stage=0, field="ex"):
-        """
-        Calculate the sensitivity of the curent solution with respect to the initial state component of index
-
-            :param index: integer corresponding to initial state index in range(nx)
-        """
-
-        field_ = field
-        field = field_.encode('utf-8')
-
-        # checks
-        if not isinstance(index, int):
-            raise Exception('AcadosOcpSolver.eval_param_sens(): index must be Integer.')
-
-        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-        nx = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
-
-        if index < 0 or index > nx:
-            raise Exception(f'AcadosOcpSolver.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
-
-        # actual eval_param
-        self.shared_lib.ocp_nlp_eval_param_sens.argtypes = [c_void_p, c_char_p, c_int, c_int, c_void_p]
-        self.shared_lib.ocp_nlp_eval_param_sens.restype = None
-        self.shared_lib.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
-
-        return
-
-
-    def get(self, stage_, field_):
-        """
-        Get the last solution of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-
-        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
-        # mem_fields = ['sl', 'su']
-        sens_fields = ['sens_u', "sens_x"]
-        all_fields = out_fields + sens_fields
-
-        field = field_
-
-        if (field_ not in all_fields):
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): \'{field_}\' is an invalid argument.\
-                    \n Possible values are {all_fields}.')
-
-        if not isinstance(stage_, int):
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be an integer, got type {type(stage_)}.')
-
-        if stage_ < 0 or stage_ > self.N:
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be in [0, {self.N}], got: {stage_}.')
-
-        if stage_ == self.N and field_ == 'pi':
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): field \'{field_}\' does not exist at final stage {stage_}.')
-
-        if field_ in sens_fields:
-            field = field_.replace('sens_', '')
-
-        field = field.encode('utf-8')
-
-        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-
-        dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field)
-
-        out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        if (field_ in out_fields):
-            self.shared_lib.ocp_nlp_out_get.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
-                self.nlp_dims, self.nlp_out, stage_, field, out_data)
-        # elif field_ in mem_fields:
-        #     self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
-        #         [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        #     self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
-        #         self.nlp_dims, self.nlp_solver, stage_, field, out_data)
-        elif field_ in sens_fields:
-            self.shared_lib.ocp_nlp_out_get.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
-                self.nlp_dims, self.sens_out, stage_, field, out_data)
-
-        return out
-
-
-    def print_statistics(self):
-        """
-        prints statistics of previous solver run as a table:
-            - iter: iteration number
-            - res_stat: stationarity residual
-            - res_eq: residual wrt equality constraints (dynamics)
-            - res_ineq: residual wrt inequality constraints (constraints)
-            - res_comp: residual wrt complementarity conditions
-            - qp_stat: status of QP solver
-            - qp_iter: number of QP iterations
-            - alpha: SQP step size
-            - qp_res_stat: stationarity residual of the last QP solution
-            - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
-            - qp_res_ineq: residual wrt inequality constraints (constraints)  of the last QP solution
-            - qp_res_comp: residual wrt complementarity conditions of the last QP solution
-        """
-        stat = self.get_stats("statistics")
-
-        if self.solver_options['nlp_solver_type'] == 'SQP':
-            print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha')
-            if stat.shape[0]>8:
-                print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
-            for jj in range(stat.shape[1]):
-                print(f'{int(stat[0][jj]):d}\t{stat[1][jj]:e}\t{stat[2][jj]:e}\t{stat[3][jj]:e}\t' +
-                      f'{stat[4][jj]:e}\t{int(stat[5][jj]):d}\t{int(stat[6][jj]):d}\t{stat[7][jj]:e}\t')
-                if stat.shape[0]>8:
-                    print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
-                        stat[8][jj], stat[9][jj], stat[10][jj], stat[11][jj]))
-            print('\n')
-        elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-            print('\niter\tqp_stat\tqp_iter')
-            if stat.shape[0]>3:
-                print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
-            for jj in range(stat.shape[1]):
-                print('{:d}\t{:d}\t{:d}'.format( int(stat[0][jj]), int(stat[1][jj]), int(stat[2][jj])))
-                if stat.shape[0]>3:
-                    print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
-                         stat[3][jj], stat[4][jj], stat[5][jj], stat[6][jj]))
-            print('\n')
-
-        return
-
-
-    def store_iterate(self, filename: str = '', overwrite=False):
-        """
-        Stores the current iterate of the ocp solver in a json file.
-
-            :param filename: if not set, use f'{self.model_name}_iterate.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        if filename == '':
-            filename = f'{self.model_name}_iterate.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get iterate:
-        solution = dict()
-
-        lN = len(str(self.N+1))
-        for i in range(self.N+1):
-            i_string = f'{i:0{lN}d}'
-            solution['x_'+i_string] = self.get(i,'x')
-            solution['u_'+i_string] = self.get(i,'u')
-            solution['z_'+i_string] = self.get(i,'z')
-            solution['lam_'+i_string] = self.get(i,'lam')
-            solution['t_'+i_string] = self.get(i, 't')
-            solution['sl_'+i_string] = self.get(i, 'sl')
-            solution['su_'+i_string] = self.get(i, 'su')
-            if i < self.N:
-                solution['pi_'+i_string] = self.get(i,'pi')
-
-        for k in list(solution.keys()):
-            if len(solution[k]) == 0:
-                del solution[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(solution, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-        print("stored current iterate in ", os.path.join(os.getcwd(), filename))
-
-
-
-    def dump_last_qp_to_json(self, filename: str = '', overwrite=False):
-        """
-        Dumps the latest QP data into a json file
-
-            :param filename: if not set, use model_name + timestamp + '.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        if filename == '':
-            filename = f'{self.model_name}_QP.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get QP data:
-        qp_data = dict()
-
-        lN = len(str(self.N+1))
-        for field in self.__qp_dynamics_fields:
-            for i in range(self.N):
-                qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field)
-
-        for field in self.__qp_constraint_fields + self.__qp_cost_fields:
-            for i in range(self.N+1):
-                qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field)
-
-        # remove empty fields
-        for k in list(qp_data.keys()):
-            if len(qp_data[k]) == 0:
-                del qp_data[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(qp_data, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-        print("stored qp from solver memory in ", os.path.join(os.getcwd(), filename))
-
-
-
-    def load_iterate(self, filename):
-        """
-        Loads the iterate stored in json file with filename into the ocp solver.
-        """
-        if not os.path.isfile(filename):
-            raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
-
-        with open(filename, 'r') as f:
-            solution = json.load(f)
-
-        print(f"loading iterate {filename}")
-        for key in solution.keys():
-            (field, stage) = key.split('_')
-            self.set(int(stage), field, np.array(solution[key]))
-
-
-    def get_stats(self, field_):
-        """
-        Get the information of the last solver call.
-
-            :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter', 'residuals', 'qp_iter', 'alpha']
-
-        Available fileds:
-            - time_tot: total CPU time previous call
-            - time_lin: CPU time for linearization
-            - time_sim: CPU time for integrator
-            - time_sim_ad: CPU time for integrator contribution of external function calls
-            - time_sim_la: CPU time for integrator contribution of linear algebra
-            - time_qp: CPU time qp solution
-            - time_qp_solver_call: CPU time inside qp solver (without converting the QP)
-            - time_qp_xcond: time_glob: CPU time globalization
-            - time_solution_sensitivities: CPU time for previous call to eval_param_sens
-            - time_reg: CPU time regularization
-            - sqp_iter: number of SQP iterations
-            - qp_iter: vector of QP iterations for last SQP call
-            - statistics: table with info about last iteration
-            - stat_m: number of rows in statistics matrix
-            - stat_n: number of columns in statistics matrix
-            - residuals: residuals of last iterate
-            - alpha: step sizes of SQP iterations
-        """
-
-        double_fields = ['time_tot',
-                  'time_lin',
-                  'time_sim',
-                  'time_sim_ad',
-                  'time_sim_la',
-                  'time_qp',
-                  'time_qp_solver_call',
-                  'time_qp_xcond',
-                  'time_glob',
-                  'time_solution_sensitivities',
-                  'time_reg'
-        ]
-        fields = double_fields + [
-                  'sqp_iter',
-                  'qp_iter',
-                  'statistics',
-                  'stat_m',
-                  'stat_n',
-                  'residuals',
-                  'alpha',
-                ]
-        field = field_.encode('utf-8')
-
-
-        if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
-            out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64)
-            out_data = cast(out.ctypes.data, POINTER(c_int64))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        # TODO: just return double instead of np.
-        elif field_ in double_fields:
-            out = np.zeros((1,))
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        elif field_ == 'statistics':
-            sqp_iter = self.get_stats("sqp_iter")
-            stat_m = self.get_stats("stat_m")
-            stat_n = self.get_stats("stat_n")
-            min_size = min([stat_m, sqp_iter+1])
-            out = np.ascontiguousarray(
-                        np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64)
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        elif field_ == 'qp_iter':
-            full_stats = self.get_stats('statistics')
-            if self.solver_options['nlp_solver_type'] == 'SQP':
-                return full_stats[6, :]
-            elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-                return full_stats[2, :]
-
-        elif field_ == 'alpha':
-            full_stats = self.get_stats('statistics')
-            if self.solver_options['nlp_solver_type'] == 'SQP':
-                return full_stats[7, :]
-            else: # self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-                raise Exception("alpha values are not available for SQP_RTI")
-
-        elif field_ == 'residuals':
-            return self.get_residuals()
-
-        else:
-            raise Exception(f'AcadosOcpSolver.get_stats(): \'{field}\' is not a valid argument.'
-                    + f'\n Possible values are {fields}.')
-
-
-    def get_cost(self):
-        """
-        Returns the cost value of the current solution.
-        """
-        # compute cost internally
-        self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p]
-        self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        # call getter
-        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-
-        field = "cost_value".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        return out[0]
-
-
-    def get_residuals(self, recompute=False):
-        """
-        Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
-        This residual has to be computed for SQP_RTI solver, since it is not available by default.
-
-        - res_stat: stationarity residual
-        - res_eq: residual wrt equality constraints (dynamics)
-        - res_ineq: residual wrt inequality constraints (constraints)
-        - res_comp: residual wrt complementarity conditions
-        """
-        # compute residuals if RTI
-        if self.solver_options['nlp_solver_type'] == 'SQP_RTI' or recompute:
-            self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p]
-            self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        out = np.ascontiguousarray(np.zeros((4, 1)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        # call getters
-        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-
-        field = "res_stat".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[1].ctypes.data, POINTER(c_double))
-        field = "res_eq".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[2].ctypes.data, POINTER(c_double))
-        field = "res_ineq".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[3].ctypes.data, POINTER(c_double))
-        field = "res_comp".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-        return out.flatten()
-
-
-    # Note: this function should not be used anymore, better use cost_set, constraints_set
-    def set(self, stage_, field_, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p', 'xdot_guess', 'z_guess']
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-        cost_fields = ['y_ref', 'yref']
-        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
-        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
-        mem_fields = ['xdot_guess', 'z_guess']
-
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_.encode('utf-8')
-
-        stage = c_int(stage_)
-
-        # treat parameters separately
-        if field_ == 'p':
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double), c_int]
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
-
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
-        else:
-            if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
-                raise Exception(f"AcadosOcpSolver.set(): '{field}' is not a valid argument.\n"
-                    f" Possible values are {constraints_fields + cost_fields + out_fields + mem_fields + ['p']}.")
-
-            self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-            self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-
-            dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
-                self.nlp_dims, self.nlp_out, stage_, field)
-
-            if value_.shape[0] != dims:
-                msg = f'AcadosOcpSolver.set(): mismatching dimension for field "{field_}" '
-                msg += f'with dimension {dims} (you have {value_.shape[0]})'
-                raise Exception(msg)
-
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-            value_data_p = cast((value_data), c_void_p)
-
-            if field_ in constraints_fields:
-                self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-            elif field_ in cost_fields:
-                self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-            elif field_ in out_fields:
-                self.shared_lib.ocp_nlp_out_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_out, stage, field, value_data_p)
-            elif field_ in mem_fields:
-                self.shared_lib.ocp_nlp_set.argtypes = \
-                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, value_data_p)
-            # also set z_guess, when setting z.
-            if field_ == 'z':
-                field = 'z_guess'.encode('utf-8')
-                self.shared_lib.ocp_nlp_set.argtypes = \
-                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, value_data_p)
-        return
-
-
-    def cost_set(self, stage_, field_, value_, api='warn'):
-        """
-        Set numerical data in the cost module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu'
-            :param value: of appropriate size
-        """
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_
-        field = field.encode('utf-8')
-
-        stage = c_int(stage_)
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-
-        elif len(value_shape) == 2:
-            if api=='old':
-                pass
-            elif api=='warn':
-                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
-                    raise Exception("Ambiguity in API detected.\n"
-                                    "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
-                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
-                                    f"  You are relying on a now-fixed bug in cost_set for field '{field_}'.\n" +
-                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
-                                    "  Two options to fix this error: \n" +
-                                    "   * Add api='old' to cost_set to restore old incorrect behaviour\n" +
-                                    "   * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
-                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
-                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            elif api=='new':
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            else:
-                raise Exception("Unknown api: '{}'".format(api))
-
-        if value_shape != tuple(dims):
-            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-
-        return
-
-
-    def constraints_set(self, stage_, field_, value_, api='warn'):
-        """
-        Set numerical data in the constraint module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
-            :param value: of appropriate size
-        """
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_
-        field = field.encode('utf-8')
-
-        stage = c_int(stage_)
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-        elif len(value_shape) == 2:
-            if api=='old':
-                pass
-            elif api=='warn':
-                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
-                    raise Exception("Ambiguity in API detected.\n"
-                                    "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
-                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
-                                    f"  You are relying on a now-fixed bug in constraints_set for field '{field}'.\n" +
-                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
-                                    "  Two options to fix this error: \n" +
-                                    "   * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
-                                    "   * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
-                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
-                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            elif api=='new':
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            else:
-                raise Exception(f"Unknown api: '{api}'")
-
-        if value_shape != tuple(dims):
-            raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-
-        return
-
-
-    def get_from_qp_in(self, stage_: int, field_: str):
-        """
-        Get numerical data from the current QP.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['A', 'B', 'b', 'Q', 'R', 'S', 'q', 'r', 'C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu']
-        """
-        # idx* should be added too..
-        if not isinstance(stage_, int):
-            raise TypeError("stage should be int")
-        if stage_ > self.N:
-            raise Exception("stage should be <= self.N")
-        if field_ in self.__qp_dynamics_fields and stage_ >= self.N:
-            raise ValueError(f"dynamics field {field_} not available at terminal stage")
-        if field_ not in self.__qp_dynamics_fields + self.__qp_cost_fields + self.__qp_constraint_fields:
-            raise Exception(f"field {field_} not supported.")
-
-        field = field_.encode('utf-8')
-        stage = c_int(stage_)
-
-        # get dims
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        # create output data
-        out = np.ascontiguousarray(np.zeros((np.prod(dims),)), dtype=np.float64)
-        out = out.reshape(dims[0], dims[1], order='F')
-
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-        out_data_p = cast((out_data), c_void_p)
-
-        # call getter
-        self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
-            self.nlp_dims, self.nlp_solver, stage, field, out_data_p)
-
-        return out
-
-
-    def options_set(self, field_, value_):
-        """
-        Set options of the solver.
-
-            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'
-
-            :param value: of type int, float, string
-
-            - qp_tol_stat: QP solver tolerance stationarity
-            - qp_tol_eq: QP solver tolerance equalities
-            - qp_tol_ineq: QP solver tolerance inequalities
-            - qp_tol_comp: QP solver tolerance complementarity
-            - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM
-            - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
-            - warm_start_first_qp: indicates if first QP in SQP is warm_started
-        """
-        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start',
-                      'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction',
-                         'eps_sufficient_descent', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
-        string_fields = ['globalization']
-
-        # check field availability and type
-        if field_ in int_fields:
-            if not isinstance(value_, int):
-                raise Exception(f'solver option \'{field_}\' must be of type int. You have {type(value_)}.')
-            else:
-                value_ctypes = c_int(value_)
-
-        elif field_ in double_fields:
-            if not isinstance(value_, float):
-                raise Exception(f'solver option \'{field_}\' must be of type float. You have {type(value_)}.')
-            else:
-                value_ctypes = c_double(value_)
-
-        elif field_ in string_fields:
-            if not isinstance(value_, str):
-                raise Exception(f'solver option \'{field_}\' must be of type str. You have {type(value_)}.')
-            else:
-                value_ctypes = value_.encode('utf-8')
-        else:
-            fields = ', '.join(int_fields + double_fields + string_fields)
-            raise Exception(f'AcadosOcpSolver.options_set() does not support field \'{field_}\'.\n'\
-                f' Possible values are {fields}.')
-
-
-        if field_ == 'rti_phase':
-            if value_ < 0 or value_ > 2:
-                raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
-                    'take only values 0, 1, 2 for SQP-RTI-type solvers')
-            if self.solver_options['nlp_solver_type'] != 'SQP_RTI' and value_ > 0:
-                raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
-                    'take only value 0 for SQP-type solvers')
-
-        # encode
-        field = field_
-        field = field.encode('utf-8')
-
-        # call C interface
-        if field_ in string_fields:
-            self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \
-                [c_void_p, c_void_p, c_char_p, c_char_p]
-            self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
-                self.nlp_opts, field, value_ctypes)
-        else:
-            self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \
-                [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
-                self.nlp_opts, field, byref(value_ctypes))
-        return
-
-
-    def set_params_sparse(self, stage_, idx_values_, param_values_):
-        """
-        set parameters of the solvers external function partially:
-        Pseudo: solver.param[idx_values_] = param_values_;
-        Parameters:
-            :param stage_: integer corresponding to shooting node
-            :param idx_values_: 0 based np array (or iterable) of integers: indices of parameter to be set
-            :param param_values_: new parameter values as numpy array
-        """
-
-        # if not isinstance(idx_values_, np.ndarray) or not issubclass(type(idx_values_[0]), np.integer):
-        #     raise Exception('idx_values_ must be np.array of integers.')
-
-        if not isinstance(param_values_, np.ndarray):
-            raise Exception('param_values_ must be np.array.')
-        elif np.float64 != param_values_.dtype:
-            raise TypeError('param_values_ must be np.array of float64.')
-
-        if param_values_.shape[0] != len(idx_values_):
-            raise Exception(f'param_values_ and idx_values_ must be of the same size.' +
-                 f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.')
-
-        if any(idx_values_ >= self.acados_ocp.dims.np):
-            raise Exception(f'idx_values_ contains value >= np = {self.acados_ocp.dims.np}')
-
-        stage = c_int(stage_)
-        n_update = c_int(len(param_values_))
-
-        param_data = cast(param_values_.ctypes.data, POINTER(c_double))
-        c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc)
-        idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int))
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \
-                        [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \
-                                    (self.capsule, stage, idx_data, param_data, n_update)
-
-    def __del__(self):
-        if self.solver_created:
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
-
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule")(self.capsule)
-
-            try:
-                self.dlclose(self.shared_lib._handle)
-            except:
-                print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosOcpSolver {self.model_name}.\n",
-                     "Attempting to create a new one with the same name will likely result in the old one being used!")
-                pass
diff --git a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
deleted file mode 100644
index bc03ba086f..0000000000
--- a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
+++ /dev/null
@@ -1,794 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-# cython: language_level=3
-# cython: profile=False
-# distutils: language=c
-
-cimport cython
-from libc cimport string
-
-cimport acados_solver_common
-# TODO: make this import more clear? it is not a general solver, but problem specific.
-cimport acados_solver
-
-cimport numpy as cnp
-
-import os
-from datetime import datetime
-import numpy as np
-
-
-cdef class AcadosOcpSolverCython:
-    """
-    Class to interact with the acados ocp solver C object.
-    """
-
-    cdef acados_solver.nlp_solver_capsule *capsule
-    cdef void *nlp_opts
-    cdef acados_solver_common.ocp_nlp_dims *nlp_dims
-    cdef acados_solver_common.ocp_nlp_config *nlp_config
-    cdef acados_solver_common.ocp_nlp_out *nlp_out
-    cdef acados_solver_common.ocp_nlp_out *sens_out
-    cdef acados_solver_common.ocp_nlp_in *nlp_in
-    cdef acados_solver_common.ocp_nlp_solver *nlp_solver
-
-    cdef bint solver_created
-
-    cdef str model_name
-    cdef int N
-
-    cdef str nlp_solver_type
-
-    def __cinit__(self, model_name, nlp_solver_type, N):
-
-        self.solver_created = False
-
-        self.N = N
-        self.model_name = model_name
-        self.nlp_solver_type = nlp_solver_type
-
-        # create capsule
-        self.capsule = acados_solver.acados_create_capsule()
-
-        # create solver
-        assert acados_solver.acados_create(self.capsule) == 0
-        self.solver_created = True
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-
-    def __get_pointers_solver(self):
-        """
-        Private function to get the pointers for solver
-        """
-        # get pointers solver
-        self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule)
-        self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule)
-        self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule)
-        self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule)
-        self.sens_out = acados_solver.acados_get_sens_out(self.capsule)
-        self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule)
-        self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
-
-
-    def solve_for_x0(self, x0_bar):
-        """
-        Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0.
-        """
-        self.set(0, "lbx", x0_bar)
-        self.set(0, "ubx", x0_bar)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_ocp_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados acados_ocp_solver returned status {status}')
-
-        u0 = self.get(0, "u")
-        return u0
-
-
-    def solve(self):
-        """
-        Solve the ocp with current input.
-        """
-        return acados_solver.acados_solve(self.capsule)
-
-
-    def reset(self, reset_qp_solver_mem=1):
-        """
-        Sets current iterate to all zeros.
-        """
-        return acados_solver.acados_reset(self.capsule, reset_qp_solver_mem)
-
-
-    def custom_update(self, data_):
-        """
-        A custom function that can be implemented by a user to be called between solver calls.
-        By default this does nothing.
-        The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C,
-        in a function that is compiled into the solver library and can be conveniently used in the Python environment.
-        """
-        data_len = len(data_)
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] data = np.ascontiguousarray(data_, dtype=np.float64)
-
-        return acados_solver.acados_custom_update(self.capsule, <double *> data.data, data_len)
-
-
-    def set_new_time_steps(self, new_time_steps):
-        """
-        Set new time steps.
-        Recreates the solver if N changes.
-
-            :param new_time_steps: 1 dimensional np array of new time steps for the solver
-
-            .. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
-                      the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
-                      do not require a new code export and compilation.
-        """
-
-        raise NotImplementedError("AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature")
-        # # unlikely but still possible
-        # if not self.solver_created:
-        #     raise Exception('Solver was not yet created!')
-
-        # ## check if time steps really changed in value
-        # # get time steps
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] old_time_steps = np.ascontiguousarray(np.zeros((self.N,)), dtype=np.float64)
-        # assert acados_solver.acados_get_time_steps(self.capsule, self.N, <double *> old_time_steps.data)
-
-        # if np.array_equal(old_time_steps, new_time_steps):
-        #     return
-
-        # N = new_time_steps.size
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(new_time_steps, dtype=np.float64)
-
-        # # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
-        # if len(old_time_steps) == N:
-        #     assert acados_solver.acados_update_time_steps(self.capsule, N, <double *> value.data) == 0
-
-        # else:  # recreate the solver with the new time steps
-        #     self.solver_created = False
-
-        #     # delete old memory (analog to __del__)
-        #     acados_solver.acados_free(self.capsule)
-
-        #     # create solver with new time steps
-        #     assert acados_solver.acados_create_with_discretization(self.capsule, N, <double *> value.data) == 0
-
-        #     self.solver_created = True
-
-        #     # get pointers solver
-        #     self.__get_pointers_solver()
-
-        # # store time_steps, N
-        # self.time_steps = new_time_steps
-        # self.N = N
-
-
-    def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
-        """
-        Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
-        This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
-        the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
-            :param qp_solver_cond_N: new number of condensing stages for the solver
-
-            .. note:: This function can only be used in combination with a partial condensing QP solver.
-
-            .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
-                      necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
-                      `qp_solver_cond_N < N`.
-        """
-        raise NotImplementedError("AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature")
-
-        # # unlikely but still possible
-        # if not self.solver_created:
-        #     raise Exception('Solver was not yet created!')
-        # if self.N < qp_solver_cond_N:
-        #     raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
-        # if self.qp_solver_cond_N != qp_solver_cond_N:
-        #     self.solver_created = False
-
-        #     # recreate the solver
-        #     acados_solver.acados_update_qp_solver_cond_N(self.capsule, qp_solver_cond_N)
-
-        #     # store the new value
-        #     self.qp_solver_cond_N = qp_solver_cond_N
-        #     self.solver_created = True
-
-        #     # get pointers solver
-        #     self.__get_pointers_solver()
-
-
-    def eval_param_sens(self, index, stage=0, field="ex"):
-        """
-        Calculate the sensitivity of the curent solution with respect to the initial state component of index
-
-            :param index: integer corresponding to initial state index in range(nx)
-        """
-
-        field_ = field
-        field = field_.encode('utf-8')
-
-        # checks
-        if not isinstance(index, int):
-            raise Exception('AcadosOcpSolverCython.eval_param_sens(): index must be Integer.')
-
-        cdef int nx = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
-
-        if index < 0 or index > nx:
-            raise Exception(f'AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
-
-        # actual eval_param
-        acados_solver_common.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
-
-        return
-
-
-    def get(self, int stage, str field_):
-        """
-        Get the last solution of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-
-        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
-        field = field_.encode('utf-8')
-
-        if field_ not in out_fields:
-            raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\
-                    \n Possible values are {}.'.format(field_, out_fields))
-
-        if stage < 0 or stage > self.N:
-            raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N))
-
-        if stage == self.N and field_ == 'pi':
-            raise Exception('AcadosOcpSolverCython.get(): field {} does not exist at final stage {}.'\
-                .format(field_, stage))
-
-        cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
-            self.nlp_dims, self.nlp_out, stage, field)
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims,))
-        acados_solver_common.ocp_nlp_out_get(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, <void *> out.data)
-
-        return out
-
-
-    def print_statistics(self):
-        """
-        prints statistics of previous solver run as a table:
-            - iter: iteration number
-            - res_stat: stationarity residual
-            - res_eq: residual wrt equality constraints (dynamics)
-            - res_ineq: residual wrt inequality constraints (constraints)
-            - res_comp: residual wrt complementarity conditions
-            - qp_stat: status of QP solver
-            - qp_iter: number of QP iterations
-            - qp_res_stat: stationarity residual of the last QP solution
-            - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
-            - qp_res_ineq: residual wrt inequality constraints (constraints)  of the last QP solution
-            - qp_res_comp: residual wrt complementarity conditions of the last QP solution
-        """
-        acados_solver.acados_print_stats(self.capsule)
-
-
-    def store_iterate(self, filename='', overwrite=False):
-        """
-        Stores the current iterate of the ocp solver in a json file.
-
-            :param filename: if not set, use model_name + timestamp + '.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        import json
-        if filename == '':
-            filename += self.model_name + '_' + 'iterate' + '.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get iterate:
-        solution = dict()
-
-        lN = len(str(self.N+1))
-        for i in range(self.N+1):
-            i_string = f'{i:0{lN}d}'
-            solution['x_'+i_string] = self.get(i,'x')
-            solution['u_'+i_string] = self.get(i,'u')
-            solution['z_'+i_string] = self.get(i,'z')
-            solution['lam_'+i_string] = self.get(i,'lam')
-            solution['t_'+i_string] = self.get(i, 't')
-            solution['sl_'+i_string] = self.get(i, 'sl')
-            solution['su_'+i_string] = self.get(i, 'su')
-            if i < self.N:
-                solution['pi_'+i_string] = self.get(i,'pi')
-
-        for k in list(solution.keys()):
-            if len(solution[k]) == 0:
-                del solution[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(solution, f, default=lambda x: x.tolist(), indent=4, sort_keys=True)
-        print("stored current iterate in ", os.path.join(os.getcwd(), filename))
-
-
-    def load_iterate(self, filename):
-        """
-        Loads the iterate stored in json file with filename into the ocp solver.
-        """
-        import json
-        if not os.path.isfile(filename):
-            raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
-
-        with open(filename, 'r') as f:
-            solution = json.load(f)
-
-        for key in solution.keys():
-            (field, stage) = key.split('_')
-            self.set(int(stage), field, np.array(solution[key]))
-
-
-    def get_stats(self, field_):
-        """
-        Get the information of the last solver call.
-
-            :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
-        Available fileds:
-            - time_tot: total CPU time previous call
-            - time_lin: CPU time for linearization
-            - time_sim: CPU time for integrator
-            - time_sim_ad: CPU time for integrator contribution of external function calls
-            - time_sim_la: CPU time for integrator contribution of linear algebra
-            - time_qp: CPU time qp solution
-            - time_qp_solver_call: CPU time inside qp solver (without converting the QP)
-            - time_qp_xcond: time_glob: CPU time globalization
-            - time_solution_sensitivities: CPU time for previous call to eval_param_sens
-            - time_reg: CPU time regularization
-            - sqp_iter: number of SQP iterations
-            - qp_iter: vector of QP iterations for last SQP call
-            - statistics: table with info about last iteration
-            - stat_m: number of rows in statistics matrix
-            - stat_n: number of columns in statistics matrix
-            - residuals: residuals of last iterate
-            - alpha: step sizes of SQP iterations
-        """
-
-        double_fields = ['time_tot',
-                  'time_lin',
-                  'time_sim',
-                  'time_sim_ad',
-                  'time_sim_la',
-                  'time_qp',
-                  'time_qp_solver_call',
-                  'time_qp_xcond',
-                  'time_glob',
-                  'time_solution_sensitivities',
-                  'time_reg'
-        ]
-        fields = double_fields + [
-                  'sqp_iter',
-                  'qp_iter',
-                  'statistics',
-                  'stat_m',
-                  'stat_n',
-                  'residuals',
-                  'alpha',
-                ]
-        field = field_.encode('utf-8')
-
-        if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
-            return self.__get_stat_int(field)
-
-        elif field_ in double_fields:
-            return self.__get_stat_double(field)
-
-        elif field_ == 'statistics':
-            sqp_iter = self.get_stats("sqp_iter")
-            stat_m = self.get_stats("stat_m")
-            stat_n = self.get_stats("stat_n")
-            min_size = min([stat_m, sqp_iter+1])
-            return self.__get_stat_matrix(field, stat_n+1, min_size)
-
-        elif field_ == 'qp_iter':
-            full_stats = self.get_stats('statistics')
-            if self.nlp_solver_type == 'SQP':
-                return full_stats[6, :]
-            elif self.nlp_solver_type == 'SQP_RTI':
-                return full_stats[2, :]
-
-        elif field_ == 'alpha':
-            full_stats = self.get_stats('statistics')
-            if self.nlp_solver_type == 'SQP':
-                return full_stats[7, :]
-            else: # self.nlp_solver_type == 'SQP_RTI':
-                raise Exception("alpha values are not available for SQP_RTI")
-
-        elif field_ == 'residuals':
-            return self.get_residuals()
-
-        else:
-            raise NotImplementedError("TODO!")
-
-
-    def __get_stat_int(self, field):
-        cdef int out
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &out)
-        return out
-
-    def __get_stat_double(self, field):
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,))
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out.data)
-        return out
-
-    def __get_stat_matrix(self, field, n, m):
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out_mat = np.ascontiguousarray(np.zeros((n, m)), dtype=np.float64)
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out_mat.data)
-        return out_mat
-
-
-    def get_cost(self):
-        """
-        Returns the cost value of the current solution.
-        """
-        # compute cost internally
-        acados_solver_common.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output
-        cdef double out
-
-        # call getter
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, "cost_value", <void *> &out)
-
-        return out
-
-
-    def get_residuals(self, recompute=False):
-        """
-        Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
-        """
-        # compute residuals if RTI
-        if self.nlp_solver_type == 'SQP_RTI' or recompute:
-            acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64))
-        cdef double double_value
-
-        field = "res_stat".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[0] = double_value
-
-        field = "res_eq".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[1] = double_value
-
-        field = "res_ineq".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[2] = double_value
-
-        field = "res_comp".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[3] = double_value
-
-        return out
-
-
-    # Note: this function should not be used anymore, better use cost_set, constraints_set
-    def set(self, int stage, str field_, value_):
-
-        """
-        Set numerical data inside the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"set: value must be numpy array, got {type(value_)}.")
-        cost_fields = ['y_ref', 'yref']
-        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
-        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
-        mem_fields = ['xdot_guess', 'z_guess']
-
-        field = field_.encode('utf-8')
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64)
-
-        # treat parameters separately
-        if field_ == 'p':
-            assert acados_solver.acados_update_params(self.capsule, stage, <double *> value.data, value.shape[0]) == 0
-        else:
-            if field_ not in constraints_fields + cost_fields + out_fields:
-                raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\
-                    \nPossible values are {}.".format(field, \
-                    constraints_fields + cost_fields + out_fields + ['p']))
-
-            dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
-                self.nlp_dims, self.nlp_out, stage, field)
-
-            if value_.shape[0] != dims:
-                msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_)
-                msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
-                raise Exception(msg)
-
-            if field_ in constraints_fields:
-                acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
-            elif field_ in cost_fields:
-                acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
-            elif field_ in out_fields:
-                acados_solver_common.ocp_nlp_out_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_out, stage, field, <void *> value.data)
-            elif field_ in mem_fields:
-                acados_solver_common.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, <void *> value.data)
-
-            if field_ == 'z':
-                field = 'z_guess'.encode('utf-8')
-                acados_solver_common.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, <void *> value.data)
-        return
-
-    def cost_set(self, int stage, str field_, value_):
-        """
-        Set numerical data in the cost module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
-            :param value: of appropriate size
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"cost_set: value must be numpy array, got {type(value_)}.")
-        field = field_.encode('utf-8')
-
-        cdef int dims[2]
-        acados_solver_common.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        cdef double[::1,:] value
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-            value = np.asfortranarray(value_[None,:])
-
-        elif len(value_shape) == 2:
-            # Get elements in column major order
-            value = np.asfortranarray(value_)
-
-        if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
-            raise Exception('AcadosOcpSolverCython.cost_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
-
-
-    def constraints_set(self, int stage, str field_, value_):
-        """
-        Set numerical data in the constraint module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
-            :param value: of appropriate size
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"constraints_set: value must be numpy array, got {type(value_)}.")
-
-        field = field_.encode('utf-8')
-
-        cdef int dims[2]
-        acados_solver_common.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        cdef double[::1,:] value
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-            value = np.asfortranarray(value_[None,:])
-
-        elif len(value_shape) == 2:
-            # Get elements in column major order
-            value = np.asfortranarray(value_)
-
-        if value_shape != tuple(dims):
-            raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
-
-        return
-
-
-    def get_from_qp_in(self, int stage, str field_):
-        """
-        Get numerical data from the dynamics module of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'A'
-        """
-        field = field_.encode('utf-8')
-
-        # get dims
-        cdef int[2] dims
-        acados_solver_common.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        # create output data
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F')
-
-        # call getter
-        acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, <void *> out.data)
-
-        return out
-
-
-    def options_set(self, str field_, value_):
-        """
-        Set options of the solver.
-
-            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'
-
-            :param value: of type int, float, string
-
-            - qp_tol_stat: QP solver tolerance stationarity
-            - qp_tol_eq: QP solver tolerance equalities
-            - qp_tol_ineq: QP solver tolerance inequalities
-            - qp_tol_comp: QP solver tolerance complementarity
-            - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM
-            - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
-            - warm_start_first_qp: indicates if first QP in SQP is warm_started
-        """
-        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent',
-        'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
-        string_fields = ['globalization']
-
-        # encode
-        field = field_.encode('utf-8')
-
-        cdef int int_value
-        cdef double double_value
-        cdef unsigned char[::1] string_value
-
-        # check field availability and type
-        if field_ in int_fields:
-            if not isinstance(value_, int):
-                raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_)))
-
-            if field_ == 'rti_phase':
-                if value_ < 0 or value_ > 2:
-                    raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
-                        'take only values 0, 1, 2 for SQP-RTI-type solvers')
-                if self.nlp_solver_type != 'SQP_RTI' and value_ > 0:
-                    raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
-                        'take only value 0 for SQP-type solvers')
-
-            int_value = value_
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &int_value)
-
-        elif field_ in double_fields:
-            if not isinstance(value_, float):
-                raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_)))
-
-            double_value = value_
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &double_value)
-
-        elif field_ in string_fields:
-            if not isinstance(value_, bytes):
-                raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_)))
-
-            string_value = value_.encode('utf-8')
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
-
-        else:
-            raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\
-                '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
-
-
-    def set_params_sparse(self, int stage, idx_values_, param_values_):
-        """
-        set parameters of the solvers external function partially:
-        Pseudo: solver.param[idx_values_] = param_values_;
-        Parameters:
-            :param stage_: integer corresponding to shooting node
-            :param idx_values_: 0 based integer array corresponding to parameter indices to be set
-            :param param_values_: new parameter values as numpy array
-        """
-
-        if not isinstance(param_values_, np.ndarray):
-            raise Exception('param_values_ must be np.array.')
-
-        if param_values_.shape[0] != len(idx_values_):
-            raise Exception(f'param_values_ and idx_values_ must be of the same size.' +
-                 f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.')
-
-        # n_update = c_int(len(param_values_))
-
-        # param_data = cast(param_values_.ctypes.data, POINTER(c_double))
-        # c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc)
-        # idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int))
-
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \
-        #                 [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int]
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \
-        #                             (self.capsule, stage, idx_data, param_data, n_update)
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(param_values_, dtype=np.float64)
-        # cdef cnp.ndarray[cnp.intc, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc)
-
-        # NOTE: this does throw an error somehow:
-        # ValueError: Buffer dtype mismatch, expected 'int object' but got 'int'
-        # cdef cnp.ndarray[cnp.int, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc)
-
-        cdef cnp.ndarray[cnp.int32_t, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.int32)
-        cdef int n_update = value.shape[0]
-        # print(f"in set_params_sparse Cython n_update {n_update}")
-
-        assert acados_solver.acados_update_params_sparse(self.capsule, stage, <int *> idx.data, <double *> value.data, n_update) == 0
-        return
-
-
-    def __del__(self):
-        if self.solver_created:
-            acados_solver.acados_free(self.capsule)
-            acados_solver.acados_free_capsule(self.capsule)
diff --git a/third_party/acados/acados_template/acados_sim.py b/third_party/acados/acados_template/acados_sim.py
deleted file mode 100644
index 7faa49fb12..0000000000
--- a/third_party/acados/acados_template/acados_sim.py
+++ /dev/null
@@ -1,366 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import numpy as np
-import os
-from .acados_model import AcadosModel
-from .utils import get_acados_path, get_lib_ext
-
-class AcadosSimDims:
-    """
-    Class containing the dimensions of the model to be simulated.
-    """
-    def __init__(self):
-        self.__nx = None
-        self.__nu = None
-        self.__nz = 0
-        self.__np = 0
-
-    @property
-    def nx(self):
-        """:math:`n_x` - number of states. Type: int > 0"""
-        return self.__nx
-
-    @property
-    def nz(self):
-        """:math:`n_z` - number of algebraic variables. Type: int >= 0"""
-        return self.__nz
-
-    @property
-    def nu(self):
-        """:math:`n_u` - number of inputs. Type: int >= 0"""
-        return self.__nu
-
-    @property
-    def np(self):
-        """:math:`n_p` - number of parameters. Type: int >= 0"""
-        return self.__np
-
-    @nx.setter
-    def nx(self, nx):
-        if isinstance(nx, int) and nx > 0:
-            self.__nx = nx
-        else:
-            raise Exception('Invalid nx value, expected positive integer.')
-
-    @nz.setter
-    def nz(self, nz):
-        if isinstance(nz, int) and nz > -1:
-            self.__nz = nz
-        else:
-            raise Exception('Invalid nz value, expected nonnegative integer.')
-
-    @nu.setter
-    def nu(self, nu):
-        if isinstance(nu, int) and nu > -1:
-            self.__nu = nu
-        else:
-            raise Exception('Invalid nu value, expected nonnegative integer.')
-
-    @np.setter
-    def np(self, np):
-        if isinstance(np, int) and np > -1:
-            self.__np = np
-        else:
-            raise Exception('Invalid np value, expected nonnegative integer.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosSimOpts:
-    """
-    class containing the solver options
-    """
-    def __init__(self):
-        self.__integrator_type = 'ERK'
-        self.__collocation_type = 'GAUSS_LEGENDRE'
-        self.__Tsim = None
-        # ints
-        self.__sim_method_num_stages = 1
-        self.__sim_method_num_steps = 1
-        self.__sim_method_newton_iter = 3
-        # doubles
-        self.__sim_method_newton_tol = 0.0
-        # bools
-        self.__sens_forw = True
-        self.__sens_adj = False
-        self.__sens_algebraic = False
-        self.__sens_hess = False
-        self.__output_z = True
-        self.__sim_method_jac_reuse = 0
-        self.__ext_fun_compile_flags = '-O2'
-
-    @property
-    def integrator_type(self):
-        """Integrator type. Default: 'ERK'."""
-        return self.__integrator_type
-
-    @property
-    def num_stages(self):
-        """Number of stages in the integrator. Default: 1"""
-        return self.__sim_method_num_stages
-
-    @property
-    def num_steps(self):
-        """Number of steps in the integrator. Default: 1"""
-        return self.__sim_method_num_steps
-
-    @property
-    def newton_iter(self):
-        """Number of Newton iterations in simulation method. Default: 3"""
-        return self.__sim_method_newton_iter
-
-    @property
-    def newton_tol(self):
-        """
-        Tolerance for Newton system solved in implicit integrator (IRK, GNSF).
-        0.0 means this is not used and exactly newton_iter iterations are carried out.
-        Default: 0.0
-        """
-        return self.__sim_method_newton_tol
-
-    @property
-    def sens_forw(self):
-        """Boolean determining if forward sensitivities are computed. Default: True"""
-        return self.__sens_forw
-
-    @property
-    def sens_adj(self):
-        """Boolean determining if adjoint sensitivities are computed. Default: False"""
-        return self.__sens_adj
-
-    @property
-    def sens_algebraic(self):
-        """Boolean determining if sensitivities wrt algebraic variables are computed. Default: False"""
-        return self.__sens_algebraic
-
-    @property
-    def sens_hess(self):
-        """Boolean determining if hessians are computed. Default: False"""
-        return self.__sens_hess
-
-    @property
-    def output_z(self):
-        """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: True"""
-        return self.__output_z
-
-    @property
-    def sim_method_jac_reuse(self):
-        """Integer determining if jacobians are reused (0 or 1). Default: 0"""
-        return self.__sim_method_jac_reuse
-
-    @property
-    def T(self):
-        """Time horizon"""
-        return self.__Tsim
-
-    @property
-    def collocation_type(self):
-        """Collocation type: relevant for implicit integrators
-        -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}
-
-        Default: GAUSS_LEGENDRE
-        """
-        return self.__collocation_type
-
-    @property
-    def ext_fun_compile_flags(self):
-        """
-        String with compiler flags for external function compilation.
-        Default: '-O2'.
-        """
-        return self.__ext_fun_compile_flags
-
-    @ext_fun_compile_flags.setter
-    def ext_fun_compile_flags(self, ext_fun_compile_flags):
-        if isinstance(ext_fun_compile_flags, str):
-            self.__ext_fun_compile_flags = ext_fun_compile_flags
-        else:
-            raise Exception('Invalid ext_fun_compile_flags, expected a string.\n')
-
-    @integrator_type.setter
-    def integrator_type(self, integrator_type):
-        integrator_types = ('ERK', 'IRK', 'GNSF')
-        if integrator_type in integrator_types:
-            self.__integrator_type = integrator_type
-        else:
-            raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
-                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n')
-
-    @collocation_type.setter
-    def collocation_type(self, collocation_type):
-        collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
-        if collocation_type in collocation_types:
-            self.__collocation_type = collocation_type
-        else:
-            raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
-                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n')
-
-    @T.setter
-    def T(self, T):
-        self.__Tsim = T
-
-    @num_stages.setter
-    def num_stages(self, num_stages):
-        if isinstance(num_stages, int):
-            self.__sim_method_num_stages = num_stages
-        else:
-            raise Exception('Invalid num_stages value. num_stages must be an integer.')
-
-    @num_steps.setter
-    def num_steps(self, num_steps):
-        if isinstance(num_steps, int):
-            self.__sim_method_num_steps = num_steps
-        else:
-            raise Exception('Invalid num_steps value. num_steps must be an integer.')
-
-    @newton_iter.setter
-    def newton_iter(self, newton_iter):
-        if isinstance(newton_iter, int):
-            self.__sim_method_newton_iter = newton_iter
-        else:
-            raise Exception('Invalid newton_iter value. newton_iter must be an integer.')
-
-    @newton_tol.setter
-    def newton_tol(self, newton_tol):
-        if isinstance(newton_tol, float):
-            self.__sim_method_newton_tol = newton_tol
-        else:
-            raise Exception('Invalid newton_tol value. newton_tol must be an float.')
-
-    @sens_forw.setter
-    def sens_forw(self, sens_forw):
-        if sens_forw in (True, False):
-            self.__sens_forw = sens_forw
-        else:
-            raise Exception('Invalid sens_forw value. sens_forw must be a Boolean.')
-
-    @sens_adj.setter
-    def sens_adj(self, sens_adj):
-        if sens_adj in (True, False):
-            self.__sens_adj = sens_adj
-        else:
-            raise Exception('Invalid sens_adj value. sens_adj must be a Boolean.')
-
-    @sens_hess.setter
-    def sens_hess(self, sens_hess):
-        if sens_hess in (True, False):
-            self.__sens_hess = sens_hess
-        else:
-            raise Exception('Invalid sens_hess value. sens_hess must be a Boolean.')
-
-    @sens_algebraic.setter
-    def sens_algebraic(self, sens_algebraic):
-        if sens_algebraic in (True, False):
-            self.__sens_algebraic = sens_algebraic
-        else:
-            raise Exception('Invalid sens_algebraic value. sens_algebraic must be a Boolean.')
-
-    @output_z.setter
-    def output_z(self, output_z):
-        if output_z in (True, False):
-            self.__output_z = output_z
-        else:
-            raise Exception('Invalid output_z value. output_z must be a Boolean.')
-
-    @sim_method_jac_reuse.setter
-    def sim_method_jac_reuse(self, sim_method_jac_reuse):
-        if sim_method_jac_reuse in (0, 1):
-            self.__sim_method_jac_reuse = sim_method_jac_reuse
-        else:
-            raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be 0 or 1.')
-
-class AcadosSim:
-    """
-    The class has the following properties that can be modified to formulate a specific simulation problem, see below:
-
-    :param acados_path: string with the path to acados. It is used to generate the include and lib paths.
-
-    - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosSimDims` - are automatically detected from model
-    - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel`
-    - :py:attr:`solver_options` of type :py:class:`acados_template.acados_sim.AcadosSimOpts`
-
-    - :py:attr:`acados_include_path` (set automatically)
-    - :py:attr:`shared_lib_ext` (set automatically)
-    - :py:attr:`acados_lib_path` (set automatically)
-    - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
-
-    """
-    def __init__(self, acados_path=''):
-        if acados_path == '':
-            acados_path = get_acados_path()
-        self.dims = AcadosSimDims()
-        """Dimension definitions, automatically detected from :py:attr:`model`. Type :py:class:`acados_template.acados_sim.AcadosSimDims`"""
-        self.model = AcadosModel()
-        """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`"""
-        self.solver_options = AcadosSimOpts()
-        """Solver Options, type :py:class:`acados_template.acados_sim.AcadosSimOpts`"""
-
-        self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to acados include directory (set automatically), type: `string`"""
-        self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to where acados library is located (set automatically), type: `string`"""
-
-        self.code_export_directory = 'c_generated_code'
-        """Path to where code will be exported. Default: `c_generated_code`."""
-        self.shared_lib_ext = get_lib_ext()
-
-        # get cython paths
-        from sysconfig import get_paths
-        self.cython_include_dirs = [np.get_include(), get_paths()['include']]
-
-        self.__parameter_values = np.array([])
-        self.__problem_class = 'SIM'
-
-    @property
-    def parameter_values(self):
-        """:math:`p` - initial values for parameter - can be updated"""
-        return self.__parameter_values
-
-    @parameter_values.setter
-    def parameter_values(self, parameter_values):
-        if isinstance(parameter_values, np.ndarray):
-            self.__parameter_values = parameter_values
-        else:
-            raise Exception('Invalid parameter_values value. ' +
-                            f'Expected numpy array, got {type(parameter_values)}.')
-
-    def set(self, attr, value):
-        # tokenize string
-        tokens = attr.split('_', 1)
-        if len(tokens) > 1:
-            setter_to_call = getattr(getattr(self, tokens[0]), 'set')
-        else:
-            setter_to_call = getattr(self, 'set')
-
-        setter_to_call(tokens[1], value)
-
-        return
diff --git a/third_party/acados/acados_template/acados_sim_layout.json b/third_party/acados/acados_template/acados_sim_layout.json
deleted file mode 100644
index e3ca4b575b..0000000000
--- a/third_party/acados/acados_template/acados_sim_layout.json
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-    "acados_include_path": [
-        "str"
-    ],
-     "model": {
-         "name" : [
-            "str"
-        ]
-    },
-    "acados_lib_path": [
-        "str"
-    ],
-    "dims": {
-        "np": [
-            "int"
-        ],
-        "nu": [
-            "int"
-        ],
-        "nx": [
-            "int" 
-        ],
-        "nz": [
-            "int"
-        ]
-    },
-    "solver_options": {
-        "integrator_type": [
-            "str"
-        ],
-        "collocation_type": [
-            "str"
-        ],
-        "Tsim": [
-            "float"
-        ],
-        "sim_method_num_stages": [
-            "int"
-        ],
-        "sim_method_num_steps": [
-            "int"
-        ],
-        "sim_method_newton_iter": [
-            "int"
-        ],
-        "sim_method_newton_tol": [
-            "float"
-        ],
-        "ext_fun_compile_flags": [
-            "str"
-        ]
-    }
-}
diff --git a/third_party/acados/acados_template/acados_sim_solver.py b/third_party/acados/acados_template/acados_sim_solver.py
deleted file mode 100644
index de5ee10709..0000000000
--- a/third_party/acados/acados_template/acados_sim_solver.py
+++ /dev/null
@@ -1,558 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import sys
-import os
-import json
-import importlib
-
-import numpy as np
-
-from subprocess import DEVNULL, call, STDOUT
-
-from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_bool, byref
-from copy import deepcopy
-
-from .casadi_function_generation import generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_explicit_ode
-from .acados_sim import AcadosSim
-from .acados_ocp import AcadosOcp
-from .utils import is_column, render_template, format_class_dict, make_object_json_dumpable,\
-     make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path, get_lib_ext,\
-     casadi_length, is_empty, check_casadi_version
-from .builders import CMakeBuilder
-from .gnsf.detect_gnsf_structure import detect_gnsf_structure
-
-
-
-def make_sim_dims_consistent(acados_sim: AcadosSim):
-    dims = acados_sim.dims
-    model = acados_sim.model
-    # nx
-    if is_column(model.x):
-        dims.nx = casadi_length(model.x)
-    else:
-        raise Exception('model.x should be column vector!')
-
-    # nu
-    if is_empty(model.u):
-        dims.nu = 0
-    else:
-        dims.nu = casadi_length(model.u)
-
-    # nz
-    if is_empty(model.z):
-        dims.nz = 0
-    else:
-        dims.nz = casadi_length(model.z)
-
-    # np
-    if is_empty(model.p):
-        dims.np = 0
-    else:
-        dims.np = casadi_length(model.p)
-    if acados_sim.parameter_values.shape[0] != dims.np:
-        raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
-            f'\nGot np = {dims.np}, acados_sim.parameter_values.shape = {acados_sim.parameter_values.shape[0]}\n')
-
-
-def get_sim_layout():
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'acados_sim_layout.json')
-    with open(abs_path, 'r') as f:
-        sim_layout = json.load(f)
-    return sim_layout
-
-
-def sim_formulation_json_dump(acados_sim: AcadosSim, json_file='acados_sim.json'):
-    # Load acados_sim structure description
-    sim_layout = get_sim_layout()
-
-    # Copy input sim object dictionary
-    sim_dict = dict(deepcopy(acados_sim).__dict__)
-
-    for key, v in sim_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict): continue
-        # Copy sim object attributes dictionaries
-        sim_dict[key]=dict(getattr(acados_sim, key).__dict__)
-
-    sim_json = format_class_dict(sim_dict)
-
-    with open(json_file, 'w') as f:
-        json.dump(sim_json, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-
-
-def sim_get_default_cmake_builder() -> CMakeBuilder:
-    """
-    If :py:class:`~acados_template.acados_sim_solver.AcadosSimSolver` is used with `CMake` this function returns a good first setting.
-    :return: default :py:class:`~acados_template.builders.CMakeBuilder`
-    """
-    cmake_builder = CMakeBuilder()
-    cmake_builder.options_on = ['BUILD_ACADOS_SIM_SOLVER_LIB']
-    return cmake_builder
-
-
-def sim_render_templates(json_file, model_name: str, code_export_dir, cmake_options: CMakeBuilder = None):
-    # setting up loader and environment
-    json_path = os.path.join(os.getcwd(), json_file)
-
-    if not os.path.exists(json_path):
-        raise Exception(f"{json_path} not found!")
-
-    # Render templates
-    in_file = 'acados_sim_solver.in.c'
-    out_file = f'acados_sim_solver_{model_name}.c'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'acados_sim_solver.in.h'
-    out_file = f'acados_sim_solver_{model_name}.h'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'acados_sim_solver.in.pxd'
-    out_file = f'acados_sim_solver.pxd'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    # Builder
-    if cmake_options is not None:
-        in_file = 'CMakeLists.in.txt'
-        out_file = 'CMakeLists.txt'
-        render_template(in_file, out_file, code_export_dir, json_path)
-    else:
-        in_file = 'Makefile.in'
-        out_file = 'Makefile'
-        render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'main_sim.in.c'
-    out_file = f'main_sim_{model_name}.c'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    # folder model
-    model_dir = os.path.join(code_export_dir, model_name + '_model')
-
-    in_file = 'model.in.h'
-    out_file = f'{model_name}_model.h'
-    render_template(in_file, out_file, model_dir, json_path)
-
-
-def sim_generate_external_functions(acados_sim: AcadosSim):
-    model = acados_sim.model
-    model = make_model_consistent(model)
-
-    integrator_type = acados_sim.solver_options.integrator_type
-
-    opts = dict(generate_hess = acados_sim.solver_options.sens_hess,
-                code_export_directory = acados_sim.code_export_directory)
-
-    # create code_export_dir, model_dir
-    code_export_dir = acados_sim.code_export_directory
-    opts['code_export_directory'] = code_export_dir
-    model_dir = os.path.join(code_export_dir, model.name + '_model')
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-
-    # generate external functions
-    check_casadi_version()
-    if integrator_type == 'ERK':
-        generate_c_code_explicit_ode(model, opts)
-    elif integrator_type == 'IRK':
-        generate_c_code_implicit_ode(model, opts)
-    elif integrator_type == 'GNSF':
-        generate_c_code_gnsf(model, opts)
-
-
-class AcadosSimSolver:
-    """
-    Class to interact with the acados integrator C object.
-
-        :param acados_sim: type :py:class:`~acados_template.acados_ocp.AcadosOcp` (takes values to generate an instance :py:class:`~acados_template.acados_sim.AcadosSim`) or :py:class:`~acados_template.acados_sim.AcadosSim`
-        :param json_file: Default: 'acados_sim.json'
-        :param build: Default: True
-        :param cmake_builder: type :py:class:`~acados_template.utils.CMakeBuilder` generate a `CMakeLists.txt` and use
-            the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-            `MS Visual Studio`); default: `None`
-    """
-    if sys.platform=="win32":
-        from ctypes import wintypes
-        from ctypes import WinDLL
-        dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary
-        dlclose.argtypes = [wintypes.HMODULE]
-    else:
-        dlclose = CDLL(None).dlclose
-        dlclose.argtypes = [c_void_p]
-
-
-    @classmethod
-    def generate(cls, acados_sim: AcadosSim, json_file='acados_sim.json', cmake_builder: CMakeBuilder = None):
-        """
-        Generates the code for an acados sim solver, given the description in acados_sim
-        """
-
-        acados_sim.code_export_directory = os.path.abspath(acados_sim.code_export_directory)
-
-        # make dims consistent
-        make_sim_dims_consistent(acados_sim)
-
-        # module dependent post processing
-        if acados_sim.solver_options.integrator_type == 'GNSF':
-            if acados_sim.solver_options.sens_hess == True:
-                raise Exception("AcadosSimSolver: GNSF does not support sens_hess = True.")
-            if 'gnsf_model' in acados_sim.__dict__:
-                set_up_imported_gnsf_model(acados_sim)
-            else:
-                detect_gnsf_structure(acados_sim)
-
-        # generate external functions
-        sim_generate_external_functions(acados_sim)
-
-        # dump to json
-        sim_formulation_json_dump(acados_sim, json_file)
-
-        # render templates
-        sim_render_templates(json_file, acados_sim.model.name, acados_sim.code_export_directory, cmake_builder)
-
-
-    @classmethod
-    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-        # Compile solver
-        cwd = os.getcwd()
-        os.chdir(code_export_dir)
-        if with_cython:
-            call(
-                ['make', 'clean_sim_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            call(
-                ['make', 'sim_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-        else:
-            if cmake_builder is not None:
-                cmake_builder.exec(code_export_dir, verbose=verbose)
-            else:
-                call(
-                    ['make', 'sim_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-        os.chdir(cwd)
-
-
-    @classmethod
-    def create_cython_solver(cls, json_file):
-        """
-        """
-        with open(json_file, 'r') as f:
-            acados_sim_json = json.load(f)
-        code_export_directory = acados_sim_json['code_export_directory']
-
-        importlib.invalidate_caches()
-        rel_code_export_directory = os.path.relpath(code_export_directory)
-        acados_sim_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_sim_solver_pyx')
-
-        AcadosSimSolverCython = getattr(acados_sim_solver_pyx, 'AcadosSimSolverCython')
-        return AcadosSimSolverCython(acados_sim_json['model']['name'])
-
-    def __init__(self, acados_sim, json_file='acados_sim.json', generate=True, build=True, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-
-        self.solver_created = False
-        self.acados_sim = acados_sim
-        model_name = acados_sim.model.name
-        self.model_name = model_name
-
-        code_export_dir = os.path.abspath(acados_sim.code_export_directory)
-
-        # reuse existing json and casadi functions, when creating integrator from ocp
-        if generate and not isinstance(acados_sim, AcadosOcp):
-            self.generate(acados_sim, json_file=json_file, cmake_builder=cmake_builder)
-
-        if build:
-            self.build(code_export_dir, cmake_builder=cmake_builder, verbose=True)
-
-        # prepare library loading
-        lib_prefix = 'lib'
-        lib_ext = get_lib_ext()
-        if os.name == 'nt':
-            lib_prefix = ''
-
-        # Load acados library to avoid unloading the library.
-        # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
-        # Unloading a library which uses OpenMP results in a segfault (on any platform?).
-        # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
-        # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
-        libacados_name = f'{lib_prefix}acados{lib_ext}'
-        libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name)
-        self.__acados_lib = CDLL(libacados_filepath)
-        # find out if acados was compiled with OpenMP
-        try:
-            self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
-        except AttributeError as e:
-            self.__acados_lib_uses_omp = False
-        if self.__acados_lib_uses_omp:
-            print('acados was compiled with OpenMP.')
-        else:
-            print('acados was compiled without OpenMP.')
-        libacados_sim_solver_name = f'{lib_prefix}acados_sim_solver_{self.model_name}{lib_ext}'
-        self.shared_lib_name = os.path.join(code_export_dir, libacados_sim_solver_name)
-
-        # get shared_lib
-        self.shared_lib = CDLL(self.shared_lib_name)
-
-        # create capsule
-        getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule").restype = c_void_p
-        self.capsule = getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule")()
-
-        # create solver
-        getattr(self.shared_lib, f"{model_name}_acados_sim_create").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_sim_create").restype = c_int
-        assert getattr(self.shared_lib, f"{model_name}_acados_sim_create")(self.capsule)==0
-        self.solver_created = True
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").restype = c_void_p
-        self.sim_opts = getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").restype = c_void_p
-        self.sim_dims = getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").restype = c_void_p
-        self.sim_config = getattr(self.shared_lib, f"{model_name}_acados_get_sim_config")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").restype = c_void_p
-        self.sim_out = getattr(self.shared_lib, f"{model_name}_acados_get_sim_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").restype = c_void_p
-        self.sim_in = getattr(self.shared_lib, f"{model_name}_acados_get_sim_in")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").restype = c_void_p
-        self.sim_solver = getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver")(self.capsule)
-
-        self.gettable_vectors = ['x', 'u', 'z', 'S_adj']
-        self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic']
-        self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-
-
-    def simulate(self, x=None, u=None, z=None, p=None):
-        """
-        Simulate the system forward for the given x, u, z, p and return x_next.
-        Wrapper around `solve()` taking care of setting/getting inputs/outputs.
-        """
-        if x is not None:
-            self.set('x', x)
-        if u is not None:
-            self.set('u', u)
-        if z is not None:
-            self.set('z', z)
-        if p is not None:
-            self.set('p', p)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_sim_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.')
-
-        x_next = self.get('x')
-        return x_next
-
-
-    def solve(self):
-        """
-        Solve the simulation problem with current input.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").restype = c_int
-
-        status = getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve")(self.capsule)
-        return status
-
-
-    def get(self, field_):
-        """
-        Get the last solution of the solver.
-
-            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-        """
-        field = field_.encode('utf-8')
-
-        if field_ in self.gettable_vectors:
-            # get dims
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            # allocate array
-            out = np.ascontiguousarray(np.zeros((dims[0],)), dtype=np.float64)
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
-
-        elif field_ in self.gettable_matrices:
-            # get dims
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            out = np.zeros((dims[0], dims[1]), order='F')
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
-
-        elif field_ in self.gettable_scalars:
-            scalar = c_double()
-            scalar_data = byref(scalar)
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, scalar_data)
-
-            out = scalar.value
-        else:
-            raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
-                f' available fields are {", ".join(self.gettable_vectors+self.gettable_matrices)}, {", ".join(self.gettable_scalars)}')
-
-        return out
-
-
-
-    def set(self, field_: str, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param field: string in ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T']
-            :param value: the value with appropriate size.
-        """
-        settable = ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T'] # S_forw
-
-        # TODO: check and throw error here. then remove checks in Cython for speed
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-
-        value_ = value_.astype(float)
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        field = field_.encode('utf-8')
-
-        # treat parameters separately
-        if field_ == 'p':
-            model_name = self.acados_sim.model.name
-            getattr(self.shared_lib, f"{model_name}_acados_sim_update_params").argtypes = [c_void_p, POINTER(c_double), c_int]
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-            getattr(self.shared_lib, f"{model_name}_acados_sim_update_params")(self.capsule, value_data, value_.shape[0])
-            return
-        else:
-            # dimension check
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            value_ = np.ravel(value_, order='F')
-
-            value_shape = value_.shape
-            if len(value_shape) == 1:
-                value_shape = (value_shape[0], 0)
-
-            if value_shape != tuple(dims):
-                raise Exception(f'AcadosSimSolver.set(): mismatching dimension' \
-                    f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).')
-
-        # set
-        if field_ in ['xdot', 'z']:
-            self.shared_lib.sim_solver_set.argtypes = [c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_solver_set(self.sim_solver, field, value_data_p)
-        elif field_ in settable:
-            self.shared_lib.sim_in_set.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value_data_p)
-        else:
-            raise Exception(f'AcadosSimSolver.set(): Unknown field {field_},' \
-                f' available fields are {", ".join(settable)}')
-
-        return
-
-
-    def options_set(self, field_: str, value_: bool):
-        """
-        Set solver options
-
-            :param field: string in ['sens_forw', 'sens_adj', 'sens_hess']
-            :param value: Boolean
-        """
-        fields = ['sens_forw', 'sens_adj', 'sens_hess']
-        if field_ not in fields:
-            raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n")
-
-        field = field_.encode('utf-8')
-        value_ctypes = c_bool(value_)
-
-        if not isinstance(value_, bool):
-            raise TypeError("options_set: expected boolean for value")
-
-        # only allow setting
-        if getattr(self.acados_sim.solver_options, field_) or value_ == False:
-            self.shared_lib.sim_opts_set.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_bool)]
-            self.shared_lib.sim_opts_set(self.sim_config, self.sim_opts, field, value_ctypes)
-        else:
-            raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n")
-
-        return
-
-
-    def __del__(self):
-
-        if self.solver_created:
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free")(self.capsule)
-
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule")(self.capsule)
-
-            try:
-                self.dlclose(self.shared_lib._handle)
-            except:
-                print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosSimSolver {self.model_name}.\n",
-                     "Attempting to create a new one with the same name will likely result in the old one being used!")
-                pass
diff --git a/third_party/acados/acados_template/acados_sim_solver_common.pxd b/third_party/acados/acados_template/acados_sim_solver_common.pxd
deleted file mode 100644
index 7c20a6d24d..0000000000
--- a/third_party/acados/acados_template/acados_sim_solver_common.pxd
+++ /dev/null
@@ -1,63 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-cdef extern from "acados/sim/sim_common.h":
-    ctypedef struct sim_config:
-        pass
-
-    ctypedef struct sim_opts:
-        pass
-
-    ctypedef struct sim_in:
-        pass
-
-    ctypedef struct sim_out:
-        pass
-
-
-cdef extern from "acados_c/sim_interface.h":
-
-    ctypedef struct sim_plan:
-        pass
-
-    ctypedef struct sim_solver:
-        pass
-
-    # out
-    void sim_out_get(sim_config *config, void *dims, sim_out *out, const char *field, void *value)
-    int sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, void *dims_data)
-
-    # opts
-    void sim_opts_set(sim_config *config, void *opts_, const char *field, void *value)
-
-    # get/set
-    void sim_in_set(sim_config *config, void *dims, sim_in *sim_in, const char *field, void *value)
-    void sim_solver_set(sim_solver *solver, const char *field, void *value)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
deleted file mode 100644
index 01964fd7a0..0000000000
--- a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
+++ /dev/null
@@ -1,255 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-# cython: language_level=3
-# cython: profile=False
-# distutils: language=c
-
-cimport cython
-from libc cimport string
-# from libc cimport bool as bool_t
-
-cimport acados_sim_solver_common
-cimport acados_sim_solver
-
-cimport numpy as cnp
-
-import os
-from datetime import datetime
-import numpy as np
-
-
-cdef class AcadosSimSolverCython:
-    """
-    Class to interact with the acados sim solver C object.
-    """
-
-    cdef acados_sim_solver.sim_solver_capsule *capsule
-    cdef void *sim_dims
-    cdef acados_sim_solver_common.sim_opts *sim_opts
-    cdef acados_sim_solver_common.sim_config *sim_config
-    cdef acados_sim_solver_common.sim_out *sim_out
-    cdef acados_sim_solver_common.sim_in *sim_in
-    cdef acados_sim_solver_common.sim_solver *sim_solver
-
-    cdef bint solver_created
-
-    cdef str model_name
-
-    cdef str sim_solver_type
-
-    cdef list gettable_vectors
-    cdef list gettable_matrices
-    cdef list gettable_scalars
-
-    def __cinit__(self, model_name):
-
-        self.solver_created = False
-
-        self.model_name = model_name
-
-        # create capsule
-        self.capsule = acados_sim_solver.acados_sim_solver_create_capsule()
-
-        # create solver
-        assert acados_sim_solver.acados_sim_create(self.capsule) == 0
-        self.solver_created = True
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-        self.gettable_vectors = ['x', 'u', 'z', 'S_adj']
-        self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic']
-        self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-
-    def __get_pointers_solver(self):
-        """
-        Private function to get the pointers for solver
-        """
-        # get pointers solver
-        self.sim_opts = acados_sim_solver.acados_get_sim_opts(self.capsule)
-        self.sim_dims = acados_sim_solver.acados_get_sim_dims(self.capsule)
-        self.sim_config = acados_sim_solver.acados_get_sim_config(self.capsule)
-        self.sim_out = acados_sim_solver.acados_get_sim_out(self.capsule)
-        self.sim_in = acados_sim_solver.acados_get_sim_in(self.capsule)
-        self.sim_solver = acados_sim_solver.acados_get_sim_solver(self.capsule)
-
-
-    def simulate(self, x=None, u=None, z=None, p=None):
-        """
-        Simulate the system forward for the given x, u, z, p and return x_next.
-        Wrapper around `solve()` taking care of setting/getting inputs/outputs.
-        """
-        if x is not None:
-            self.set('x', x)
-        if u is not None:
-            self.set('u', u)
-        if z is not None:
-            self.set('z', z)
-        if p is not None:
-            self.set('p', p)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_sim_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.')
-
-        x_next = self.get('x')
-        return x_next
-
-
-    def solve(self):
-        """
-        Solve the sim with current input.
-        """
-        return acados_sim_solver.acados_sim_solve(self.capsule)
-
-
-    def get(self, field_):
-        """
-        Get the last solution of the solver.
-
-            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-        """
-        field = field_.encode('utf-8')
-
-        if field_ in self.gettable_vectors:
-            return self.__get_vector(field)
-        elif field_ in self.gettable_matrices:
-            return self.__get_matrix(field)
-        elif field_ in self.gettable_scalars:
-            return self.__get_scalar(field)
-        else:
-            raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
-                f' available fields are {", ".join(self.gettable.keys())}')
-
-
-    def __get_scalar(self, field):
-        cdef double scalar
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> &scalar)
-        return scalar
-
-
-    def __get_vector(self, field):
-        cdef int[2] dims
-        acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((dims[0],), dtype=np.float64))
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims[0]),)
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> out.data)
-        return out
-
-
-    def __get_matrix(self, field):
-        cdef int[2] dims
-        acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> out.data)
-        return out
-
-
-    def set(self, field_: str, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param field: string in ['p', 'seed_adj', 'T', 'x', 'u', 'xdot', 'z']
-            :param value: the value with appropriate size.
-        """
-        settable = ['seed_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw
-
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        # if len(value_.shape) > 1:
-            # raise RuntimeError('AcadosSimSolverCython.set(): value_ should be 1 dimensional')
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64).flatten()
-
-        field = field_.encode('utf-8')
-        cdef int[2] dims
-
-        # treat parameters separately
-        if field_ == 'p':
-            assert acados_sim_solver.acados_sim_update_params(self.capsule, <double *> value.data, value.shape[0]) == 0
-            return
-        else:
-            acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-
-            value_ = np.ravel(value_, order='F')
-
-            value_shape = value_.shape
-            if len(value_shape) == 1:
-                value_shape = (value_shape[0], 0)
-
-            if value_shape != tuple(dims):
-                raise Exception(f'AcadosSimSolverCython.set(): mismatching dimension' \
-                    f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).')
-
-        # set
-        if field_ in ['xdot', 'z']:
-            acados_sim_solver_common.sim_solver_set(self.sim_solver, field, <void *> value.data)
-        elif field_ in settable:
-            acados_sim_solver_common.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, <void *> value.data)
-        else:
-            raise Exception(f'AcadosSimSolverCython.set(): Unknown field {field_},' \
-                f' available fields are {", ".join(settable)}')
-
-
-    def options_set(self, field_: str, value_: bool):
-        """
-        Set solver options
-
-            :param field: string in ['sens_forw', 'sens_adj', 'sens_hess']
-            :param value: Boolean
-        """
-        fields = ['sens_forw', 'sens_adj', 'sens_hess']
-        if field_ not in fields:
-            raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n")
-
-        field = field_.encode('utf-8')
-
-        if not isinstance(value_, bool):
-            raise TypeError("options_set: expected boolean for value")
-
-        cdef bint bool_value = value_
-        acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, <void *> &bool_value)
-        # TODO: only allow setting
-        # if getattr(self.acados_sim.solver_options, field_) or value_ == False:
-        #     acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, <void *> &bool_value)
-        # else:
-        #     raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n")
-
-        return
-
-
-    def __del__(self):
-        if self.solver_created:
-            acados_sim_solver.acados_sim_free(self.capsule)
-            acados_sim_solver.acados_sim_solver_free_capsule(self.capsule)
diff --git a/third_party/acados/acados_template/acados_solver_common.pxd b/third_party/acados/acados_template/acados_solver_common.pxd
deleted file mode 100644
index 75d021626f..0000000000
--- a/third_party/acados/acados_template/acados_solver_common.pxd
+++ /dev/null
@@ -1,99 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-cdef extern from "acados/ocp_nlp/ocp_nlp_common.h":
-    ctypedef struct ocp_nlp_config:
-        pass
-
-    ctypedef struct ocp_nlp_dims:
-        pass
-
-    ctypedef struct ocp_nlp_in:
-        pass
-
-    ctypedef struct ocp_nlp_out:
-        pass
-
-
-cdef extern from "acados_c/ocp_nlp_interface.h":
-    ctypedef enum ocp_nlp_solver_t:
-        pass
-
-    ctypedef enum ocp_nlp_cost_t:
-        pass
-
-    ctypedef enum ocp_nlp_dynamics_t:
-        pass
-
-    ctypedef enum ocp_nlp_constraints_t:
-        pass
-
-    ctypedef enum ocp_nlp_reg_t:
-        pass
-
-    ctypedef struct ocp_nlp_plan:
-        pass
-
-    ctypedef struct ocp_nlp_solver:
-        pass
-
-    int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in_,
-        int start_stage, const char *field, void *value)
-    int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in_, int stage, const char *field, void *value)
-
-    # out
-    void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value)
-    void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value)
-    void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value)
-    int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field)
-    void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-    void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-    void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-
-    # opts
-    void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value)
-
-    # solver
-    void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)
-    void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out)
-    void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out)
-
-    # get/set
-    void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, const char *field, void *return_value_)
-    void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, int stage, const char *field, void *value)
diff --git a/third_party/acados/acados_template/builders.py b/third_party/acados/acados_template/builders.py
deleted file mode 100644
index 8acc05b528..0000000000
--- a/third_party/acados/acados_template/builders.py
+++ /dev/null
@@ -1,130 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-import sys
-from subprocess import DEVNULL, call, STDOUT
-
-
-class CMakeBuilder:
-    """
-    Class to work with the `CMake` build system.
-    """
-    def __init__(self):
-        self._source_dir = None  # private source directory, this is set to code_export_dir
-        self.build_dir = 'build'
-        self._build_dir = None  # private build directory, usually rendered to abspath(build_dir)
-        self.generator = None
-        """Defines the generator, options can be found via `cmake --help` under 'Generator'. Type: string. Linux default 'Unix Makefiles', Windows 'Visual Studio 15 2017 Win64'; default value: `None`."""
-        # set something for Windows
-        if os.name == 'nt':
-            self.generator = 'Visual Studio 15 2017 Win64'
-        self.build_targets = None
-        """A comma-separated list of the build targets, if `None` then all targets will be build; type: List of strings; default: `None`."""
-        self.options_on = None
-        """List of strings as CMake options which are translated to '-D Opt[0]=ON -D Opt[1]=ON ...'; default: `None`."""
-
-    # Generate the command string for handling the cmake command.
-    def get_cmd1_cmake(self):
-        defines_str = ''
-        if self.options_on is not None:
-            defines_arr = [f' -D{opt}=ON' for opt in self.options_on]
-            defines_str = ' '.join(defines_arr)
-        generator_str = ''
-        if self.generator is not None:
-            generator_str = f' -G"{self.generator}"'
-        return f'cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="{self._source_dir}"{defines_str}{generator_str} -Wdev -S"{self._source_dir}" -B"{self._build_dir}"'
-
-    # Generate the command string for handling the build.
-    def get_cmd2_build(self):
-        import multiprocessing
-        cmd = f'cmake --build "{self._build_dir}" --config Release -j{multiprocessing.cpu_count()}'
-        if self.build_targets is not None:
-            cmd += f' -t {self.build_targets}'
-        return cmd
-
-    # Generate the command string for handling the install command.
-    def get_cmd3_install(self):
-        return f'cmake --install "{self._build_dir}"'
-
-    def exec(self, code_export_directory, verbose=True):
-        """
-        Execute the compilation using `CMake` with the given settings.
-        :param code_export_directory: must be the absolute path to the directory where the code was exported to
-        """
-        if(os.path.isabs(code_export_directory) is False):
-            print(f'(W) the code export directory "{code_export_directory}" is not an absolute path!')
-        self._source_dir = code_export_directory
-        self._build_dir = os.path.abspath(self.build_dir)
-        try:
-            os.mkdir(self._build_dir)
-        except FileExistsError as e:
-            pass
-
-        try:
-            os.chdir(self._build_dir)
-            cmd_str = self.get_cmd1_cmake()
-            print(f'call("{cmd_str})"')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}')
-            cmd_str = self.get_cmd2_build()
-            print(f'call("{cmd_str}")')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}')
-            cmd_str = self.get_cmd3_install()
-            print(f'call("{cmd_str}")')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}')
-        except OSError as e:
-            print("Execution failed:", e, file=sys.stderr)
-        except Exception as e:
-            print("Execution failed:", e, file=sys.stderr)
-            exit(1)
diff --git a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt b/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
deleted file mode 100644
index 99bc26f750..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
+++ /dev/null
@@ -1,397 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-{%- if solver_options.qp_solver %}
-	{%- set qp_solver = solver_options.qp_solver %}
-{%- else %}
-	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
-{%- endif %}
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{%- if constraints.constr_type %}
-	{%- set constr_type = constraints.constr_type %}
-{%- else %}
-	{%- set constr_type = "NONE" %}
-{%- endif %}
-
-{%- if constraints.constr_type_e %}
-	{%- set constr_type_e = constraints.constr_type_e %}
-{%- else %}
-	{%- set constr_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type %}
-	{%- set cost_type = cost.cost_type %}
-{%- else %}
-	{%- set cost_type = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_e %}
-	{%- set cost_type_e = cost.cost_type_e %}
-{%- else %}
-	{%- set cost_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_0 %}
-	{%- set cost_type_0 = cost.cost_type_0 %}
-{%- else %}
-	{%- set cost_type_0 = "NONE" %}
-{%- endif %}
-
-{%- if dims.nh %}
-	{%- set dims_nh = dims.nh %}
-{%- else %}
-	{%- set dims_nh = 0 %}
-{%- endif %}
-
-{%- if dims.nphi %}
-	{%- set dims_nphi = dims.nphi %}
-{%- else %}
-	{%- set dims_nphi = 0 %}
-{%- endif %}
-
-{%- if dims.nh_e %}
-	{%- set dims_nh_e = dims.nh_e %}
-{%- else %}
-	{%- set dims_nh_e = 0 %}
-{%- endif %}
-
-{%- if dims.nphi_e %}
-	{%- set dims_nphi_e = dims.nphi_e %}
-{%- else %}
-	{%- set dims_nphi_e = 0 %}
-{%- endif %}
-
-{%- if solver_options.model_external_shared_lib_dir %}
-	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
-{%- endif %}
-
-{%- if solver_options.model_external_shared_lib_name %}
-	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
-{%- endif %}
-
-{#- control operator #}
-{%- if os and os == "pc" %}
-	{%- set control = "&" %}
-{%- else %}
-	{%- set control = ";" %}
-{%- endif %}
-
-{%- if acados_link_libs and os and os == "pc" %}{# acados linking libraries and flags #}
-	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
-	{%- set openmp_flag = acados_link_libs.openmp %}
-{%- else %}
-	{%- set openmp_flag = " " %}
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-		{%- set link_libs = "-lqpOASES_e" %}
-	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
-		{%- set link_libs = "-ldaqp" %}
-	{%- else %}
-		{%- set link_libs = "" %}
-	{%- endif %}
-{%- endif %}
-
-cmake_minimum_required(VERSION 3.13)
-
-project({{ model.name }})
-
-# build options.
-option(BUILD_ACADOS_SOLVER_LIB "Should the solver library acados_solver_{{ model.name }} be build?" OFF)
-option(BUILD_ACADOS_OCP_SOLVER_LIB "Should the OCP solver library acados_ocp_solver_{{ model.name }} be build?" OFF)
-option(BUILD_EXAMPLE "Should the example main_{{ model.name }} be build?" OFF)
-{%- if solver_options.integrator_type != "DISCRETE" %}
-option(BUILD_SIM_EXAMPLE "Should the simulation example main_sim_{{ model.name }} be build?" OFF)
-option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_sim_solver_{{ model.name }} be build?" OFF)
-{%- endif %}
-
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND CMAKE_SYSTEM_NAME MATCHES "Windows")
-    # MinGW, change to .lib such that mex recognizes it
-    set(CMAKE_SHARED_LIBRARY_SUFFIX ".lib")
-    set(CMAKE_SHARED_LIBRARY_PREFIX "")
-endif()
-
-
-# object target names
-set(MODEL_OBJ model_{{ model.name }})
-set(OCP_OBJ ocp_{{ model.name }})
-set(SIM_OBJ sim_{{ model.name }})
-
-# model
-set(MODEL_SRC
-	{%- if model.dyn_ext_fun_type == "casadi" %}
-{%- if  solver_options.integrator_type == "ERK" %}
-    {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
-    {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
-    {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-	{% if model.gnsf.purely_linear != 1 %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
-		{% if model.gnsf.nontrivial_f_LO == 1 %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
-		{%- endif %}
-	{%- endif %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
-		{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
-		{%- endif %}
-{%- endif -%}
-	{%- else %}
-    {{ model.name }}_model/{{ model.dyn_generic_source }}
-	{%- endif %}
-)
-add_library(${MODEL_OBJ} OBJECT ${MODEL_SRC} )
-
-# optimal control problem - mostly CasADi exports
-if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMPLE})
-    set(OCP_SRC
-{%- if constr_type == "BGP" and dims_nphi > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
-{%- endif %}
-{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
-{%- endif %}
-
-{%- if constr_type == "BGH" and dims_nh > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
-    {%- if hessian_approx == "EXACT" %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
-    {%- endif %}
-{%- endif %}
-
-{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
-    {%- if hessian_approx == "EXACT" %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
-    {%- endif %}
-{%- endif %}
-
-{%- if cost_type_0 == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
-{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
-{%- elif cost_type_0 == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
-    {%- else %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
-    {%- endif %}
-{%- endif %}
-{%- if cost_type == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
-{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
-{%- elif cost_type == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
-    {%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
-    {%- endif %}
-{%- endif %}
-{%- if cost_type_e == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
-{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
-{%- elif cost_type_e == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
-    {%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
-    {%- endif %}
-{%- endif %}
-        acados_solver_{{ model.name }}.c)
-    add_library(${OCP_OBJ} OBJECT ${OCP_SRC})
-endif()
-
-{%- if solver_options.integrator_type != "DISCRETE" %}
-# for sim solver
-if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_EXAMPLE}
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-    OR ${BUILD_SIM_EXAMPLE} OR ${BUILD_ACADOS_SIM_SOLVER_LIB}
-    {%- endif -%}
-    )
-    set(SIM_SRC acados_sim_solver_{{ model.name }}.c)
-    add_library(${SIM_OBJ} OBJECT ${SIM_SRC})
-endif()
-{%- endif %}
-
-# for target example
-set(EX_SRC main_{{ model.name }}.c)
-set(EX_EXE main_{{ model.name }})
-
-{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
-set(EXTERNAL_DIR {{ model_external_shared_lib_dir | replace(from="\", to="/")  }})
-set(EXTERNAL_LIB {{ model_external_shared_lib_name }})
-{%- else %}
-set(EXTERNAL_DIR)
-set(EXTERNAL_LIB)
-{%- endif %}
-
-# set some search paths for preprocessor and linker
-set(ACADOS_INCLUDE_PATH {{ acados_include_path | replace(from="\", to="/")  }} CACHE PATH "Define the path which contains the include directory for acados.")
-set(ACADOS_LIB_PATH {{ acados_lib_path | replace(from="\", to="/") }} CACHE PATH "Define the path which contains the lib directory for acados.")
-
-# c-compiler flags for debugging
-set(CMAKE_C_FLAGS_DEBUG "-O0 -ggdb")
-
-set(CMAKE_C_FLAGS "-fPIC -std=c99 {{ openmp_flag }}
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" -%}
-    -DACADOS_WITH_QPOASES
-{%- endif -%}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" -%}
-    -DACADOS_WITH_DAQP
-{%- endif -%}
-{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%}
-    -DACADOS_WITH_OSQP
-{%- endif -%}
-{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%}
-    -DACADOS_WITH_QPDUNES
-{%- endif -%}
-")
-#-fno-diagnostics-show-line-numbers -g
-
-include_directories(
-   ${ACADOS_INCLUDE_PATH}
-   ${ACADOS_INCLUDE_PATH}/acados
-   ${ACADOS_INCLUDE_PATH}/blasfeo/include
-   ${ACADOS_INCLUDE_PATH}/hpipm/include
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-   ${ACADOS_INCLUDE_PATH}/qpOASES_e/
-{%- endif %}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-   ${ACADOS_INCLUDE_PATH}/daqp/include
-{%- endif %}
-)
-
-# linker flags
-link_directories(${ACADOS_LIB_PATH})
-
-# link to libraries
-if(UNIX)
-    link_libraries(acados hpipm blasfeo m {{ link_libs }})
-else()
-    link_libraries(acados hpipm blasfeo {{ link_libs }})
-endif()
-
-# the targets
-
-# bundled_shared_lib
-if(${BUILD_ACADOS_SOLVER_LIB})
-    set(LIB_ACADOS_SOLVER acados_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-        $<TARGET_OBJECTS:${SIM_OBJ}>
-    {%- endif -%}
-    )
-    install(TARGETS ${LIB_ACADOS_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_SOLVER_LIB})
-
-# ocp_shared_lib
-if(${BUILD_ACADOS_OCP_SOLVER_LIB})
-    set(LIB_ACADOS_OCP_SOLVER acados_ocp_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_OCP_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>)
-    # Specify libraries or flags to use when linking a given target and/or its dependents.
-    target_link_libraries(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_LIB})
-    target_link_directories(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_DIR})
-    install(TARGETS ${LIB_ACADOS_OCP_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_OCP_SOLVER_LIB})
-
-# example
-if(${BUILD_EXAMPLE})
-    add_executable(${EX_EXE} ${EX_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-        $<TARGET_OBJECTS:${SIM_OBJ}>
-    {%- endif -%}
-    )
-    install(TARGETS ${EX_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_EXAMPLE})
-
-{% if solver_options.integrator_type != "DISCRETE" -%}
-# example_sim
-if(${BUILD_SIM_EXAMPLE})
-    set(EX_SIM_SRC main_sim_{{ model.name }}.c)
-    set(EX_SIM_EXE main_sim_{{ model.name }})
-    add_executable(${EX_SIM_EXE} ${EX_SIM_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>)
-    install(TARGETS ${EX_SIM_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_SIM_EXAMPLE})
-
-# sim_shared_lib
-if(${BUILD_ACADOS_SIM_SOLVER_LIB})
-    set(LIB_ACADOS_SIM_SOLVER acados_sim_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_SIM_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>)
-    install(TARGETS ${LIB_ACADOS_SIM_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_SIM_SOLVER_LIB})
-{%- endif %}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/Makefile.in b/third_party/acados/acados_template/c_templates_tera/Makefile.in
deleted file mode 100644
index fbefc08e38..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/Makefile.in
+++ /dev/null
@@ -1,468 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-{%- if solver_options.qp_solver %}
-	{%- set qp_solver = solver_options.qp_solver %}
-{%- else %}
-	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
-{%- endif %}
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{%- if constraints.constr_type %}
-	{%- set constr_type = constraints.constr_type %}
-{%- else %}
-	{%- set constr_type = "NONE" %}
-{%- endif %}
-
-{%- if constraints.constr_type_e %}
-	{%- set constr_type_e = constraints.constr_type_e %}
-{%- else %}
-	{%- set constr_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type %}
-	{%- set cost_type = cost.cost_type %}
-{%- else %}
-	{%- set cost_type = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_e %}
-	{%- set cost_type_e = cost.cost_type_e %}
-{%- else %}
-	{%- set cost_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_0 %}
-	{%- set cost_type_0 = cost.cost_type_0 %}
-{%- else %}
-	{%- set cost_type_0 = "NONE" %}
-{%- endif %}
-
-{%- if dims.nh %}
-	{%- set dims_nh = dims.nh %}
-{%- else %}
-	{%- set dims_nh = 0 %}
-{%- endif %}
-
-{%- if dims.nphi %}
-	{%- set dims_nphi = dims.nphi %}
-{%- else %}
-	{%- set dims_nphi = 0 %}
-{%- endif %}
-
-{%- if dims.nh_e %}
-	{%- set dims_nh_e = dims.nh_e %}
-{%- else %}
-	{%- set dims_nh_e = 0 %}
-{%- endif %}
-
-{%- if dims.nphi_e %}
-	{%- set dims_nphi_e = dims.nphi_e %}
-{%- else %}
-	{%- set dims_nphi_e = 0 %}
-{%- endif %}
-{%- if solver_options.model_external_shared_lib_dir %}
-	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
-{%- endif %}
-{%- if solver_options.model_external_shared_lib_name %}
-	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
-{%- endif %}
-
-{# control operator #}
-{%- if os and os == "pc" %}
-	{%- set control = "&" %}
-{%- else %}
-	{%- set control = ";" %}
-{%- endif %}
-
-{# acados linking libraries and flags #}
-{%- if acados_link_libs and os and os == "pc" %}
-	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
-	{%- set openmp_flag = acados_link_libs.openmp %}
-{%- else %}
-	{%- set openmp_flag = " " %}
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-		{%- set link_libs = "-lqpOASES_e" %}
-	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
-		{%- set link_libs = "-ldaqp" %}
-	{%- else %}
-		{%- set link_libs = "" %}
-	{%- endif %}
-{%- endif %}
-
-# define sources and use make's implicit rules to generate object files (*.o)
-
-# model
-MODEL_SRC=
-	{%- if model.dyn_ext_fun_type == "casadi" %}
-{%- if solver_options.integrator_type == "ERK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
-	{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-		{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-		{%- endif %}
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
-	{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-	{% if model.gnsf.purely_linear != 1 %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
-		{% if model.gnsf.nontrivial_f_LO == 1 %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
-		{%- endif %}
-	{%- endif %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
-		{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
-		{%- endif %}
-{%- endif %}
-	{%- else %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_generic_source }}
-	{%- endif %}
-MODEL_OBJ := $(MODEL_SRC:.c=.o)
-
-# optimal control problem - mostly CasADi exports
-OCP_SRC=
-{%- if constr_type == "BGP" and dims_nphi > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
-{%- endif %}
-{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
-{%- endif %}
-
-{%- if constr_type == "BGH" and dims_nh > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
-	{%- if hessian_approx == "EXACT" %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
-	{%- endif %}
-{%- endif %}
-
-{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
-	{%- if hessian_approx == "EXACT" %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
-	{%- endif %}
-{%- endif %}
-
-{%- if cost_type_0 == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
-{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
-{%- elif cost_type_0 == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type_0 == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
-	{%- else %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
-	{%- endif %}
-{%- endif %}
-{%- if cost_type == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
-{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
-{%- elif cost_type == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
-	{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
-	{%- endif %}
-{%- endif %}
-{%- if cost_type_e == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
-{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
-{%- elif cost_type_e == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type_e == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
-	{%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
-	{%- endif %}
-{%- endif %}
-{%- if solver_options.custom_update_filename %}
-	{%- if solver_options.custom_update_filename != "" %}
-OCP_SRC+= {{ solver_options.custom_update_filename }}
-	{%- endif %}
-{%- endif %}
-
-OCP_SRC+= acados_solver_{{ model.name }}.c
-OCP_OBJ := $(OCP_SRC:.c=.o)
-
-# for sim solver
-SIM_SRC= acados_sim_solver_{{ model.name }}.c
-SIM_OBJ := $(SIM_SRC:.c=.o)
-
-# for target example
-EX_SRC= main_{{ model.name }}.c
-EX_OBJ := $(EX_SRC:.c=.o)
-EX_EXE := $(EX_SRC:.c=)
-
-# for target example_sim
-EX_SIM_SRC= main_sim_{{ model.name }}.c
-EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
-EX_SIM_EXE := $(EX_SIM_SRC:.c=)
-
-# combine model, sim and ocp object files
-OBJ=
-OBJ+= $(MODEL_OBJ)
-{%- if solver_options.integrator_type != "DISCRETE" %}
-OBJ+= $(SIM_OBJ)
-{%- endif %}
-OBJ+= $(OCP_OBJ)
-
-EXTERNAL_DIR=
-EXTERNAL_LIB=
-
-{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
-EXTERNAL_DIR+= {{ model_external_shared_lib_dir  }}
-EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
-{%- endif %}
-
-INCLUDE_PATH = {{ acados_include_path }}
-LIB_PATH = {{ acados_lib_path }}
-
-# preprocessor flags for make's implicit rules
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-CPPFLAGS += -DACADOS_WITH_QPOASES
-{%- endif %}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-CPPFLAGS += -DACADOS_WITH_DAQP
-{%- endif %}
-{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
-CPPFLAGS += -DACADOS_WITH_OSQP
-{%- endif %}
-{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
-CPPFLAGS += -DACADOS_WITH_QPDUNES
-{%- endif %}
-CPPFLAGS+= -I$(INCLUDE_PATH)
-CPPFLAGS+= -I$(INCLUDE_PATH)/acados
-CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
-CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
- {%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/
- {%- endif %}
- {%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-CPPFLAGS+= -I $(INCLUDE_PATH)/daqp/include
- {%- endif %}
-
-{# c-compiler flags #}
-# define the c-compiler flags for make's implicit rules
-CFLAGS = -fPIC -std=c99 {{ openmp_flag }} {{ solver_options.ext_fun_compile_flags }}#-fno-diagnostics-show-line-numbers -g
-# # Debugging
-# CFLAGS += -g3
-
-# linker flags
-LDFLAGS+= -L$(LIB_PATH)
-
-# link to libraries
-LDLIBS+= -lacados
-LDLIBS+= -lhpipm
-LDLIBS+= -lblasfeo
-LDLIBS+= -lm
-LDLIBS+= {{ link_libs }}
-
-# libraries
-LIBACADOS_SOLVER=libacados_solver_{{ model.name }}{{ shared_lib_ext }}
-LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
-LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c={{ shared_lib_ext }})
-
-# virtual targets
-.PHONY : all clean
-
-#all: clean example_sim example shared_lib
-{% if solver_options.integrator_type == "DISCRETE" -%}
-all: clean example
-shared_lib: ocp_shared_lib
-{%- else %}
-all: clean example_sim example
-shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
-{%- endif %}
-
-# some linker targets
-example: $(EX_OBJ) $(OBJ)
-	$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
-
-example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
-	$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
-
-{% if solver_options.integrator_type != "DISCRETE" -%}
-bundled_shared_lib: $(OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
-{%- endif %}
-
-ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
-	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
-
-sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
-
-
-# Cython targets
-ocp_cython_c: ocp_shared_lib
-	cython \
-	-o acados_ocp_solver_pyx.c \
-	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
-	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
-	-I {{ code_export_directory }} \
-
-ocp_cython_o: ocp_cython_c
-	$(CC) $(ACADOS_FLAGS) -c -O2 \
-	-fPIC \
-	-o acados_ocp_solver_pyx.o \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	{%- for path in cython_include_dirs %}
-	-I {{ path }} \
-	{%- endfor %}
-	acados_ocp_solver_pyx.c \
-
-ocp_cython: ocp_cython_o
-	$(CC) $(ACADOS_FLAGS) -shared \
-	-o acados_ocp_solver_pyx{{ shared_lib_ext }} \
-	-Wl,-rpath=$(LIB_PATH) \
-	acados_ocp_solver_pyx.o \
-	$(abspath .)/libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} \
-	$(LDFLAGS) $(LDLIBS)
-
-# Sim Cython targets
-sim_cython_c: sim_shared_lib
-	cython \
-	-o acados_sim_solver_pyx.c \
-	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
-	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \
-	-I {{ code_export_directory }} \
-
-sim_cython_o: sim_cython_c
-	$(CC) $(ACADOS_FLAGS) -c -O2 \
-	-fPIC \
-	-o acados_sim_solver_pyx.o \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	{%- for path in cython_include_dirs %}
-	-I {{ path }} \
-	{%- endfor %}
-	acados_sim_solver_pyx.c \
-
-sim_cython: sim_cython_o
-	$(CC) $(ACADOS_FLAGS) -shared \
-	-o acados_sim_solver_pyx{{ shared_lib_ext }} \
-	-Wl,-rpath=$(LIB_PATH) \
-	acados_sim_solver_pyx.o \
-	$(abspath .)/libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} \
-	$(LDFLAGS) $(LDLIBS)
-
-{%- if os and os == "pc" %}
-
-clean:
-	del \Q *.o 2>nul
-	del \Q *{{ shared_lib_ext }} 2>nul
-	del \Q main_{{ model.name }} 2>nul
-
-clean_ocp_shared_lib:
-	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_solver_{{ model.name }}.o 2>nul
-
-clean_ocp_cython:
-	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_solver_{{ model.name }}.o 2>nul
-	del \Q acados_ocp_solver_pyx{{ shared_lib_ext }} 2>nul
-	del \Q acados_ocp_solver_pyx.o 2>nul
-
-clean_sim_cython:
-	del \Q libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_sim_solver_{{ model.name }}.o 2>nul
-	del \Q acados_sim_solver_pyx{{ shared_lib_ext }} 2>nul
-	del \Q acados_sim_solver_pyx.o 2>nul
-
-{%- else %}
-
-clean:
-	$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
-	$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
-	$(RM) $(EX_EXE) $(EX_SIM_EXE)
-
-clean_ocp_shared_lib:
-	$(RM) $(LIBACADOS_OCP_SOLVER)
-	$(RM) $(OCP_OBJ)
-
-clean_ocp_cython:
-	$(RM) libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
-	$(RM) acados_solver_{{ model.name }}.o
-	$(RM) acados_ocp_solver_pyx{{ shared_lib_ext }}
-	$(RM) acados_ocp_solver_pyx.o
-
-clean_sim_cython:
-	$(RM) libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }}
-	$(RM) acados_sim_solver_{{ model.name }}.o
-	$(RM) acados_sim_solver_pyx{{ shared_lib_ext }}
-	$(RM) acados_sim_solver_pyx.o
-
-{%- endif %}
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
deleted file mode 100644
index 0cd098273c..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
+++ /dev/null
@@ -1,526 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-
-// acados
-#include "acados_c/external_function_interface.h"
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/print.h"
-
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-
-// ** solver data **
-
-sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule()
-{
-    void* capsule_mem = malloc(sizeof(sim_solver_capsule));
-    sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem;
-
-    return capsule;
-}
-
-
-int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule * capsule)
-{
-    free(capsule);
-    return 0;
-}
-
-
-int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
-{
-    // initialize
-    const int nx = {{ model.name | upper }}_NX;
-    const int nu = {{ model.name | upper }}_NU;
-    const int nz = {{ model.name | upper }}_NZ;
-    const int np = {{ model.name | upper }}_NP;
-    bool tmp_bool;
-
-    {#// double Tsim = {{ solver_options.tf / dims.N }};#}
-    double Tsim = {{ solver_options.Tsim }};
-
-    {% if solver_options.integrator_type == "IRK" %}
-    capsule->sim_impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-  {%- if model.dyn_ext_fun_type == "casadi" %}
-    // external functions (implicit model)
-    capsule->sim_impl_dae_fun->casadi_fun = &{{ model.name }}_impl_dae_fun;
-    capsule->sim_impl_dae_fun->casadi_work = &{{ model.name }}_impl_dae_fun_work;
-    capsule->sim_impl_dae_fun->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in;
-    capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out;
-    capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in;
-    capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun, np);
-
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np);
-
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np);
-  {%- else %}
-    capsule->sim_impl_dae_fun->fun = &{{ model.dyn_impl_dae_fun }};
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->fun = &{{ model.dyn_impl_dae_fun_jac }};
-    capsule->sim_impl_dae_jac_x_xdot_u_z->fun = &{{ model.dyn_impl_dae_jac }};
-  {%- endif %}
-
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_hess->casadi_fun = &{{ model.name }}_impl_dae_hess;
-    capsule->sim_impl_dae_hess->casadi_work = &{{ model.name }}_impl_dae_hess_work;
-    capsule->sim_impl_dae_hess->casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in;
-    capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out;
-    capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in;
-    capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_hess, np);
-{%- endif %}
-
-    {% elif solver_options.integrator_type == "ERK" %}
-    // explicit ode
-    capsule->sim_forw_vde_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_vde_adj_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_expl_ode_fun_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-    capsule->sim_forw_vde_casadi->casadi_fun = &{{ model.name }}_expl_vde_forw;
-    capsule->sim_forw_vde_casadi->casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in;
-    capsule->sim_forw_vde_casadi->casadi_n_out = &{{ model.name }}_expl_vde_forw_n_out;
-    capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in;
-    capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out;
-    capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_forw_vde_casadi, np);
-
-    capsule->sim_vde_adj_casadi->casadi_fun = &{{ model.name }}_expl_vde_adj;
-    capsule->sim_vde_adj_casadi->casadi_n_in = &{{ model.name }}_expl_vde_adj_n_in;
-    capsule->sim_vde_adj_casadi->casadi_n_out = &{{ model.name }}_expl_vde_adj_n_out;
-    capsule->sim_vde_adj_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_adj_sparsity_in;
-    capsule->sim_vde_adj_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_adj_sparsity_out;
-    capsule->sim_vde_adj_casadi->casadi_work = &{{ model.name }}_expl_vde_adj_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_vde_adj_casadi, np);
-
-    capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun;
-    capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in;
-    capsule->sim_expl_ode_fun_casadi->casadi_n_out = &{{ model.name }}_expl_ode_fun_n_out;
-    capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in;
-    capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out;
-    capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_fun_casadi, np);
-
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_expl_ode_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_expl_ode_hess->casadi_fun = &{{ model.name }}_expl_ode_hess;
-    capsule->sim_expl_ode_hess->casadi_work = &{{ model.name }}_expl_ode_hess_work;
-    capsule->sim_expl_ode_hess->casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in;
-    capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out;
-    capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in;
-    capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_hess, np);
-{%- endif %}
-
-    {% elif solver_options.integrator_type == "GNSF" -%}
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-  {%- endif %}
-  {%- endif %}
-    capsule->sim_gnsf_get_matrices_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun;
-    capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in;
-    capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out;
-    capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in;
-    capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out;
-    capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun, np);
-
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_jac_y_n_out;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun_jac_y, np);
-
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_out;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
-
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
-  {%- endif %}
-  {%- endif %}
-
-    capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun;
-    capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in;
-    capsule->sim_gnsf_get_matrices_fun->casadi_n_out = &{{ model.name }}_gnsf_get_matrices_fun_n_out;
-    capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in;
-    capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out;
-    capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_get_matrices_fun, np);
-    {% endif %}
-
-    // sim plan & config
-    sim_solver_plan_t plan;
-    plan.sim_solver = {{ solver_options.integrator_type }};
-
-    // create correct config based on plan
-    sim_config * {{ model.name }}_sim_config = sim_config_create(plan);
-    capsule->acados_sim_config = {{ model.name }}_sim_config;
-
-    // sim dims
-    void *{{ model.name }}_sim_dims = sim_dims_create({{ model.name }}_sim_config);
-    capsule->acados_sim_dims = {{ model.name }}_sim_dims;
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx", &nx);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nu", &nu);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz", &nz);
-{% if solver_options.integrator_type == "GNSF" %}
-    int gnsf_nx1 = {{ dims.gnsf_nx1 }};
-    int gnsf_nz1 = {{ dims.gnsf_nz1 }};
-    int gnsf_nout = {{ dims.gnsf_nout }};
-    int gnsf_ny = {{ dims.gnsf_ny }};
-    int gnsf_nuhat = {{ dims.gnsf_nuhat }};
-
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx1", &gnsf_nx1);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz1", &gnsf_nz1);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nout", &gnsf_nout);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "ny", &gnsf_ny);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nuhat", &gnsf_nuhat);
-{% endif %}
-
-    // sim opts
-    sim_opts *{{ model.name }}_sim_opts = sim_opts_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_opts = {{ model.name }}_sim_opts;
-    int tmp_int = {{ solver_options.sim_method_newton_iter }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int);
-    double tmp_double = {{ solver_options.sim_method_newton_tol }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_tol", &tmp_double);
-    sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type);
-
-{% if problem_class == "SIM" %}
-    tmp_int = {{ solver_options.sim_method_num_stages }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
-    tmp_int = {{ solver_options.sim_method_num_steps }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
-
-    // options that are not available to AcadosOcpSolver
-    //  (in OCP they will be determined by other options, like exact_hessian)
-    tmp_bool = {{ solver_options.sens_forw }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_forw", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_adj }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_adj", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_algebraic }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_algebraic", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_hess }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_hess", &tmp_bool);
-    tmp_bool = {{ solver_options.output_z }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "output_z", &tmp_bool);
-
-{% else %} {# num_stages and num_steps of first shooting interval are used #}
-    tmp_int = {{ solver_options.sim_method_num_stages[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
-    tmp_int = {{ solver_options.sim_method_num_steps[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
-    tmp_bool = {{ solver_options.sim_method_jac_reuse[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "jac_reuse", &tmp_bool);
-{% endif %}
-
-    // sim in / out
-    sim_in *{{ model.name }}_sim_in = sim_in_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_in = {{ model.name }}_sim_in;
-    sim_out *{{ model.name }}_sim_out = sim_out_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_out = {{ model.name }}_sim_out;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "T", &Tsim);
-
-    // model functions
-{%- if solver_options.integrator_type == "IRK" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_fun", capsule->sim_impl_dae_fun);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_fun_jac_x_xdot", capsule->sim_impl_dae_fun_jac_x_xdot_z);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_jac_x_xdot_u", capsule->sim_impl_dae_jac_x_xdot_u_z);
-{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                "impl_dae_hess", capsule->sim_impl_dae_hess);
-{%- endif %}
-
-{%- elif solver_options.integrator_type == "ERK" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_vde_forw", capsule->sim_forw_vde_casadi);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_vde_adj", capsule->sim_vde_adj_casadi);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_ode_fun", capsule->sim_expl_ode_fun_casadi);
-{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                "expl_ode_hess", capsule->sim_expl_ode_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_fun", capsule->sim_gnsf_phi_fun);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun);
-{%- endif %}
-
-    // sim solver
-    sim_solver *{{ model.name }}_sim_solver = sim_solver_create({{ model.name }}_sim_config,
-                                               {{ model.name }}_sim_dims, {{ model.name }}_sim_opts);
-    capsule->acados_sim_solver = {{ model.name }}_sim_solver;
-
-{% if dims.np > 0 %}
-    /* initialize parameter values */
-    double* p = calloc(np, sizeof(double));
-    {% for item in parameter_values %}
-        {%- if item != 0 %}
-    p[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-
-    {{ model.name }}_acados_sim_update_params(capsule, p, np);
-    free(p);
-{% endif %}{# if dims.np #}
-
-    /* initialize input */
-    // x
-    double x0[{{ dims.nx }}];
-    for (int ii = 0; ii < {{ dims.nx }}; ii++)
-        x0[ii] = 0.0;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "x", x0);
-
-
-    // u
-    double u0[{{ dims.nu }}];
-    for (int ii = 0; ii < {{ dims.nu }}; ii++)
-        u0[ii] = 0.0;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "u", u0);
-
-    // S_forw
-    double S_forw[{{ dims.nx * (dims.nx + dims.nu) }}];
-    for (int ii = 0; ii < {{ dims.nx * (dims.nx + dims.nu) }}; ii++)
-        S_forw[ii] = 0.0;
-    for (int ii = 0; ii < {{ dims.nx }}; ii++)
-        S_forw[ii + ii * {{ dims.nx }} ] = 1.0;
-
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "S_forw", S_forw);
-
-    int status = sim_precompute({{ model.name }}_sim_solver, {{ model.name }}_sim_in, {{ model.name }}_sim_out);
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule)
-{
-    // integrate dynamics using acados sim_solver
-    int status = sim_solve(capsule->acados_sim_solver,
-                           capsule->acados_sim_in, capsule->acados_sim_out);
-    if (status != 0)
-        printf("error in {{ model.name }}_acados_sim_solve()! Exiting.\n");
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
-{
-    // free memory
-    sim_solver_destroy(capsule->acados_sim_solver);
-    sim_in_destroy(capsule->acados_sim_in);
-    sim_out_destroy(capsule->acados_sim_out);
-    sim_opts_destroy(capsule->acados_sim_opts);
-    sim_dims_destroy(capsule->acados_sim_dims);
-    sim_config_destroy(capsule->acados_sim_config);
-
-    // free external function
-{%- if solver_options.integrator_type == "IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun_jac_x_xdot_z);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_jac_x_xdot_u_z);
-{%- if hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "ERK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_forw_vde_casadi);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_vde_adj_casadi);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_fun_casadi);
-{%- if hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun_jac_y);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_get_matrices_fun);
-{% endif %}
-
-    return 0;
-}
-
-
-int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np)
-{
-    int status = 0;
-    int casadi_np = {{ model.name | upper }}_NP;
-
-    if (casadi_np != np) {
-        printf("{{ model.name }}_acados_sim_update_params: trying to set %i parameters for external functions."
-            " External function has %i parameters. Exiting.\n", np, casadi_np);
-        exit(1);
-    }
-
-{%- if solver_options.integrator_type == "ERK" %}
-    capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p);
-    capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p);
-    capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p);
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p);
-{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-    capsule->sim_impl_dae_fun[0].set_param(capsule->sim_impl_dae_fun, p);
-    capsule->sim_impl_dae_fun_jac_x_xdot_z[0].set_param(capsule->sim_impl_dae_fun_jac_x_xdot_z, p);
-    capsule->sim_impl_dae_jac_x_xdot_u_z[0].set_param(capsule->sim_impl_dae_jac_x_xdot_u_z, p);
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p);
-    capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p);
-    capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p);
-  {%- endif %}
-  {%- endif %}
-    capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p);
-{% endif %}
-
-    return status;
-}
-
-/* getters pointers to C objects*/
-sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_config;
-};
-
-sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_in;
-};
-
-sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_out;
-};
-
-void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_dims;
-};
-
-sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_opts;
-};
-
-sim_solver  * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_solver;
-};
-
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
deleted file mode 100644
index 59aee62f49..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_SIM_{{ model.name }}_H_
-#define ACADOS_SIM_{{ model.name }}_H_
-
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#define {{ model.name | upper }}_NX     {{ dims.nx }}
-#define {{ model.name | upper }}_NZ     {{ dims.nz }}
-#define {{ model.name | upper }}_NU     {{ dims.nu }}
-#define {{ model.name | upper }}_NP     {{ dims.np }}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// ** capsule for solver data **
-typedef struct sim_solver_capsule
-{
-    // acados objects
-    sim_in *acados_sim_in;
-    sim_out *acados_sim_out;
-    sim_solver *acados_sim_solver;
-    sim_opts *acados_sim_opts;
-    sim_config *acados_sim_config;
-    void *acados_sim_dims;
-
-    /* external functions */
-    // ERK
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_forw_vde_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_vde_adj_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_fun_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_hess;
-
-    // IRK
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun_jac_x_xdot_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_jac_x_xdot_u_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_hess;
-
-    // GNSF
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun_jac_y;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_jac_y_uhat;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_get_matrices_fun;
-
-} sim_solver_capsule;
-
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
-
-ACADOS_SYMBOL_EXPORT sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
-
-
-ACADOS_SYMBOL_EXPORT sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_SIM_{{ model.name }}_H_
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd
deleted file mode 100644
index 153f98d13a..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd
+++ /dev/null
@@ -1,51 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-cimport acados_sim_solver_common
-
-cdef extern from "acados_sim_solver_{{ model.name }}.h":
-    ctypedef struct sim_solver_capsule "sim_solver_capsule":
-        pass
-
-    sim_solver_capsule * acados_sim_solver_create_capsule "{{ model.name }}_acados_sim_solver_create_capsule"()
-    int acados_sim_solver_free_capsule "{{ model.name }}_acados_sim_solver_free_capsule"(sim_solver_capsule *capsule)
-
-    int acados_sim_create "{{ model.name }}_acados_sim_create"(sim_solver_capsule * capsule)
-    int acados_sim_solve "{{ model.name }}_acados_sim_solve"(sim_solver_capsule * capsule)
-    int acados_sim_free "{{ model.name }}_acados_sim_free"(sim_solver_capsule * capsule)
-    int acados_sim_update_params "{{ model.name }}_acados_sim_update_params"(sim_solver_capsule * capsule, double *value, int np_)
-    # int acados_sim_update_params_sparse "{{ model.name }}_acados_sim_update_params_sparse"(sim_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-
-    acados_sim_solver_common.sim_in *acados_get_sim_in "{{ model.name }}_acados_get_sim_in"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_out *acados_get_sim_out "{{ model.name }}_acados_get_sim_out"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_solver *acados_get_sim_solver "{{ model.name }}_acados_get_sim_solver"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_config *acados_get_sim_config "{{ model.name }}_acados_get_sim_config"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_opts *acados_get_sim_opts "{{ model.name }}_acados_get_sim_opts"(sim_solver_capsule * capsule)
-    void *acados_get_sim_dims "{{ model.name }}_acados_get_sim_dims"(sim_solver_capsule * capsule)
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
deleted file mode 100644
index 5e36a53d10..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
+++ /dev/null
@@ -1,2741 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <assert.h>
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "{{ model.name }}_constraints/{{ model.name }}_constraints.h"
-
-{%- if cost.cost_type != "LINEAR_LS" or cost.cost_type_e != "LINEAR_LS" or cost.cost_type_0 != "LINEAR_LS" %}
-#include "{{ model.name }}_cost/{{ model.name }}_cost.h"
-{%- endif %}
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-{%- if not solver_options.custom_update_header_filename %}
-    {%- set custom_update_header_filename = "" %}
-{% else %}
-    {%- set custom_update_header_filename = solver_options.custom_update_header_filename %}
-{%- endif %}
-{%- if custom_update_header_filename != "" %}
-#include "{{ custom_update_header_filename }}"
-{%- endif %}
-
-
-#include "acados_solver_{{ model.name }}.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-#define NBX    {{ model.name | upper }}_NBX
-#define NBX0   {{ model.name | upper }}_NBX0
-#define NBU    {{ model.name | upper }}_NBU
-#define NSBX   {{ model.name | upper }}_NSBX
-#define NSBU   {{ model.name | upper }}_NSBU
-#define NSH    {{ model.name | upper }}_NSH
-#define NSG    {{ model.name | upper }}_NSG
-#define NSPHI  {{ model.name | upper }}_NSPHI
-#define NSHN   {{ model.name | upper }}_NSHN
-#define NSGN   {{ model.name | upper }}_NSGN
-#define NSPHIN {{ model.name | upper }}_NSPHIN
-#define NSBXN  {{ model.name | upper }}_NSBXN
-#define NS     {{ model.name | upper }}_NS
-#define NSN    {{ model.name | upper }}_NSN
-#define NG     {{ model.name | upper }}_NG
-#define NBXN   {{ model.name | upper }}_NBXN
-#define NGN    {{ model.name | upper }}_NGN
-#define NY0    {{ model.name | upper }}_NY0
-#define NY     {{ model.name | upper }}_NY
-#define NYN    {{ model.name | upper }}_NYN
-// #define N      {{ model.name | upper }}_N
-#define NH     {{ model.name | upper }}_NH
-#define NPHI   {{ model.name | upper }}_NPHI
-#define NHN    {{ model.name | upper }}_NHN
-#define NPHIN  {{ model.name | upper }}_NPHIN
-#define NR     {{ model.name | upper }}_NR
-
-
-// ** solver data **
-
-{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void)
-{
-    void* capsule_mem = malloc(sizeof({{ model.name }}_solver_capsule));
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) capsule_mem;
-
-    return capsule;
-}
-
-
-int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule)
-{
-    free(capsule);
-    return 0;
-}
-
-
-int {{ model.name }}_acados_create({{ model.name }}_solver_capsule* capsule)
-{
-    int N_shooting_intervals = {{ model.name | upper }}_N;
-    double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps
-    return {{ model.name }}_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps);
-}
-
-
-int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps)
-{
-    if (N != capsule->nlp_solver_plan->N) {
-        fprintf(stderr, "{{ model.name }}_acados_update_time_steps: given number of time steps (= %d) " \
-            "differs from the currently allocated number of " \
-            "time steps (= %d)!\n" \
-            "Please recreate with new discretization and provide a new vector of time_stamps!\n",
-            N, capsule->nlp_solver_plan->N);
-        return 1;
-    }
-
-    ocp_nlp_config * nlp_config = capsule->nlp_config;
-    ocp_nlp_dims * nlp_dims = capsule->nlp_dims;
-    ocp_nlp_in * nlp_in = capsule->nlp_in;
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]);
-    }
-    return 0;
-}
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 1
- */
-void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N)
-{
-    assert(N == nlp_solver_plan->N);
-
-    /************************************************
-    *  plan
-    ************************************************/
-
-    {%- if solver_options.nlp_solver_type == "SQP" %}
-    nlp_solver_plan->nlp_solver = SQP;
-    {%- else %}
-    nlp_solver_plan->nlp_solver = SQP_RTI;
-    {%- endif %}
-
-    nlp_solver_plan->ocp_qp_solver_plan.qp_solver = {{ solver_options.qp_solver }};
-
-    nlp_solver_plan->nlp_cost[0] = {{ cost.cost_type_0 }};
-    for (int i = 1; i < N; i++)
-        nlp_solver_plan->nlp_cost[i] = {{ cost.cost_type }};
-
-    nlp_solver_plan->nlp_cost[N] = {{ cost.cost_type_e }};
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if solver_options.integrator_type == "DISCRETE" %}
-        nlp_solver_plan->nlp_dynamics[i] = DISCRETE_MODEL;
-        // discrete dynamics does not need sim solver option, this field is ignored
-        nlp_solver_plan->sim_solver_plan[i].sim_solver = INVALID_SIM_SOLVER;
-        {%- else %}
-        nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL;
-        nlp_solver_plan->sim_solver_plan[i].sim_solver = {{ solver_options.integrator_type }};
-        {%- endif %}
-    }
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if constraints.constr_type == "BGP" %}
-        nlp_solver_plan->nlp_constraints[i] = BGP;
-        {%- else -%}
-        nlp_solver_plan->nlp_constraints[i] = BGH;
-        {%- endif %}
-    }
-
-    {%- if constraints.constr_type_e == "BGP" %}
-    nlp_solver_plan->nlp_constraints[N] = BGP;
-    {%- else %}
-    nlp_solver_plan->nlp_constraints[N] = BGH;
-    {%- endif %}
-
-    {%- if solver_options.regularize_method == "NO_REGULARIZE" %}
-    nlp_solver_plan->regularization = NO_REGULARIZE;
-    {%- elif solver_options.regularize_method == "MIRROR" %}
-    nlp_solver_plan->regularization = MIRROR;
-    {%- elif solver_options.regularize_method == "PROJECT" %}
-    nlp_solver_plan->regularization = PROJECT;
-    {%- elif solver_options.regularize_method == "PROJECT_REDUC_HESS" %}
-    nlp_solver_plan->regularization = PROJECT_REDUC_HESS;
-    {%- elif solver_options.regularize_method == "CONVEXIFY" %}
-    nlp_solver_plan->regularization = CONVEXIFY;
-    {%- endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 2
- */
-ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ model.name }}_solver_capsule* capsule)
-{
-    ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan;
-    const int N = nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-
-    /************************************************
-    *  dimensions
-    ************************************************/
-    #define NINTNP1MEMS 17
-    int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS );
-
-    int* nx    = intNp1mem + (N+1)*0;
-    int* nu    = intNp1mem + (N+1)*1;
-    int* nbx   = intNp1mem + (N+1)*2;
-    int* nbu   = intNp1mem + (N+1)*3;
-    int* nsbx  = intNp1mem + (N+1)*4;
-    int* nsbu  = intNp1mem + (N+1)*5;
-    int* nsg   = intNp1mem + (N+1)*6;
-    int* nsh   = intNp1mem + (N+1)*7;
-    int* nsphi = intNp1mem + (N+1)*8;
-    int* ns    = intNp1mem + (N+1)*9;
-    int* ng    = intNp1mem + (N+1)*10;
-    int* nh    = intNp1mem + (N+1)*11;
-    int* nphi  = intNp1mem + (N+1)*12;
-    int* nz    = intNp1mem + (N+1)*13;
-    int* ny    = intNp1mem + (N+1)*14;
-    int* nr    = intNp1mem + (N+1)*15;
-    int* nbxe  = intNp1mem + (N+1)*16;
-
-    for (int i = 0; i < N+1; i++)
-    {
-        // common
-        nx[i]     = NX;
-        nu[i]     = NU;
-        nz[i]     = NZ;
-        ns[i]     = NS;
-        // cost
-        ny[i]     = NY;
-        // constraints
-        nbx[i]    = NBX;
-        nbu[i]    = NBU;
-        nsbx[i]   = NSBX;
-        nsbu[i]   = NSBU;
-        nsg[i]    = NSG;
-        nsh[i]    = NSH;
-        nsphi[i]  = NSPHI;
-        ng[i]     = NG;
-        nh[i]     = NH;
-        nphi[i]   = NPHI;
-        nr[i]     = NR;
-        nbxe[i]   = 0;
-    }
-
-    // for initial state
-    nbx[0]  = NBX0;
-    nsbx[0] = 0;
-    ns[0] = NS - NSBX;
-    nbxe[0] = {{ dims.nbxe_0 }};
-    ny[0] = NY0;
-
-    // terminal - common
-    nu[N]   = 0;
-    nz[N]   = 0;
-    ns[N]   = NSN;
-    // cost
-    ny[N]   = NYN;
-    // constraint
-    nbx[N]   = NBXN;
-    nbu[N]   = 0;
-    ng[N]    = NGN;
-    nh[N]    = NHN;
-    nphi[N]  = NPHIN;
-    nr[N]    = {{ dims.nr_e }};
-
-    nsbx[N]  = NSBXN;
-    nsbu[N]  = 0;
-    nsg[N]   = NSGN;
-    nsh[N]   = NSHN;
-    nsphi[N] = NSPHIN;
-
-    /* create and set ocp_nlp_dims */
-    ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config);
-
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns);
-
-    for (int i = 0; i <= N; i++)
-    {
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]);
-    }
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR"%}
-    ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]);
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR"%}
-    for (int i = 1; i < N; i++)
-        ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]);
-{%- endif %}
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]);
-        {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nr", &nr[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nphi", &nphi[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsphi", &nsphi[i]);
-        {%- endif %}
-    }
-
-{%- if constraints.constr_type_e == "BGH" %}
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]);
-{%- elif constraints.constr_type_e == "BGP" %}
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nr", &nr[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nphi", &nphi[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsphi", &nsphi[N]);
-{%- endif %}
-{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR"%}
-    ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]);
-{%- endif %}
-    free(intNp1mem);
-
-{%- if solver_options.integrator_type == "GNSF" -%}
-    // GNSF specific dimensions
-    int gnsf_nx1 = {{ dims.gnsf_nx1 }};
-    int gnsf_nz1 = {{ dims.gnsf_nz1 }};
-    int gnsf_nout = {{ dims.gnsf_nout }};
-    int gnsf_ny = {{ dims.gnsf_ny }};
-    int gnsf_nuhat = {{ dims.gnsf_nuhat }};
-
-    for (int i = 0; i < N; i++)
-    {
-        if (nlp_solver_plan->sim_solver_plan[i].sim_solver == GNSF)
-        {
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nx1", &gnsf_nx1);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nz1", &gnsf_nz1);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nout", &gnsf_nout);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_ny", &gnsf_ny);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nuhat", &gnsf_nuhat);
-        }
-    }
-{%- endif %}
-return nlp_dims;
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 3
- */
-void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-
-    /************************************************
-    *  external functions
-    ************************************************/
-
-#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \
-        capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\
-        capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \
-        capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \
-        capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \
-        capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \
-        capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \
-        external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , {{ dims.np }}); \
-    }while(false)
-
-{% if constraints.constr_type == "BGP" %}
-    // constraints.constr_type == "BGP"
-    capsule->phi_constraint = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++)
-    {
-        // nonlinear part of convex-composite constraint
-        MAP_CASADI_FNC(phi_constraint[i], {{ model.name }}_phi_constraint);
-    }
-{%- endif %}
-
-{%- if constraints.constr_type_e == "BGP" %}
-    // constraints.constr_type_e == "BGP"
-    // nonlinear part of convex-composite constraint
-    MAP_CASADI_FNC(phi_e_constraint, {{ model.name }}_phi_e_constraint);
-{%- endif %}
-
-{%- if constraints.constr_type == "BGH" and dims.nh > 0  %}
-    // constraints.constr_type == "BGH" and dims.nh > 0
-    capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun_jac[i], {{ model.name }}_constr_h_fun_jac_uxt_zt);
-    }
-    capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun[i], {{ model.name }}_constr_h_fun);
-    }
-    {% if solver_options.hessian_approx == "EXACT" %}
-    capsule->nl_constr_h_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun_jac_hess[i], {{ model.name }}_constr_h_fun_jac_uxt_zt_hess);
-    }
-    {% endif %}
-{% endif %}
-
-{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    MAP_CASADI_FNC(nl_constr_h_e_fun_jac, {{ model.name }}_constr_h_e_fun_jac_uxt_zt);
-    MAP_CASADI_FNC(nl_constr_h_e_fun, {{ model.name }}_constr_h_e_fun);
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    MAP_CASADI_FNC(nl_constr_h_e_fun_jac_hess, {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess);
-    {% endif %}
-{%- endif %}
-
-{% if solver_options.integrator_type == "ERK" %}
-    // explicit ode
-    capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(forw_vde_casadi[i], {{ model.name }}_expl_vde_forw);
-    }
-
-    capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(expl_ode_fun[i], {{ model.name }}_expl_ode_fun);
-    }
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->hess_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(hess_vde_casadi[i], {{ model.name }}_expl_ode_hess);
-    }
-    {%- endif %}
-
-{% elif solver_options.integrator_type == "IRK" %}
-    // implicit dae
-    capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun);
-    {%- else %}
-        capsule->impl_dae_fun[i].fun = &{{ model.dyn_impl_dae_fun }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_z[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_z);
-    {%- else %}
-        capsule->impl_dae_fun_jac_x_xdot_z[i].fun = &{{ model.dyn_impl_dae_fun_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun_jac_x_xdot_z[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_jac_x_xdot_u_z[i], {{ model.name }}_impl_dae_jac_x_xdot_u_z);
-    {%- else %}
-        capsule->impl_dae_jac_x_xdot_u_z[i].fun = &{{ model.dyn_impl_dae_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_jac_x_xdot_u_z[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_hess[i], {{ model.name }}_impl_dae_hess);
-    }
-    {%- endif %}
-{% elif solver_options.integrator_type == "LIFTED_IRK" %}
-    // external functions (implicit model)
-    capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun);
-    }
-
-    capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_u[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_u);
-    }
-
-{% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-    capsule->gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_fun[i], {{ model.name }}_gnsf_phi_fun);
-    }
-
-    capsule->gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_fun_jac_y[i], {{ model.name }}_gnsf_phi_fun_jac_y);
-    }
-
-    capsule->gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_jac_y_uhat[i], {{ model.name }}_gnsf_phi_jac_y_uhat);
-    }
-
-    {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_f_lo_jac_x1_x1dot_u_z[i], {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz);
-    }
-    {%- endif %}
-    {%- endif %}
-    capsule->gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_get_matrices_fun[i], {{ model.name }}_gnsf_get_matrices_fun);
-    }
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    // discrete dynamics
-    capsule->discr_dyn_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun[i], {{ model.name }}_dyn_disc_phi_fun);
-        {%- else %}
-        capsule->discr_dyn_phi_fun[i].fun = &{{ model.dyn_disc_fun }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->discr_dyn_phi_fun_jac_ut_xt = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt[i], {{ model.name }}_dyn_disc_phi_fun_jac);
-        {%- else %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt[i].fun = &{{ model.dyn_disc_fun_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->discr_dyn_phi_fun_jac_ut_xt_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ model.name }}_dyn_disc_phi_fun_jac_hess);
-        {%- else %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].fun = &{{ model.dyn_disc_fun_jac_hess }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ dims.np }});
-        {%- endif %}
-    }
-  {%- endif %}
-{%- endif %}
-
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    // nonlinear least squares function
-    MAP_CASADI_FNC(cost_y_0_fun, {{ model.name }}_cost_y_0_fun);
-    MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, {{ model.name }}_cost_y_0_fun_jac_ut_xt);
-    MAP_CASADI_FNC(cost_y_0_hess, {{ model.name }}_cost_y_0_hess);
-
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    MAP_CASADI_FNC(conl_cost_0_fun, {{ model.name }}_conl_cost_0_fun);
-    MAP_CASADI_FNC(conl_cost_0_fun_jac_hess, {{ model.name }}_conl_cost_0_fun_jac_hess);
-
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun, {{ model.name }}_cost_ext_cost_0_fun);
-    {%- else %}
-    capsule->ext_cost_0_fun.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun, {{ dims.np }});
-    {%- endif %}
-
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun_jac, {{ model.name }}_cost_ext_cost_0_fun_jac);
-    {%- else %}
-    capsule->ext_cost_0_fun_jac.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac, {{ dims.np }});
-    {%- endif %}
-
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun_jac_hess, {{ model.name }}_cost_ext_cost_0_fun_jac_hess);
-    {%- else %}
-    capsule->ext_cost_0_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac_hess, {{ dims.np }});
-    {%- endif %}
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    // nonlinear least squares cost
-    capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_fun[i], {{ model.name }}_cost_y_fun);
-    }
-
-    capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], {{ model.name }}_cost_y_fun_jac_ut_xt);
-    }
-
-    capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_hess[i], {{ model.name }}_cost_y_hess);
-    }
-
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    capsule->conl_cost_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(conl_cost_fun[i], {{ model.name }}_conl_cost_fun);
-    }
-    capsule->conl_cost_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(conl_cost_fun_jac_hess[i], {{ model.name }}_conl_cost_fun_jac_hess);
-    }
-
-{%- elif cost.cost_type == "EXTERNAL" %}
-    // external cost
-    capsule->ext_cost_fun = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun[i], {{ model.name }}_cost_ext_cost_fun);
-        {%- else %}
-        capsule->ext_cost_fun[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->ext_cost_fun_jac = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun_jac[i], {{ model.name }}_cost_ext_cost_fun_jac);
-        {%- else %}
-        capsule->ext_cost_fun_jac[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->ext_cost_fun_jac_hess = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun_jac_hess[i], {{ model.name }}_cost_ext_cost_fun_jac_hess);
-        {%- else %}
-        capsule->ext_cost_fun_jac_hess[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac_hess[i], {{ dims.np }});
-        {%- endif %}
-    }
-{%- endif %}
-
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    // nonlinear least square function
-    MAP_CASADI_FNC(cost_y_e_fun, {{ model.name }}_cost_y_e_fun);
-    MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, {{ model.name }}_cost_y_e_fun_jac_ut_xt);
-    MAP_CASADI_FNC(cost_y_e_hess, {{ model.name }}_cost_y_e_hess);
-
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    MAP_CASADI_FNC(conl_cost_e_fun, {{ model.name }}_conl_cost_e_fun);
-    MAP_CASADI_FNC(conl_cost_e_fun_jac_hess, {{ model.name }}_conl_cost_e_fun_jac_hess);
-
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    // external cost - function
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun, {{ model.name }}_cost_ext_cost_e_fun);
-    {% else %}
-    capsule->ext_cost_e_fun.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun, {{ dims.np }});
-    {%- endif %}
-
-    // external cost - jacobian
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun_jac, {{ model.name }}_cost_ext_cost_e_fun_jac);
-    {%- else %}
-    capsule->ext_cost_e_fun_jac.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac, {{ dims.np }});
-    {%- endif %}
-
-    // external cost - hessian
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun_jac_hess, {{ model.name }}_cost_ext_cost_e_fun_jac_hess);
-    {%- else %}
-    capsule->ext_cost_e_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac_hess, {{ dims.np }});
-    {%- endif %}
-{%- endif %}
-
-#undef MAP_CASADI_FNC
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 4
- */
-void {{ model.name }}_acados_create_4_set_default_parameters({{ model.name }}_solver_capsule* capsule) {
-{%- if dims.np > 0 %}
-    const int N = capsule->nlp_solver_plan->N;
-    // initialize parameters to nominal value
-    double* p = calloc(NP, sizeof(double));
-    {%- for item in parameter_values %}
-        {%- if item != 0 %}
-    p[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i <= N; i++) {
-        {{ model.name }}_acados_update_params(capsule, i, p, NP);
-    }
-    free(p);
-{%- else %}
-    // no parameters defined
-{%- endif %}{# if dims.np #}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 5
- */
-void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule* capsule, const int N, double* new_time_steps)
-{
-    assert(N == capsule->nlp_solver_plan->N);
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-
-    /************************************************
-    *  nlp_in
-    ************************************************/
-//    ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims);
-//    capsule->nlp_in = nlp_in;
-    ocp_nlp_in * nlp_in = capsule->nlp_in;
-
-    // set up time_steps
-    {% set all_equal = true -%}
-    {%- set val = solver_options.time_steps[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.time_steps[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-    if (new_time_steps) {
-        {{ model.name }}_acados_update_time_steps(capsule, N, new_time_steps);
-    } else {
-    {%- if all_equal == true -%}
-        // all time_steps are identical
-        double time_step = {{ solver_options.time_steps[0] }};
-        for (int i = 0; i < N; i++)
-        {
-            ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step);
-            ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step);
-        }
-    {%- else -%}
-        // time_steps are different
-        double* time_steps = malloc(N*sizeof(double));
-        {%- for j in range(end=dims.N) %}
-        time_steps[{{ j }}] = {{ solver_options.time_steps[j] }};
-        {%- endfor %}
-        {{ model.name }}_acados_update_time_steps(capsule, N, time_steps);
-        free(time_steps);
-    {%- endif %}
-    }
-
-    /**** Dynamics ****/
-    for (int i = 0; i < N; i++)
-    {
-    {%- if solver_options.integrator_type == "ERK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_hess", &capsule->hess_vde_casadi[i]);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "IRK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_fun_jac_x_xdot_z", &capsule->impl_dae_fun_jac_x_xdot_z[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_jac_x_xdot_u", &capsule->impl_dae_jac_x_xdot_u_z[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_hess", &capsule->impl_dae_hess[i]);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_fun_jac_x_xdot_u", &capsule->impl_dae_fun_jac_x_xdot_u[i]);
-    {% elif solver_options.integrator_type == "GNSF" %}
-        {% if model.gnsf.purely_linear != 1 %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun", &capsule->gnsf_phi_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun_jac_y", &capsule->gnsf_phi_fun_jac_y[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_jac_y_uhat", &capsule->gnsf_phi_jac_y_uhat[i]);
-            {% if model.gnsf.nontrivial_f_LO == 1 %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "f_lo_jac_x1_x1dot_u_z",
-                                   &capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]);
-            {%- endif %}
-        {%- endif %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "gnsf_get_matrices_fun",
-                                   &capsule->gnsf_get_matrices_fun[i]);
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun", &capsule->discr_dyn_phi_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac",
-                                   &capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac_hess",
-                                   &capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]);
-        {%- endif %}
-    {%- endif %}
-    }
-
-    /**** Cost ****/
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    double* yref_0 = calloc(NY0, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- if cost.yref_0[j] != 0 %}
-    yref_0[{{ j }}] = {{ cost.yref_0[j] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0);
-    free(yref_0);
-{%- endif %}
-
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    double* yref = calloc(NY, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- if cost.yref[j] != 0 %}
-    yref[{{ j }}] = {{ cost.yref[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref);
-    }
-    free(yref);
-{%- endif %}
-
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    double* yref_e = calloc(NYN, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_e) %}
-        {%- if cost.yref_e[j] != 0 %}
-    yref_e[{{ j }}] = {{ cost.yref_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e);
-    free(yref_e);
-{%- endif %}
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %}
-   double* W_0 = calloc(NY0*NY0, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.ny_0) %}
-            {%- if cost.W_0[j][k] != 0 %}
-    W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0);
-    free(W_0);
-{%- endif %}
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %}
-    double* W = calloc(NY*NY, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.ny) %}
-            {%- if cost.W[j][k] != 0 %}
-    W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W);
-    }
-    free(W);
-{%- endif %}
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %}
-    double* W_e = calloc(NYN*NYN, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_e) %}
-        {%- for k in range(end=dims.ny_e) %}
-            {%- if cost.W_e[j][k] != 0 %}
-    W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e);
-    free(W_e);
-{%- endif %}
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "LINEAR_LS" %}
-    double* Vx_0 = calloc(NY0*NX, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx_0[j][k] != 0 %}
-    Vx_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vx_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vx", Vx_0);
-    free(Vx_0);
-
-    {%- if dims.nu > 0 %}
-    double* Vu_0 = calloc(NY0*NU, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nu) %}
-            {%- if cost.Vu_0[j][k] != 0 %}
-    Vu_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vu_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vu", Vu_0);
-    free(Vu_0);
-    {%- endif %}
-
-    {%- if dims.nz > 0 %}
-    double* Vz_0 = calloc(NY0*NZ, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nz) %}
-            {%- if cost.Vz_0[j][k] != 0 %}
-    Vz_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vz_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vz", Vz_0);
-    free(Vz_0);
-    {%- endif %}
-{%- endif %}
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "LINEAR_LS" %}
-    double* Vx = calloc(NY*NX, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx[j][k] != 0 %}
-    Vx[{{ j }}+(NY) * {{ k }}] = {{ cost.Vx[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vx", Vx);
-    }
-    free(Vx);
-
-    {% if dims.nu > 0 %}
-    double* Vu = calloc(NY*NU, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nu) %}
-            {%- if cost.Vu[j][k] != 0 %}
-    Vu[{{ j }}+(NY) * {{ k }}] = {{ cost.Vu[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vu", Vu);
-    }
-    free(Vu);
-    {%- endif %}
-
-    {%- if dims.nz > 0 %}
-    double* Vz = calloc(NY*NZ, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nz) %}
-            {%- if cost.Vz[j][k] != 0 %}
-    Vz[{{ j }}+(NY) * {{ k }}] = {{ cost.Vz[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vz", Vz);
-    }
-    free(Vz);
-    {%- endif %}
-{%- endif %}{# LINEAR LS #}
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "LINEAR_LS" %}
-    double* Vx_e = calloc(NYN*NX, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny_e) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx_e[j][k] != 0 %}
-    Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e);
-    free(Vx_e);
-{%- endif %}
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess);
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun", &capsule->conl_cost_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun_jac_hess", &capsule->conl_cost_0_fun_jac_hess);
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun", &capsule->ext_cost_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac", &capsule->ext_cost_0_fun_jac);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac_hess", &capsule->ext_cost_0_fun_jac_hess);
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]);
-    }
-{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun", &capsule->conl_cost_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun_jac_hess", &capsule->conl_cost_fun_jac_hess[i-1]);
-    }
-{%- elif cost.cost_type == "EXTERNAL" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun", &capsule->ext_cost_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac", &capsule->ext_cost_fun_jac[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac_hess", &capsule->ext_cost_fun_jac_hess[i-1]);
-    }
-{%- endif %}
-
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess);
-
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun", &capsule->conl_cost_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun_jac_hess", &capsule->conl_cost_e_fun_jac_hess);
-
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess);
-{%- endif %}
-
-
-{%- if dims.ns > 0 %}
-    // slacks
-    double* zlumem = calloc(4*NS, sizeof(double));
-    double* Zl = zlumem+NS*0;
-    double* Zu = zlumem+NS*1;
-    double* zl = zlumem+NS*2;
-    double* zu = zlumem+NS*3;
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.Zl[j] != 0 %}
-    Zl[{{ j }}] = {{ cost.Zl[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.Zu[j] != 0 %}
-    Zu[{{ j }}] = {{ cost.Zu[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.zl[j] != 0 %}
-    zl[{{ j }}] = {{ cost.zl[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.zu[j] != 0 %}
-    zu[{{ j }}] = {{ cost.zu[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu);
-    }
-    free(zlumem);
-{%- endif %}
-
-{% if dims.ns_e > 0 %}
-    // slacks terminal
-    double* zluemem = calloc(4*NSN, sizeof(double));
-    double* Zl_e = zluemem+NSN*0;
-    double* Zu_e = zluemem+NSN*1;
-    double* zl_e = zluemem+NSN*2;
-    double* zu_e = zluemem+NSN*3;
-
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.Zl_e[j] != 0 %}
-    Zl_e[{{ j }}] = {{ cost.Zl_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.Zu_e[j] != 0 %}
-    Zu_e[{{ j }}] = {{ cost.Zu_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.zl_e[j] != 0 %}
-    zl_e[{{ j }}] = {{ cost.zl_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.zu_e[j] != 0 %}
-    zu_e[{{ j }}] = {{ cost.zu_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zl", Zl_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zu", Zu_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zl", zl_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zu", zu_e);
-    free(zluemem);
-{%- endif %}
-
-    /**** Constraints ****/
-
-    // bounds for initial stage
-{%- if dims.nbx_0 > 0 %}
-    // x0
-    int* idxbx0 = malloc(NBX0 * sizeof(int));
-    {%- for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double* lubx0 = calloc(2*NBX0, sizeof(double));
-    double* lbx0 = lubx0;
-    double* ubx0 = lubx0 + NBX0;
-    // change only the non-zero elements:
-    {%- for i in range(end=dims.nbx_0) %}
-        {%- if constraints.lbx_0[i] != 0 %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-        {%- endif %}
-        {%- if constraints.ubx_0[i] != 0 %}
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-    free(idxbx0);
-    free(lubx0);
-{%- endif %}
-
-{%- if dims.nbxe_0 > 0 %}
-    // idxbxe_0
-    int* idxbxe_0 = malloc({{ dims.nbxe_0 }} * sizeof(int));
-    {% for i in range(end=dims.nbxe_0) %}
-    idxbxe_0[{{ i }}] = {{ constraints.idxbxe_0[i] }};
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0);
-    free(idxbxe_0);
-{%- endif %}
-
-    /* constraints that are the same for initial and intermediate */
-{%- if dims.nsbx > 0 %}
-{# TODO: introduce nsbx0 & move this block down!! #}
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxsbx", idxsbx);
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lsbx", lsbx);
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "usbx", usbx);
-
-    // soft bounds on x
-    int* idxsbx = malloc(NSBX * sizeof(int));
-    {%- for i in range(end=dims.nsbx) %}
-    idxsbx[{{ i }}] = {{ constraints.idxsbx[i] }};
-    {%- endfor %}
-
-    double* lusbx = calloc(2*NSBX, sizeof(double));
-    double* lsbx = lusbx;
-    double* usbx = lusbx + NSBX;
-    {%- for i in range(end=dims.nsbx) %}
-        {%- if constraints.lsbx[i] != 0 %}
-    lsbx[{{ i }}] = {{ constraints.lsbx[i] }};
-        {%- endif %}
-        {%- if constraints.usbx[i] != 0 %}
-    usbx[{{ i }}] = {{ constraints.usbx[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbx", idxsbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbx", lsbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbx", usbx);
-    }
-    free(idxsbx);
-    free(lusbx);
-{%- endif %}
-
-
-{%- if dims.nbu > 0 %}
-    // u
-    int* idxbu = malloc(NBU * sizeof(int));
-    {% for i in range(end=dims.nbu) %}
-    idxbu[{{ i }}] = {{ constraints.idxbu[i] }};
-    {%- endfor %}
-    double* lubu = calloc(2*NBU, sizeof(double));
-    double* lbu = lubu;
-    double* ubu = lubu + NBU;
-    {% for i in range(end=dims.nbu) %}
-        {%- if constraints.lbu[i] != 0 %}
-    lbu[{{ i }}] = {{ constraints.lbu[i] }};
-        {%- endif %}
-        {%- if constraints.ubu[i] != 0 %}
-    ubu[{{ i }}] = {{ constraints.ubu[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbu", idxbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbu", lbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubu", ubu);
-    }
-    free(idxbu);
-    free(lubu);
-{%- endif %}
-
-{%- if dims.nsbu > 0 %}
-    // set up soft bounds for u
-    int* idxsbu = malloc(NSBU * sizeof(int));
-    {% for i in range(end=dims.nsbu) %}
-    idxsbu[{{ i }}] = {{ constraints.idxsbu[i] }};
-    {%- endfor %}
-    double* lusbu = calloc(2*NSBU, sizeof(double));
-    double* lsbu = lusbu;
-    double* usbu = lusbu + NSBU;
-    {% for i in range(end=dims.nsbu) %}
-        {%- if constraints.lsbu[i] != 0 %}
-    lsbu[{{ i }}] = {{ constraints.lsbu[i] }};
-        {%- endif %}
-        {%- if constraints.usbu[i] != 0 %}
-    usbu[{{ i }}] = {{ constraints.usbu[i] }};
-        {%- endif %}
-    {%- endfor %}
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbu", idxsbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbu", lsbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbu", usbu);
-    }
-    free(idxsbu);
-    free(lusbu);
-{%- endif %}
-
-{% if dims.nsg > 0 %}
-    // set up soft bounds for general linear constraints
-    int* idxsg = malloc(NSG * sizeof(int));
-    {% for i in range(end=dims.nsg) %}
-    idxsg[{{ i }}] = {{ constraints.idxsg[i] }};
-    {%- endfor %}
-    double* lusg = calloc(2*NSG, sizeof(double));
-    double* lsg = lusg;
-    double* usg = lusg + NSG;
-    {% for i in range(end=dims.nsg) %}
-        {%- if constraints.lsg[i] != 0 %}
-    lsg[{{ i }}] = {{ constraints.lsg[i] }};
-        {%- endif %}
-        {%- if constraints.usg[i] != 0 %}
-    usg[{{ i }}] = {{ constraints.usg[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsg", idxsg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsg", lsg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usg", usg);
-    }
-    free(idxsg);
-    free(lusg);
-{%- endif %}
-
-{% if dims.nsh > 0 %}
-    // set up soft bounds for nonlinear constraints
-    int* idxsh = malloc(NSH * sizeof(int));
-    {% for i in range(end=dims.nsh) %}
-    idxsh[{{ i }}] = {{ constraints.idxsh[i] }};
-    {%- endfor %}
-    double* lush = calloc(2*NSH, sizeof(double));
-    double* lsh = lush;
-    double* ush = lush + NSH;
-    {% for i in range(end=dims.nsh) %}
-        {%- if constraints.lsh[i] != 0 %}
-    lsh[{{ i }}] = {{ constraints.lsh[i] }};
-        {%- endif %}
-        {%- if constraints.ush[i] != 0 %}
-    ush[{{ i }}] = {{ constraints.ush[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush);
-    }
-    free(idxsh);
-    free(lush);
-{%- endif %}
-
-{% if dims.nsphi > 0 %}
-    // set up soft bounds for convex-over-nonlinear constraints
-    int* idxsphi = malloc(NSPHI * sizeof(int));
-    {% for i in range(end=dims.nsphi) %}
-    idxsphi[{{ i }}] = {{ constraints.idxsphi[i] }};
-    {%- endfor %}
-    double* lusphi = calloc(2*NSPHI, sizeof(double));
-    double* lsphi = lusphi;
-    double* usphi = lusphi + NSPHI;
-    {% for i in range(end=dims.nsphi) %}
-        {%- if constraints.lsphi[i] != 0 %}
-    lsphi[{{ i }}] = {{ constraints.lsphi[i] }};
-        {%- endif %}
-        {%- if constraints.usphi[i] != 0 %}
-    usphi[{{ i }}] = {{ constraints.usphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsphi", idxsphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsphi", lsphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usphi", usphi);
-    }
-    free(idxsphi);
-    free(lusphi);
-{%- endif %}
-
-{% if dims.nbx > 0 %}
-    // x
-    int* idxbx = malloc(NBX * sizeof(int));
-    {% for i in range(end=dims.nbx) %}
-    idxbx[{{ i }}] = {{ constraints.idxbx[i] }};
-    {%- endfor %}
-    double* lubx = calloc(2*NBX, sizeof(double));
-    double* lbx = lubx;
-    double* ubx = lubx + NBX;
-    {% for i in range(end=dims.nbx) %}
-        {%- if constraints.lbx[i] != 0 %}
-    lbx[{{ i }}] = {{ constraints.lbx[i] }};
-        {%- endif %}
-        {%- if constraints.ubx[i] != 0 %}
-    ubx[{{ i }}] = {{ constraints.ubx[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx);
-    }
-    free(idxbx);
-    free(lubx);
-{%- endif %}
-
-{% if dims.ng > 0 %}
-    // set up general constraints for stage 0 to N-1
-    double* D = calloc(NG*NU, sizeof(double));
-    double* C = calloc(NG*NX, sizeof(double));
-    double* lug = calloc(2*NG, sizeof(double));
-    double* lg = lug;
-    double* ug = lug + NG;
-
-    {% for j in range(end=dims.ng) -%}
-        {% for k in range(end=dims.nu) %}
-            {%- if constraints.D[j][k] != 0 %}
-    D[{{ j }}+NG * {{ k }}] = {{ constraints.D[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ng) -%}
-        {% for k in range(end=dims.nx) %}
-            {%- if constraints.C[j][k] != 0 %}
-    C[{{ j }}+NG * {{ k }}] = {{ constraints.C[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng) %}
-        {%- if constraints.lg[i] != 0 %}
-    lg[{{ i }}] = {{ constraints.lg[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng) %}
-        {%- if constraints.ug[i] != 0 %}
-    ug[{{ i }}] = {{ constraints.ug[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "D", D);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "C", C);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lg", lg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ug", ug);
-    }
-    free(D);
-    free(C);
-    free(lug);
-{%- endif %}
-
-{% if dims.nh > 0 %}
-    // set up nonlinear constraints for stage 0 to N-1
-    double* luh = calloc(2*NH, sizeof(double));
-    double* lh = luh;
-    double* uh = luh + NH;
-
-    {% for i in range(end=dims.nh) %}
-        {%- if constraints.lh[i] != 0 %}
-    lh[{{ i }}] = {{ constraints.lh[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nh) %}
-        {%- if constraints.uh[i] != 0 %}
-    uh[{{ i }}] = {{ constraints.uh[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        // nonlinear constraints for stages 0 to N-1
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac",
-                                      &capsule->nl_constr_h_fun_jac[i]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun",
-                                      &capsule->nl_constr_h_fun[i]);
-        {% if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                      "nl_constr_h_fun_jac_hess", &capsule->nl_constr_h_fun_jac_hess[i]);
-        {% endif %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh);
-    }
-    free(luh);
-{%- endif %}
-
-{% if dims.nphi > 0 and constraints.constr_type == "BGP" %}
-    // set up convex-over-nonlinear constraints for stage 0 to N-1
-    double* luphi = calloc(2*NPHI, sizeof(double));
-    double* lphi = luphi;
-    double* uphi = luphi + NPHI;
-    {% for i in range(end=dims.nphi) %}
-        {%- if constraints.lphi[i] != 0 %}
-    lphi[{{ i }}] = {{ constraints.lphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nphi) %}
-        {%- if constraints.uphi[i] != 0 %}
-    uphi[{{ i }}] = {{ constraints.uphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                      "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_constraint[i]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lphi", lphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uphi", uphi);
-    }
-    free(luphi);
-{%- endif %}
-
-    /* terminal constraints */
-{% if dims.nbx_e > 0 %}
-    // set up bounds for last stage
-    // x
-    int* idxbx_e = malloc(NBXN * sizeof(int));
-    {% for i in range(end=dims.nbx_e) %}
-    idxbx_e[{{ i }}] = {{ constraints.idxbx_e[i] }};
-    {%- endfor %}
-    double* lubx_e = calloc(2*NBXN, sizeof(double));
-    double* lbx_e = lubx_e;
-    double* ubx_e = lubx_e + NBXN;
-    {% for i in range(end=dims.nbx_e) %}
-        {%- if constraints.lbx_e[i] != 0 %}
-    lbx_e[{{ i }}] = {{ constraints.lbx_e[i] }};
-        {%- endif %}
-        {%- if constraints.ubx_e[i] != 0 %}
-    ubx_e[{{ i }}] = {{ constraints.ubx_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxbx", idxbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", lbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", ubx_e);
-    free(idxbx_e);
-    free(lubx_e);
-{%- endif %}
-
-{% if dims.nsg_e > 0 %}
-    // set up soft bounds for general linear constraints
-    int* idxsg_e = calloc(NSGN, sizeof(int));
-    {% for i in range(end=dims.nsg_e) %}
-    idxsg_e[{{ i }}] = {{ constraints.idxsg_e[i] }};
-    {%- endfor %}
-    double* lusg_e = calloc(2*NSGN, sizeof(double));
-    double* lsg_e = lusg_e;
-    double* usg_e = lusg_e + NSGN;
-    {% for i in range(end=dims.nsg_e) %}
-        {%- if constraints.lsg_e[i] != 0 %}
-    lsg_e[{{ i }}] = {{ constraints.lsg_e[i] }};
-        {%- endif %}
-        {%- if constraints.usg_e[i] != 0 %}
-    usg_e[{{ i }}] = {{ constraints.usg_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsg", idxsg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsg", lsg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usg", usg_e);
-    free(idxsg_e);
-    free(lusg_e);
-{%- endif %}
-
-{% if dims.nsh_e > 0 %}
-    // set up soft bounds for nonlinear constraints
-    int* idxsh_e = malloc(NSHN * sizeof(int));
-    {% for i in range(end=dims.nsh_e) %}
-    idxsh_e[{{ i }}] = {{ constraints.idxsh_e[i] }};
-    {%- endfor %}
-    double* lush_e = calloc(2*NSHN, sizeof(double));
-    double* lsh_e = lush_e;
-    double* ush_e = lush_e + NSHN;
-    {% for i in range(end=dims.nsh_e) %}
-        {%- if constraints.lsh_e[i] != 0 %}
-    lsh_e[{{ i }}] = {{ constraints.lsh_e[i] }};
-        {%- endif %}
-        {%- if constraints.ush_e[i] != 0 %}
-    ush_e[{{ i }}] = {{ constraints.ush_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsh", idxsh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsh", lsh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ush", ush_e);
-    free(idxsh_e);
-    free(lush_e);
-{%- endif %}
-
-{% if dims.nsphi_e > 0 %}
-    // set up soft bounds for convex-over-nonlinear constraints
-    int* idxsphi_e = malloc(NSPHIN * sizeof(int));
-    {% for i in range(end=dims.nsphi_e) %}
-    idxsphi_e[{{ i }}] = {{ constraints.idxsphi_e[i] }};
-    {%- endfor %}
-    double* lusphi_e = calloc(2*NSPHIN, sizeof(double));
-    double* lsphi_e = lusphi_e;
-    double* usphi_e = lusphi_e + NSPHIN;
-    {% for i in range(end=dims.nsphi_e) %}
-        {%- if constraints.lsphi_e[i] != 0 %}
-    lsphi_e[{{ i }}] = {{ constraints.lsphi_e[i] }};
-        {%- endif %}
-        {%- if constraints.usphi_e[i] != 0 %}
-    usphi_e[{{ i }}] = {{ constraints.usphi_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsphi", idxsphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsphi", lsphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usphi", usphi_e);
-    free(idxsphi_e);
-    free(lusphi_e);
-{%- endif %}
-
-{% if dims.nsbx_e > 0 %}
-    // soft bounds on x
-    int* idxsbx_e = malloc(NSBXN * sizeof(int));
-    {% for i in range(end=dims.nsbx_e) %}
-    idxsbx_e[{{ i }}] = {{ constraints.idxsbx_e[i] }};
-    {%- endfor %}
-    double* lusbx_e = calloc(2*NSBXN, sizeof(double));
-    double* lsbx_e = lusbx_e;
-    double* usbx_e = lusbx_e + NSBXN;
-    {% for i in range(end=dims.nsbx_e) %}
-        {%- if constraints.lsbx_e[i] != 0 %}
-    lsbx_e[{{ i }}] = {{ constraints.lsbx_e[i] }};
-        {%- endif %}
-        {%- if constraints.usbx_e[i] != 0 %}
-    usbx_e[{{ i }}] = {{ constraints.usbx_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsbx", idxsbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsbx", lsbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usbx", usbx_e);
-    free(idxsbx_e);
-    free(lusbx_e);
-{% endif %}
-
-{% if dims.ng_e > 0 %}
-    // set up general constraints for last stage
-    double* C_e = calloc(NGN*NX, sizeof(double));
-    double* lug_e = calloc(2*NGN, sizeof(double));
-    double* lg_e = lug_e;
-    double* ug_e = lug_e + NGN;
-
-    {% for j in range(end=dims.ng_e) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if constraints.C_e[j][k] != 0 %}
-    C_e[{{ j }}+NGN * {{ k }}] = {{ constraints.C_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng_e) %}
-        {%- if constraints.lg_e[i] != 0 %}
-    lg_e[{{ i }}] = {{ constraints.lg_e[i] }};
-        {%- endif %}
-        {%- if constraints.ug_e[i] != 0 %}
-    ug_e[{{ i }}] = {{ constraints.ug_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "C", C_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", lg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", ug_e);
-    free(C_e);
-    free(lug_e);
-{%- endif %}
-
-{% if dims.nh_e > 0 %}
-    // set up nonlinear constraints for last stage
-    double* luh_e = calloc(2*NHN, sizeof(double));
-    double* lh_e = luh_e;
-    double* uh_e = luh_e + NHN;
-    {% for i in range(end=dims.nh_e) %}
-        {%- if constraints.lh_e[i] != 0 %}
-    lh_e[{{ i }}] = {{ constraints.lh_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nh_e) %}
-        {%- if constraints.uh_e[i] != 0 %}
-    uh_e[{{ i }}] = {{ constraints.uh_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac", &capsule->nl_constr_h_e_fun_jac);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun", &capsule->nl_constr_h_e_fun);
-    {% if solver_options.hessian_approx == "EXACT" %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac_hess",
-                                  &capsule->nl_constr_h_e_fun_jac_hess);
-    {% endif %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", lh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", uh_e);
-    free(luh_e);
-{%- endif %}
-
-{% if dims.nphi_e > 0 and constraints.constr_type_e == "BGP" %}
-    // set up convex-over-nonlinear constraints for last stage
-    double* luphi_e = calloc(2*NPHIN, sizeof(double));
-    double* lphi_e = luphi_e;
-    double* uphi_e = luphi_e + NPHIN;
-    {% for i in range(end=dims.nphi_e) %}
-        {%- if constraints.lphi_e[i] != 0 %}
-    lphi_e[{{ i }}] = {{ constraints.lphi_e[i] }};
-        {%- endif %}
-        {%- if constraints.uphi_e[i] != 0 %}
-    uphi_e[{{ i }}] = {{ constraints.uphi_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lphi", lphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uphi", uphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N,
-                                  "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_e_constraint);
-    free(luphi_e);
-{% endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 6
- */
-void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    void *nlp_opts = capsule->nlp_opts;
-
-    /************************************************
-    *  opts
-    ************************************************/
-
-{% if solver_options.hessian_approx == "EXACT" %}
-    int nlp_solver_exact_hessian = 1;
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian);
-
-    int exact_hess_dyn = {{ solver_options.exact_hess_dyn }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_dyn", &exact_hess_dyn);
-
-    int exact_hess_cost = {{ solver_options.exact_hess_cost }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_cost", &exact_hess_cost);
-
-    int exact_hess_constr = {{ solver_options.exact_hess_constr }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_constr", &exact_hess_constr);
-{%- endif -%}
-
-{%- if solver_options.globalization == "FIXED_STEP" %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");
-{%- elif solver_options.globalization == "MERIT_BACKTRACKING" %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "merit_backtracking");
-
-    double alpha_min = {{ solver_options.alpha_min }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_min", &alpha_min);
-
-    double alpha_reduction = {{ solver_options.alpha_reduction }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_reduction", &alpha_reduction);
-
-    int line_search_use_sufficient_descent = {{ solver_options.line_search_use_sufficient_descent }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "line_search_use_sufficient_descent", &line_search_use_sufficient_descent);
-
-    int globalization_use_SOC = {{ solver_options.globalization_use_SOC }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "globalization_use_SOC", &globalization_use_SOC);
-
-    double eps_sufficient_descent = {{ solver_options.eps_sufficient_descent }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "eps_sufficient_descent", &eps_sufficient_descent);
-{%- endif -%}
-    int full_step_dual = {{ solver_options.full_step_dual }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual);
-
-{%- if dims.nz > 0 %}
-    // TODO: these options are lower level -> should be encapsulated! maybe through hessian approx option.
-    bool output_z_val = true;
-    bool sens_algebraic_val = true;
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_output_z", &output_z_val);
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_sens_algebraic", &sens_algebraic_val);
-{%- endif %}
-
-{%- if solver_options.integrator_type != "DISCRETE" %}
-
-    // set collocation type (relevant for implicit integrators)
-    sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type);
-
-    // set up sim_method_num_steps
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_num_steps[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_num_steps[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-    {%- if all_equal == true %}
-    // all sim_method_num_steps are identical
-    int sim_method_num_steps = {{ solver_options.sim_method_num_steps[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps);
-    {%- else %}
-    // sim_method_num_steps are different
-    int* sim_method_num_steps = malloc(N*sizeof(int));
-    {%- for j in range(end=dims.N) %}
-    sim_method_num_steps[{{ j }}] = {{ solver_options.sim_method_num_steps[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps[i]);
-    free(sim_method_num_steps);
-    {%- endif %}
-
-    // set up sim_method_num_stages
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_num_stages[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_num_stages[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-  {%- if all_equal == true %}
-    // all sim_method_num_stages are identical
-    int sim_method_num_stages = {{ solver_options.sim_method_num_stages[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages);
-  {%- else %}
-    int* sim_method_num_stages = malloc(N*sizeof(int));
-    {%- for j in range(end=dims.N) %}
-    sim_method_num_stages[{{ j }}] = {{ solver_options.sim_method_num_stages[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages[i]);
-    free(sim_method_num_stages);
-  {%- endif %}
-
-    int newton_iter_val = {{ solver_options.sim_method_newton_iter }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val);
-
-
-    // set up sim_method_jac_reuse
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_jac_reuse[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_jac_reuse[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-  {%- if all_equal == true %}
-    bool tmp_bool = (bool) {{ solver_options.sim_method_jac_reuse[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool);
-  {%- else %}
-    bool* sim_method_jac_reuse = malloc(N*sizeof(bool));
-    {%- for j in range(end=dims.N) %}
-    sim_method_jac_reuse[{{ j }}] = (bool){{ solver_options.sim_method_jac_reuse[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &sim_method_jac_reuse[i]);
-    free(sim_method_jac_reuse);
-  {%- endif %}
-
-{%- endif %}
-
-    double nlp_solver_step_length = {{ solver_options.nlp_solver_step_length }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length);
-
-    {%- if solver_options.nlp_solver_warm_start_first_qp %}
-    int nlp_solver_warm_start_first_qp = {{ solver_options.nlp_solver_warm_start_first_qp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "warm_start_first_qp", &nlp_solver_warm_start_first_qp);
-    {%- endif %}
-
-    double levenberg_marquardt = {{ solver_options.levenberg_marquardt }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt);
-
-    /* options QP solver */
-{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %}
-    int qp_solver_cond_N;
-
-    {% if solver_options.qp_solver_cond_N -%}
-    const int qp_solver_cond_N_ori = {{ solver_options.qp_solver_cond_N }};
-    qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here
-    {%- else %}
-    // NOTE: there is no condensing happening here!
-    qp_solver_cond_N = N;
-    {%- endif %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N);
-{%- endif %}
-
-    int nlp_solver_ext_qp_res = {{ solver_options.nlp_solver_ext_qp_res }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res);
-
-{%- if solver_options.qp_solver is containing("HPIPM") %}
-    // set HPIPM mode: should be done before setting other QP solver options
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "{{ solver_options.hpipm_mode }}");
-{%- endif %}
-
-{% if solver_options.nlp_solver_type == "SQP" %}
-    // set SQP specific options
-    double nlp_solver_tol_stat = {{ solver_options.nlp_solver_tol_stat }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_stat", &nlp_solver_tol_stat);
-
-    double nlp_solver_tol_eq = {{ solver_options.nlp_solver_tol_eq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_eq", &nlp_solver_tol_eq);
-
-    double nlp_solver_tol_ineq = {{ solver_options.nlp_solver_tol_ineq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_ineq", &nlp_solver_tol_ineq);
-
-    double nlp_solver_tol_comp = {{ solver_options.nlp_solver_tol_comp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_comp", &nlp_solver_tol_comp);
-
-    int nlp_solver_max_iter = {{ solver_options.nlp_solver_max_iter }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "max_iter", &nlp_solver_max_iter);
-
-    int initialize_t_slacks = {{ solver_options.initialize_t_slacks }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "initialize_t_slacks", &initialize_t_slacks);
-{%- endif %}
-
-    int qp_solver_iter_max = {{ solver_options.qp_solver_iter_max }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max);
-
-{# NOTE: qp_solver tolerances must be set after NLP ones, since the setter for NLP tolerances sets the QP tolerances to the sam values. #}
-    {%- if solver_options.qp_solver_tol_stat %}
-    double qp_solver_tol_stat = {{ solver_options.qp_solver_tol_stat }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_eq %}
-    double qp_solver_tol_eq = {{ solver_options.qp_solver_tol_eq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_ineq %}
-    double qp_solver_tol_ineq = {{ solver_options.qp_solver_tol_ineq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_comp %}
-    double qp_solver_tol_comp = {{ solver_options.qp_solver_tol_comp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_warm_start %}
-    int qp_solver_warm_start = {{ solver_options.qp_solver_warm_start }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_warm_start", &qp_solver_warm_start);
-    {%- endif -%}
-
-    int print_level = {{ solver_options.print_level }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level);
-
-{%- if solver_options.qp_solver is containing('PARTIAL_CONDENSING') %}
-    int qp_solver_cond_ric_alg = {{ solver_options.qp_solver_cond_ric_alg }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg);
-{% endif %}
-
-{%- if solver_options.qp_solver  == 'PARTIAL_CONDENSING_HPIPM' %}
-    int qp_solver_ric_alg = {{ solver_options.qp_solver_ric_alg }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg);
-{% endif %}
-
-    int ext_cost_num_hess = {{ solver_options.ext_cost_num_hess }};
-{%- if cost.cost_type == "EXTERNAL" %}
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "cost_numerical_hessian", &ext_cost_num_hess);
-    }
-{%- endif %}
-{%- if cost.cost_type_e == "EXTERNAL" %}
-    ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, N, "cost_numerical_hessian", &ext_cost_num_hess);
-{%- endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 7
- */
-void {{ model.name }}_acados_create_7_set_nlp_out({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-    ocp_nlp_out* nlp_out = capsule->nlp_out;
-
-    // initialize primal solution
-    double* xu0 = calloc(NX+NU, sizeof(double));
-    double* x0 = xu0;
-{% if dims.nbx_0 == dims.nx %}
-    // initialize with x0
-    {% for item in constraints.lbx_0 %}
-        {%- if item != 0 %}
-    x0[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-{% else %}
-    // initialize with zeros
-{%- endif %}
-
-    double* u0 = xu0 + NX;
-
-    for (int i = 0; i < N; i++)
-    {
-        // x0
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0);
-        // u0
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-    }
-    ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0);
-    free(xu0);
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 8
- */
-//void {{ model.name }}_acados_create_8_create_solver({{ model.name }}_solver_capsule* capsule)
-//{
-//    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-//}
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 9
- */
-int {{ model.name }}_acados_create_9_precompute({{ model.name }}_solver_capsule* capsule) {
-    int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
-
-    if (status != ACADOS_SUCCESS) {
-        printf("\nocp_nlp_precompute failed!\n\n");
-        exit(1);
-    }
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps)
-{
-    // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given.
-    if (N != {{ model.name | upper }}_N && !new_time_steps) {
-        fprintf(stderr, "{{ model.name }}_acados_create_with_discretization: new_time_steps is NULL " \
-            "but the number of shooting intervals (= %d) differs from the number of " \
-            "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \
-             N, {{ model.name | upper }}_N);
-        return 1;
-    }
-
-    // number of expected runtime parameters
-    capsule->nlp_np = NP;
-
-    // 1) create and set nlp_solver_plan; create nlp_config
-    capsule->nlp_solver_plan = ocp_nlp_plan_create(N);
-    {{ model.name }}_acados_create_1_set_plan(capsule->nlp_solver_plan, N);
-    capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan);
-
-    // 3) create and set dimensions
-    capsule->nlp_dims = {{ model.name }}_acados_create_2_create_and_set_dimensions(capsule);
-    {{ model.name }}_acados_create_3_create_and_set_functions(capsule);
-
-    // 4) set default parameters in functions
-    {{ model.name }}_acados_create_4_set_default_parameters(capsule);
-
-    // 5) create and set nlp_in
-    capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_5_set_nlp_in(capsule, N, new_time_steps);
-
-    // 6) create and set nlp_opts
-    capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_6_set_opts(capsule);
-
-    // 7) create and set nlp_out
-    // 7.1) nlp_out
-    capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims);
-    // 7.2) sens_out
-    capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_7_set_nlp_out(capsule);
-
-    // 8) create solver
-    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-    //{{ model.name }}_acados_create_8_create_solver(capsule);
-
-    // 9) do precomputations
-    int status = {{ model.name }}_acados_create_9_precompute(capsule);
-
-    {%- if custom_update_filename != "" %}
-    // Initialize custom update function
-    custom_update_init_function(capsule);
-    {%- endif %}
-
-    return status;
-}
-
-/**
- * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export.
- */
-int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule* capsule, int qp_solver_cond_N)
-{
-{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %}
-    // 1) destroy solver
-    ocp_nlp_solver_destroy(capsule->nlp_solver);
-
-    // 2) set new value for "qp_cond_N"
-    const int N = capsule->nlp_solver_plan->N;
-    if(qp_solver_cond_N > N)
-        printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N);
-    ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N);
-
-    // 3) continue with the remaining steps from {{ model.name }}_acados_create_with_discretization(...):
-    // -> 8) create solver
-    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-
-    // -> 9) do precomputations
-    int status = {{ model.name }}_acados_create_9_precompute(capsule);
-    return status;
-{%- else %}
-    printf("\nacados_update_qp_solver_cond_N() failed, since no partial condensing solver is used!\n\n");
-    // Todo: what is an adequate behavior here?
-    exit(1);
-    return -1;
-{%- endif %}
-}
-
-
-int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem)
-{
-
-    // set initialization to all zeros
-{# TODO: use guess values / initial state value from json instead?! #}
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-    ocp_nlp_out* nlp_out = capsule->nlp_out;
-    ocp_nlp_in* nlp_in = capsule->nlp_in;
-    ocp_nlp_solver* nlp_solver = capsule->nlp_solver;
-
-    double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double));
-
-    for(int i=0; i<N+1; i++)
-    {
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "sl", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "su", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "lam", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "t", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "z", buffer);
-        if (i<N)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "pi", buffer);
-        {%- if solver_options.integrator_type == "IRK" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "xdot_guess", buffer);
-            ocp_nlp_set(nlp_config, nlp_solver, i, "z_guess", buffer);
-        {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "xdot_guess", buffer);
-        {% elif solver_options.integrator_type == "GNSF" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "gnsf_phi_guess", buffer);
-        {%- endif %}
-        }
-    }
-
-{%- if solver_options.qp_solver == 'PARTIAL_CONDENSING_HPIPM' %}
-    // get qp_status: if NaN -> reset memory
-    int qp_status;
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status);
-    if (reset_qp_solver_mem || (qp_status == 3))
-    {
-        // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status);
-        ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out);
-    }
-{%- endif %}
-
-    free(buffer);
-    return 0;
-}
-
-
-
-
-int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsule, int stage, double *p, int np)
-{
-    int solver_status = 0;
-
-    int casadi_np = {{ dims.np }};
-    if (casadi_np != np) {
-        printf("acados_update_params: trying to set %i parameters for external functions."
-            " External function has %i parameters. Exiting.\n", np, casadi_np);
-        exit(1);
-    }
-
-    const int N = capsule->nlp_solver_plan->N;
-    if (stage < N && stage >= 0)
-    {
-    {%- if solver_options.integrator_type == "IRK" %}
-        capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
-        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_z+stage, p);
-        capsule->impl_dae_jac_x_xdot_u_z[stage].set_param(capsule->impl_dae_jac_x_xdot_u_z+stage, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->impl_dae_hess[stage].set_param(capsule->impl_dae_hess+stage, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
-        capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_u+stage, p);
-    {% elif solver_options.integrator_type == "ERK" %}
-        capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p);
-        capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->hess_vde_casadi[stage].set_param(capsule->hess_vde_casadi+stage, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-        capsule->gnsf_phi_fun[stage].set_param(capsule->gnsf_phi_fun+stage, p);
-        capsule->gnsf_phi_fun_jac_y[stage].set_param(capsule->gnsf_phi_fun_jac_y+stage, p);
-        capsule->gnsf_phi_jac_y_uhat[stage].set_param(capsule->gnsf_phi_jac_y_uhat+stage, p);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-            capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, p);
-        {%- endif %}
-    {%- endif %}
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        capsule->discr_dyn_phi_fun[stage].set_param(capsule->discr_dyn_phi_fun+stage, p);
-        capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, p);
-    {% endif %}
-    {%- endif %}{# integrator_type #}
-
-        // constraints
-    {% if constraints.constr_type == "BGP" %}
-        capsule->phi_constraint[stage].set_param(capsule->phi_constraint+stage, p);
-    {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-        capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p);
-        capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_fun_jac_hess[stage].set_param(capsule->nl_constr_h_fun_jac_hess+stage, p);
-    {%- endif %}
-    {%- endif %}
-
-        // cost
-        if (stage == 0)
-        {
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p);
-            capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p);
-            capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p);
-        {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_0_fun.set_param(&capsule->conl_cost_0_fun, p);
-            capsule->conl_cost_0_fun_jac_hess.set_param(&capsule->conl_cost_0_fun_jac_hess, p);
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            capsule->ext_cost_0_fun.set_param(&capsule->ext_cost_0_fun, p);
-            capsule->ext_cost_0_fun_jac.set_param(&capsule->ext_cost_0_fun_jac, p);
-            capsule->ext_cost_0_fun_jac_hess.set_param(&capsule->ext_cost_0_fun_jac_hess, p);
-        {% endif %}
-        }
-        else // 0 < stage < N
-        {
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p);
-            capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p);
-            capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p);
-        {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_fun[stage-1].set_param(capsule->conl_cost_fun+stage-1, p);
-            capsule->conl_cost_fun_jac_hess[stage-1].set_param(capsule->conl_cost_fun_jac_hess+stage-1, p);
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            capsule->ext_cost_fun[stage-1].set_param(capsule->ext_cost_fun+stage-1, p);
-            capsule->ext_cost_fun_jac[stage-1].set_param(capsule->ext_cost_fun_jac+stage-1, p);
-            capsule->ext_cost_fun_jac_hess[stage-1].set_param(capsule->ext_cost_fun_jac_hess+stage-1, p);
-        {%- endif %}
-        }
-    }
-
-    else // stage == N
-    {
-        // terminal shooting node has no dynamics
-        // cost
-    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-        capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p);
-        capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p);
-        capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p);
-    {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        capsule->conl_cost_e_fun.set_param(&capsule->conl_cost_e_fun, p);
-        capsule->conl_cost_e_fun_jac_hess.set_param(&capsule->conl_cost_e_fun_jac_hess, p);
-    {%- elif cost.cost_type_e == "EXTERNAL" %}
-        capsule->ext_cost_e_fun.set_param(&capsule->ext_cost_e_fun, p);
-        capsule->ext_cost_e_fun_jac.set_param(&capsule->ext_cost_e_fun_jac, p);
-        capsule->ext_cost_e_fun_jac_hess.set_param(&capsule->ext_cost_e_fun_jac_hess, p);
-    {% endif %}
-        // constraints
-    {% if constraints.constr_type_e == "BGP" %}
-        capsule->phi_e_constraint.set_param(&capsule->phi_e_constraint, p);
-    {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-        capsule->nl_constr_h_e_fun_jac.set_param(&capsule->nl_constr_h_e_fun_jac, p);
-        capsule->nl_constr_h_e_fun.set_param(&capsule->nl_constr_h_e_fun, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_e_fun_jac_hess.set_param(&capsule->nl_constr_h_e_fun_jac_hess, p);
-    {%- endif %}
-    {% endif %}
-    }
-
-    return solver_status;
-}
-
-
-int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-{
-    int solver_status = 0;
-
-    int casadi_np = {{ dims.np }};
-    if (casadi_np < n_update) {
-        printf("{{ model.name }}_acados_update_params_sparse: trying to set %d parameters for external functions."
-            " External function has %d parameters. Exiting.\n", n_update, casadi_np);
-        exit(1);
-    }
-    // for (int i = 0; i < n_update; i++)
-    // {
-    //     if (idx[i] > casadi_np) {
-    //         printf("{{ model.name }}_acados_update_params_sparse: attempt to set parameters with index %d, while"
-    //             " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np);
-    //         exit(1);
-    //     }
-    //     printf("param %d value %e\n", idx[i], p[i]);
-    // }
-
-{%- if dims.np > 0 %}
-    const int N = capsule->nlp_solver_plan->N;
-    if (stage < N && stage >= 0)
-    {
-    {%- if solver_options.integrator_type == "IRK" %}
-        capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p);
-        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_z+stage, n_update, idx, p);
-        capsule->impl_dae_jac_x_xdot_u_z[stage].set_param_sparse(capsule->impl_dae_jac_x_xdot_u_z+stage, n_update, idx, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->impl_dae_hess[stage].set_param_sparse(capsule->impl_dae_hess+stage, n_update, idx, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p);
-        capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_u+stage, n_update, idx, p);
-    {% elif solver_options.integrator_type == "ERK" %}
-        capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p);
-        capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->hess_vde_casadi[stage].set_param_sparse(capsule->hess_vde_casadi+stage, n_update, idx, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-        capsule->gnsf_phi_fun[stage].set_param_sparse(capsule->gnsf_phi_fun+stage, n_update, idx, p);
-        capsule->gnsf_phi_fun_jac_y[stage].set_param_sparse(capsule->gnsf_phi_fun_jac_y+stage, n_update, idx, p);
-        capsule->gnsf_phi_jac_y_uhat[stage].set_param_sparse(capsule->gnsf_phi_jac_y_uhat+stage, n_update, idx, p);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-            capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param_sparse(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, n_update, idx, p);
-        {%- endif %}
-    {%- endif %}
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        capsule->discr_dyn_phi_fun[stage].set_param_sparse(capsule->discr_dyn_phi_fun+stage, n_update, idx, p);
-        capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, n_update, idx, p);
-    {% endif %}
-    {%- endif %}{# integrator_type #}
-
-        // constraints
-    {% if constraints.constr_type == "BGP" %}
-        capsule->phi_constraint[stage].set_param_sparse(capsule->phi_constraint+stage, n_update, idx, p);
-    {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-        capsule->nl_constr_h_fun_jac[stage].set_param_sparse(capsule->nl_constr_h_fun_jac+stage, n_update, idx, p);
-        capsule->nl_constr_h_fun[stage].set_param_sparse(capsule->nl_constr_h_fun+stage, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_fun_jac_hess[stage].set_param_sparse(capsule->nl_constr_h_fun_jac_hess+stage, n_update, idx, p);
-    {%- endif %}
-    {%- endif %}
-
-        // cost
-        if (stage == 0)
-        {
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p);
-            capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p);
-            capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p);
-        {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_0_fun.set_param_sparse(&capsule->conl_cost_0_fun, n_update, idx, p);
-            capsule->conl_cost_0_fun_jac_hess.set_param_sparse(&capsule->conl_cost_0_fun_jac_hess, n_update, idx, p);
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            capsule->ext_cost_0_fun.set_param_sparse(&capsule->ext_cost_0_fun, n_update, idx, p);
-            capsule->ext_cost_0_fun_jac.set_param_sparse(&capsule->ext_cost_0_fun_jac, n_update, idx, p);
-            capsule->ext_cost_0_fun_jac_hess.set_param_sparse(&capsule->ext_cost_0_fun_jac_hess, n_update, idx, p);
-        {% endif %}
-        }
-        else // 0 < stage < N
-        {
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p);
-            capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p);
-            capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p);
-        {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_fun[stage-1].set_param_sparse(capsule->conl_cost_fun+stage-1, n_update, idx, p);
-            capsule->conl_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->conl_cost_fun_jac_hess+stage-1, n_update, idx, p);
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            capsule->ext_cost_fun[stage-1].set_param_sparse(capsule->ext_cost_fun+stage-1, n_update, idx, p);
-            capsule->ext_cost_fun_jac[stage-1].set_param_sparse(capsule->ext_cost_fun_jac+stage-1, n_update, idx, p);
-            capsule->ext_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->ext_cost_fun_jac_hess+stage-1, n_update, idx, p);
-        {%- endif %}
-        }
-    }
-
-    else // stage == N
-    {
-        // terminal shooting node has no dynamics
-        // cost
-    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-        capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p);
-        capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p);
-        capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p);
-    {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        capsule->conl_cost_e_fun.set_param_sparse(&capsule->conl_cost_e_fun, n_update, idx, p);
-        capsule->conl_cost_e_fun_jac_hess.set_param_sparse(&capsule->conl_cost_e_fun_jac_hess, n_update, idx, p);
-    {%- elif cost.cost_type_e == "EXTERNAL" %}
-        capsule->ext_cost_e_fun.set_param_sparse(&capsule->ext_cost_e_fun, n_update, idx, p);
-        capsule->ext_cost_e_fun_jac.set_param_sparse(&capsule->ext_cost_e_fun_jac, n_update, idx, p);
-        capsule->ext_cost_e_fun_jac_hess.set_param_sparse(&capsule->ext_cost_e_fun_jac_hess, n_update, idx, p);
-    {% endif %}
-        // constraints
-    {% if constraints.constr_type_e == "BGP" %}
-        capsule->phi_e_constraint.set_param_sparse(&capsule->phi_e_constraint, n_update, idx, p);
-    {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-        capsule->nl_constr_h_e_fun_jac.set_param_sparse(&capsule->nl_constr_h_e_fun_jac, n_update, idx, p);
-        capsule->nl_constr_h_e_fun.set_param_sparse(&capsule->nl_constr_h_e_fun, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_e_fun_jac_hess.set_param_sparse(&capsule->nl_constr_h_e_fun_jac_hess, n_update, idx, p);
-    {%- endif %}
-    {% endif %}
-    }
-{% endif %}{# if dims.np #}
-
-    return solver_status;
-}
-
-int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule* capsule)
-{
-    // solve NLP
-    int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
-
-    return solver_status;
-}
-
-
-int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
-{
-    // before destroying, keep some info
-    const int N = capsule->nlp_solver_plan->N;
-    {%- if custom_update_filename != "" %}
-    custom_update_terminate_function(capsule);
-    {%- endif %}
-    // free memory
-    ocp_nlp_solver_opts_destroy(capsule->nlp_opts);
-    ocp_nlp_in_destroy(capsule->nlp_in);
-    ocp_nlp_out_destroy(capsule->nlp_out);
-    ocp_nlp_out_destroy(capsule->sens_out);
-    ocp_nlp_solver_destroy(capsule->nlp_solver);
-    ocp_nlp_dims_destroy(capsule->nlp_dims);
-    ocp_nlp_config_destroy(capsule->nlp_config);
-    ocp_nlp_plan_destroy(capsule->nlp_solver_plan);
-
-    /* free external function */
-    // dynamics
-{%- if solver_options.integrator_type == "IRK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_jac_x_xdot_u_z[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_hess[i]);
-    {%- endif %}
-    }
-    free(capsule->impl_dae_fun);
-    free(capsule->impl_dae_fun_jac_x_xdot_z);
-    free(capsule->impl_dae_jac_x_xdot_u_z);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->impl_dae_hess);
-    {%- endif %}
-
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]);
-    }
-    free(capsule->impl_dae_fun);
-    free(capsule->impl_dae_fun_jac_x_xdot_u);
-
-{%- elif solver_options.integrator_type == "ERK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->forw_vde_casadi[i]);
-        external_function_param_casadi_free(&capsule->expl_ode_fun[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_casadi_free(&capsule->hess_vde_casadi[i]);
-    {%- endif %}
-    }
-    free(capsule->forw_vde_casadi);
-    free(capsule->expl_ode_fun);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->hess_vde_casadi);
-    {%- endif %}
-
-{%- elif solver_options.integrator_type == "GNSF" %}
-    for (int i = 0; i < N; i++)
-    {
-        {% if model.gnsf.purely_linear != 1 %}
-        external_function_param_casadi_free(&capsule->gnsf_phi_fun[i]);
-        external_function_param_casadi_free(&capsule->gnsf_phi_fun_jac_y[i]);
-        external_function_param_casadi_free(&capsule->gnsf_phi_jac_y_uhat[i]);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-        external_function_param_casadi_free(&capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]);
-        {%- endif %}
-        {%- endif %}
-        external_function_param_casadi_free(&capsule->gnsf_get_matrices_fun[i]);
-    }
-  {% if model.gnsf.purely_linear != 1 %}
-    free(capsule->gnsf_phi_fun);
-    free(capsule->gnsf_phi_fun_jac_y);
-    free(capsule->gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    free(capsule->gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    free(capsule->gnsf_get_matrices_fun);
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]);
-    {%- endif %}
-    }
-    free(capsule->discr_dyn_phi_fun);
-    free(capsule->discr_dyn_phi_fun_jac_ut_xt);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->discr_dyn_phi_fun_jac_ut_xt_hess);
-    {%- endif %}
-
-{%- endif %}
-
-    // cost
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    external_function_param_casadi_free(&capsule->cost_y_0_fun);
-    external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt);
-    external_function_param_casadi_free(&capsule->cost_y_0_hess);
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi_free(&capsule->conl_cost_0_fun);
-    external_function_param_casadi_free(&capsule->conl_cost_0_fun_jac_hess);
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun);
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac);
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac_hess);
-{%- endif %}
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_casadi_free(&capsule->cost_y_fun[i]);
-        external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]);
-        external_function_param_casadi_free(&capsule->cost_y_hess[i]);
-    }
-    free(capsule->cost_y_fun);
-    free(capsule->cost_y_fun_jac_ut_xt);
-    free(capsule->cost_y_hess);
-{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_casadi_free(&capsule->conl_cost_fun[i]);
-        external_function_param_casadi_free(&capsule->conl_cost_fun_jac_hess[i]);
-    }
-    free(capsule->conl_cost_fun);
-    free(capsule->conl_cost_fun_jac_hess);
-{%- elif cost.cost_type == "EXTERNAL" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun[i]);
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac[i]);
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac_hess[i]);
-    }
-    free(capsule->ext_cost_fun);
-    free(capsule->ext_cost_fun_jac);
-    free(capsule->ext_cost_fun_jac_hess);
-{%- endif %}
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    external_function_param_casadi_free(&capsule->cost_y_e_fun);
-    external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt);
-    external_function_param_casadi_free(&capsule->cost_y_e_hess);
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi_free(&capsule->conl_cost_e_fun);
-    external_function_param_casadi_free(&capsule->conl_cost_e_fun_jac_hess);
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun);
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac);
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac_hess);
-{%- endif %}
-
-    // constraints
-{%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]);
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]);
-    }
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac_hess[i]);
-    }
-  {%- endif %}
-    free(capsule->nl_constr_h_fun_jac);
-    free(capsule->nl_constr_h_fun);
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->nl_constr_h_fun_jac_hess);
-  {%- endif %}
-
-{%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->phi_constraint[i]);
-    }
-    free(capsule->phi_constraint);
-{%- endif %}
-
-{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac);
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun);
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac_hess);
-{%- endif %}
-{%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
-    external_function_param_casadi_free(&capsule->phi_e_constraint);
-{%- endif %}
-
-    return 0;
-}
-
-
-void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsule)
-{
-    int sqp_iter, stat_m, stat_n, tmp_int;
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter);
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n);
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m);
-
-    {% set stat_n_max = 12 %}
-    double stat[{{ solver_options.nlp_solver_max_iter * stat_n_max }}];
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat);
-
-    int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m;
-
-    printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha");
-    if (stat_n > 8)
-        printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp");
-    printf("\n");
-
-{%- if solver_options.nlp_solver_type == "SQP" %}
-
-    for (int i = 0; i < nrow; i++)
-    {
-        for (int j = 0; j < stat_n + 1; j++)
-        {
-            if (j == 0 || j == 5 || j == 6)
-            {
-                tmp_int = (int) stat[i + j * nrow];
-                printf("%d\t", tmp_int);
-            }
-            else
-            {
-                printf("%e\t", stat[i + j * nrow]);
-            }
-        }
-        printf("\n");
-    }
-{% else %}
-    printf("iter\tqp_stat\tqp_iter\n");
-    for (int i = 0; i < nrow; i++)
-    {
-        for (int j = 0; j < stat_n + 1; j++)
-        {
-            tmp_int = (int) stat[i + j * nrow];
-            printf("%d\t", tmp_int);
-        }
-        printf("\n");
-    }
-{%- endif %}
-}
-
-int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len)
-{
-{%- if custom_update_filename == "" %}
-    (void)capsule;
-    (void)data;
-    (void)data_len;
-    printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n");
-    printf("nothing set yet..\n");
-    return 1;
-{% else %}
-    custom_update_function(capsule, data, data_len);
-{%- endif %}
-}
-
-
-
-ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; }
-ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; }
-ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; }
-ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; }
-ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; }
-void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; }
-ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; }
-ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; }
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
deleted file mode 100644
index 5cf38aa8c8..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
+++ /dev/null
@@ -1,241 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_SOLVER_{{ model.name }}_H_
-#define ACADOS_SOLVER_{{ model.name }}_H_
-
-#include "acados/utils/types.h"
-
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#define {{ model.name | upper }}_NX     {{ dims.nx }}
-#define {{ model.name | upper }}_NZ     {{ dims.nz }}
-#define {{ model.name | upper }}_NU     {{ dims.nu }}
-#define {{ model.name | upper }}_NP     {{ dims.np }}
-#define {{ model.name | upper }}_NBX    {{ dims.nbx }}
-#define {{ model.name | upper }}_NBX0   {{ dims.nbx_0 }}
-#define {{ model.name | upper }}_NBU    {{ dims.nbu }}
-#define {{ model.name | upper }}_NSBX   {{ dims.nsbx }}
-#define {{ model.name | upper }}_NSBU   {{ dims.nsbu }}
-#define {{ model.name | upper }}_NSH    {{ dims.nsh }}
-#define {{ model.name | upper }}_NSG    {{ dims.nsg }}
-#define {{ model.name | upper }}_NSPHI  {{ dims.nsphi }}
-#define {{ model.name | upper }}_NSHN   {{ dims.nsh_e }}
-#define {{ model.name | upper }}_NSGN   {{ dims.nsg_e }}
-#define {{ model.name | upper }}_NSPHIN {{ dims.nsphi_e }}
-#define {{ model.name | upper }}_NSBXN  {{ dims.nsbx_e }}
-#define {{ model.name | upper }}_NS     {{ dims.ns }}
-#define {{ model.name | upper }}_NSN    {{ dims.ns_e }}
-#define {{ model.name | upper }}_NG     {{ dims.ng }}
-#define {{ model.name | upper }}_NBXN   {{ dims.nbx_e }}
-#define {{ model.name | upper }}_NGN    {{ dims.ng_e }}
-#define {{ model.name | upper }}_NY0    {{ dims.ny_0 }}
-#define {{ model.name | upper }}_NY     {{ dims.ny }}
-#define {{ model.name | upper }}_NYN    {{ dims.ny_e }}
-#define {{ model.name | upper }}_N      {{ dims.N }}
-#define {{ model.name | upper }}_NH     {{ dims.nh }}
-#define {{ model.name | upper }}_NPHI   {{ dims.nphi }}
-#define {{ model.name | upper }}_NHN    {{ dims.nh_e }}
-#define {{ model.name | upper }}_NPHIN  {{ dims.nphi_e }}
-#define {{ model.name | upper }}_NR     {{ dims.nr }}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-
-// ** capsule for solver data **
-typedef struct {{ model.name }}_solver_capsule
-{
-    // acados objects
-    ocp_nlp_in *nlp_in;
-    ocp_nlp_out *nlp_out;
-    ocp_nlp_out *sens_out;
-    ocp_nlp_solver *nlp_solver;
-    void *nlp_opts;
-    ocp_nlp_plan_t *nlp_solver_plan;
-    ocp_nlp_config *nlp_config;
-    ocp_nlp_dims *nlp_dims;
-
-    // number of expected runtime parameters
-    unsigned int nlp_np;
-
-    /* external functions */
-    // dynamics
-{% if solver_options.integrator_type == "ERK" %}
-    external_function_param_casadi *forw_vde_casadi;
-    external_function_param_casadi *expl_ode_fun;
-{% if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi *hess_vde_casadi;
-{%- endif %}
-{% elif solver_options.integrator_type == "IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_jac_x_xdot_u_z;
-{% if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_hess;
-{%- endif %}
-{% elif solver_options.integrator_type == "LIFTED_IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_u;
-{% elif solver_options.integrator_type == "GNSF" %}
-    external_function_param_casadi *gnsf_phi_fun;
-    external_function_param_casadi *gnsf_phi_fun_jac_y;
-    external_function_param_casadi *gnsf_phi_jac_y_uhat;
-    external_function_param_casadi *gnsf_f_lo_jac_x1_x1dot_u_z;
-    external_function_param_casadi *gnsf_get_matrices_fun;
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt_hess;
-{%- endif %}
-{%- endif %}
-
-
-    // cost
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    external_function_param_casadi *cost_y_fun;
-    external_function_param_casadi *cost_y_fun_jac_ut_xt;
-    external_function_param_casadi *cost_y_hess;
-{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi *conl_cost_fun;
-    external_function_param_casadi *conl_cost_fun_jac_hess;
-{%- elif cost.cost_type == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun;
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac_hess;
-{% endif %}
-
-{% if cost.cost_type_0 == "NONLINEAR_LS" %}
-    external_function_param_casadi cost_y_0_fun;
-    external_function_param_casadi cost_y_0_fun_jac_ut_xt;
-    external_function_param_casadi cost_y_0_hess;
-{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi conl_cost_0_fun;
-    external_function_param_casadi conl_cost_0_fun_jac_hess;
-{% elif cost.cost_type_0 == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun;
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac_hess;
-{%- endif %}
-
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    external_function_param_casadi cost_y_e_fun;
-    external_function_param_casadi cost_y_e_fun_jac_ut_xt;
-    external_function_param_casadi cost_y_e_hess;
-{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi conl_cost_e_fun;
-    external_function_param_casadi conl_cost_e_fun_jac_hess;
-{% elif cost.cost_type_e == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun;
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac_hess;
-{%- endif %}
-
-    // constraints
-{%- if constraints.constr_type == "BGP" %}
-    external_function_param_casadi *phi_constraint;
-{% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-    external_function_param_casadi *nl_constr_h_fun_jac;
-    external_function_param_casadi *nl_constr_h_fun;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi *nl_constr_h_fun_jac_hess;
-{%- endif %}
-{%- endif %}
-
-
-{% if constraints.constr_type_e == "BGP" %}
-    external_function_param_casadi phi_e_constraint;
-{% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    external_function_param_casadi nl_constr_h_e_fun_jac;
-    external_function_param_casadi nl_constr_h_e_fun;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi nl_constr_h_e_fun_jac_hess;
-{%- endif %}
-{%- endif %}
-
-{%- if custom_update_filename != "" %}
-    void * custom_update_memory;
-{%- endif %}
-
-} {{ model.name }}_solver_capsule;
-
-ACADOS_SYMBOL_EXPORT {{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem);
-
-/**
- * Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than
- * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code
- * generation, the time-steps from code generation is used.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
-/**
- * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the
- * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
-/**
- * This function is used for updating an already initialized solver with a different number of qp_cond_N.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
-
-
-ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SOLVER_{{ model.name }}_H_
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
deleted file mode 100644
index 233e3f79da..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
+++ /dev/null
@@ -1,62 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-cimport acados_solver_common
-
-cdef extern from "acados_solver_{{ model.name }}.h":
-    ctypedef struct nlp_solver_capsule "{{ model.name }}_solver_capsule":
-        pass
-
-    nlp_solver_capsule * acados_create_capsule "{{ model.name }}_acados_create_capsule"()
-    int acados_free_capsule "{{ model.name }}_acados_free_capsule"(nlp_solver_capsule *capsule)
-
-    int acados_create "{{ model.name }}_acados_create"(nlp_solver_capsule * capsule)
-
-    int acados_create_with_discretization "{{ model.name }}_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps)
-    int acados_update_time_steps "{{ model.name }}_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps)
-    int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N)
-
-    int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
-    int acados_update_params_sparse "{{ model.name }}_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-    int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule)
-    int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem)
-    int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
-    void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule)
-
-    int acados_custom_update "{{ model.name }}_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len)
-
-    acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "{{ model.name }}_acados_get_nlp_solver"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_config *acados_get_nlp_config "{{ model.name }}_acados_get_nlp_config"(nlp_solver_capsule * capsule)
-    void *acados_get_nlp_opts "{{ model.name }}_acados_get_nlp_opts"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "{{ model.name }}_acados_get_nlp_dims"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "{{ model.name }}_acados_get_nlp_plan"(nlp_solver_capsule * capsule)
diff --git a/third_party/acados/acados_template/c_templates_tera/constraints.in.h b/third_party/acados/acados_template/c_templates_tera/constraints.in.h
deleted file mode 100644
index d71ce5cc22..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/constraints.in.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef {{ model.name }}_CONSTRAINTS
-#define {{ model.name }}_CONSTRAINTS
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if dims.nphi > 0 %}
-int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *);
-const int *{{ model.name }}_phi_constraint_sparsity_in(int);
-const int *{{ model.name }}_phi_constraint_sparsity_out(int);
-int {{ model.name }}_phi_constraint_n_in(void);
-int {{ model.name }}_phi_constraint_n_out(void);
-{% endif %}
-
-{% if dims.nphi_e > 0 %}
-int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *);
-const int *{{ model.name }}_phi_e_constraint_sparsity_in(int);
-const int *{{ model.name }}_phi_e_constraint_sparsity_out(int);
-int {{ model.name }}_phi_e_constraint_n_in(void);
-int {{ model.name }}_phi_e_constraint_n_out(void);
-{% endif %}
-
-{% if dims.nh > 0 %}
-int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
-
-int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_n_in(void);
-int {{ model.name }}_constr_h_fun_n_out(void);
-
-{% if solver_options.hessian_approx == "EXACT" -%}
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
-{% endif %}
-{% endif %}
-
-{% if dims.nh_e > 0 %}
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void);
-
-int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_n_in(void);
-int {{ model.name }}_constr_h_e_fun_n_out(void);
-
-{% if solver_options.hessian_approx == "EXACT" -%}
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void);
-{% endif %}
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_CONSTRAINTS
diff --git a/third_party/acados/acados_template/c_templates_tera/cost.in.h b/third_party/acados/acados_template/c_templates_tera/cost.in.h
deleted file mode 100644
index 45eb09c12e..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/cost.in.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef {{ model.name }}_COST
-#define {{ model.name }}_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// Cost at initial shooting node
-{% if cost.cost_type_0 == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_n_in(void);
-int {{ model.name }}_cost_y_0_fun_n_out(void);
-
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_0_hess_n_in(void);
-int {{ model.name }}_cost_y_0_hess_n_out(void);
-{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-
-int {{ model.name }}_conl_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_0_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_0_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_0_fun_n_in(void);
-int {{ model.name }}_conl_cost_0_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_n_out(void);
-
-{% elif cost.cost_type_0 == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-
-// Cost at path shooting node
-{% if cost.cost_type == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_n_in(void);
-int {{ model.name }}_cost_y_fun_n_out(void);
-
-int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_hess_n_in(void);
-int {{ model.name }}_cost_y_hess_n_out(void);
-
-{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-int {{ model.name }}_conl_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_fun_n_in(void);
-int {{ model.name }}_conl_cost_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_fun_jac_hess_n_out(void);
-{% elif cost.cost_type == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type == "casadi" %}
-int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-// Cost at terminal shooting node
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_n_in(void);
-int {{ model.name }}_cost_y_e_fun_n_out(void);
-
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_e_hess_n_in(void);
-int {{ model.name }}_cost_y_e_hess_n_out(void);
-{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-int {{ model.name }}_conl_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_e_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_e_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_e_fun_n_in(void);
-int {{ model.name }}_conl_cost_e_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_n_out(void);
-{% elif cost.cost_type_e == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_COST
diff --git a/third_party/acados/acados_template/c_templates_tera/main.in.c b/third_party/acados/acados_template/c_templates_tera/main.in.c
deleted file mode 100644
index 92a8b33eac..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/main.in.c
+++ /dev/null
@@ -1,226 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// blasfeo
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-#define NBX    {{ model.name | upper }}_NBX
-#define NBX0   {{ model.name | upper }}_NBX0
-#define NBU    {{ model.name | upper }}_NBU
-#define NSBX   {{ model.name | upper }}_NSBX
-#define NSBU   {{ model.name | upper }}_NSBU
-#define NSH    {{ model.name | upper }}_NSH
-#define NSG    {{ model.name | upper }}_NSG
-#define NSPHI  {{ model.name | upper }}_NSPHI
-#define NSHN   {{ model.name | upper }}_NSHN
-#define NSGN   {{ model.name | upper }}_NSGN
-#define NSPHIN {{ model.name | upper }}_NSPHIN
-#define NSBXN  {{ model.name | upper }}_NSBXN
-#define NS     {{ model.name | upper }}_NS
-#define NSN    {{ model.name | upper }}_NSN
-#define NG     {{ model.name | upper }}_NG
-#define NBXN   {{ model.name | upper }}_NBXN
-#define NGN    {{ model.name | upper }}_NGN
-#define NY0    {{ model.name | upper }}_NY0
-#define NY     {{ model.name | upper }}_NY
-#define NYN    {{ model.name | upper }}_NYN
-#define NH     {{ model.name | upper }}_NH
-#define NPHI   {{ model.name | upper }}_NPHI
-#define NHN    {{ model.name | upper }}_NHN
-#define NPHIN  {{ model.name | upper }}_NPHIN
-#define NR     {{ model.name | upper }}_NR
-
-
-int main()
-{
-
-    {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
-    // there is an opportunity to change the number of shooting intervals in C without new code generation
-    int N = {{ model.name | upper }}_N;
-    // allocate the array and fill it accordingly
-    double* new_time_steps = NULL;
-    int status = {{ model.name }}_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps);
-
-    if (status)
-    {
-        printf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
-
-    // initial condition
-    int idxbx0[NBX0];
-    {%- for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double lbx0[NBX0];
-    double ubx0[NBX0];
-    {%- for i in range(end=dims.nbx_0) %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-
-    // initialization for state values
-    double x_init[NX];
-    {%- for i in range(end=dims.nx) %}
-    x_init[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // initial value for control input
-    double u0[NU];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-
-  {%- if dims.np > 0 %}
-    // set parameters
-    double p[NP];
-    {%- for item in parameter_values %}
-    p[{{ loop.index0 }}] = {{ item }};
-    {%- endfor %}
-
-    for (int ii = 0; ii <= N; ii++)
-    {
-        {{ model.name }}_acados_update_params(acados_ocp_capsule, ii, p, NP);
-    }
-  {% endif %}{# if np > 0 #}
-
-    // prepare evaluation
-    int NTIMINGS = 1;
-    double min_time = 1e12;
-    double kkt_norm_inf;
-    double elapsed_time;
-    int sqp_iter;
-
-    double xtraj[NX * (N+1)];
-    double utraj[NU * N];
-
-
-    // solve ocp in loop
-    int rti_phase = 0;
-
-    for (int ii = 0; ii < NTIMINGS; ii++)
-    {
-        // initialize solution
-        for (int i = 0; i < N; i++)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-        }
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init);
-        ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
-        status = {{ model.name }}_acados_solve(acados_ocp_capsule);
-        ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
-        min_time = MIN(elapsed_time, min_time);
-    }
-
-    /* print solution and statistics */
-    for (int ii = 0; ii <= nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]);
-    for (int ii = 0; ii < nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]);
-
-    printf("\n--- xtraj ---\n");
-    d_print_exp_tran_mat( NX, N+1, xtraj, NX);
-    printf("\n--- utraj ---\n");
-    d_print_exp_tran_mat( NU, N, utraj, NU );
-    // ocp_nlp_out_print(nlp_solver->dims, nlp_out);
-
-    printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
-
-    if (status == ACADOS_SUCCESS)
-    {
-        printf("{{ model.name }}_acados_solve(): SUCCESS!\n");
-    }
-    else
-    {
-        printf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
-    }
-
-
-{%- if custom_update_filename != "" %}
-    {{ model.name }}_acados_custom_update(acados_ocp_capsule, xtraj, NX*(N+1));
-{%- endif %}
-
-    // get solution
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
-    ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
-
-    {{ model.name }}_acados_print_stats(acados_ocp_capsule);
-
-    printf("\nSolver info:\n");
-    printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n",
-           sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf);
-
-    // free solver
-    status = {{ model.name }}_acados_free(acados_ocp_capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_free() returned status %d. \n", status);
-    }
-    // free solver capsule
-    status = {{ model.name }}_acados_free_capsule(acados_ocp_capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_free_capsule() returned status %d. \n", status);
-    }
-
-    return status;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c
deleted file mode 100644
index 8960aa0035..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/sim_interface.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-
-
-int main()
-{
-    int status = 0;
-    sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule();
-    status = {{ model.name }}_acados_sim_create(capsule);
-
-    if (status)
-    {
-        printf("acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-    sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule);
-    sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule);
-    sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule);
-    void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule);
-
-    // initial condition
-    double x_current[NX];
-    {%- for i in range(end=dims.nx) %}
-    x_current[{{ i }}] = 0.0;
-    {%- endfor %}
-
-  {% if constraints.lbx_0 %}
-    {%- for i in range(end=dims.nbx_0) %}
-    x_current[{{ constraints.idxbx_0[i] }}] = {{ constraints.lbx_0[i] }};
-    {%- endfor %}
-    {% if dims.nbx_0 != dims.nx %}
-    printf("main_sim: NOTE: initial state not fully defined via lbx_0, using 0.0 for indices that are not in idxbx_0.");
-    {%- endif %}
-  {% else %}
-    printf("main_sim: initial state not defined, should be in lbx_0, using zero vector.");
-  {%- endif %}
-
-
-    // initial value for control input
-    double u0[NU];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-  {%- if dims.np > 0 %}
-    // set parameters
-    double p[NP];
-    {%- for item in parameter_values %}
-    p[{{ loop.index0 }}] = {{ item }};
-    {%- endfor %}
-
-    {{ model.name }}_acados_sim_update_params(capsule, p, NP);
-  {% endif %}{# if np > 0 #}
-
-    int n_sim_steps = 3;
-    // solve ocp in loop
-    for (int ii = 0; ii < n_sim_steps; ii++)
-    {
-        sim_in_set(acados_sim_config, acados_sim_dims,
-            acados_sim_in, "x", x_current);
-        status = {{ model.name }}_acados_sim_solve(capsule);
-
-        if (status != ACADOS_SUCCESS)
-        {
-            printf("acados_solve() failed with status %d.\n", status);
-        }
-
-        sim_out_get(acados_sim_config, acados_sim_dims,
-               acados_sim_out, "x", x_current);
-        
-        printf("\nx_current, %d\n", ii);
-        for (int jj = 0; jj < NX; jj++)
-        {
-            printf("%e\n", x_current[jj]);
-        }
-    }
-
-    printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps);
-
-    // free solver
-    status = {{ model.name }}_acados_sim_free(capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_sim_free() returned status %d. \n", status);
-    }
-
-    {{ model.name }}_acados_sim_solver_free_capsule(capsule);
-
-    return status;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
deleted file mode 100644
index 24ae94ac2c..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
+++ /dev/null
@@ -1,384 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-// acados
-#include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    long long *l_ptr;
-    int status = 0;
-
-    // create solver
-    {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
-
-    status = {{ model.name }}_acados_create(acados_ocp_capsule);
-
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_create() returned status %d.\n", status);
-    }
-    mexPrintf("{{ model.name }}_acados_create() -> success!\n");
-
-    // get pointers to nlp solver related objects
-    ocp_nlp_plan_t *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
-
-    // mexPrintf("acados: got pointer to objectes!\n");
-
-    // field names of output struct
-    #define FIELDS_OCP 9
-    #define FIELDS_EXT_FUN 25
-    #define MAX_FIELDS 25
-    char *fieldnames[MAX_FIELDS];
-
-    for (int i = 0; i < MAX_FIELDS; i++)
-    {
-        fieldnames[i] = (char*) mxMalloc(50);
-    }
-
-    memcpy(fieldnames[0],"config",sizeof("config"));
-    memcpy(fieldnames[1],"dims",sizeof("dims"));
-    memcpy(fieldnames[2],"opts",sizeof("opts"));
-    memcpy(fieldnames[3],"in",sizeof("in"));
-    memcpy(fieldnames[4],"out",sizeof("out"));
-    memcpy(fieldnames[5],"solver",sizeof("solver"));
-    memcpy(fieldnames[6],"sens_out",sizeof("sens_out"));
-    memcpy(fieldnames[7],"plan",sizeof("plan"));
-    memcpy(fieldnames[8],"capsule",sizeof("capsule"));
-
-    // create output struct - C_ocp
-    plhs[0] = mxCreateStructMatrix(1, 1, 9, (const char **) fieldnames);
-
-    // MEX: config, dims, opts, in, out, solver, sens_out, plan
-    // plan
-    mxArray *plan_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(plan_mat);
-    l_ptr[0] = (long long) nlp_plan;
-    mxSetField(plhs[0], 0, "plan", plan_mat);
-
-    // config
-    mxArray *config_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(config_mat);
-    l_ptr[0] = (long long) nlp_config;
-    mxSetField(plhs[0], 0, "config", config_mat);
-
-    // dims
-    mxArray *dims_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(dims_mat);
-    l_ptr[0] = (long long) nlp_dims;
-    mxSetField(plhs[0], 0, "dims", dims_mat);
-
-    // opts
-    mxArray *opts_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(opts_mat);
-    l_ptr[0] = (long long) nlp_opts;
-    mxSetField(plhs[0], 0, "opts", opts_mat);
-
-    // in
-    mxArray *in_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(in_mat);
-    l_ptr[0] = (long long) nlp_in;
-    mxSetField(plhs[0], 0, "in", in_mat);
-
-    // out
-    mxArray *out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(out_mat);
-    l_ptr[0] = (long long) nlp_out;
-    mxSetField(plhs[0], 0, "out", out_mat);
-
-    // solver
-    mxArray *solver_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(solver_mat);
-    l_ptr[0] = (long long) nlp_solver;
-    mxSetField(plhs[0], 0, "solver", solver_mat);
-
-    // TODO: sens_out not actually implemented in templates..
-    // sens_out
-    mxArray *sens_out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(sens_out_mat);
-    l_ptr[0] = (long long) 1;
-    mxSetField(plhs[0], 0, "sens_out", sens_out_mat);
-
-    // capsule
-    mxArray *capsule_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(capsule_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule;
-    mxSetField(plhs[0], 0, "capsule", capsule_mat);
-
-    /* store external function pointers */
-    // dyn
-    memcpy(fieldnames[0],"expl_ode_fun",sizeof("expl_ode_fun"));
-    memcpy(fieldnames[1],"forw_vde",sizeof("forw_vde"));
-    memcpy(fieldnames[2],"hess_vde",sizeof("hess_vde"));
-    memcpy(fieldnames[3],"impl_dae_fun",sizeof("impl_dae_fun"));
-    memcpy(fieldnames[4],"impl_dae_fun_jac_x_xdot_z",sizeof("impl_dae_fun_jac_x_xdot_z"));
-    memcpy(fieldnames[5],"impl_dae_jac_x_xdot_u_z",sizeof("impl_dae_jac_x_xdot_u_z"));
-    memcpy(fieldnames[6],"impl_dae_hess",sizeof("impl_dae_hess"));
-
-    memcpy(fieldnames[7],"gnsf_phi_fun",sizeof("gnsf_phi_fun"));
-    memcpy(fieldnames[8],"gnsf_phi_fun_jac_y",sizeof("gnsf_phi_fun_jac_y"));
-    memcpy(fieldnames[9],"gnsf_phi_jac_y_uhat",sizeof("gnsf_phi_jac_y_uhat"));
-    memcpy(fieldnames[10],"gnsf_f_lo_jac_x1_x1dot_u_z",sizeof("gnsf_f_lo_jac_x1_x1dot_u_z"));
-    memcpy(fieldnames[11],"gnsf_get_matrices_fun",sizeof("gnsf_get_matrices_fun"));
-
-    memcpy(fieldnames[12],"disc_phi_fun",sizeof("disc_phi_fun"));
-    memcpy(fieldnames[13],"disc_phi_fun_jac",sizeof("disc_phi_fun_jac"));
-    memcpy(fieldnames[14],"disc_phi_fun_jac_hess",sizeof("disc_phi_fun_jac_hess"));
-    
-    // cost
-    memcpy(fieldnames[15],"cost_y_fun",sizeof("cost_y_fun"));
-    memcpy(fieldnames[16],"cost_y_fun_jac_ut_xt",sizeof("cost_y_fun_jac_ut_xt"));
-    memcpy(fieldnames[17],"cost_y_hess",sizeof("cost_y_hess"));
-    memcpy(fieldnames[18],"ext_cost_fun",sizeof("ext_cost_fun"));
-    memcpy(fieldnames[19],"ext_cost_fun_jac",sizeof("ext_cost_fun_jac"));
-    memcpy(fieldnames[20],"ext_cost_fun_jac_hess",sizeof("ext_cost_fun_jac_hess"));
-
-    // constraints
-    memcpy(fieldnames[21],"phi_constraint",sizeof("phi_constraint"));
-    memcpy(fieldnames[22],"nl_constr_h_fun_jac",sizeof("nl_constr_h_fun_jac"));
-    memcpy(fieldnames[23],"nl_constr_h_fun",sizeof("nl_constr_h_fun"));
-    memcpy(fieldnames[24],"nl_constr_h_fun_jac_hess",sizeof("nl_constr_h_fun_jac_hess"));
-
-
-    // create output struct - C_ocp_ext_fun
-    plhs[1] = mxCreateStructMatrix(1, 1, FIELDS_EXT_FUN, (const char **) fieldnames);
-
-
-    for (int i = 0; i < FIELDS_EXT_FUN; i++)
-    {
-        mxFree( fieldnames[i] );
-    }
-
-/* dynamics */
-    mxArray *expl_ode_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *forw_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *hess_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_fun_jac_x_xdot_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_jac_x_xdot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-    mxArray *gnsf_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_phi_fun_jac_y_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_phi_jac_y_uhat_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_f_lo_jac_x1_x1dot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_get_matrices_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-    mxArray *disc_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *disc_phi_fun_jac_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *disc_phi_fun_jac_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-{% if solver_options.integrator_type == "ERK" %}
-    {# TODO: remove _casadi from these names.. #}
-    l_ptr = mxGetData(forw_vde_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->forw_vde_casadi;
-    l_ptr = mxGetData(expl_ode_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->expl_ode_fun;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(hess_vde_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->hess_vde_casadi;
-{%- endif %}
-{% elif solver_options.integrator_type == "IRK" %}
-    l_ptr = mxGetData(impl_dae_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun;
-    l_ptr = mxGetData(impl_dae_fun_jac_x_xdot_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun_jac_x_xdot_z;
-    l_ptr = mxGetData(impl_dae_jac_x_xdot_u_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_jac_x_xdot_u_z;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(impl_dae_hess_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess;
-{%- endif %}
-{% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-    l_ptr = mxGetData(gnsf_phi_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun;
-    l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y;
-    l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat;
-    {% if model.gnsf.nontrivial_f_LO == 1 %}
-    l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z;
-    {%- endif %}
-    {%- endif %}
-    l_ptr = mxGetData(gnsf_get_matrices_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun;
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    l_ptr = mxGetData(disc_phi_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun;
-    l_ptr = mxGetData(disc_phi_fun_jac_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(disc_phi_fun_jac_hess_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt_hess;
-{%- endif %}
-{%- endif %}
-    mxSetField(plhs[1], 0, "expl_ode_fun", expl_ode_fun_mat);
-    mxSetField(plhs[1], 0, "forw_vde", forw_vde_mat);
-    mxSetField(plhs[1], 0, "hess_vde", hess_vde_mat);
-
-    mxSetField(plhs[1], 0, "gnsf_phi_fun", gnsf_phi_fun_mat);
-    mxSetField(plhs[1], 0, "gnsf_phi_fun_jac_y", gnsf_phi_fun_jac_y_mat);
-    mxSetField(plhs[1], 0, "gnsf_phi_jac_y_uhat", gnsf_phi_jac_y_uhat_mat);
-    mxSetField(plhs[1], 0, "gnsf_f_lo_jac_x1_x1dot_u_z", gnsf_f_lo_jac_x1_x1dot_u_z_mat);
-    mxSetField(plhs[1], 0, "gnsf_get_matrices_fun", gnsf_get_matrices_fun_mat);
-
-    mxSetField(plhs[1], 0, "impl_dae_fun", impl_dae_fun_mat);
-    mxSetField(plhs[1], 0, "impl_dae_fun_jac_x_xdot_z", impl_dae_fun_jac_x_xdot_z_mat);
-    mxSetField(plhs[1], 0, "impl_dae_jac_x_xdot_u_z", impl_dae_jac_x_xdot_u_z_mat);
-    mxSetField(plhs[1], 0, "impl_dae_hess", impl_dae_hess_mat);
-
-    mxSetField(plhs[1], 0, "disc_phi_fun", disc_phi_fun_mat);
-    mxSetField(plhs[1], 0, "disc_phi_fun_jac", disc_phi_fun_jac_mat);
-    mxSetField(plhs[1], 0, "disc_phi_fun_jac_hess", disc_phi_fun_jac_hess_mat);
-/* constaints */
-    mxArray *phi_constraint_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(phi_constraint_mat);
-{%- if constraints.constr_type == "BGP" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->phi_constraint;
-{% endif %}
-{% if constraints.constr_type_e == "BGP" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->phi_e_constraint;
-{% endif %}
-    mxSetField(plhs[1], 0, "phi_constraint", phi_constraint_mat);
-
-    mxArray *nl_constr_h_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_jac_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun_jac", nl_constr_h_fun_jac_mat);
-
-    mxArray *nl_constr_h_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun", nl_constr_h_fun_mat);
-
-    mxArray *nl_constr_h_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_jac_hess_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 and solver_options.hessian_approx == "EXACT" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac_hess;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 and solver_options.hessian_approx == "EXACT" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun_jac_hess", nl_constr_h_fun_jac_hess_mat);
-
-/* cost */
-    mxArray *cost_y_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_fun_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_fun", cost_y_fun_mat);
-
-    mxArray *cost_y_fun_jac_ut_xt_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_fun_jac_ut_xt_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun_jac_ut_xt;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun_jac_ut_xt;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_fun_jac_ut_xt", cost_y_fun_jac_ut_xt_mat);
-
-    mxArray *cost_y_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_hess_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_hess;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_hess", cost_y_hess_mat);
-
-    mxArray *ext_cost_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun", ext_cost_fun_mat);
-
-    mxArray *ext_cost_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_jac_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun_jac", ext_cost_fun_jac_mat);
-
-    mxArray *ext_cost_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_jac_hess_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac_hess;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun_jac_hess", ext_cost_fun_jac_hess_mat);
-
-
-    return;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
deleted file mode 100644
index bd457969b2..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// system
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-// acados
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    int status = 0;
-    long long *ptr;
-
-    // mexPrintf("\nin mex_acados_free\n");
-    const mxArray *C_ocp = prhs[0];
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-
-    status = {{ model.name }}_acados_free(capsule);
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
-    }
-
-    status = {{ model.name }}_acados_free_capsule(capsule);
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free_capsule() returned status %d.\n", status);
-    }
-
-    return;
-}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
deleted file mode 100644
index 78a308df49..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
+++ /dev/null
@@ -1,632 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-// acados
-#include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-#include "mex_macros.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-
-    long long *ptr;
-    int acados_size;
-    mxArray *mex_field;
-    char fun_name[20] = "ocp_set";
-    char buffer [500]; // for error messages
-
-    /* RHS */
-    int min_nrhs = 6;
-
-    // C ocp
-    const mxArray *C_ocp = prhs[2];
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-    // plan
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) );
-    ocp_nlp_plan_t *plan = (ocp_nlp_plan_t *) ptr[0];
-    // config
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) );
-    ocp_nlp_config *config = (ocp_nlp_config *) ptr[0];
-    // dims
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "dims" ) );
-    ocp_nlp_dims *dims = (ocp_nlp_dims *) ptr[0];
-    // opts
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "opts" ) );
-    void *opts = (void *) ptr[0];
-    // in
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "in" ) );
-    ocp_nlp_in *in = (ocp_nlp_in *) ptr[0];
-    // out
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "out" ) );
-    ocp_nlp_out *out = (ocp_nlp_out *) ptr[0];
-    // solver
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "solver" ) );
-    ocp_nlp_solver *solver = (ocp_nlp_solver *) ptr[0];
-
-    const mxArray *C_ext_fun_pointers = prhs[3];
-    // field
-    char *field = mxArrayToString( prhs[4] );
-    // value
-    double *value = mxGetPr( prhs[5] );
-
-    // for checks
-    int matlab_size = (int) mxGetNumberOfElements( prhs[5] );
-    int nrow = (int) mxGetM( prhs[5] );
-    int ncol = (int) mxGetN( prhs[5] );
-
-    int N = dims->N;
-    int nu = dims->nu[0];
-    int nx = dims->nx[0];
-
-    // stage
-    int s0, se;
-    if (nrhs==min_nrhs)
-    {
-        s0 = 0;
-        se = N;
-    }
-    else if (nrhs==min_nrhs+1)
-    {
-        s0 = mxGetScalar( prhs[6] );
-        if (s0 > N)
-        {
-            sprintf(buffer, "ocp_set: N < specified stage = %d\n", s0);
-            mexErrMsgTxt(buffer);            
-        }
-        se = s0 + 1;
-    }
-    else
-    {
-        sprintf(buffer, "ocp_set: wrong nrhs: %d\n", nrhs);
-        mexErrMsgTxt(buffer);
-    }
-
-    /* Set value */
-    // constraints
-    if (!strcmp(field, "constr_x0"))
-    {
-        acados_size = nx;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        ocp_nlp_constraints_model_set(config, dims, in, 0, "lbx", value);
-        ocp_nlp_constraints_model_set(config, dims, in, 0, "ubx", value);
-    }
-    else if (!strcmp(field, "constr_C"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            int ng = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_MAT(fun_name, "constr_C", nrow, ncol, ng, nx);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "C", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lbx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lbx");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lbx", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ubx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ubx");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ubx", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lbu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lbu");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lbu", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ubu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ubu");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ubu", value);
-        }
-    }
-    else if (!strcmp(field, "constr_D"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            int ng = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_MAT(fun_name, "constr_D", nrow, ncol, ng, nu);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "D", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lg"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lg");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lg", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ug"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ug", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lh"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lh");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lh", value);
-        }
-    }
-    else if (!strcmp(field, "constr_uh"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "uh");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "uh", value);
-        }
-    }
-    // cost:
-    else if (!strcmp(field, "cost_y_ref"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "y_ref", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_y_ref_e"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, N, "y_ref");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        ocp_nlp_cost_model_set(config, dims, in, N, "y_ref", value);
-    }
-    else if (!strcmp(field, "cost_Vu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                int nu = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "u");
-                acados_size = ny * nu;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "Vu", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_Vx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                int nx = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "x");
-                acados_size = ny * nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "Vx", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_W"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "y_ref");
-                acados_size = ny * ny;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "W", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_Z"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_Z");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Z", value);
-        }
-    }
-    else if (!strcmp(field, "cost_Zl"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "Zl");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Zl", value);
-        }
-    }
-    else if (!strcmp(field, "cost_Zu"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "Zu");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Zu", value);
-        }
-    }
-    else if (!strcmp(field, "cost_z"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_z");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "z", value);
-        }
-    }
-    else if (!strcmp(field, "cost_zl"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "zl");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "zl", value);
-        }
-    }
-    else if (!strcmp(field, "cost_zu"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "zu");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "zu", value);
-        }
-    }
-    // constraints TODO
-    // // NOTE(oj): how is it with Jbx, Jbu, idxb can they be changed?!
-    // else if (!strcmp(field, "constr_lbx"))
-    // {
-    //     // bounds at 0 are a special case.
-    //     if (s0==0)
-    //     {
-    //         sprintf(buffer, "%s cannot set %s for stage 0", fun_name, field);
-    //         mexErrMsgTxt(buffer);
-    //     }
-    // }
-    // initializations
-    else if (!strcmp(field, "init_x") || !strcmp(field, "x"))
-    {
-        if (nrhs == min_nrhs)
-        {
-            acados_size = (N+1) * nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<=N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "x", value+ii*nx);
-            }
-        }
-        else // (nrhs == min_nrhs + 1)
-        {
-            acados_size = nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "x", value);
-        }
-    }
-    else if (!strcmp(field, "init_u") || !strcmp(field, "u"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            acados_size = N*nu;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "u", value+ii*nu);
-            }
-        }
-        else // (nrhs == min_nrhs + 1)
-        {
-            acados_size = nu;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "u", value);
-        }
-    }
-    else if (!strcmp(field, "init_z")||!strcmp(field, "z"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == IRK)
-        {
-            int nz = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "z");
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nz;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "z_guess", value+ii*nz);
-                }
-            }
-            else // (nrhs==min_nrhs+1)
-            {
-                acados_size = nz;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "z_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
-        }
-    }
-    else if (!strcmp(field, "init_xdot")||!strcmp(field, "xdot"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == IRK)
-        {
-            int nx = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "x");
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "xdot_guess", value+ii*nx);
-                }
-            }
-            else // nrhs==min_nrhs+1)
-            {
-                acados_size = nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "xdot_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
-        }
-    }
-    else if (!strcmp(field, "init_gnsf_phi")||!strcmp(field, "gnsf_phi"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == GNSF)
-        {
-            int nout = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "init_gnsf_phi");
-
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nout;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "gnsf_phi_guess", value+ii*nx);
-                }
-            }
-            else // (nrhs==min_nrhs+1)
-            {
-                acados_size = nout;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "gnsf_phi_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_gnsf_phi", "irk_gnsf")
-        }
-    }
-    else if (!strcmp(field, "init_pi")||!strcmp(field, "pi"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            acados_size = N*nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "pi", value+ii*nx);
-            }
-        }
-        else // (nrhs==min_nrhs+1)
-        {
-            acados_size = nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "pi", value);
-        }
-    }
-    else if (!strcmp(field, "init_lam")||!strcmp(field, "lam"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "lam");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "lam", value);
-        }
-    }
-    else if (!strcmp(field, "init_t")||!strcmp(field, "t"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "t");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "t", value);
-        }
-    }
-    else if (!strcmp(field, "init_sl")||!strcmp(field, "sl"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "sl");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, field, value);
-        }
-    }
-    else if (!strcmp(field, "init_su")||!strcmp(field, "su"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "su");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, field, value);
-        }
-    }
-    else if (!strcmp(field, "p"))
-    {
-        if (nrhs==min_nrhs) // all stages
-        {
-            for (int ii=0; ii<=N; ii++)
-            {
-                {{ model.name }}_acados_update_params(capsule, ii, value, matlab_size);
-            }
-        }
-        else if (nrhs==min_nrhs+1) // one stage
-        {
-            int stage = mxGetScalar( prhs[6] );
-            {{ model.name }}_acados_update_params(capsule, stage, value, matlab_size);
-        }
-    }
-    else if (!strcmp(field, "nlp_solver_max_iter"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int nlp_solver_max_iter = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "max_iter", &nlp_solver_max_iter);
-    }
-    else if (!strcmp(field, "rti_phase"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int rti_phase = (int) value[0];
-        if (plan->nlp_solver == SQP && rti_phase != 0)
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, field, "sqp_rti")
-        }
-        ocp_nlp_solver_opts_set(config, opts, "rti_phase", &rti_phase);
-    }
-    else if (!strcmp(field, "qp_warm_start"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int qp_warm_start = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "qp_warm_start", &qp_warm_start);
-    }
-    else if (!strcmp(field, "warm_start_first_qp"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int warm_start_first_qp = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "warm_start_first_qp", &warm_start_first_qp);
-    }
-    else if (!strcmp(field, "print_level"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int print_level = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "print_level", &print_level);
-    }
-    else
-    {
-        MEX_FIELD_NOT_SUPPORTED_SUGGEST(fun_name, field, "p, constr_x0,\
- constr_lbx, constr_ubx, constr_C, constr_D, constr_lg, constr_ug, constr_lh, constr_uh,\
- constr_lbu, constr_ubu, cost_y_ref[_e], sl, su, x, xdot, u, pi, lam, z, \
- cost_Vu, cost_Vx, cost_Vz, cost_W, cost_Z, cost_Zl, cost_Zu, cost_z,\
- cost_zl, cost_zu, init_x, init_u, init_z, init_xdot, init_gnsf_phi,\
- init_pi, nlp_solver_max_iter, qp_warm_start, warm_start_first_qp, print_level");
-    }
-
-    return;
-}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
deleted file mode 100644
index 300a440cc9..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// system
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-// acados
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    // C_ocp
-    long long *ptr;
-    const mxArray *C_ocp = prhs[0];
-
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-
-    // solve
-    {{ model.name }}_acados_solve(capsule);
-
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
deleted file mode 100644
index bd73ff69a4..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
+++ /dev/null
@@ -1,230 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#define S_FUNCTION_NAME   acados_sim_solver_sfunction_{{ model.name }}
-#define S_FUNCTION_LEVEL  2
-
-#define MDL_START
-
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-#include "simstruc.h"
-
-#define SAMPLINGTIME {{ solver_options.Tsim }}
-
-
-static void mdlInitializeSizes (SimStruct *S)
-{
-    // specify the number of continuous and discrete states
-    ssSetNumContStates(S, 0);
-    ssSetNumDiscStates(S, 0);
-
-    {# compute number of input ports #}
-    {%- set n_inputs = 1 %}  {# x0 #}
-    {%- if dims.nu > 0 %}  {# u0 -#}
-        {%- set n_inputs = n_inputs + 1 -%}
-    {%- endif %}
-    {%- if dims.np > 0 %}  {# parameters #}
-        {%- set n_inputs = n_inputs + 1 -%}
-    {%- endif %}
-
-    // specify the number of input ports
-    if ( !ssSetNumInputPorts(S, {{ n_inputs }}) )
-        return;
-
-    // specify the number of output ports
-    if ( !ssSetNumOutputPorts(S, 1) )
-        return;
-
-    // specify dimension information for the input ports
-    {%- set i_input = 0 %}
-    // x0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx }});
-
-    {%- if dims.nu > 0 %}
-    {%- set i_input = i_input + 1 %}
-    // u0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu }});
-    {%- endif %}
-
-    {%- if dims.np > 0 %}
-    {%- set i_input = i_input + 1 %}
-    // parameters
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.np }});
-    {%- endif %}
-
-    // specify dimension information for the output ports
-    ssSetOutputPortVectorDimension(S, 0, {{ dims.nx }} ); // xnext
-
-    // specify the direct feedthrough status
-    // should be set to 1 for all inputs used in mdlOutputs
-    {%- for i in range(end=n_inputs) %}
-    ssSetInputPortDirectFeedThrough(S, {{ i }}, 1);
-    {%- endfor %}
-
-    // one sample time
-    ssSetNumSampleTimes(S, 1);
-}
-
-
-#if defined(MATLAB_MEX_FILE)
-
-#define MDL_SET_INPUT_PORT_DIMENSION_INFO
-#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
-
-static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-#endif /* MATLAB_MEX_FILE */
-
-
-static void mdlInitializeSampleTimes(SimStruct *S)
-{
-    ssSetSampleTime(S, 0, SAMPLINGTIME);
-    ssSetOffsetTime(S, 0, 0.0);
-}
-
-
-static void mdlStart(SimStruct *S)
-{
-    sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule();
-    {{ model.name }}_acados_sim_create(capsule);
-
-    ssSetUserData(S, (void*)capsule);
-}
-
-static void mdlOutputs(SimStruct *S, int_T tid)
-{
-    sim_solver_capsule *capsule = ssGetUserData(S);
-
-    sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule);
-    sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule);
-    sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule);
-    void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule);
-    // sim_opts * {{ model.name }}_acados_get_sim_opts(capsule);
-    // sim_solver * {{ model.name }}_acados_get_sim_solver(capsule);
-
-    InputRealPtrsType in_sign;
-    {% set input_sizes = [dims.nx, dims.nu, dims.np] %}
-
-    // local buffer
-    {%- set buffer_size =  input_sizes | sort | last %}
-    real_t buffer[{{ buffer_size }}];
-
-
-    /* go through inputs */
-    {%- set i_input = 0 %}
-    // initial condition
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nx }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    sim_in_set(acados_sim_config, acados_sim_dims,
-               acados_sim_in, "x", buffer);
-
-
-    // ssPrintf("\nin acados sim:\n");
-    // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x0[%d] = %f\n", i, buffer[i]);
-    //     ssPrintf("\n");
-
-{% if dims.nu > 0 %}
-    // control input - u
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nu }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    sim_in_set(acados_sim_config, acados_sim_dims,
-               acados_sim_in, "u", buffer);
-{%- endif %}
-
-
-{% if dims.np > 0 %}
-    // parameters
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.np }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    // update value of parameters
-    {{ model.name }}_acados_sim_update_params(capsule, buffer, {{ dims.np }});
-{%- endif %}
-
-
-    /* call solver */
-    int acados_status = {{ model.name }}_acados_sim_solve(capsule);
-
-
-    /* set outputs */
-    real_t *out_x = ssGetOutputPortRealSignal(S, 0);
-
-    // get simulated state
-    sim_out_get(acados_sim_config, acados_sim_dims, acados_sim_out,
-                "xn", (void *) out_x);
-
-    // ssPrintf("\nacados sim solve: returned %d\n", acados_status);
-    // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x_sim[%d] = %f\n", i, out_x[i]);
-    //     ssPrintf("\n");
-
-}
-
-
-static void mdlTerminate(SimStruct *S)
-{
-    sim_solver_capsule *capsule = ssGetUserData(S);
-
-    {{ model.name }}_acados_sim_free(capsule);
-    {{ model.name }}_acados_sim_solver_free_capsule(capsule);
-}
-
-
-#ifdef  MATLAB_MEX_FILE
-#include "simulink.c"
-#else
-#include "cg_sfun.h"
-#endif
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
deleted file mode 100644
index 3dd248037a..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
+++ /dev/null
@@ -1,853 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#define S_FUNCTION_NAME acados_solver_sfunction_{{ model.name }}
-#define S_FUNCTION_LEVEL 2
-
-#define MDL_START
-
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_solver_{{ model.name }}.h"
-
-#include "simstruc.h"
-
-{% if simulink_opts.samplingtime == "t0" -%}
-#define SAMPLINGTIME {{ solver_options.time_steps[0] }}
-{%- elif simulink_opts.samplingtime == "-1" -%}
-#define SAMPLINGTIME -1
-{%- else -%}
-  {{ throw(message = "simulink_opts.samplingtime must be '-1' or 't0', got val") }}
-{%- endif %}
-
-static void mdlInitializeSizes (SimStruct *S)
-{
-    // specify the number of continuous and discrete states
-    ssSetNumContStates(S, 0);
-    ssSetNumDiscStates(S, 0);
-
-    int N = {{ model.name | upper }}_N;
-
-  {%- for key, val in simulink_opts.inputs -%}
-    {%- if val != 0 and val != 1 -%}
-      {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
-    {%- endif -%}
-  {%- endfor -%}
-
-  {#- compute number of input ports #}
-  {%- set n_inputs = 0 -%}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 -%}  {#- y_ref_0 -#}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref -%}  {#- y_ref -#}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e -%}  {#- y_ref_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- for key, val in simulink_opts.inputs -%}
-    {%- if val != 0 and val != 1 -%}
-      {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
-    {%- endif -%}
-  {%- endfor -%}
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set n_inputs = n_inputs + 1 %}
-  {%- endif -%}
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set n_inputs = n_inputs + 1 %}
-  {%- endif -%}
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.reset_solver -%}  {#- reset_solver #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.x_init -%}  {#- x_init #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.u_init -%}  {#- u_init #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-    // specify the number of input ports
-    if ( !ssSetNumInputPorts(S, {{ n_inputs }}) )
-        return;
-
-    // specify the number of output ports
-    {%- set_global n_outputs = 0 %}
-    {%- for key, val in simulink_opts.outputs %}
-      {%- if val == 1 %}
-        {%- set_global n_outputs = n_outputs + val %}
-      {%- elif val != 0 %}
-        {{ throw(message = "simulink_opts.outputs must be 0 or 1, got val") }}
-      {%- endif %}
-    {%- endfor %}
-    if ( !ssSetNumOutputPorts(S, {{ n_outputs }}) )
-        return;
-
-    // specify dimension information for the input ports
-    {%- set i_input = -1 %}{# note here i_input is 0-based #}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    {%- set i_input = i_input + 1 %}
-    // lbx_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }});
-  {%- endif %}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    {%- set i_input = i_input + 1 %}
-    // ubx_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }});
-  {%- endif %}
-
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    {%- set i_input = i_input + 1 %}
-    // parameters
-    ssSetInputPortVectorDimension(S, {{ i_input }}, (N+1) * {{ dims.np }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.ny }});
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e }});
-  {%- endif %}
-
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    {%- set i_input = i_input + 1 %}
-    // lbx
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }});
-  {%- endif %}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    {%- set i_input = i_input + 1 %}
-    // ubx
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }});
-  {%- endif %}
-
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    {%- set i_input = i_input + 1 %}
-    // lbx_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }});
-  {%- endif %}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    {%- set i_input = i_input + 1 %}
-    // ubx_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }});
-  {%- endif %}
-
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    {%- set i_input = i_input + 1 %}
-    // lbu
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }});
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    {%- set i_input = i_input + 1 %}
-    // ubu
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }});
-  {%- endif -%}
-
-
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    {%- set i_input = i_input + 1 %}
-    // lg
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }});
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    {%- set i_input = i_input + 1 %}
-    // ug
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }});
-  {%- endif -%}
-
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    {%- set i_input = i_input + 1 %}
-    // lh
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }});
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    {%- set i_input = i_input + 1 %}
-    // uh
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }});
-  {%- endif -%}
-
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    {%- set i_input = i_input + 1 %}
-    // lh_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }});
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    {%- set i_input = i_input + 1 %}
-    // uh_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }});
-  {%- endif -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 * dims.ny_0 }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny * dims.ny }});
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e * dims.ny_e }});
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.reset_solver -%}  {#- reset_solver #}
-    {%- set i_input = i_input + 1 %}
-    // reset_solver
-    ssSetInputPortVectorDimension(S, {{ i_input }}, 1);
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.x_init -%}  {#- x_init #}
-    {%- set i_input = i_input + 1 %}
-    // x_init
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx * (dims.N+1) }});
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.u_init -%}  {#- u_init #}
-    {%- set i_input = i_input + 1 %}
-    // u_init
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu * (dims.N) }});
-  {%- endif -%}
-
-    /* specify dimension information for the OUTPUT ports */
-    {%- set i_output = -1 %}{# note here i_output is 0-based #}
-  {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.utraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu * dims.N }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.xtraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx * (dims.N+1) }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.solver_status == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.cost_value == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residual == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residuals == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 4 );
-  {%- endif %}
-
-  {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx }} ); // state at shooting node 1
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.sqp_iter == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-    // specify the direct feedthrough status
-    // should be set to 1 for all inputs used in mdlOutputs
-    {%- for i in range(end=n_inputs) %}
-    ssSetInputPortDirectFeedThrough(S, {{ i }}, 1);
-    {%- endfor %}
-
-    // one sample time
-    ssSetNumSampleTimes(S, 1);
-}
-
-
-#if defined(MATLAB_MEX_FILE)
-
-#define MDL_SET_INPUT_PORT_DIMENSION_INFO
-#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
-
-static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-#endif /* MATLAB_MEX_FILE */
-
-
-static void mdlInitializeSampleTimes(SimStruct *S)
-{
-    ssSetSampleTime(S, 0, SAMPLINGTIME);
-    ssSetOffsetTime(S, 0, 0.0);
-}
-
-
-static void mdlStart(SimStruct *S)
-{
-    {{ model.name }}_solver_capsule *capsule = {{ model.name }}_acados_create_capsule();
-    {{ model.name }}_acados_create(capsule);
-
-    ssSetUserData(S, (void*)capsule);
-}
-
-
-static void mdlOutputs(SimStruct *S, int_T tid)
-{
-    {{ model.name }}_solver_capsule *capsule = ssGetUserData(S);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule);
-
-    InputRealPtrsType in_sign;
-
-    int N = {{ model.name | upper }}_N;
-
-    {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbx_e, dims.nbu, dims.ng, dims.nh, dims.ng_e, dims.nh_e] -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}  {# y_ref_0 #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0)) %}
-  {%- endif %}
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}  {# y_ref #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny)) %}
-  {%- endif %}
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}  {# y_ref_e #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e)) %}
-  {%- endif %}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0 * dims.ny_0)) %}
-  {%- endif %}
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny * dims.ny)) %}
-  {%- endif %}
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e * dims.ny_e)) %}
-  {%- endif %}
-
-    // local buffer
-    {%- set buffer_size = buffer_sizes | sort | last %}
-    real_t buffer[{{ buffer_size }}];
-
-    /* go through inputs */
-    {%- set i_input = -1 %}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    // lbx_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nbx_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer);
-  {%- endif %}
-
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    // ubx_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nbx_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer);
-  {%- endif %}
-
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    // parameters - stage-variant !!!
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    // update value of parameters
-    for (int ii = 0; ii <= N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.np }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{dims.np}}+jj]);
-        {{ model.name }}_acados_update_params(capsule, ii, buffer, {{ dims.np }});
-    }
-  {%- endif %}
-
-  {% if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
-    // y_ref_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.ny_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer);
-  {%- endif %}
-
-  {% if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-    // y_ref - for stages 1 to N-1
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ny }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.ny }}+jj]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer);
-    }
-  {%- endif %}
-
-  {% if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-    // y_ref_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.ny_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", (void *) buffer);
-  {%- endif %}
-
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    // lbx
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer);
-    }
-  {%- endif %}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    // ubx
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer);
-    }
-  {%- endif %}
-
-
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    // lbx_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nbx_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", buffer);
-  {%- endif %}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    // ubx_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nbx_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", buffer);
-  {%- endif %}
-
-
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    // lbu
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbu }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbu", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    // ubu
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbu }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubu", (void *) buffer);
-    }
-  {%- endif -%}
-
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    // lg
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ng }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    // ug
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ng }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", (void *) buffer);
-    }
-  {%- endif -%}
-
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    // lh
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nh }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    // uh
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nh }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", (void *) buffer);
-    }
-  {%- endif -%}
-
-
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    // lh_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nh_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", buffer);
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    // uh_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nh_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", buffer);
-  {%- endif -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    // cost_W_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny_0 * dims.ny_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", buffer);
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    // cost_W
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny * dims.ny }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    for (int ii = 1; ii < N; ii++)
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "W", buffer);
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    // cost_W_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny_e * dims.ny_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", buffer);
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.reset_solver %}  {#- reset_solver #}
-    // reset_solver
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    double reset = (double)(*in_sign[0]);
-    if (reset)
-    {
-        {{ model.name }}_acados_reset(capsule, 1);
-    }
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.x_init %}  {#- x_init #}
-    // x_init
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < {{ dims.N + 1 }}; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nx }}+jj]);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "x", (void *) buffer);
-    }
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.u_init %}  {#- u_init #}
-    // u_init
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nu }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nu }}+jj]);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "u", (void *) buffer);
-    }
-  {%- endif %}
-
-    /* call solver */
-    int rti_phase = 0;
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase);
-    int acados_status = {{ model.name }}_acados_solve(capsule);
-
-
-    /* set outputs */
-    // assign pointers to output signals
-    real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_KKT_residuals, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin, *out_cost_value;
-    int tmp_int;
-
-    {%- set i_output = -1 -%}{# note here i_output is 0-based #}
-  {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_u0 = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.utraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_utraj = ssGetOutputPortRealSignal(S, {{ i_output }});
-    for (int ii = 0; ii < N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
-                        "u", (void *) (out_utraj + ii * {{ dims.nu }}));
-  {%- endif %}
-
-  {% if simulink_opts.outputs.xtraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-
-    out_xtraj = ssGetOutputPortRealSignal(S, {{ i_output }});
-    for (int ii = 0; ii < {{ dims.N + 1 }}; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
-                        "x", (void *) (out_xtraj + ii * {{ dims.nx }}));
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.solver_status == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_status = ssGetOutputPortRealSignal(S, {{ i_output }});
-    *out_status = (real_t) acados_status;
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.cost_value == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cost_value = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_eval_cost(capsule->nlp_solver, nlp_in, nlp_out);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "cost_value", (void *) out_cost_value);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residual == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_KKT_res = ssGetOutputPortRealSignal(S, {{ i_output }});
-    *out_KKT_res = (real_t) nlp_out->inf_norm_res;
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residuals == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_KKT_residuals = ssGetOutputPortRealSignal(S, {{ i_output }});
-
-    {%- if solver_options.nlp_solver_type == "SQP_RTI" %}
-    ocp_nlp_eval_residuals(capsule->nlp_solver, nlp_in, nlp_out);
-    {%- endif %}
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_stat", (void *) &out_KKT_residuals[0]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_eq", (void *) &out_KKT_residuals[1]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_ineq", (void *) &out_KKT_residuals[2]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_comp", (void *) &out_KKT_residuals[3]);
-  {%- endif %}
-
-  {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_x1 = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time = ssGetOutputPortRealSignal(S, {{ i_output }});
-    // get solution time
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_sim = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_sim", (void *) out_cpu_time_sim);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_qp = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_qp", (void *) out_cpu_time_qp);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_lin = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_lin", (void *) out_cpu_time_lin);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.sqp_iter == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_sqp_iter = ssGetOutputPortRealSignal(S, {{ i_output }});
-    // get sqp iter
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int);
-    *out_sqp_iter = (real_t) tmp_int;
-  {%- endif %}
-
-}
-
-static void mdlTerminate(SimStruct *S)
-{
-    {{ model.name }}_solver_capsule *capsule = ssGetUserData(S);
-
-    {{ model.name }}_acados_free(capsule);
-    {{ model.name }}_acados_free_capsule(capsule);
-}
-
-
-#ifdef  MATLAB_MEX_FILE
-#include "simulink.c"
-#else
-#include "cg_sfun.h"
-#endif
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
deleted file mode 100644
index 851a3cc04f..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-// mex
-#include "mex.h"
-
-/* auxilary mex */
-// prints a matrix in column-major format (exponential notation)
-void MEX_print_exp_mat(int m, int n, double *A, int lda)
-{
-	for (int i=0; i<m; i++)
-    {
-		for (int j=0; j<n; j++)
-        {
-			mexPrintf("%e\t", A[i+lda*j]);
-        }
-		mexPrintf("\n");
-    }
-	mexPrintf("\n");
-}
-
-// prints the transposed of a matrix in column-major format (exponential notation)
-void MEX_print_exp_tran_mat(int row, int col, double *A, int lda)
-{
-	for (int j=0; j<col; j++)
-    {
-		for (int i=0; i<row; i++)
-        {
-			mexPrintf("%e\t", A[i+lda*j]);
-        }
-		mexPrintf("\n");
-    }
-	mexPrintf("\n");
-}
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-
-    int status = 0;
-    status = {{ model.name }}_acados_create();
-
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-
-    // get pointers to nlp solver related objects
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config();
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims();
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in();
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out();
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver();
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts();
-
-    // initial condition
-    int idxbx0[{{ dims.nbx_0 }}];
-    {% for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double lbx0[{{ dims.nbx_0 }}];
-    double ubx0[{{ dims.nbx_0 }}];
-    {% for i in range(end=dims.nbx_0) %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-
-    // initialization for state values
-    double x_init[{{ dims.nx }}];
-    {%- for i in range(end=dims.nx) %}
-    x_init[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // initial value for control input
-    double u0[{{ dims.nu }}];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // prepare evaluation
-    int NTIMINGS = 10;
-    double min_time = 1e12;
-    double kkt_norm_inf;
-    double elapsed_time;
-    int sqp_iter;
-
-    double xtraj[{{ dims.nx }} * ({{ dims.N }}+1)];
-    double utraj[{{ dims.nu }} * ({{ dims.N }})];
-
-    // solve ocp in loop
-    for (int ii = 0; ii < NTIMINGS; ii++)
-    {
-        // initialize primal solution
-        for (int i = 0; i <= nlp_dims->N; i++)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-        }
-        status = {{ model.name }}_acados_solve();
-        ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
-        min_time = MIN(elapsed_time, min_time);
-    }
-
-    /* print solution and statistics */
-    for (int ii = 0; ii <= nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*{{ dims.nx }}]);
-    for (int ii = 0; ii < nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*{{ dims.nu }}]);
-
-    mexPrintf("\n--- xtraj ---\n");
-    MEX_print_exp_tran_mat( {{ dims.nx }}, {{ dims.N }}+1, xtraj, {{ dims.nx }} );
-    mexPrintf("\n--- utraj ---\n");
-    MEX_print_exp_tran_mat( {{ dims.nu }}, {{ dims.N }}, utraj, {{ dims.nu }} );
-
-    mexPrintf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
-
-    if (status == ACADOS_SUCCESS)
-        mexPrintf("{{ model.name }}_acados_solve(): SUCCESS!\n");
-    else
-        mexPrintf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
-
-    // get solution
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
-    ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
-
-    mexPrintf("\nSolver info:\n");
-    mexPrintf(" SQP iterations %2d\n minimum time for 1 solve %f [ms]\n KKT %e\n",
-           sqp_iter, min_time*1000, kkt_norm_inf);
-
-    // free solver
-    status = {{ model.name }}_acados_free();
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
-    }
-
-    return;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
deleted file mode 100644
index d217948456..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
+++ /dev/null
@@ -1,103 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-function make_main_mex_{{ model.name }}()
-
-    opts.output_dir = pwd;
-
-    % get acados folder
-    acados_folder = getenv('ACADOS_INSTALL_DIR');
-
-    % set paths
-    acados_include = ['-I' fullfile(acados_folder, 'include')];
-    template_lib_include = ['-l' 'acados_solver_{{ model.name }}'];
-    template_lib_path = ['-L' fullfile(pwd)];
-
-    acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
-    external_include = ['-I', fullfile(acados_folder, 'external')];
-    blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
-    hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
-
-    mex_names = { ...
-        'main_mex_{{ model.name }}' ...
-    };
-
-    mex_files = cell(length(mex_names), 1);
-    for k=1:length(mex_names)
-        mex_files{k} = fullfile([mex_names{k}, '.c']);
-    end
-
-    %% octave C flags
-    if is_octave()
-        if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
-            diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
-            diary on
-            mkoctfile -p CFLAGS
-            diary off
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-            cflags_tmp = fscanf(input_file, '%[^\n]s');
-            fclose(input_file);
-            if ~ismac()
-                cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
-            else
-                cflags_tmp = [cflags_tmp, ' -std=c99'];
-            end
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
-            fprintf(input_file, '%s', cflags_tmp);
-            fclose(input_file);
-        end
-        % read cflags from file
-        input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-        cflags_tmp = fscanf(input_file, '%[^\n]s');
-        fclose(input_file);
-        setenv('CFLAGS', cflags_tmp);
-    end
-
-    %% compile mex
-    for ii=1:length(mex_files)
-        disp(['compiling ', mex_files{ii}])
-        if is_octave()
-    %        mkoctfile -p CFLAGS
-            mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-            acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
-        else
-            if ismac()
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99';
-            else
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
-            end
-            mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
-        end
-    end
-
-
-end
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
deleted file mode 100644
index 5e35827137..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
+++ /dev/null
@@ -1,127 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-function make_mex_{{ model.name }}()
-
-    opts.output_dir = pwd;
-
-    % get acados folder
-    acados_folder = getenv('ACADOS_INSTALL_DIR');
-
-    % set paths
-    acados_include = ['-I' fullfile(acados_folder, 'include')];
-    template_lib_include = ['-l' 'acados_ocp_solver_{{ model.name }}'];
-    template_lib_path = ['-L' fullfile(pwd)];
-
-    acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
-    external_include = ['-I', fullfile(acados_folder, 'external')];
-    blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
-    hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
-
-    % load linking information of compiled acados
-    link_libs_core_filename = fullfile(acados_folder, 'lib', 'link_libs.json');
-    addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-    link_libs = loadjson(link_libs_core_filename);
-
-    % add necessary link instructs
-    acados_lib_extra = {};
-    lib_names = fieldnames(link_libs);
-    for idx = 1 : numel(lib_names)
-        lib_name = lib_names{idx};
-        link_arg = link_libs.(lib_name);
-        if ~isempty(link_arg)
-            acados_lib_extra = [acados_lib_extra, link_arg];
-        end
-    end
-
-
-    mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')];
-
-    mex_names = { ...
-        'acados_mex_create_{{ model.name }}' ...
-        'acados_mex_free_{{ model.name }}' ...
-        'acados_mex_solve_{{ model.name }}' ...
-        'acados_mex_set_{{ model.name }}' ...
-    };
-
-    mex_files = cell(length(mex_names), 1);
-    for k=1:length(mex_names)
-        mex_files{k} = fullfile([mex_names{k}, '.c']);
-    end
-
-    %% octave C flags
-    if is_octave()
-        if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
-            diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
-            diary on
-            mkoctfile -p CFLAGS
-            diary off
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-            cflags_tmp = fscanf(input_file, '%[^\n]s');
-            fclose(input_file);
-            if ~ismac()
-                cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
-            else
-                cflags_tmp = [cflags_tmp, ' -std=c99'];
-            end
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
-            fprintf(input_file, '%s', cflags_tmp);
-            fclose(input_file);
-        end
-        % read cflags from file
-        input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-        cflags_tmp = fscanf(input_file, '%[^\n]s');
-        fclose(input_file);
-        setenv('CFLAGS', cflags_tmp);
-    end
-
-    %% compile mex
-    for ii=1:length(mex_files)
-        disp(['compiling ', mex_files{ii}])
-        if is_octave()
-    %        mkoctfile -p CFLAGS
-            mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',...
-                acados_lib_extra{:}, mex_files{ii})
-        else
-            if ismac()
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99';
-            else
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
-            end
-            mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',...
-                acados_lib_extra{:}, mex_files{ii})
-        end
-    end
-
-
-end
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
deleted file mode 100644
index 5d74c523f8..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
+++ /dev/null
@@ -1,432 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-SOURCES = { ...
-        {%- if solver_options.integrator_type == 'ERK' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c', ...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c',...
-            {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c',...
-            {%- endif %}
-        {%- elif solver_options.integrator_type == "IRK" %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c', ...
-            {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',...
-            {%- endif %}
-        {%- elif solver_options.integrator_type == "GNSF" %}
-            {% if model.gnsf.purely_linear != 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',...
-            {% if model.gnsf.nontrivial_f_LO == 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',...
-            {%- endif %}
-            {%- endif %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',...
-        {%- elif solver_options.integrator_type == "DISCRETE" %}
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',...
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c',...
-        {%- if solver_options.hessian_approx == "EXACT" %}
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c',...
-        {%- endif %}
-        {%- endif %}
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c',...
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c',...
-        {%- endif %}
-
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_hess.c',...
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c',...
-        {%- endif %}
-        {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c',...
-        {%- elif cost.cost_type_e == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c',...
-        {%- endif %}
-        {%- if constraints.constr_type == "BGH"  and dims.nh > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c', ...
-        {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_phi_constraint.c', ...
-        {%- endif %}
-        {%- if constraints.constr_type_e == "BGH"  and dims.nh_e > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c', ...
-        {%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c', ...
-        {%- endif %}
-            'acados_solver_sfunction_{{ model.name }}.c', ...
-            'acados_solver_{{ model.name }}.c'
-          };
-
-INC_PATH = '{{ acados_include_path }}';
-
-INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'acados')], ...
-        ['-I', fullfile(INC_PATH)]};
-
-{% if solver_options.qp_solver is containing("QPOASES") %}
-INCS{end+1} = ['-I', fullfile(INC_PATH, 'qpOASES_e')];
-{% endif %}
-
-CFLAGS = 'CFLAGS=$CFLAGS';
-LDFLAGS = 'LDFLAGS=$LDFLAGS';
-COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
-COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
-
-{% if solver_options.qp_solver is containing("QPOASES") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPOASES ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPOASES ' ];
-{%- elif solver_options.qp_solver is containing("OSQP") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_OSQP ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_OSQP ' ];
-{%- elif solver_options.qp_solver is containing("QPDUNES") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPDUNES ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPDUNES ' ];
-{%- elif solver_options.qp_solver is containing("DAQP") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_DAQP' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_DAQP' ];
-{%- elif solver_options.qp_solver is containing("HPMPC") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_HPMPC ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_HPMPC ' ];
-{% endif %}
-
-LIB_PATH = ['-L', fullfile('{{ acados_lib_path }}')];
-
-LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
-
-% acados linking libraries and flags
-{%- if acados_link_libs and os and os == "pc" %}
-LDFLAGS = [LDFLAGS ' {{ acados_link_libs.openmp }}'];
-COMPFLAGS = [COMPFLAGS ' {{ acados_link_libs.openmp }}'];
-LIBS{end+1} = '{{ acados_link_libs.qpoases }}';
-LIBS{end+1} = '{{ acados_link_libs.hpmpc }}';
-LIBS{end+1} = '{{ acados_link_libs.osqp }}';
-{%- else %}
-    {% if solver_options.qp_solver is containing("QPOASES") %}
-LIBS{end+1} = '-lqpOASES_e';
-    {% endif %}
-    {% if solver_options.qp_solver is containing("DAQP") %}
-LIBS{end+1} = '-ldaqp';
-    {% endif %}
-{%- endif %}
-
-
-try
-    %     mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-    mex('-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-            LIB_PATH, LIBS{:}, SOURCES{:}, ...
-            '-output', 'acados_solver_sfunction_{{ model.name }}' );
-catch exception
-    disp('make_sfun failed with the following exception:')
-    disp(exception);
-    disp('Try adding -v to the mex command above to get more information.')
-    keyboard
-end
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_{{ model.name }}', '.', ...
-    eval('mexext')] );
-
-
-%% print note on usage of s-function, and create I/O port names vectors
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n';
-i_in = 1;
-
-global sfun_input_names
-sfun_input_names = {};
-
-{%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
-                    ' size [{{ dims.nbx_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx_0 [{{ dims.nbx_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
-                    ' size [{{ dims.nbx_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx_0 [{{ dims.nbx_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N,',...
-                    ' size [{{ (dims.N+1)*dims.np }}]\n ');
-sfun_input_names = [sfun_input_names; 'parameter_traj [{{ (dims.N+1)*dims.np }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [{{ dims.ny_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref_0 [{{ dims.ny_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
-                    ' size [{{ (dims.N-1) * dims.ny }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref [{{ (dims.N-1) * dims.ny }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [{{ dims.ny_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref_e [{{ dims.ny_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx [{{ (dims.N-1) * dims.nbx }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx [{{ (dims.N-1) * dims.nbx }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-
-{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-input_note = strcat(input_note, num2str(i_in), ') lbx_e (lbx at shooting node N), size [{{ dims.nbx_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx_e [{{ dims.nbx_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-input_note = strcat(input_note, num2str(i_in), ') ubx_e (ubx at shooting node N), size [{{ dims.nbx_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx_e [{{ dims.nbx_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-input_note = strcat(input_note, num2str(i_in), ') lbu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbu [{{ dims.N*dims.nbu }}]'];
-i_in = i_in + 1;
-{%- endif -%}
-{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-input_note = strcat(input_note, num2str(i_in), ') ubu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubu [{{ dims.N*dims.nbu }}]'];
-i_in = i_in + 1;
-{%- endif -%}
-
-{%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-input_note = strcat(input_note, num2str(i_in), ') lg for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n ');
-sfun_input_names = [sfun_input_names; 'lg [{{ dims.N*dims.ng }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-input_note = strcat(input_note, num2str(i_in), ') ug for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n ');
-sfun_input_names = [sfun_input_names; 'ug [{{ dims.N*dims.ng }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-input_note = strcat(input_note, num2str(i_in), ') lh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n ');
-sfun_input_names = [sfun_input_names; 'lh [{{ dims.N*dims.nh }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-input_note = strcat(input_note, num2str(i_in), ') uh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n ');
-sfun_input_names = [sfun_input_names; 'uh [{{ dims.N*dims.nh }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-input_note = strcat(input_note, num2str(i_in), ') lh_e, size [{{ dims.nh_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'lh_e [{{ dims.nh_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-input_note = strcat(input_note, num2str(i_in), ') uh_e, size [{{ dims.nh_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'uh_e [{{ dims.nh_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W_0 in column-major format, size [{{ dims.ny_0 * dims.ny_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W_0 [{{ dims.ny_0 * dims.ny_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W in column-major format, that is set for all intermediate shooting nodes: 1 to N-1, size [{{ dims.ny * dims.ny }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W [{{ dims.ny * dims.ny }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major format, size [{{ dims.ny_e * dims.ny_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W_e [{{ dims.ny_e * dims.ny_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.reset_solver %}  {#- reset_solver #}
-input_note = strcat(input_note, num2str(i_in), ') reset_solver determines if iterate is set to all zeros before other initializations (x_init, u_init) are set and before solver is called, size [1]\n ');
-sfun_input_names = [sfun_input_names; 'reset_solver [1]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.x_init %}  {#- x_init #}
-input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n ');
-sfun_input_names = [sfun_input_names; 'x_init [{{ dims.nx * (dims.N+1) }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.u_init %}  {#- u_init #}
-input_note = strcat(input_note, num2str(i_in), ') initialization of u for shooting nodes 0 to N-1, size [{{ dims.nu * (dims.N) }}]\n ');
-sfun_input_names = [sfun_input_names; 'u_init [{{ dims.nu * (dims.N) }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-fprintf(input_note)
-
-disp(' ')
-
-output_note = 'Outputs are:\n';
-i_out = 0;
-
-global sfun_output_names
-sfun_output_names = {};
-
-{%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [{{ dims.nu }}]\n ');
-sfun_output_names = [sfun_output_names; 'u0 [{{ dims.nu }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.utraj == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') utraj, control input concatenated for nodes 0 to N-1, size [{{ dims.nu * dims.N }}]\n ');
-sfun_output_names = [sfun_output_names; 'utraj [{{ dims.nu * dims.N }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.xtraj == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') xtraj, state concatenated for nodes 0 to N, size [{{ dims.nx * (dims.N + 1) }}]\n ');
-sfun_output_names = [sfun_output_names; 'xtraj [{{ dims.nx * (dims.N + 1) }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.solver_status == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
-sfun_output_names = [sfun_output_names; 'solver_status'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.cost_value == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') cost function value\n ');
-sfun_output_names = [sfun_output_names; 'cost_value'];
-{%- endif %}
-
-
-{%- if simulink_opts.outputs.KKT_residual == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
-sfun_output_names = [sfun_output_names; 'KKT_residual'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.KKT_residuals == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residuals, size [4] (stat, eq, ineq, comp)\n ');
-sfun_output_names = [sfun_output_names; 'KKT_residuals [4]'];
-{%- endif %}
-
-{%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
-sfun_output_names = [sfun_output_names; 'x1'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_sim'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_qp'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_lin'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.sqp_iter == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
-sfun_output_names = [sfun_output_names; 'sqp_iter'];
-{%- endif %}
-
-fprintf(output_note)
-
-% The mask drawing command is:
-% ---
-% global sfun_input_names sfun_output_names
-% for i = 1:length(sfun_input_names)
-% 	port_label('input', i, sfun_input_names{i})
-% end
-% for i = 1:length(sfun_output_names)
-% 	port_label('output', i, sfun_output_names{i})
-% end
-% ---
-% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands
-%   (you can access it wirth ctrl+M on the s-function)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
deleted file mode 100644
index e4c32a8c19..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
+++ /dev/null
@@ -1,137 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
-            'acados_sim_solver_{{ model.name }}.c ', ...
-            {%- if  solver_options.integrator_type == 'ERK' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ',...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_adj.c ',...
-                {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',...
-                {%- endif %}
-            {%- elif solver_options.integrator_type == "IRK" %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ...
-                {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',...
-                {%- endif %}
-            {%- elif solver_options.integrator_type == "GNSF" %}
-                {%- if model.gnsf.purely_linear != 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c ',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c ',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c ',...
-                {%- if model.gnsf.nontrivial_f_LO == 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c ',...
-                {%- endif %}
-                {%- endif %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c ',...
-            {%- endif %}
-          ];
-
-INC_PATH = '{{ acados_include_path }}';
-
-INCS = [ ' -I', fullfile(INC_PATH, 'blasfeo', 'include'), ...
-         ' -I', fullfile(INC_PATH, 'hpipm', 'include'), ...
-        ' -I', INC_PATH, ' -I', fullfile(INC_PATH, 'acados'), ' '];
-
-CFLAGS  = ' -O';
-
-LIB_PATH = '{{ acados_lib_path }}';
-
-LIBS = '-lacados -lblasfeo -lhpipm';
-
-try
-    % eval( [ 'mex -v -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
-    eval( [ 'mex -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
-        CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]);
-
-catch exception
-    disp('make_sfun failed with the following exception:')
-    disp(exception);
-    disp('Try adding -v to the mex command above to get more information.')
-    keyboard
-end
-
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ...
-    eval('mexext')] );
-
-
-global sfun_sim_input_names
-sfun_sim_input_names = {};
-
-%% print note on usage of s-function
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n ';
-i_in = 2;
-sfun_sim_input_names = [sfun_sim_input_names; 'x0 [{{ dims.nx }}]'];
-
-{%- if dims.nu > 0 %}
-input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n ');
-i_in = i_in + 1;
-sfun_sim_input_names = [sfun_sim_input_names; 'u [{{ dims.nu }}]'];
-{%- endif %}
-
-{%- if dims.np > 0 %}
-input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n ');
-i_in = i_in + 1;
-sfun_sim_input_names = [sfun_sim_input_names; 'p [{{ dims.np }}]'];
-{%- endif %}
-
-
-fprintf(input_note)
-
-disp(' ')
-
-global sfun_sim_output_names
-sfun_sim_output_names = {};
-
-output_note = strcat('Outputs are:\n', ...
-                '1) x1 - simulated state, size [{{ dims.nx }}]\n');
-sfun_sim_output_names = [sfun_sim_output_names; 'x1 [{{ dims.nx }}]'];
-
-fprintf(output_note)
-
-
-% The mask drawing command is:
-% ---
-% global sfun_sim_input_names sfun_sim_output_names
-% for i = 1:length(sfun_sim_input_names)
-% 	port_label('input', i, sfun_sim_input_names{i})
-% end
-% for i = 1:length(sfun_sim_output_names)
-% 	port_label('output', i, sfun_sim_output_names{i})
-% end
-% ---
-% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands
-%   (you can access it wirth ctrl+M on the s-function)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
deleted file mode 100644
index 3743212830..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
+++ /dev/null
@@ -1,270 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-classdef {{ model.name }}_mex_solver < handle
-
-    properties
-        C_ocp
-        C_ocp_ext_fun
-        cost_ext_fun_type
-        cost_ext_fun_type_e
-        N
-        name
-        code_gen_dir
-    end % properties
-
-
-
-    methods
-
-        % constructor
-        function obj = {{ model.name }}_mex_solver()
-            make_mex_{{ model.name }}();
-            [obj.C_ocp, obj.C_ocp_ext_fun] = acados_mex_create_{{ model.name }}();
-            % to have path to destructor when changing directory
-            addpath('.')
-            obj.cost_ext_fun_type = '{{ cost.cost_ext_fun_type }}';
-            obj.cost_ext_fun_type_e = '{{ cost.cost_ext_fun_type_e }}';
-            obj.N = {{ dims.N }};
-            obj.name = '{{ model.name }}';
-            obj.code_gen_dir = pwd();
-        end
-
-        % destructor
-        function delete(obj)
-            disp("delete template...");
-            return_dir = pwd();
-            cd(obj.code_gen_dir);
-            if ~isempty(obj.C_ocp)
-                acados_mex_free_{{ model.name }}(obj.C_ocp);
-            end
-            cd(return_dir);
-            disp("done.");
-        end
-
-        % solve
-        function solve(obj)
-            acados_mex_solve_{{ model.name }}(obj.C_ocp);
-        end
-
-        % set -- borrowed from MEX interface
-        function set(varargin)
-            obj = varargin{1};
-            field = varargin{2};
-            value = varargin{3};
-            if ~isa(field, 'char')
-                error('field must be a char vector, use '' ''');
-            end
-            if nargin==3
-                acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value);
-            elseif nargin==4
-                stage = varargin{4};
-                acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value, stage);
-            else
-                disp('acados_ocp.set: wrong number of input arguments (2 or 3 allowed)');
-            end
-        end
-
-        function value = get_cost(obj)
-            value = ocp_get_cost(obj.C_ocp);
-        end
-
-        % get -- borrowed from MEX interface
-        function value = get(varargin)
-            % usage:
-            % obj.get(field, value, [stage])
-            obj = varargin{1};
-            field = varargin{2};
-            if any(strfind('sens', field))
-                error('field sens* (sensitivities of optimal solution) not yet supported for templated MEX.')
-            end
-            if ~isa(field, 'char')
-                error('field must be a char vector, use '' ''');
-            end
-
-            if nargin==2
-                value = ocp_get(obj.C_ocp, field);
-            elseif nargin==3
-                stage = varargin{3};
-                value = ocp_get(obj.C_ocp, field, stage);
-            else
-                disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)');
-            end
-        end
-
-
-        function [] = store_iterate(varargin)
-            %%%  Stores the current iterate of the ocp solver in a json file.
-            %%% param1: filename: if not set, use model_name + timestamp + '.json'
-            %%% param2: overwrite: if false and filename exists add timestamp to filename
-
-            obj = varargin{1};
-            filename = '';
-            overwrite = false;
-
-            if nargin>=2
-                filename = varargin{2};
-                if ~isa(filename, 'char')
-                    error('filename must be a char vector, use '' ''');
-                end
-            end
-
-            if nargin==3
-                overwrite = varargin{3};
-            end
-
-            if nargin > 3
-                disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)');
-            end
-
-            if strcmp(filename,'')
-                filename = [obj.name '_iterate.json'];
-            end
-            if ~overwrite
-                % append timestamp
-                if exist(filename, 'file')
-                    filename = filename(1:end-5);
-                    filename = [filename '_' datestr(now,'yyyy-mm-dd-HH:MM:SS') '.json'];
-                end
-            end
-            filename = fullfile(pwd, filename);
-
-            % get iterate:
-            solution = struct();
-            for i=0:obj.N
-                solution.(['x_' num2str(i)]) = obj.get('x', i);
-                solution.(['lam_' num2str(i)]) = obj.get('lam', i);
-                solution.(['t_' num2str(i)]) = obj.get('t', i);
-                solution.(['sl_' num2str(i)]) = obj.get('sl', i);
-                solution.(['su_' num2str(i)]) = obj.get('su', i);
-            end
-            for i=0:obj.N-1
-                solution.(['z_' num2str(i)]) = obj.get('z', i);
-                solution.(['u_' num2str(i)]) = obj.get('u', i);
-                solution.(['pi_' num2str(i)]) = obj.get('pi', i);
-            end
-
-            acados_folder = getenv('ACADOS_INSTALL_DIR');
-            addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-            savejson('', solution, filename);
-
-            json_string = savejson('', solution, 'ForceRootName', 0);
-
-            fid = fopen(filename, 'w');
-            if fid == -1, error('store_iterate: Cannot create JSON file'); end
-            fwrite(fid, json_string, 'char');
-            fclose(fid);
-
-            disp(['stored current iterate in ' filename]);
-        end
-
-
-        function [] = load_iterate(obj, filename)
-            %%%  Loads the iterate stored in json file with filename into the ocp solver.
-            acados_folder = getenv('ACADOS_INSTALL_DIR');
-            addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-            filename = fullfile(pwd, filename);
-
-            if ~exist(filename, 'file')
-                error(['load_iterate: failed, file does not exist: ' filename])
-            end
-
-            solution = loadjson(filename);
-            keys = fieldnames(solution);
-
-            for k = 1:numel(keys)
-                key = keys{k};
-                key_parts = strsplit(key, '_');
-                field = key_parts{1};
-                stage = key_parts{2};
-
-                val = solution.(key);
-
-                % check if array is empty (can happen for z)
-                if numel(val) > 0
-                    obj.set(field, val, str2num(stage))
-                end
-            end
-        end
-
-
-        % print
-        function print(varargin)
-            if nargin < 2
-                field = 'stat';
-            else
-                field = varargin{2};
-            end
-
-            obj = varargin{1};
-
-            if strcmp(field, 'stat')
-                stat = obj.get('stat');
-                {%- if solver_options.nlp_solver_type == "SQP" %}
-                fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha');
-                if size(stat,2)>8
-                    fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
-                end
-                fprintf('\n');
-                for jj=1:size(stat,1)
-                    fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d\t%e', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7), stat(jj, 8));
-                    if size(stat,2)>8
-                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,9), stat(jj,10), stat(jj,11), stat(jj,12));
-                    end
-                    fprintf('\n');
-                end
-                fprintf('\n');
-                {%- else %}
-                fprintf('\niter\tqp_status\tqp_iter');
-                if size(stat,2)>3
-                    fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
-                end
-                fprintf('\n');
-                for jj=1:size(stat,1)
-                    fprintf('%d\t%d\t\t%d', stat(jj,1), stat(jj,2), stat(jj,3));
-                    if size(stat,2)>3
-                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7));
-                    end
-                    fprintf('\n');
-                end
-                {% endif %}
-
-            else
-                fprintf('unsupported field in function print of acados_ocp.print, got %s', field);
-                keyboard
-            end
-
-        end
-
-    end % methods
-
-end % class
-
diff --git a/third_party/acados/acados_template/c_templates_tera/model.in.h b/third_party/acados/acados_template/c_templates_tera/model.in.h
deleted file mode 100644
index e5059df9ff..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/model.in.h
+++ /dev/null
@@ -1,218 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef {{ model.name }}_MODEL
-#define {{ model.name }}_MODEL
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %}
-  {% if model.dyn_ext_fun_type == "casadi" %}
-// implicit ODE: function
-int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_n_in(void);
-int {{ model.name }}_impl_dae_fun_n_out(void);
-
-// implicit ODE: function + jacobians
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void);
-
-// implicit ODE: jacobians only
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void);
-
-// implicit ODE - for lifted_irk
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void);
-
-	{%- if hessian_approx == "EXACT" %}
-// implicit ODE - hessian
-int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_hess_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_hess_sparsity_out(int);
-int {{ model.name }}_impl_dae_hess_n_in(void);
-int {{ model.name }}_impl_dae_hess_n_out(void);
-	{% endif %}
-  {% else %}{# ext_fun_type #}
-    {%- if hessian_approx == "EXACT" %}
-int {{ model.dyn_impl_dae_hess }}(void **, void **, void *);
-    {% endif %}
-int {{ model.dyn_impl_dae_fun_jac }}(void **, void **, void *);
-int {{ model.dyn_impl_dae_jac }}(void **, void **, void *);
-int {{ model.dyn_impl_dae_fun }}(void **, void **, void *);
-  {% endif %}{# ext_fun_type #}
-
-{% elif solver_options.integrator_type == "GNSF" %}
-/* GNSF Functions */
-	{% if model.gnsf.purely_linear != 1 %}
-// phi_fun
-int        {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_fun_n_in(void);
-int        {{ model.name }}_gnsf_phi_fun_n_out(void);
-
-// phi_fun_jac_y
-int        {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void);
-
-// phi_jac_y_uhat
-int        {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
-	{% if model.gnsf.nontrivial_f_LO == 1 %}
-// f_lo_fun_jac_x1k1uz
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
-const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
-	{%- endif %}
-	{%- endif %}
-// used to import model matrices
-int        {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
-const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
-int        {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
-int        {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
-
-{% elif solver_options.integrator_type == "ERK" %}
-/* explicit ODE */
-
-// explicit ODE
-int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_ode_fun_sparsity_in(int);
-const int *{{ model.name }}_expl_ode_fun_sparsity_out(int);
-int {{ model.name }}_expl_ode_fun_n_in(void);
-int {{ model.name }}_expl_ode_fun_n_out(void);
-
-// explicit forward VDE
-int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_vde_forw_sparsity_in(int);
-const int *{{ model.name }}_expl_vde_forw_sparsity_out(int);
-int {{ model.name }}_expl_vde_forw_n_in(void);
-int {{ model.name }}_expl_vde_forw_n_out(void);
-
-// explicit adjoint VDE
-int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_vde_adj_sparsity_in(int);
-const int *{{ model.name }}_expl_vde_adj_sparsity_out(int);
-int {{ model.name }}_expl_vde_adj_n_in(void);
-int {{ model.name }}_expl_vde_adj_n_out(void);
-
-{%- if hessian_approx == "EXACT" %}
-int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_ode_hess_sparsity_in(int);
-const int *{{ model.name }}_expl_ode_hess_sparsity_out(int);
-int {{ model.name }}_expl_ode_hess_n_in(void);
-int {{ model.name }}_expl_ode_hess_n_out(void);
-{%- endif %}
-
-{% elif solver_options.integrator_type == "DISCRETE" %}
-
-{% if model.dyn_ext_fun_type == "casadi" %}
-int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_n_out(void);
-
-int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void);
-
-{%- if hessian_approx == "EXACT" %}
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void);
-{%- endif %}
-{% else %}
-  {%- if hessian_approx == "EXACT" %}
-int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *);
-  {% endif %}
-int {{ model.dyn_disc_fun_jac }}(void **, void **, void *);
-int {{ model.dyn_disc_fun }}(void **, void **, void *);
-{% endif %}
-
-
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_MODEL
diff --git a/third_party/acados/acados_template/casadi_function_generation.py b/third_party/acados/acados_template/casadi_function_generation.py
deleted file mode 100644
index 6373a2809d..0000000000
--- a/third_party/acados/acados_template/casadi_function_generation.py
+++ /dev/null
@@ -1,708 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-import casadi as ca
-from .utils import is_empty, casadi_length
-
-
-def get_casadi_symbol(x):
-    if isinstance(x, ca.MX):
-        return ca.MX.sym
-    elif isinstance(x, ca.SX):
-        return ca.SX.sym
-    else:
-        raise TypeError("Expected casadi SX or MX.")
-
-################
-# Dynamics
-################
-
-
-def generate_c_code_discrete_dynamics( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load model
-    x = model.x
-    u = model.u
-    p = model.p
-    phi = model.disc_dyn_expr
-    model_name = model.name
-    nx = casadi_length(x)
-
-    symbol = get_casadi_symbol(x)
-    # assume nx1 = nx !!!
-    lam = symbol('lam', nx, 1)
-
-    # generate jacobians
-    ux = ca.vertcat(u,x)
-    jac_ux = ca.jacobian(phi, ux)
-    # generate adjoint
-    adj_ux = ca.jtimes(phi, ux, lam, True)
-    # generate hessian
-    hess_ux = ca.jacobian(adj_ux, ux)
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # set up & generate ca.Functions
-    fun_name = model_name + '_dyn_disc_phi_fun'
-    phi_fun = ca.Function(fun_name, [x, u, p], [phi])
-    phi_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_dyn_disc_phi_fun_jac'
-    phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T])
-    phi_fun_jac_ut_xt.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_dyn_disc_phi_fun_jac_hess'
-    phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
-    phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-
-def generate_c_code_explicit_ode( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    generate_hess = opts["generate_hess"]
-
-    # load model
-    x = model.x
-    u = model.u
-    p = model.p
-    f_expl = model.f_expl_expr
-    model_name = model.name
-
-    ## get model dimensions
-    nx = x.size()[0]
-    nu = u.size()[0]
-
-    symbol = get_casadi_symbol(x)
-
-    ## set up functions to be exported
-    Sx = symbol('Sx', nx, nx)
-    Sp = symbol('Sp', nx, nu)
-    lambdaX = symbol('lambdaX', nx, 1)
-
-    fun_name = model_name + '_expl_ode_fun'
-
-    ## Set up functions
-    expl_ode_fun = ca.Function(fun_name, [x, u, p], [f_expl])
-
-    vdeX = ca.jtimes(f_expl,x,Sx)
-    vdeP = ca.jacobian(f_expl,u) + ca.jtimes(f_expl,x,Sp)
-
-    fun_name = model_name + '_expl_vde_forw'
-
-    expl_vde_forw = ca.Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP])
-
-    adj = ca.jtimes(f_expl, ca.vertcat(x, u), lambdaX, True)
-
-    fun_name = model_name + '_expl_vde_adj'
-    expl_vde_adj = ca.Function(fun_name, [x, lambdaX, u, p], [adj])
-
-    if generate_hess:
-        S_forw = ca.vertcat(ca.horzcat(Sx, Sp), ca.horzcat(ca.DM.zeros(nu,nx), ca.DM.eye(nu)))
-        hess = ca.mtimes(ca.transpose(S_forw),ca.jtimes(adj, ca.vertcat(x,u), S_forw))
-        hess2 = []
-        for j in range(nx+nu):
-            for i in range(j,nx+nu):
-                hess2 = ca.vertcat(hess2, hess[i,j])
-
-        fun_name = model_name + '_expl_ode_hess'
-        expl_ode_hess = ca.Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2])
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # generate C code
-    fun_name = model_name + '_expl_ode_fun'
-    expl_ode_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_expl_vde_forw'
-    expl_vde_forw.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_expl_vde_adj'
-    expl_vde_adj.generate(fun_name, casadi_codegen_opts)
-
-    if generate_hess:
-        fun_name = model_name + '_expl_ode_hess'
-        expl_ode_hess.generate(fun_name, casadi_codegen_opts)
-    os.chdir(cwd)
-
-    return
-
-
-def generate_c_code_implicit_ode( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load model
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-    f_impl = model.f_impl_expr
-    model_name = model.name
-
-    # get model dimensions
-    nx = casadi_length(x)
-    nz = casadi_length(z)
-
-    # generate jacobians
-    jac_x       = ca.jacobian(f_impl, x)
-    jac_xdot    = ca.jacobian(f_impl, xdot)
-    jac_u       = ca.jacobian(f_impl, u)
-    jac_z       = ca.jacobian(f_impl, z)
-
-    # Set up functions
-    p = model.p
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    impl_dae_fun_jac_x_xdot_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
-    impl_dae_fun_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
-    impl_dae_fun_jac_x_xdot_u = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u])
-
-    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
-    impl_dae_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
-
-    if opts["generate_hess"]:
-        x_xdot_z_u = ca.vertcat(x, xdot, z, u)
-        symbol = get_casadi_symbol(x)
-        multiplier = symbol('multiplier', nx + nz)
-        ADJ = ca.jtimes(f_impl, x_xdot_z_u, multiplier, True)
-        HESS = ca.jacobian(ADJ, x_xdot_z_u)
-        fun_name = model_name + '_impl_dae_hess'
-        impl_dae_hess = ca.Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS])
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # generate C code
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
-    impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
-    impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
-    impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_codegen_opts)
-
-    if opts["generate_hess"]:
-        fun_name = model_name + '_impl_dae_hess'
-        impl_dae_hess.generate(fun_name, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-def generate_c_code_gnsf( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    model_name = model.name
-
-    # set up directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # obtain gnsf dimensions
-    get_matrices_fun = model.get_matrices_fun
-    phi_fun = model.phi_fun
-
-    size_gnsf_A = get_matrices_fun.size_out(0)
-    gnsf_nx1 = size_gnsf_A[1]
-    gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    gnsf_nuhat = max(phi_fun.size_in(1))
-    gnsf_ny = max(phi_fun.size_in(0))
-    gnsf_nout = max(phi_fun.size_out(0))
-
-    # set up expressions
-    # if the model uses ca.MX because of cost/constraints
-    # the DAE can be exported as ca.SX -> detect GNSF in Matlab
-    # -> evaluated ca.SX GNSF functions with ca.MX.
-    u = model.u
-    symbol = get_casadi_symbol(u)
-
-    y = symbol("y", gnsf_ny, 1)
-    uhat = symbol("uhat", gnsf_nuhat, 1)
-    p = model.p
-    x1 = symbol("gnsf_x1", gnsf_nx1, 1)
-    x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1)
-    z1 = symbol("gnsf_z1", gnsf_nz1, 1)
-    dummy = symbol("gnsf_dummy", 1, 1)
-    empty_var = symbol("gnsf_empty_var", 0, 0)
-
-    ## generate C code
-    fun_name = model_name + '_gnsf_phi_fun'
-    phi_fun_ = ca.Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)])
-    phi_fun_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_phi_fun_jac_y'
-    phi_fun_jac_y = model.phi_fun_jac_y
-    phi_fun_jac_y_ = ca.Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p))
-    phi_fun_jac_y_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_phi_jac_y_uhat'
-    phi_jac_y_uhat = model.phi_jac_y_uhat
-    phi_jac_y_uhat_ = ca.Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p))
-    phi_jac_y_uhat_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz'
-    f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz
-    f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p)
-
-    # avoid codegeneration issue
-    if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval):
-        f_lo_fun_jac_x1k1uz_eval = [empty_var]
-
-    f_lo_fun_jac_x1k1uz_ = ca.Function(fun_name, [x1, x1dot, z1, u, p],
-                 f_lo_fun_jac_x1k1uz_eval)
-    f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_get_matrices_fun'
-    get_matrices_fun_ = ca.Function(fun_name, [dummy], get_matrices_fun(1))
-    get_matrices_fun_.generate(fun_name, casadi_codegen_opts)
-
-    # remove fields for json dump
-    del model.phi_fun
-    del model.phi_fun_jac_y
-    del model.phi_jac_y_uhat
-    del model.f_lo_fun_jac_x1k1uz
-    del model.get_matrices_fun
-
-    os.chdir(cwd)
-
-    return
-
-
-################
-# Cost
-################
-
-def generate_c_code_external_cost(model, stage_type, opts):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    p = model.p
-    u = model.u
-    z = model.z
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        suffix_name = "_cost_ext_cost_e_fun"
-        suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_e_fun_jac"
-        ext_cost = model.cost_expr_ext_cost_e
-        custom_hess = model.cost_expr_ext_cost_custom_hess_e
-        # Last stage cannot depend on u and z
-        u = symbol("u", 0, 0)
-        z = symbol("z", 0, 0)
-
-    elif stage_type == 'path':
-        suffix_name = "_cost_ext_cost_fun"
-        suffix_name_hess = "_cost_ext_cost_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_fun_jac"
-        ext_cost = model.cost_expr_ext_cost
-        custom_hess = model.cost_expr_ext_cost_custom_hess
-
-    elif stage_type == 'initial':
-        suffix_name = "_cost_ext_cost_0_fun"
-        suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_0_fun_jac"
-        ext_cost = model.cost_expr_ext_cost_0
-        custom_hess = model.cost_expr_ext_cost_custom_hess_0
-
-    nunx = x.shape[0] + u.shape[0]
-
-    # set up functions to be exported
-    fun_name = model.name + suffix_name
-    fun_name_hess = model.name + suffix_name_hess
-    fun_name_jac = model.name + suffix_name_jac
-
-    # generate expression for full gradient and Hessian
-    hess_uxz, grad_uxz = ca.hessian(ext_cost, ca.vertcat(u, x, z))
-
-    hess_ux = hess_uxz[:nunx, :nunx]
-    hess_z = hess_uxz[nunx:, nunx:]
-    hess_z_ux = hess_uxz[nunx:, :nunx]
-
-    if custom_hess is not None:
-        hess_ux = custom_hess
-
-    ext_cost_fun = ca.Function(fun_name, [x, u, z, p], [ext_cost])
-
-    ext_cost_fun_jac_hess = ca.Function(
-        fun_name_hess, [x, u, z, p], [ext_cost, grad_uxz, hess_ux, hess_z, hess_z_ux]
-    )
-    ext_cost_fun_jac = ca.Function(
-        fun_name_jac, [x, u, z, p], [ext_cost, grad_uxz]
-    )
-
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    ext_cost_fun.generate(fun_name, casadi_codegen_opts)
-    ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_codegen_opts)
-    ext_cost_fun_jac.generate(fun_name_jac, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-def generate_c_code_nls_cost( model, cost_name, stage_type, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    z = model.z
-    p = model.p
-    u = model.u
-
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        middle_name = '_cost_y_e'
-        u = symbol('u', 0, 0)
-        y_expr = model.cost_y_expr_e
-
-    elif stage_type == 'initial':
-        middle_name = '_cost_y_0'
-        y_expr = model.cost_y_expr_0
-
-    elif stage_type == 'path':
-        middle_name = '_cost_y'
-        y_expr = model.cost_y_expr
-
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    # set up expressions
-    cost_jac_expr = ca.transpose(ca.jacobian(y_expr, ca.vertcat(u, x)))
-    dy_dz = ca.jacobian(y_expr, z)
-    ny = casadi_length(y_expr)
-
-    y = symbol('y', ny, 1)
-
-    y_adj = ca.jtimes(y_expr, ca.vertcat(u, x), y, True)
-    y_hess = ca.jacobian(y_adj, ca.vertcat(u, x))
-
-    ## generate C code
-    suffix_name = '_fun'
-    fun_name = cost_name + middle_name + suffix_name
-    y_fun = ca.Function( fun_name, [x, u, z, p], [ y_expr ])
-    y_fun.generate( fun_name, casadi_codegen_opts )
-
-    suffix_name = '_fun_jac_ut_xt'
-    fun_name = cost_name + middle_name + suffix_name
-    y_fun_jac_ut_xt = ca.Function(fun_name, [x, u, z, p], [ y_expr, cost_jac_expr, dy_dz ])
-    y_fun_jac_ut_xt.generate( fun_name, casadi_codegen_opts )
-
-    suffix_name = '_hess'
-    fun_name = cost_name + middle_name + suffix_name
-    y_hess = ca.Function(fun_name, [x, u, z, y, p], [ y_hess ])
-    y_hess.generate( fun_name, casadi_codegen_opts )
-
-    os.chdir(cwd)
-
-    return
-
-
-
-def generate_c_code_conl_cost(model, cost_name, stage_type, opts):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    z = model.z
-    p = model.p
-
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        u = symbol('u', 0, 0)
-
-        yref = model.cost_r_in_psi_expr_e
-        inner_expr = model.cost_y_expr_e - yref
-        outer_expr = model.cost_psi_expr_e
-        res_expr = model.cost_r_in_psi_expr_e
-
-        suffix_name_fun = '_conl_cost_e_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_e_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess_e
-
-    elif stage_type == 'initial':
-        u = model.u
-
-        yref = model.cost_r_in_psi_expr_0
-        inner_expr = model.cost_y_expr_0 - yref
-        outer_expr = model.cost_psi_expr_0
-        res_expr = model.cost_r_in_psi_expr_0
-
-        suffix_name_fun = '_conl_cost_0_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_0_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess_0
-
-    elif stage_type == 'path':
-        u = model.u
-
-        yref = model.cost_r_in_psi_expr
-        inner_expr = model.cost_y_expr - yref
-        outer_expr = model.cost_psi_expr
-        res_expr = model.cost_r_in_psi_expr
-
-        suffix_name_fun = '_conl_cost_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess
-
-    # set up function names
-    fun_name_cost_fun = model.name + suffix_name_fun
-    fun_name_cost_fun_jac_hess = model.name + suffix_name_fun_jac_hess
-
-    # set up functions to be exported
-    outer_loss_fun = ca.Function('psi', [res_expr, p], [outer_expr])
-    cost_expr = outer_loss_fun(inner_expr, p)
-
-    outer_loss_grad_fun = ca.Function('outer_loss_grad', [res_expr, p], [ca.jacobian(outer_expr, res_expr).T])
-
-    if custom_hess is None:
-        outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [ca.hessian(outer_loss_fun(res_expr, p), res_expr)[0]])
-    else:
-        outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [custom_hess])
-
-    Jt_ux_expr = ca.jacobian(inner_expr, ca.vertcat(u, x)).T
-    Jt_z_expr = ca.jacobian(inner_expr, z).T
-
-    cost_fun = ca.Function(
-        fun_name_cost_fun,
-        [x, u, z, yref, p],
-        [cost_expr])
-
-    cost_fun_jac_hess = ca.Function(
-        fun_name_cost_fun_jac_hess,
-        [x, u, z, yref, p],
-        [cost_expr, outer_loss_grad_fun(inner_expr, p), Jt_ux_expr, Jt_z_expr, outer_hess_fun(inner_expr, p)]
-    )
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    # generate C code
-    cost_fun.generate(fun_name_cost_fun, casadi_codegen_opts)
-    cost_fun_jac_hess.generate(fun_name_cost_fun_jac_hess, casadi_codegen_opts)
-
-    os.chdir(cwd)
-
-    return
-
-
-################
-# Constraints
-################
-def generate_c_code_constraint( model, con_name, is_terminal, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load constraint variables and expression
-    x = model.x
-    p = model.p
-
-    symbol = get_casadi_symbol(x)
-
-    if is_terminal:
-        con_h_expr = model.con_h_expr_e
-        con_phi_expr = model.con_phi_expr_e
-        # create dummy u, z
-        u = symbol('u', 0, 0)
-        z = symbol('z', 0, 0)
-    else:
-        con_h_expr = model.con_h_expr
-        con_phi_expr = model.con_phi_expr
-        u = model.u
-        z = model.z
-
-    if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)):
-        raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.")
-
-    if (is_empty(con_h_expr) and is_empty(con_phi_expr)):
-        # both empty -> nothing to generate
-        return
-
-    if is_empty(con_h_expr):
-        constr_type = 'BGP'
-    else:
-        constr_type = 'BGH'
-
-    if is_empty(p):
-        p = symbol('p', 0, 0)
-
-    if is_empty(z):
-        z = symbol('z', 0, 0)
-
-    if not (is_empty(con_h_expr)) and opts['generate_hess']:
-        # multipliers for hessian
-        nh = casadi_length(con_h_expr)
-        lam_h = symbol('lam_h', nh, 1)
-
-    # set up & change directory
-    cwd = os.getcwd()
-    constraints_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_constraints'))
-    if not os.path.exists(constraints_dir):
-        os.makedirs(constraints_dir)
-    os.chdir(constraints_dir)
-
-    # export casadi functions
-    if constr_type == 'BGH':
-        if is_terminal:
-            fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt'
-        else:
-            fun_name = con_name + '_constr_h_fun_jac_uxt_zt'
-
-        jac_ux_t = ca.transpose(ca.jacobian(con_h_expr, ca.vertcat(u,x)))
-        jac_z_t = ca.jacobian(con_h_expr, z)
-        constraint_fun_jac_tran = ca.Function(fun_name, [x, u, z, p], \
-                [con_h_expr, jac_ux_t, jac_z_t])
-
-        constraint_fun_jac_tran.generate(fun_name, casadi_codegen_opts)
-        if opts['generate_hess']:
-
-            if is_terminal:
-                fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess'
-            else:
-                fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess'
-
-            # adjoint
-            adj_ux = ca.jtimes(con_h_expr, ca.vertcat(u, x), lam_h, True)
-            # hessian
-            hess_ux = ca.jacobian(adj_ux, ca.vertcat(u, x))
-
-            adj_z = ca.jtimes(con_h_expr, z, lam_h, True)
-            hess_z = ca.jacobian(adj_z, z)
-
-            # set up functions
-            constraint_fun_jac_tran_hess = \
-                ca.Function(fun_name, [x, u, lam_h, z, p], \
-                    [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z])
-
-            # generate C code
-            constraint_fun_jac_tran_hess.generate(fun_name, casadi_codegen_opts)
-
-        if is_terminal:
-            fun_name = con_name + '_constr_h_e_fun'
-        else:
-            fun_name = con_name + '_constr_h_fun'
-        h_fun = ca.Function(fun_name, [x, u, z, p], [con_h_expr])
-        h_fun.generate(fun_name, casadi_codegen_opts)
-
-    else: # BGP constraint
-        if is_terminal:
-            fun_name = con_name + '_phi_e_constraint'
-            r = model.con_r_in_phi_e
-            con_r_expr = model.con_r_expr_e
-        else:
-            fun_name = con_name + '_phi_constraint'
-            r = model.con_r_in_phi
-            con_r_expr = model.con_r_expr
-
-        nphi = casadi_length(con_phi_expr)
-        con_phi_expr_x_u_z = ca.substitute(con_phi_expr, r, con_r_expr)
-        phi_jac_u = ca.jacobian(con_phi_expr_x_u_z, u)
-        phi_jac_x = ca.jacobian(con_phi_expr_x_u_z, x)
-        phi_jac_z = ca.jacobian(con_phi_expr_x_u_z, z)
-
-        hess = ca.hessian(con_phi_expr[0], r)[0]
-        for i in range(1, nphi):
-            hess = ca.vertcat(hess, ca.hessian(con_phi_expr[i], r)[0])
-
-        r_jac_u = ca.jacobian(con_r_expr, u)
-        r_jac_x = ca.jacobian(con_r_expr, x)
-
-        constraint_phi = \
-            ca.Function(fun_name, [x, u, z, p], \
-                [con_phi_expr_x_u_z, \
-                ca.vertcat(ca.transpose(phi_jac_u), ca.transpose(phi_jac_x)), \
-                ca.transpose(phi_jac_z), \
-                hess,
-                ca.vertcat(ca.transpose(r_jac_u), ca.transpose(r_jac_x))])
-
-        constraint_phi.generate(fun_name, casadi_codegen_opts)
-
-    # change directory back
-    os.chdir(cwd)
-
-    return
-
diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c
deleted file mode 100644
index b39ff2e23b..0000000000
--- a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c
+++ /dev/null
@@ -1,819 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// This is a template based custom_update function
-#include <stdlib.h>
-#include <stdio.h>
-#include <assert.h>
-#include <math.h>
-
-#include "custom_update_function.h"
-#include "acados_solver_{{ model.name }}.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados/utils/mem.h"
-
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-#include "blasfeo/include/blasfeo_d_blasfeo_api.h"
-
-
-typedef struct custom_memory
-{
-    // covariance matrics
-    struct blasfeo_dmat *uncertainty_matrix_buffer;      // shape = (N+1, nx, nx)
-    // covariance matrix of the additive disturbance
-    struct blasfeo_dmat W_mat;                           // shape = (nw, nw)
-    struct blasfeo_dmat unc_jac_G_mat;                   // shape = (nx, nw)
-    struct blasfeo_dmat temp_GW_mat;                     // shape = (nx, nw)
-    struct blasfeo_dmat GWG_mat;                         // shape = (nx, nx)
-    // sensitivity matrices
-    struct blasfeo_dmat A_mat;                           // shape = (nx, nx)
-    struct blasfeo_dmat B_mat;                           // shape = (nx, nu)
-    // matrix in linear constraints
-    struct blasfeo_dmat Cg_mat;                          // shape = (ng, nx)
-    struct blasfeo_dmat Dg_mat;                          // shape = (ng, nu)
-    struct blasfeo_dmat Cg_e_mat;                        // shape = (ng_e, nx)
-    struct blasfeo_dmat dummy_Dgh_e_mat;                 // shape = (ngh_e_max, nu)
-    // matrix in nonlinear constraints
-    struct blasfeo_dmat Ch_mat;                          // shape = (nh, nx)
-    struct blasfeo_dmat Dh_mat;                          // shape = (nh, nu)
-    struct blasfeo_dmat Ch_e_mat;                        // shape = (nh_e, nx)
-    // feedback gain matrix
-    struct blasfeo_dmat K_mat;                           // shape = (nu, nx)
-    // AK = A - B@K
-    struct blasfeo_dmat AK_mat;                          // shape = (nx, nx)
-    // A@P_k
-    struct blasfeo_dmat temp_AP_mat;                     // shape = (nx, nx)
-    // K@P_k, K@P_k@K^T
-    struct blasfeo_dmat temp_KP_mat;                     // shape = (nu, nx)
-    struct blasfeo_dmat temp_KPK_mat;                    // shape = (nu, nu)
-    // C + D @ K, (C + D @ K) @ P_k
-    struct blasfeo_dmat temp_CaDK_mat;                   // shape = (ngh_me_max, nx)
-    struct blasfeo_dmat temp_CaDKmP_mat;                 // shape = (ngh_me_max, nx)
-    struct blasfeo_dmat temp_beta_mat;                   // shape = (ngh_me_max, ngh_me_max)
-
-    double *d_A_mat;                                     // shape = (nx, nx)
-    double *d_B_mat;                                     // shape = (nx, nu)
-    double *d_Cg_mat;                                    // shape = (ng, nx)
-    double *d_Dg_mat;                                    // shape = (ng, nu)
-    double *d_Cg_e_mat;                                  // shape = (ng_e, nx)
-    double *d_Cgh_mat;                                   // shape = (ng+nh, nx)
-    double *d_Dgh_mat;                                   // shape = (ng+nh, nu)
-    double *d_Cgh_e_mat;                                 // shape = (ng_e+nh_e, nx)
-    double *d_state_vec;
-    // upper and lower bounds on state variables
-    double *d_lbx;                                       // shape = (nbx,)
-    double *d_ubx;                                       // shape = (nbx,)
-    double *d_lbx_e;                                     // shape = (nbx_e,)
-    double *d_ubx_e;                                     // shape = (nbx_e,)
-    // tightened upper and lower bounds on state variables
-    double *d_lbx_tightened;                             // shape = (nbx,)
-    double *d_ubx_tightened;                             // shape = (nbx,)
-    double *d_lbx_e_tightened;                           // shape = (nbx_e,)
-    double *d_ubx_e_tightened;                           // shape = (nbx_e,)
-    // upper and lower bounds on control inputs
-    double *d_lbu;                                       // shape = (nbu,)
-    double *d_ubu;                                       // shape = (nbu,)
-    // tightened upper and lower bounds on control inputs
-    double *d_lbu_tightened;                             // shape = (nbu,)
-    double *d_ubu_tightened;                             // shape = (nbu,)
-    // upper and lower bounds on polytopic constraints
-    double *d_lg;                                        // shape = (ng,)
-    double *d_ug;                                        // shape = (ng,)
-    double *d_lg_e;                                      // shape = (ng_e,)
-    double *d_ug_e;                                      // shape = (ng_e,)
-    // tightened lower bounds on polytopic constraints
-    double *d_lg_tightened;                              // shape = (ng,)
-    double *d_ug_tightened;                              // shape = (ng,)
-    double *d_lg_e_tightened;                            // shape = (ng_e,)
-    double *d_ug_e_tightened;                            // shape = (ng_e,)
-    // upper and lower bounds on nonlinear constraints
-    double *d_lh;                                        // shape = (nh,)
-    double *d_uh;                                        // shape = (nh,)
-    double *d_lh_e;                                      // shape = (nh_e,)
-    double *d_uh_e;                                      // shape = (nh_e,)
-    // tightened upper and lower bounds on nonlinear constraints
-    double *d_lh_tightened;                              // shape = (nh,)
-    double *d_uh_tightened;                              // shape = (nh,)
-    double *d_lh_e_tightened;                            // shape = (nh_e,)
-    double *d_uh_e_tightened;                            // shape = (nh_e,)
-
-    int *idxbx;                                          // shape = (nbx,)
-    int *idxbu;                                          // shape = (nbu,)
-    int *idxbx_e;                                        // shape = (nbx_e,)
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-} custom_memory;
-
-static int int_max(int num1, int num2)
-{
-    return (num1 > num2 ) ? num1 : num2;
-}
-
-
-static int custom_memory_calculate_size(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh));
-    int nbx_e = {{ dims.nbx_e }};
-
-    assert({{zoro_description.nlbx_t}} <= nbx);
-    assert({{zoro_description.nubx_t}} <= nbx);
-    assert({{zoro_description.nlbu_t}} <= nbu);
-    assert({{zoro_description.nubu_t}} <= nbu);
-    assert({{zoro_description.nlg_t}} <= ng);
-    assert({{zoro_description.nug_t}} <= ng);
-    assert({{zoro_description.nlh_t}} <= nh);
-    assert({{zoro_description.nuh_t}} <= nh);
-    assert({{zoro_description.nlbx_e_t}} <= nbx_e);
-    assert({{zoro_description.nubx_e_t}} <= nbx_e);
-    assert({{zoro_description.nlg_e_t}} <= ng_e);
-    assert({{zoro_description.nug_e_t}} <= ng_e);
-    assert({{zoro_description.nlh_e_t}} <= nh_e);
-    assert({{zoro_description.nuh_e_t}} <= nh_e);
-
-    acados_size_t size = sizeof(custom_memory);
-    size += nbx * sizeof(int);
-    /* blasfeo structs */
-    size += (N + 1) * sizeof(struct blasfeo_dmat);
-    /* blasfeo mem: mat */
-    size += (N + 1) * blasfeo_memsize_dmat(nx, nx); // uncertainty_matrix_buffer
-    size += blasfeo_memsize_dmat(nw, nw);           // W_mat
-    size += 2 * blasfeo_memsize_dmat(nx, nw);       // unc_jac_G_mat, temp_GW_mat
-    size += 4 * blasfeo_memsize_dmat(nx, nx);       // GWG_mat, A_mat, AK_mat, temp_AP_mat
-    size += blasfeo_memsize_dmat(nx, nu);           // B_mat
-    size += 2 * blasfeo_memsize_dmat(nu, nx);       // K_mat, temp_KP_mat
-    size += blasfeo_memsize_dmat(nu, nu);           // temp_KPK_mat
-    size += blasfeo_memsize_dmat(ng, nx);           // Cg_mat
-    size += blasfeo_memsize_dmat(ng, nu);           // Dg_mat
-    size += blasfeo_memsize_dmat(ng_e, nx);         // Cg_e_mat
-    size += blasfeo_memsize_dmat(ngh_e_max, nu);    // dummy_Dgh_e_mat
-    size += blasfeo_memsize_dmat(nh, nx);           // Ch_mat
-    size += blasfeo_memsize_dmat(nh, nu);           // Dh_mat
-    size += blasfeo_memsize_dmat(nh_e, nx);         // Ch_e_mat
-    size += 2 * blasfeo_memsize_dmat(ngh_me_max, nx);           // temp_CaDK_mat, temp_CaDKmP_mat
-    size += blasfeo_memsize_dmat(ngh_me_max, ngh_me_max);       // temp_beta_mat
-    /* blasfeo mem: vec */
-    /* Arrays */
-    size += nx*nx *sizeof(double);                  // d_A_mat
-    size += nx*nu *sizeof(double);                  // d_B_mat
-    size += (ng + ng_e) * nx * sizeof(double);      // d_Cg_mat, d_Cg_e_mat
-    size += (ng) * nu * sizeof(double);             // d_Dg_mat
-    size += (nh + nh_e + ng + ng_e) * nx * sizeof(double);      // d_Cgh_mat, d_Cgh_e_mat
-    size += (nh + ng) * nu * sizeof(double);        // d_Dgh_mat
-    // d_state_vec
-    size += nx *sizeof(double);
-    // constraints and tightened constraints
-    size += 4 * (nbx + nbu + ng + nh)*sizeof(double);
-    size += 4 * (nbx_e + ng_e + nh_e)*sizeof(double);
-    size += (nbx + nbu + nbx_e)*sizeof(int);        // idxbx, idxbu, idxbx_e
-
-    size += 1 * 8; // initial alignment
-    make_int_multiple_of(64, &size);
-    size += 1 * 64;
-
-    return size;
-}
-
-
-static custom_memory *custom_memory_assign(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims, void *raw_memory)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh));
-    int nbx_e = {{ dims.nbx_e }};
-
-    char *c_ptr = (char *) raw_memory;
-    custom_memory *mem = (custom_memory *) c_ptr;
-    c_ptr += sizeof(custom_memory);
-
-    align_char_to(8, &c_ptr);
-    assign_and_advance_blasfeo_dmat_structs(N+1, &mem->uncertainty_matrix_buffer, &c_ptr);
-
-    align_char_to(64, &c_ptr);
-
-    for (int ii = 0; ii <= N; ii++)
-    {
-        assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->uncertainty_matrix_buffer[ii], &c_ptr);
-    }
-    // Disturbance Dynamics
-    assign_and_advance_blasfeo_dmat_mem(nw, nw, &mem->W_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->unc_jac_G_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->temp_GW_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->GWG_mat, &c_ptr);
-    // System Dynamics
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->A_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nu, &mem->B_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng, nx, &mem->Cg_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng, nu, &mem->Dg_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng_e, nx, &mem->Cg_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_e_max, nu, &mem->dummy_Dgh_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh, nx, &mem->Ch_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh, nu, &mem->Dh_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh_e, nx, &mem->Ch_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->K_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->AK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->temp_AP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->temp_KP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nu, &mem->temp_KPK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDKmP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, ngh_me_max, &mem->temp_beta_mat, &c_ptr);
-
-    assign_and_advance_double(nx*nx, &mem->d_A_mat, &c_ptr);
-    assign_and_advance_double(nx*nu, &mem->d_B_mat, &c_ptr);
-    assign_and_advance_double(ng*nx, &mem->d_Cg_mat, &c_ptr);
-    assign_and_advance_double(ng*nu, &mem->d_Dg_mat, &c_ptr);
-    assign_and_advance_double(ng_e*nx, &mem->d_Cg_e_mat, &c_ptr);
-    assign_and_advance_double((ng + nh)*nx, &mem->d_Cgh_mat, &c_ptr);
-    assign_and_advance_double((ng + nh)*nu, &mem->d_Dgh_mat, &c_ptr);
-    assign_and_advance_double((ng_e + nh_e)*nx, &mem->d_Cgh_e_mat, &c_ptr);
-    assign_and_advance_double(nx, &mem->d_state_vec, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_lbx, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_ubx, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_lbx_e, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_ubx_e, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_lbx_tightened, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_ubx_tightened, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_lbx_e_tightened, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_ubx_e_tightened, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_lbu, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_ubu, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_lbu_tightened, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_ubu_tightened, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_lg, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_ug, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_lg_e, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_ug_e, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_lg_tightened, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_ug_tightened, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_lg_e_tightened, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_ug_e_tightened, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_lh, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_uh, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_lh_e, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_uh_e, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_lh_tightened, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_uh_tightened, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_lh_e_tightened, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_uh_e_tightened, &c_ptr);
-
-    assign_and_advance_int(nbx, &mem->idxbx, &c_ptr);
-    assign_and_advance_int(nbu, &mem->idxbu, &c_ptr);
-    assign_and_advance_int(nbx_e, &mem->idxbx_e, &c_ptr);
-
-    assert((char *) raw_memory + custom_memory_calculate_size(nlp_config, nlp_dims) >= c_ptr);
-    mem->raw_memory = raw_memory;
-
-    return mem;
-}
-
-
-
-static void *custom_memory_create({{ model.name }}_solver_capsule* capsule)
-{
-    printf("\nin custom_memory_create_function\n");
-
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    acados_size_t bytes = custom_memory_calculate_size(nlp_config, nlp_dims);
-
-    void *ptr = acados_calloc(1, bytes);
-
-    custom_memory *custom_mem = custom_memory_assign(nlp_config, nlp_dims, ptr);
-    custom_mem->raw_memory = ptr;
-
-    return custom_mem;
-}
-
-
-static void custom_val_init_function(ocp_nlp_dims *nlp_dims, ocp_nlp_in *nlp_in, ocp_nlp_solver *nlp_solver, custom_memory *custom_mem)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int nbx_e = {{ dims.nbx_e }};
-
-    /* Get the state constraint bounds */
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbx", custom_mem->idxbx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "idxbx", custom_mem->idxbx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbu", custom_mem->idxbu);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu);
-    // Get the Jacobians and the bounds of the linear constraints
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "C", custom_mem->d_Cg_mat);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "D", custom_mem->d_Dg_mat);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "C", custom_mem->d_Cg_e_mat);
-    blasfeo_pack_dmat(ng, nx, custom_mem->d_Cg_mat, ng, &custom_mem->Cg_mat, 0, 0);
-    blasfeo_pack_dmat(ng, nu, custom_mem->d_Dg_mat, ng, &custom_mem->Dg_mat, 0, 0);
-    blasfeo_pack_dmat(ng_e, nx, custom_mem->d_Cg_e_mat, ng_e, &custom_mem->Cg_e_mat, 0, 0);
-    blasfeo_dgese(ngh_e_max, nu, 0., &custom_mem->dummy_Dgh_e_mat, 0, 0); //fill with zeros
-    // NOTE: fixed lower and upper bounds of nonlinear constraints
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e);
-
-    /* Initilize tightened constraints*/
-    // NOTE: tightened constraints are only initialized once
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened);
-
-    /* Initialize the W matrix */
-    // blasfeo_dgese(nw, nw, 0., &custom_mem->W_mat, 0, 0);
-{%- for ir in range(end=zoro_description.nw) %}
-    {%- for ic in range(end=zoro_description.nw) %}
-    blasfeo_dgein1({{zoro_description.W_mat[ir][ic]}}, &custom_mem->W_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-{%- for ir in range(end=dims.nx) %}
-    {%- for ic in range(end=zoro_description.nw) %}
-    blasfeo_dgein1({{zoro_description.unc_jac_G_mat[ir][ic]}}, &custom_mem->unc_jac_G_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-    // NOTE: if G is changing this is not in init!
-    // temp_GW_mat = unc_jac_G_mat * W_mat
-    blasfeo_dgemm_nn(nx, nw, nw, 1.0, &custom_mem->unc_jac_G_mat, 0, 0,
-                        &custom_mem->W_mat, 0, 0, 0.0,
-                        &custom_mem->temp_GW_mat, 0, 0, &custom_mem->temp_GW_mat, 0, 0);
-    // GWG_mat = temp_GW_mat * unc_jac_G_mat^T
-    blasfeo_dgemm_nt(nx, nx, nw, 1.0, &custom_mem->temp_GW_mat, 0, 0,
-                        &custom_mem->unc_jac_G_mat, 0, 0, 0.0,
-                        &custom_mem->GWG_mat, 0, 0, &custom_mem->GWG_mat, 0, 0);
-
-    /* Initialize the uncertainty_matrix_buffer[0] */
-{%- for ir in range(end=dims.nx) %}
-    {%- for ic in range(end=dims.nx) %}
-    blasfeo_dgein1({{zoro_description.P0_mat[ir][ic]}}, &custom_mem->uncertainty_matrix_buffer[0], {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-    /* Initialize the feedback gain matrix */
-{%- for ir in range(end=dims.nu) %}
-    {%- for ic in range(end=dims.nx) %}
-    blasfeo_dgein1({{zoro_description.fdbk_K_mat[ir][ic]}}, &custom_mem->K_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-}
-
-
-int custom_update_init_function({{ model.name }}_solver_capsule* capsule)
-{
-    capsule->custom_update_memory = custom_memory_create(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule);
-    custom_val_init_function(nlp_dims, nlp_in, nlp_solver, capsule->custom_update_memory);
-    return 1;
-}
-
-static void compute_gh_beta(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* C_mat,
-                         struct blasfeo_dmat* D_mat, struct blasfeo_dmat* CaDK_mat,
-                         struct blasfeo_dmat* CaDKmP_mat, struct blasfeo_dmat* beta_mat,
-                         struct blasfeo_dmat* P_mat,
-                         int n_cstr, int nx, int nu)
-{
-    // (C+DK)@P@(C^T+K^TD^T)
-    // CaDK_mat = C_mat + D_mat @ K_mat
-    blasfeo_dgemm_nn(n_cstr, nx, nu, 1.0, D_mat, 0, 0,
-                        K_mat, 0, 0, 1.0,
-                        C_mat, 0, 0, CaDK_mat, 0, 0);
-    // CaDKmP_mat = CaDK_mat @ P_mat
-    blasfeo_dgemm_nn(n_cstr, nx, nx, 1.0, CaDK_mat, 0, 0,
-                        P_mat, 0, 0, 0.0,
-                        CaDKmP_mat, 0, 0, CaDKmP_mat, 0, 0);
-    // beta_mat = CaDKmP_mat @ CaDK_mat^T
-    blasfeo_dgemm_nt(n_cstr, n_cstr, nx, 1.0, CaDKmP_mat, 0, 0,
-                        CaDK_mat, 0, 0, 0.0,
-                        beta_mat, 0, 0, beta_mat, 0, 0);
-}
-
-static void compute_KPK(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* temp_KP_mat,
-                        struct blasfeo_dmat* temp_KPK_mat, struct blasfeo_dmat* P_mat,
-                        int nx, int nu)
-{
-    // K @ P_k @ K^T
-    // temp_KP_mat = K_mat @ P_mat
-    blasfeo_dgemm_nn(nu, nx, nx, 1.0, K_mat, 0, 0,
-                     P_mat, 0, 0, 0.0,
-                     temp_KP_mat, 0, 0, temp_KP_mat, 0, 0);
-    // temp_KPK_mat = temp_KP_mat @ K_mat^T
-    blasfeo_dgemm_nt(nu, nu, nx, 1.0, temp_KP_mat, 0, 0,
-                     K_mat, 0, 0, 0.0,
-                     temp_KPK_mat, 0, 0, temp_KPK_mat, 0, 0);
-}
-
-static void compute_next_P_matrix(struct blasfeo_dmat* P_mat, struct blasfeo_dmat* P_next_mat,
-                                  struct blasfeo_dmat* A_mat, struct blasfeo_dmat* B_mat,
-                                  struct blasfeo_dmat* K_mat, struct blasfeo_dmat* W_mat,
-                                  struct blasfeo_dmat* AK_mat, struct blasfeo_dmat* temp_AP_mat, int nx, int nu)
-{
-    // AK_mat = -B@K + A
-    blasfeo_dgemm_nn(nx, nx, nu, -1.0, B_mat, 0, 0, K_mat, 0, 0,
-                        1.0, A_mat, 0, 0, AK_mat, 0, 0);
-    // temp_AP_mat = AK_mat @ P_k
-    blasfeo_dgemm_nn(nx, nx, nx, 1.0, AK_mat, 0, 0,
-                        P_mat, 0, 0, 0.0,
-                        temp_AP_mat, 0, 0, temp_AP_mat, 0, 0);
-    // P_{k+1} = temp_AP_mat @ AK_mat^T + GWG_mat
-    blasfeo_dgemm_nt(nx, nx, nx, 1.0, temp_AP_mat, 0, 0,
-                        AK_mat, 0, 0, 1.0,
-                        W_mat, 0, 0, P_next_mat, 0, 0);
-}
-
-static void reset_P0_matrix(ocp_nlp_dims *nlp_dims, struct blasfeo_dmat* P_mat, double* data)
-{
-    int nx = nlp_dims->nx[0];
-    blasfeo_pack_dmat(nx, nx, data, nx, P_mat, 0, 0);
-}
-
-static void uncertainty_propagate_and_update(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, custom_memory *custom_mem)
-{
-    ocp_nlp_config *nlp_config = solver->config;
-    ocp_nlp_dims *nlp_dims = solver->dims;
-
-    int N = nlp_dims->N;
-    int nx = nlp_dims->nx[0];
-    int nu = nlp_dims->nu[0];
-    int nx_sqr = nx*nx;
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int nbx_e = {{ dims.nbx_e }};
-    double backoff_scaling_gamma = {{ zoro_description.backoff_scaling_gamma }};
-
-    // First Stage
-    // NOTE: lbx_0 and ubx_0 should not be tightened.
-    // NOTE: lg_0 and ug_0 are not tightened.
-    // NOTE: lh_0 and uh_0 are not tightened.
-{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %}
-    compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat,
-                &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[0]), nx, nu);
-
-{%- if zoro_description.nlbu_t > 0 %}
-    // backoff lbu
-    {%- for it in zoro_description.idx_lbu_t %}
-    custom_mem->d_lbu_tightened[{{it}}]
-        = custom_mem->d_lbu[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbu", custom_mem->d_lbu_tightened);
-{%- endif %}
-{%- if zoro_description.nubu_t > 0 %}
-    // backoff ubu
-    {%- for it in zoro_description.idx_ubu_t %}
-    custom_mem->d_ubu_tightened[{{it}}]
-        = custom_mem->d_ubu[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubu", custom_mem->d_ubu_tightened);
-{%- endif %}
-{%- endif %}
-    // Middle Stages
-    // constraint tightening: for next stage based on dynamics of ii stage
-    // P[ii+1] = (A-B@K) @ P[ii] @ (A-B@K).T + G@W@G.T
-    for (int ii = 0; ii < N-1; ii++)
-    {
-        // get and pack: A, B
-        ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "A", custom_mem->d_A_mat);
-        blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0);
-        ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "B", custom_mem->d_B_mat);
-        blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0);
-
-        compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[ii]),
-                              &(custom_mem->uncertainty_matrix_buffer[ii+1]),
-                              &custom_mem->A_mat, &custom_mem->B_mat,
-                              &custom_mem->K_mat, &custom_mem->GWG_mat,
-                              &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu);
-
-        // state constraints
-{%- if zoro_description.nlbx_t + zoro_description.nubx_t> 0 %}
-    {%- if zoro_description.nlbx_t > 0 %}
-        // lbx
-        {%- for it in zoro_description.idx_lbx_t %}
-        custom_mem->d_lbx_tightened[{{it}}]
-            = custom_mem->d_lbx[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1],
-                    custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbx", custom_mem->d_lbx_tightened);
-    {%- endif %}
-    {% if zoro_description.nubx_t > 0 %}
-        // ubx
-        {%- for it in zoro_description.idx_ubx_t %}
-        custom_mem->d_ubx_tightened[{{it}}] = custom_mem->d_ubx[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1],
-                    custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubx", custom_mem->d_ubx_tightened);
-    {%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %}
-        // input constraints
-        compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat,
-            &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[ii+1]), nx, nu);
-
-    {%- if zoro_description.nlbu_t > 0 %}
-        {%- for it in zoro_description.idx_lbu_t %}
-        custom_mem->d_lbu_tightened[{{it}}] = custom_mem->d_lbu[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                    custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}]));
-        {%- endfor %}
-
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbu", custom_mem->d_lbu_tightened);
-    {%- endif %}
-    {%- if zoro_description.nubu_t > 0 %}
-        {%- for it in zoro_description.idx_ubu_t %}
-        custom_mem->d_ubu_tightened[{{it}}] = custom_mem->d_ubu[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                    custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubu", custom_mem->d_ubu_tightened);
-    {%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlg_t + zoro_description.nug_t > 0 %}
-        // Linear constraints: g
-        compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat,
-                     &custom_mem->Dg_mat, &custom_mem->temp_CaDK_mat,
-                     &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                     &custom_mem->uncertainty_matrix_buffer[ii+1], ng, nx, nu);
-
-    {%- if zoro_description.nlg_t > 0 %}
-        {%- for it in zoro_description.idx_lg_t %}
-        custom_mem->d_lg_tightened[{{it}}]
-            = custom_mem->d_lg[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lg", custom_mem->d_lg_tightened);
-    {%- endif %}
-    {%- if zoro_description.nug_t > 0 %}
-        {%- for it in zoro_description.idx_ug_t %}
-        custom_mem->d_ug_tightened[{{it}}]
-            = custom_mem->d_ug[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ug", custom_mem->d_ug_tightened);
-    {%- endif %}
-{%- endif %}
-
-
-{%- if zoro_description.nlh_t + zoro_description.nuh_t > 0 %}
-        // nonlinear constraints: h
-        // Get C_{k+1} and D_{k+1}
-        ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "C", custom_mem->d_Cgh_mat);
-        ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "D", custom_mem->d_Dgh_mat);
-        // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints
-        blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0);
-        blasfeo_pack_dmat(nh, nu, custom_mem->d_Dgh_mat+ng, ng+nh, &custom_mem->Dh_mat, 0, 0);
-
-        compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat,
-                     &custom_mem->Dh_mat, &custom_mem->temp_CaDK_mat,
-                     &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                     &custom_mem->uncertainty_matrix_buffer[ii+1], nh, nx, nu);
-
-    {%- if zoro_description.nlh_t > 0 %}
-        {%- for it in zoro_description.idx_lh_t %}
-        custom_mem->d_lh_tightened[{{it}}]
-            = custom_mem->d_lh[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lh", custom_mem->d_lh_tightened);
-    {%- endif %}
-    {%- if zoro_description.nuh_t > 0 %}
-        {%- for it in zoro_description.idx_uh_t %}
-        custom_mem->d_uh_tightened[{{it}}] = custom_mem->d_uh[{{it}}]
-                        - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "uh", custom_mem->d_uh_tightened);
-    {%- endif %}
-{%- endif %}
-    }
-
-    // Last stage
-    // get and pack: A, B
-    ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "A", custom_mem->d_A_mat);
-    blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0);
-    ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "B", custom_mem->d_B_mat);
-    blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0);
-    // AK_mat = -B*K + A
-    compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[N-1]),
-                        &(custom_mem->uncertainty_matrix_buffer[N]),
-                        &custom_mem->A_mat, &custom_mem->B_mat,
-                        &custom_mem->K_mat, &custom_mem->GWG_mat,
-                        &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu);
-
-    // state constraints nlbx_e_t
-{%- if zoro_description.nlbx_e_t + zoro_description.nubx_e_t> 0 %}
-{%- if zoro_description.nlbx_e_t > 0 %}
-    // lbx_e
-    {%- for it in zoro_description.idx_lbx_e_t %}
-    custom_mem->d_lbx_e_tightened[{{it}}]
-        = custom_mem->d_lbx_e[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N],
-                custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened);
-{%- endif %}
-{% if zoro_description.nubx_e_t > 0 %}
-    // ubx_e
-    {%- for it in zoro_description.idx_ubx_e_t %}
-    custom_mem->d_ubx_e_tightened[{{it}}] = custom_mem->d_ubx_e[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N],
-                custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened);
-{%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlg_e_t + zoro_description.nug_e_t > 0 %}
-    // Linear constraints: g
-    compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat,
-                    &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat,
-                    &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                    &custom_mem->uncertainty_matrix_buffer[N], ng, nx, nu);
-
-{%- if zoro_description.nlg_e_t > 0 %}
-    {%- for it in zoro_description.idx_lg_e_t %}
-    custom_mem->d_lg_e_tightened[{{it}}]
-        = custom_mem->d_lg_e[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened);
-{%- endif %}
-{%- if zoro_description.nug_e_t > 0 %}
-    {%- for it in zoro_description.idx_ug_e_t %}
-    custom_mem->d_ug_e_tightened[{{it}}]
-        = custom_mem->d_ug_e[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened);
-{%- endif %}
-{%- endif %}
-
-
-{%- if zoro_description.nlh_e_t + zoro_description.nuh_e_t > 0 %}
-    // nonlinear constraints: h
-    // Get C_{k+1} and D_{k+1}
-    ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, N, "C", custom_mem->d_Cgh_mat);
-    // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints
-    blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0);
-
-    compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat,
-                    &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat,
-                    &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                    &custom_mem->uncertainty_matrix_buffer[N], nh, nx, nu);
-
-    {%- if zoro_description.nlh_e_t > 0 %}
-        {%- for it in zoro_description.idx_lh_e_t %}
-        custom_mem->d_lh_e_tightened[{{it}}]
-            = custom_mem->d_lh_e[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened);
-    {%- endif %}
-    {%- if zoro_description.nuh_e_t > 0 %}
-        {%- for it in zoro_description.idx_uh_e_t %}
-        custom_mem->d_uh_e_tightened[{{it}}] = custom_mem->d_uh_e[{{it}}]
-                        - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened);
-    {%- endif %}
-{%- endif %}
-
-}
-
-
-int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len)
-{
-    custom_memory *custom_mem = (custom_memory *) capsule->custom_update_memory;
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(capsule);
-
-    if (data_len > 0)
-    {
-        reset_P0_matrix(nlp_dims, &custom_mem->uncertainty_matrix_buffer[0], data);
-    }
-    uncertainty_propagate_and_update(nlp_solver, nlp_in, nlp_out, custom_mem);
-
-    return 1;
-}
-
-
-int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule)
-{
-    custom_memory *mem = capsule->custom_update_memory;
-
-    free(mem->raw_memory);
-    return 1;
-}
-
-// useful prints for debugging
-
-/*
-printf("A_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->A_mat, 0, 0);
-printf("B_mat:\n");
-blasfeo_print_exp_dmat(nx, nu, &custom_mem->B_mat, 0, 0);
-printf("K_mat:\n");
-blasfeo_print_exp_dmat(nu, nx, &custom_mem->K_mat, 0, 0);
-printf("AK_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->AK_mat, 0, 0);
-printf("temp_AP_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->temp_AP_mat, 0, 0);
-printf("W_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->W_mat, 0, 0);
-printf("P_k+1:\n");
-blasfeo_print_exp_dmat(nx, nx, &(custom_mem->uncertainty_matrix_buffer[ii+1]), 0, 0);*/
\ No newline at end of file
diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
deleted file mode 100644
index 9611ea210c..0000000000
--- a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#include "acados_solver_{{ model.name }}.h"
-
-// Called at the end of solver creation.
-// This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
-int custom_update_init_function({{ model.name }}_solver_capsule* capsule);
-
-
-// Custom update function that can be called between solver calls
-int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
-
-
-// Called just before destroying the solver.
-// Responsible to free allocated memory, stored at capsule->custom_update_memory.
-int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule);
diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py
deleted file mode 100644
index 8b13789179..0000000000
--- a/third_party/acados/acados_template/gnsf/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/third_party/acados/acados_template/gnsf/check_reformulation.py b/third_party/acados/acados_template/gnsf/check_reformulation.py
deleted file mode 100644
index 2bdfbbc336..0000000000
--- a/third_party/acados/acados_template/gnsf/check_reformulation.py
+++ /dev/null
@@ -1,216 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from acados_template.utils import casadi_length
-from casadi import *
-import numpy as np
-
-
-def check_reformulation(model, gnsf, print_info):
-
-    ## Description:
-    # this function takes the implicit ODE/ index-1 DAE and a gnsf structure
-    # to evaluate both models at num_eval random points x0, x0dot, z0, u0
-    # if for all points the relative error is <= TOL, the function will return::
-    # 1, otherwise it will give an error.
-
-    TOL = 1e-14
-    num_eval = 10
-
-    # get dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-    nx1 = gnsf["nx1"]
-    nx2 = gnsf["nx2"]
-    nz1 = gnsf["nz1"]
-    nz2 = gnsf["nz2"]
-    n_out = gnsf["n_out"]
-
-    # get model matrices
-    A = gnsf["A"]
-    B = gnsf["B"]
-    C = gnsf["C"]
-    E = gnsf["E"]
-    c = gnsf["c"]
-
-    L_x = gnsf["L_x"]
-    L_xdot = gnsf["L_xdot"]
-    L_z = gnsf["L_z"]
-    L_u = gnsf["L_u"]
-
-    A_LO = gnsf["A_LO"]
-    E_LO = gnsf["E_LO"]
-    B_LO = gnsf["B_LO"]
-    c_LO = gnsf["c_LO"]
-
-    I_x1 = range(nx1)
-    I_x2 = range(nx1, nx)
-
-    I_z1 = range(nz1)
-    I_z2 = range(nz1, nz)
-
-    idx_perm_f = gnsf["idx_perm_f"]
-
-    # get casadi variables
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    z = gnsf["z"]
-    u = gnsf["u"]
-    y = gnsf["y"]
-    uhat = gnsf["uhat"]
-    p = gnsf["p"]
-
-    # create functions
-    impl_dae_fun = Function("impl_dae_fun", [x, xdot, u, z, p], [model.f_impl_expr])
-    phi_fun = Function("phi_fun", [y, uhat, p], [gnsf["phi_expr"]])
-    f_lo_fun = Function(
-        "f_lo_fun", [x[range(nx1)], xdot[range(nx1)], z, u, p], [gnsf["f_lo_expr"]]
-    )
-
-    # print(gnsf)
-    # print(gnsf["n_out"])
-
-    for i_check in range(num_eval):
-        # generate random values
-        x0 = np.random.rand(nx, 1)
-        x0dot = np.random.rand(nx, 1)
-        z0 = np.random.rand(nz, 1)
-        u0 = np.random.rand(nu, 1)
-
-        if gnsf["ny"] > 0:
-            y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0[I_z1]
-        else:
-            y0 = []
-        if gnsf["nuhat"] > 0:
-            uhat0 = L_u @ u0
-        else:
-            uhat0 = []
-
-        # eval functions
-        p0 = np.random.rand(gnsf["np"], 1)
-        f_impl_val = impl_dae_fun(x0, x0dot, u0, z0, p0).full()
-        phi_val = phi_fun(y0, uhat0, p0)
-        f_lo_val = f_lo_fun(x0[I_x1], x0dot[I_x1], z0[I_z1], u0, p0)
-
-        f_impl_val = f_impl_val[idx_perm_f]
-        # eval gnsf
-        if n_out > 0:
-            C_phi = C @ phi_val
-        else:
-            C_phi = np.zeros((nx1 + nz1, 1))
-        try:
-            gnsf_val1 = (
-                A @ x0[I_x1] + B @ u0 + C_phi + c - E @ vertcat(x0dot[I_x1], z0[I_z1])
-            )
-            # gnsf_1 = (A @ x[I_x1] + B @ u + C_phi + c - E @ vertcat(xdot[I_x1], z[I_z1]))
-        except:
-            import pdb
-
-            pdb.set_trace()
-
-        if nx2 > 0:  # eval LOS:
-            gnsf_val2 = (
-                A_LO @ x0[I_x2]
-                + B_LO @ u0
-                + c_LO
-                + f_lo_val
-                - E_LO @ vertcat(x0dot[I_x2], z0[I_z2])
-            )
-            gnsf_val = vertcat(gnsf_val1, gnsf_val2).full()
-        else:
-            gnsf_val = gnsf_val1.full()
-        # compute error and check
-        rel_error = np.linalg.norm(f_impl_val - gnsf_val) / np.linalg.norm(f_impl_val)
-
-        if rel_error > TOL:
-            print("transcription failed rel_error > TOL")
-            print("you are in debug mode now: import pdb; pdb.set_trace()")
-            abs_error = gnsf_val - f_impl_val
-            # T = table(f_impl_val, gnsf_val, abs_error)
-            # print(T)
-            print("abs_error:", abs_error)
-            #         error('transcription failed rel_error > TOL')
-            #         check = 0
-            import pdb
-
-            pdb.set_trace()
-    if print_info:
-        print(" ")
-        print("model reformulation checked: relative error <= TOL = ", str(TOL))
-        print(" ")
-        check = 1
-    ## helpful for debugging:
-    # # use in calling function and compare
-    # # compare f_impl(i) with gnsf_val1(i)
-    #
-
-    #     nx  = gnsf['nx']
-    #     nu  = gnsf['nu']
-    #     nz  = gnsf['nz']
-    #     nx1 = gnsf['nx1']
-    #     nx2 = gnsf['nx2']
-    #
-    #         A  = gnsf['A']
-    #     B  = gnsf['B']
-    #     C  = gnsf['C']
-    #     E  = gnsf['E']
-    #     c  = gnsf['c']
-    #
-    #     L_x    = gnsf['L_x']
-    #     L_z    = gnsf['L_z']
-    #     L_xdot = gnsf['L_xdot']
-    #     L_u    = gnsf['L_u']
-    #
-    #     A_LO = gnsf['A_LO']
-    #
-    #     x0 = rand(nx, 1)
-    #     x0dot = rand(nx, 1)
-    #     z0 = rand(nz, 1)
-    #     u0 = rand(nu, 1)
-    #     I_x1 = range(nx1)
-    #     I_x2 = nx1+range(nx)
-    #
-    #     y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0
-    #     uhat0 = L_u @ u0
-    #
-    #     gnsf_val1 = (A @ x[I_x1] + B @ u + #         C @ phi_current + c) - E @ [xdot[I_x1] z]
-    #     gnsf_val1 = gnsf_val1.simplify()
-    #
-    # #     gnsf_val2 = A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2]
-    #     gnsf_val2 =  A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2]
-    #
-    #
-    #     gnsf_val = [gnsf_val1 gnsf_val2]
-    #     gnsf_val = gnsf_val.simplify()
-    #     dyn_expr_f = dyn_expr_f.simplify()
-    # import pdb; pdb.set_trace()
-
-    return check
diff --git a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py b/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py
deleted file mode 100644
index ebf1f373a4..0000000000
--- a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py
+++ /dev/null
@@ -1,278 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from casadi import *
-from .check_reformulation import check_reformulation
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from ..utils import casadi_length, print_casadi_expression
-
-
-def detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info):
-
-    ## Description
-    # this function takes a gnsf structure with trivial model matrices (A, B,
-    # E, c are zeros, and C is eye).
-    # It detects all affine linear terms and sets up an equivalent model in the
-    # GNSF structure, where all affine linear terms are modeled through the
-    # matrices A, B, E, c and the linear output system (LOS) is empty.
-    # NOTE: model is just taken as an argument to check equivalence of the
-    # models within the function.
-
-    model = acados_ocp.model
-    if print_info:
-        print(" ")
-        print("====================================================================")
-        print(" ")
-        print("============  Detect affine-linear dependencies   ==================")
-        print(" ")
-        print("====================================================================")
-        print(" ")
-    # symbolics
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    u = gnsf["u"]
-    z = gnsf["z"]
-
-    # dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-
-    ny_old = gnsf["ny"]
-    nuhat_old = gnsf["nuhat"]
-
-    ## Represent all affine dependencies through the model matrices A, B, E, c
-    ## determine A
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for ix in range(nx):
-            var = x[ix]
-            varname = var.name
-            # symbolic jacobian of fii w.r.t. xi
-            jac_fii_xi = jacobian(fii, var)
-            if jac_fii_xi.is_constant():
-                # jacobian value
-                jac_fii_xi_fun = Function("jac_fii_xi_fun", [x[1]], [jac_fii_xi])
-                # x[1] as input just to have a scalar input and call the function as follows:
-                gnsf["A"][ii, ix] = jac_fii_xi_fun(0).full()
-            else:
-                gnsf["A"][ii, ix] = 0
-                if print_info:
-                    print(
-                        "phi(",
-                        str(ii),
-                        ") is nonlinear in x(",
-                        str(ix),
-                        ") = ",
-                        varname,
-                    )
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] - gnsf["A"] @ x
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix A:")
-        print(gnsf["A"])
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-    # assert(n_nodes_current >= n_nodes_next,'n_nodes_current >= n_nodes_next FAILED')
-    gnsf["phi_expr"] = f_next
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine B
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for iu in range(nu):
-            var = u[iu]
-            varname = var.name
-            # symbolic jacobian of fii w.r.t. ui
-            jac_fii_ui = jacobian(fii, var)
-            if jac_fii_ui.is_constant():  # i.e. hessian is structural zero:
-                # jacobian value
-                jac_fii_ui_fun = Function("jac_fii_ui_fun", [x[1]], [jac_fii_ui])
-                gnsf["B"][ii, iu] = jac_fii_ui_fun(0).full()
-            else:
-                gnsf["B"][ii, iu] = 0
-                if print_info:
-                    print(f"phi({ii}) is nonlinear in u(", str(iu), ") = ", varname)
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] - gnsf["B"] @ u
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix B:")
-        print(gnsf["B"])
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-
-    gnsf["phi_expr"] = f_next
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine E
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    k = vertcat(xdot, z)
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for ik in range(casadi_length(k)):
-            # symbolic jacobian of fii w.r.t. ui
-            var = k[ik]
-            varname = var.name
-            jac_fii_ki = jacobian(fii, var)
-            if jac_fii_ki.is_constant():
-                # jacobian value
-                jac_fii_ki_fun = Function("jac_fii_ki_fun", [x[1]], [jac_fii_ki])
-                gnsf["E"][ii, ik] = -jac_fii_ki_fun(0).full()
-            else:
-                gnsf["E"][ii, ik] = 0
-                if print_info:
-                    print(f"phi( {ii}) is nonlinear in xdot_z({ik}) = ", varname)
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] + gnsf["E"] @ k
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix E:")
-        print(gnsf["E"])
-        print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes")
-
-    gnsf["phi_expr"] = f_next
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine constant term c
-
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        if fii.is_constant():
-            # function value goes into c
-            fii_fun = Function("fii_fun", [x[1]], [fii])
-            gnsf["c"][ii] = fii_fun(0).full()
-        else:
-            gnsf["c"][ii] = 0
-            if print_info:
-                print(f"phi(", str(ii), ") is NOT constant")
-                print(fii)
-                print("-----------------------------------------------------")
-    gnsf["phi_expr"] = gnsf["phi_expr"] - gnsf["c"]
-    gnsf["phi_expr"] = simplify(gnsf["phi_expr"])
-    n_nodes_next = n_nodes(gnsf["phi_expr"])
-
-    if print_info:
-        print("\n")
-        print(f"determined vector c:")
-        print(gnsf["c"])
-        print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes")
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine nonlinearity & corresponding matrix C
-    ## Reduce dimension of phi
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    ind_non_zero = []
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        fii = simplify(fii)
-        if not fii.is_zero():
-            ind_non_zero = list(set.union(set(ind_non_zero), set([ii])))
-    gnsf["phi_expr"] = gnsf["phi_expr"][ind_non_zero]
-
-    # C
-    gnsf["C"] = np.zeros((nx + nz, len(ind_non_zero)))
-    for ii in range(len(ind_non_zero)):
-        gnsf["C"][ind_non_zero[ii], ii] = 1
-    gnsf = determine_input_nonlinearity_function(gnsf)
-    n_nodes_next = n_nodes(gnsf["phi_expr"])
-
-    if print_info:
-        print(" ")
-        print("determined matrix C:")
-        print(gnsf["C"])
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            "------------- Success: Affine linear terms detected -----------------------------"
-        )
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            f'reduced nonlinearity dimension n_out from  {nx+nz}  to  {gnsf["n_out"]}'
-        )
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-        print(" ")
-        print("phi now reads as:")
-        print_casadi_expression(gnsf["phi_expr"])
-
-    ## determine input of nonlinearity function
-    check_reformulation(model, gnsf, print_info)
-
-    gnsf["ny"] = casadi_length(gnsf["y"])
-    gnsf["nuhat"] = casadi_length(gnsf["uhat"])
-
-    if print_info:
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-        print(" ")
-        print(
-            f"reduced input ny    of phi from  ",
-            str(ny_old),
-            "   to  ",
-            str(gnsf["ny"]),
-        )
-        print(
-            f"reduced input nuhat of phi from  ",
-            str(nuhat_old),
-            "   to  ",
-            str(gnsf["nuhat"]),
-        )
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-
-    # if print_info:
-    #     print(f"gnsf: {gnsf}")
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py b/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py
deleted file mode 100644
index 24ffe643b8..0000000000
--- a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py
+++ /dev/null
@@ -1,240 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import Function, jacobian, SX, vertcat, horzcat
-
-from .determine_trivial_gnsf_transcription import determine_trivial_gnsf_transcription
-from .detect_affine_terms_reduce_nonlinearity import (
-    detect_affine_terms_reduce_nonlinearity,
-)
-from .reformulate_with_LOS import reformulate_with_LOS
-from .reformulate_with_invertible_E_mat import reformulate_with_invertible_E_mat
-from .structure_detection_print_summary import structure_detection_print_summary
-from .check_reformulation import check_reformulation
-
-
-def detect_gnsf_structure(acados_ocp, transcribe_opts=None):
-
-    ## Description
-    # This function takes a CasADi implicit ODE or index-1 DAE model "model"
-    # consisting of a CasADi expression f_impl in the symbolic CasADi
-    # variables x, xdot, u, z, (and possibly parameters p), which are also part
-    # of the model, as well as a model name.
-    # It will create a struct "gnsf" containing all information needed to use
-    # it with the gnsf integrator in acados.
-    # Additionally it will create the struct "reordered_model" which contains
-    # the permuted state vector and permuted f_impl, in which additionally some
-    # functions, which were made part of the linear output system of the gnsf,
-    # have changed signs.
-
-    # Options: transcribe_opts is a Matlab struct consisting of booleans:
-    #   print_info: if extensive information on how the model is processed
-    #       is printed to the console.
-    #   generate_gnsf_model: if the neccessary C functions to simulate the gnsf
-    #       model with the acados implementation of the GNSF exploiting
-    #       integrator should be generated.
-    #   generate_gnsf_model: if the neccessary C functions to simulate the
-    #       reordered model with the acados implementation of the IRK
-    #       integrator should be generated.
-    #   check_E_invertibility: if the transcription method should check if the
-    #       assumption that the main blocks of the matrix gnsf.E are invertible
-    #       holds. If not, the method will try to reformulate the gnsf model
-    #       with a different model, such that the assumption holds.
-
-    # acados_root_dir = getenv('ACADOS_INSTALL_DIR')
-
-    ## load transcribe_opts
-    if transcribe_opts is None:
-        print("WARNING: GNSF structure detection called without transcribe_opts")
-        print(" using default settings")
-        print("")
-        transcribe_opts = dict()
-
-    if "print_info" in transcribe_opts:
-        print_info = transcribe_opts["print_info"]
-    else:
-        print_info = 1
-        print("print_info option was not set - default is true")
-
-    if "detect_LOS" in transcribe_opts:
-        detect_LOS = transcribe_opts["detect_LOS"]
-    else:
-        detect_LOS = 1
-        if print_info:
-            print("detect_LOS option was not set - default is true")
-
-    if "check_E_invertibility" in transcribe_opts:
-        check_E_invertibility = transcribe_opts["check_E_invertibility"]
-    else:
-        check_E_invertibility = 1
-        if print_info:
-            print("check_E_invertibility option was not set - default is true")
-
-    ## Reformulate implicit index-1 DAE into GNSF form
-    # (Generalized nonlinear static feedback)
-    gnsf = determine_trivial_gnsf_transcription(acados_ocp, print_info)
-    gnsf = detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info)
-
-    if detect_LOS:
-        gnsf = reformulate_with_LOS(acados_ocp, gnsf, print_info)
-
-    if check_E_invertibility:
-        gnsf = reformulate_with_invertible_E_mat(gnsf, acados_ocp, print_info)
-
-    # detect purely linear model
-    if gnsf["nx1"] == 0 and gnsf["nz1"] == 0 and gnsf["nontrivial_f_LO"] == 0:
-        gnsf["purely_linear"] = 1
-    else:
-        gnsf["purely_linear"] = 0
-
-    structure_detection_print_summary(gnsf, acados_ocp)
-    check_reformulation(acados_ocp.model, gnsf, print_info)
-
-    ## copy relevant fields from gnsf to model
-    acados_ocp.model.get_matrices_fun = Function()
-    dummy = acados_ocp.model.x[0]
-    model_name = acados_ocp.model.name
-
-    get_matrices_fun = Function(
-        f"{model_name}_gnsf_get_matrices_fun",
-        [dummy],
-        [
-            gnsf["A"],
-            gnsf["B"],
-            gnsf["C"],
-            gnsf["E"],
-            gnsf["L_x"],
-            gnsf["L_xdot"],
-            gnsf["L_z"],
-            gnsf["L_u"],
-            gnsf["A_LO"],
-            gnsf["c"],
-            gnsf["E_LO"],
-            gnsf["B_LO"],
-            gnsf["nontrivial_f_LO"],
-            gnsf["purely_linear"],
-            gnsf["ipiv_x"] + 1,
-            gnsf["ipiv_z"] + 1,
-            gnsf["c_LO"],
-        ],
-    )
-
-    phi = gnsf["phi_expr"]
-    y = gnsf["y"]
-    uhat = gnsf["uhat"]
-    p = gnsf["p"]
-
-    jac_phi_y = jacobian(phi, y)
-    jac_phi_uhat = jacobian(phi, uhat)
-
-    phi_fun = Function(f"{model_name}_gnsf_phi_fun", [y, uhat, p], [phi])
-    acados_ocp.model.phi_fun = phi_fun
-    acados_ocp.model.phi_fun_jac_y = Function(
-        f"{model_name}_gnsf_phi_fun_jac_y", [y, uhat, p], [phi, jac_phi_y]
-    )
-    acados_ocp.model.phi_jac_y_uhat = Function(
-        f"{model_name}_gnsf_phi_jac_y_uhat", [y, uhat, p], [jac_phi_y, jac_phi_uhat]
-    )
-
-    x1 = acados_ocp.model.x[gnsf["idx_perm_x"][: gnsf["nx1"]]]
-    x1dot = acados_ocp.model.xdot[gnsf["idx_perm_x"][: gnsf["nx1"]]]
-    if gnsf["nz1"] > 0:
-        z1 = acados_ocp.model.z[gnsf["idx_perm_z"][: gnsf["nz1"]]]
-    else:
-        z1 = SX.sym("z1", 0, 0)
-    f_lo = gnsf["f_lo_expr"]
-    u = acados_ocp.model.u
-    acados_ocp.model.f_lo_fun_jac_x1k1uz = Function(
-        f"{model_name}_gnsf_f_lo_fun_jac_x1k1uz",
-        [x1, x1dot, z1, u, p],
-        [
-            f_lo,
-            horzcat(
-                jacobian(f_lo, x1),
-                jacobian(f_lo, x1dot),
-                jacobian(f_lo, u),
-                jacobian(f_lo, z1),
-            ),
-        ],
-    )
-
-    acados_ocp.model.get_matrices_fun = get_matrices_fun
-
-    size_gnsf_A = gnsf["A"].shape
-    acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1))
-    acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0))
-    acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0))
-
-    # # dim
-    # model['dim_gnsf_nx1'] = gnsf['nx1']
-    # model['dim_gnsf_nx2'] = gnsf['nx2']
-    # model['dim_gnsf_nz1'] = gnsf['nz1']
-    # model['dim_gnsf_nz2'] = gnsf['nz2']
-    # model['dim_gnsf_nuhat'] = gnsf['nuhat']
-    # model['dim_gnsf_ny'] = gnsf['ny']
-    # model['dim_gnsf_nout'] = gnsf['n_out']
-
-    # # sym
-    # model['sym_gnsf_y'] = gnsf['y']
-    # model['sym_gnsf_uhat'] = gnsf['uhat']
-
-    # # data
-    # model['dyn_gnsf_A'] = gnsf['A']
-    # model['dyn_gnsf_A_LO'] = gnsf['A_LO']
-    # model['dyn_gnsf_B'] = gnsf['B']
-    # model['dyn_gnsf_B_LO'] = gnsf['B_LO']
-    # model['dyn_gnsf_E'] = gnsf['E']
-    # model['dyn_gnsf_E_LO'] = gnsf['E_LO']
-    # model['dyn_gnsf_C'] = gnsf['C']
-    # model['dyn_gnsf_c'] = gnsf['c']
-    # model['dyn_gnsf_c_LO'] = gnsf['c_LO']
-    # model['dyn_gnsf_L_x'] = gnsf['L_x']
-    # model['dyn_gnsf_L_xdot'] = gnsf['L_xdot']
-    # model['dyn_gnsf_L_z'] = gnsf['L_z']
-    # model['dyn_gnsf_L_u'] = gnsf['L_u']
-    # model['dyn_gnsf_idx_perm_x'] = gnsf['idx_perm_x']
-    # model['dyn_gnsf_ipiv_x'] = gnsf['ipiv_x']
-    # model['dyn_gnsf_idx_perm_z'] = gnsf['idx_perm_z']
-    # model['dyn_gnsf_ipiv_z'] = gnsf['ipiv_z']
-    # model['dyn_gnsf_idx_perm_f'] = gnsf['idx_perm_f']
-    # model['dyn_gnsf_ipiv_f'] = gnsf['ipiv_f']
-
-    # # flags
-    # model['dyn_gnsf_nontrivial_f_LO'] = gnsf['nontrivial_f_LO']
-    # model['dyn_gnsf_purely_linear'] = gnsf['purely_linear']
-
-    # # casadi expr
-    # model['dyn_gnsf_expr_phi'] = gnsf['phi_expr']
-    # model['dyn_gnsf_expr_f_lo'] = gnsf['f_lo_expr']
-
-    return acados_ocp
diff --git a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py b/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py
deleted file mode 100644
index 94aa001c79..0000000000
--- a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py
+++ /dev/null
@@ -1,110 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import *
-from ..utils import casadi_length, is_empty
-
-
-def determine_input_nonlinearity_function(gnsf):
-
-    ## Description
-    # this function takes a structure gnsf and updates the matrices L_x,
-    # L_xdot, L_z, L_u and CasADi vectors y, uhat of this structure as follows:
-
-    # given a CasADi expression phi_expr, which may depend on the variables
-    # (x1, x1dot, z, u), this function determines a vector y (uhat) consisting
-    # of all components of (x1, x1dot, z) (respectively u) that enter phi_expr.
-    # Additionally matrices L_x, L_xdot, L_z, L_u are determined such that
-    #           y    = L_x * x + L_xdot * xdot + L_z * z
-    #           uhat = L_u * u
-    # Furthermore the dimensions ny, nuhat, n_out are updated
-
-    ## y
-    y = SX.sym('y', 0, 0)
-    # components of x1
-    for ii in range(gnsf["nx1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["x"][ii])[0]:
-            y = vertcat(y, gnsf["x"][ii])
-        # else:
-        # x[ii] is not part of y
-    # components of x1dot
-    for ii in range(gnsf["nx1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["xdot"][ii])[0]:
-            print(gnsf["phi_expr"], "depends on", gnsf["xdot"][ii])
-            y = vertcat(y, gnsf["xdot"][ii])
-        # else:
-        # xdot[ii] is not part of y
-    # components of z
-    for ii in range(gnsf["nz1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["z"][ii])[0]:
-            y = vertcat(y, gnsf["z"][ii])
-        # else:
-        # z[ii] is not part of y
-    ## uhat
-    uhat = SX.sym('uhat', 0, 0)
-    # components of u
-    for ii in range(gnsf["nu"]):
-        if which_depends(gnsf["phi_expr"], gnsf["u"][ii])[0]:
-            uhat = vertcat(uhat, gnsf["u"][ii])
-        # else:
-        # u[ii] is not part of uhat
-    ## generate gnsf['phi_expr_fun']
-    # linear input matrices
-    if is_empty(y):
-        gnsf["L_x"] = []
-        gnsf["L_xdot"] = []
-        gnsf["L_u"] = []
-        gnsf["L_z"] = []
-    else:
-        dummy = SX.sym("dummy_input", 0)
-        L_x_fun = Function(
-            "L_x_fun", [dummy], [jacobian(y, gnsf["x"][range(gnsf["nx1"])])]
-        )
-        L_xdot_fun = Function(
-            "L_xdot_fun", [dummy], [jacobian(y, gnsf["xdot"][range(gnsf["nx1"])])]
-        )
-        L_z_fun = Function(
-            "L_z_fun", [dummy], [jacobian(y, gnsf["z"][range(gnsf["nz1"])])]
-        )
-        L_u_fun = Function("L_u_fun", [dummy], [jacobian(uhat, gnsf["u"])])
-
-        gnsf["L_x"] = L_x_fun(0).full()
-        gnsf["L_xdot"] = L_xdot_fun(0).full()
-        gnsf["L_u"] = L_u_fun(0).full()
-        gnsf["L_z"] = L_z_fun(0).full()
-    gnsf["y"] = y
-    gnsf["uhat"] = uhat
-
-    gnsf["ny"] = casadi_length(y)
-    gnsf["nuhat"] = casadi_length(uhat)
-    gnsf["n_out"] = casadi_length(gnsf["phi_expr"])
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py b/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py
deleted file mode 100644
index 23c2440537..0000000000
--- a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py
+++ /dev/null
@@ -1,155 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from casadi import *
-import numpy as np
-from ..utils import casadi_length, idx_perm_to_ipiv
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-
-
-def determine_trivial_gnsf_transcription(acados_ocp, print_info):
-    ## Description
-    # this function takes a model of an implicit ODE/ index-1 DAE and sets up
-    # an equivalent model in the GNSF structure, with empty linear output
-    # system and trivial model matrices, i.e. A, B, E, c are zeros, and C is
-    # eye. - no structure is exploited
-
-    model = acados_ocp.model
-    # initial print
-    print("*****************************************************************")
-    print(" ")
-    print(f"******      Restructuring {model.name} model    ***********")
-    print(" ")
-    print("*****************************************************************")
-
-    # load model
-    f_impl_expr = model.f_impl_expr
-
-    model_name_prefix = model.name
-
-    # x
-    x = model.x
-    nx = acados_ocp.dims.nx
-    # check type
-    if isinstance(x[0], SX):
-        isSX = True
-    else:
-        print("GNSF detection only works for SX CasADi type!!!")
-        import pdb
-
-        pdb.set_trace()
-    # xdot
-    xdot = model.xdot
-    # u
-    nu = acados_ocp.dims.nu
-    if nu == 0:
-        u = SX.sym("u", 0, 0)
-    else:
-        u = model.u
-
-    nz = acados_ocp.dims.nz
-    if nz == 0:
-        z = SX.sym("z", 0, 0)
-    else:
-        z = model.z
-
-    p = model.p
-    nparam = acados_ocp.dims.np
-
-    # avoid SX of size 0x1
-    if casadi_length(u) == 0:
-        u = SX.sym("u", 0, 0)
-        nu = 0
-    ## initialize gnsf struct
-    # dimensions
-    gnsf = {"nx": nx, "nu": nu, "nz": nz, "np": nparam}
-    gnsf["nx1"] = nx
-    gnsf["nx2"] = 0
-    gnsf["nz1"] = nz
-    gnsf["nz2"] = 0
-    gnsf["nuhat"] = nu
-    gnsf["ny"] = 2 * nx + nz
-
-    gnsf["phi_expr"] = f_impl_expr
-    gnsf["A"] = np.zeros((nx + nz, nx))
-    gnsf["B"] = np.zeros((nx + nz, nu))
-    gnsf["E"] = np.zeros((nx + nz, nx + nz))
-    gnsf["c"] = np.zeros((nx + nz, 1))
-    gnsf["C"] = np.eye(nx + nz)
-    gnsf["name"] = model_name_prefix
-
-    gnsf["x"] = x
-    gnsf["xdot"] = xdot
-    gnsf["z"] = z
-    gnsf["u"] = u
-    gnsf["p"] = p
-
-    gnsf = determine_input_nonlinearity_function(gnsf)
-
-    gnsf["A_LO"] = []
-    gnsf["E_LO"] = []
-    gnsf["B_LO"] = []
-    gnsf["c_LO"] = []
-    gnsf["f_lo_expr"] = []
-
-    # permutation
-    gnsf["idx_perm_x"] = range(nx)  # matlab-style)
-    gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"])  # blasfeo-style
-    gnsf["idx_perm_z"] = range(nz)
-    gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"])
-    gnsf["idx_perm_f"] = range((nx + nz))
-    gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"])
-
-    gnsf["nontrivial_f_LO"] = 0
-
-    check_reformulation(model, gnsf, print_info)
-    if print_info:
-        print(f"Success: Set up equivalent GNSF model with trivial matrices")
-        print(" ")
-    if print_info:
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-        print(" ")
-        print(
-            "reduced input ny    of phi from  ",
-            str(2 * nx + nz),
-            "   to  ",
-            str(gnsf["ny"]),
-        )
-        print(
-            "reduced input nuhat of phi from  ", str(nu), "   to  ", str(gnsf["nuhat"])
-        )
-        print(" ")
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/matlab to python.md b/third_party/acados/acados_template/gnsf/matlab to python.md
deleted file mode 100644
index 53a0ed971e..0000000000
--- a/third_party/acados/acados_template/gnsf/matlab to python.md	
+++ /dev/null
@@ -1,43 +0,0 @@
-# matlab to python
-
-% -> #
-
-; -> 
-
-from casadi import *
-->
-from casadi import *
-
-
-print\('(.*)'\)
-print('$1')
-
-print\(\['(.*)'\]\)
-print(f'$1')
-
-keyboard
-import pdb; pdb.set_trace()
-
-
-range((([^))]*))
-range($1)
-
-\s*end
-->
-nothing
-
-
-if (.*)
-if $1:
-
-else
-else:
-
-num2str
-str
-
-for ([a-z_]*) =
-for $1 in
-
-length\(
-len(
\ No newline at end of file
diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py b/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py
deleted file mode 100644
index 297a56556c..0000000000
--- a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py
+++ /dev/null
@@ -1,394 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-from casadi import *
-from ..utils import casadi_length, idx_perm_to_ipiv, is_empty
-
-
-def reformulate_with_LOS(acados_ocp, gnsf, print_info):
-
-    ## Description:
-    # This function takes an intitial transcription of the implicit ODE model
-    # "model" into "gnsf" and reformulates "gnsf" with a linear output system
-    # (LOS), containing as many states of the model as possible.
-    # Therefore it might be that the state vector and the implicit function
-    # vector have to be reordered. This reordered model is part of the output,
-    # namely reordered_model.
-
-    ## import CasADi and load models
-    model = acados_ocp.model
-
-    # symbolics
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    u = gnsf["u"]
-    z = gnsf["z"]
-
-    # dimensions
-    nx = gnsf["nx"]
-    nz = gnsf["nz"]
-
-    # get model matrices
-    A = gnsf["A"]
-    B = gnsf["B"]
-    C = gnsf["C"]
-    E = gnsf["E"]
-    c = gnsf["c"]
-
-    A_LO = gnsf["A_LO"]
-
-    y = gnsf["y"]
-
-    phi_old = gnsf["phi_expr"]
-
-    if print_info:
-        print(" ")
-        print("=================================================================")
-        print(" ")
-        print("================    Detect Linear Output System   ===============")
-        print(" ")
-        print("=================================================================")
-        print(" ")
-    ## build initial I_x1 and I_x2_candidates
-    # I_xrange( all components of x for which either xii or xdot_ii enters y):
-    # I_LOS_candidates: the remaining components
-
-    I_nsf_components = set()
-    I_LOS_candidates = set()
-
-    if gnsf["ny"] > 0:
-        for ii in range(nx):
-            if which_depends(y, x[ii])[0] or which_depends(y, xdot[ii])[0]:
-                # i.e. xii or xiidot are part of y, and enter phi_expr
-                if print_info:
-                    print(f"x_{ii} is part of x1")
-                I_nsf_components = set.union(I_nsf_components, set([ii]))
-            else:
-                # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr
-                I_LOS_candidates = set.union(I_LOS_candidates, set([ii]))
-                if print_info:
-                    print(" ")
-        for ii in range(nz):
-            if which_depends(y, z[ii])[0]:
-                # i.e. xii or xiidot are part of y, and enter phi_expr
-                if print_info:
-                    print(f"z_{ii} is part of x1")
-                I_nsf_components = set.union(I_nsf_components, set([ii + nx]))
-            else:
-                # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr
-                I_LOS_candidates = set.union(I_LOS_candidates, set([ii + nx]))
-    else:
-        I_LOS_candidates = set(range((nx + nz)))
-    if print_info:
-        print(" ")
-        print(f"I_LOS_candidates {I_LOS_candidates}")
-    new_nsf_components = I_nsf_components
-    I_nsf_eq = set([])
-    unsorted_dyn = set(range(nx + nz))
-    xdot_z = vertcat(xdot, z)
-
-    ## determine components of Linear Output System
-    # determine maximal index set I_x2
-    # such that the components x(I_x2) can be written as a LOS
-    Eq_map = []
-    while True:
-        ## find equations corresponding to new_nsf_components
-        for ii in new_nsf_components:
-            current_var = xdot_z[ii]
-            var_name = current_var.name
-
-            # print( unsorted_dyn)
-            # print("np.nonzero(E[:,ii])[0]",np.nonzero(E[:,ii])[0])
-            I_eq = set.intersection(set(np.nonzero(E[:, ii])[0]), unsorted_dyn)
-            if len(I_eq) == 1:
-                i_eq = I_eq.pop()
-                if print_info:
-                    print(f"component {i_eq} is associated with state {ii}")
-            elif len(I_eq) > 1:  # x_ii_dot occurs in more than 1 eq linearly
-                # find the equation with least linear dependencies on
-                # I_LOS_cancidates
-                number_of_eq = 0
-                candidate_dependencies = np.zeros(len(I_eq), 1)
-                I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx)))
-                for eq in I_eq:
-                    depending_candidates = set.union(
-                        np.nonzero(E[eq, I_LOS_candidates])[0],
-                        np.nonzero(A[eq, I_x2_candidates])[0],
-                    )
-                    candidate_dependencies[number_of_eq] = +len(depending_candidates)
-                    number_of_eq += 1
-                    number_of_eq = np.argmin(candidate_dependencies)
-                i_eq = I_eq[number_of_eq]
-            else:  ## x_ii_dot does not occur linearly in any of the unsorted dynamics
-                for j in unsorted_dyn:
-                    phi_eq_j = gnsf["phi_expr"][np.nonzero(C[j, :])[0]]
-                    if which_depends(phi_eq_j, xdot_z(ii))[0]:
-                        I_eq = set.union(I_eq, j)
-                if is_empty(I_eq):
-                    I_eq = unsorted_dyn
-                # find the equation with least linear dependencies on I_LOS_cancidates
-                number_of_eq = 0
-                candidate_dependencies = np.zeros(len(I_eq), 1)
-                I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx)))
-                for eq in I_eq:
-                    depending_candidates = set.union(
-                        np.nonzero(E[eq, I_LOS_candidates])[0],
-                        np.nonzero(A[eq, I_x2_candidates])[0],
-                    )
-                    candidate_dependencies[number_of_eq] = +len(depending_candidates)
-                    number_of_eq += 1
-                    number_of_eq = np.argmin(candidate_dependencies)
-                i_eq = I_eq[number_of_eq]
-                ## add 1 * [xdot,z](ii) to both sides of i_eq
-                if print_info:
-                    print(
-                        "adding 1 * ",
-                        var_name,
-                        " to both sides of equation ",
-                        i_eq,
-                        ".",
-                    )
-                gnsf["E"][i_eq, ii] = 1
-                i_phi = np.nonzero(gnsf["C"][i_eq, :])
-                if is_empty(i_phi):
-                    i_phi = len(gnsf["phi_expr"]) + 1
-                    gnsf["C"][i_eq, i_phi] = 1  # add column to C with 1 entry
-                    gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], 0)
-                    gnsf["phi_expr"][i_phi] = (
-                        gnsf["phi_expr"](i_phi)
-                        + gnsf["E"][i_eq, ii] / gnsf["C"][i_eq, i_phi] * xdot_z[ii]
-                    )
-                if print_info:
-                    print(
-                        "detected equation ",
-                        i_eq,
-                        " to correspond to variable ",
-                        var_name,
-                    )
-            I_nsf_eq = set.union(I_nsf_eq, {i_eq})
-            # remove i_eq from unsorted_dyn
-            unsorted_dyn.remove(i_eq)
-            Eq_map.append([ii, i_eq])
-
-        ## add components to I_x1
-        for eq in I_nsf_eq:
-            I_linear_dependence = set.union(
-                set(np.nonzero(A[eq, :])[0]), set(np.nonzero(E[eq, :])[0])
-            )
-            I_nsf_components = set.union(I_linear_dependence, I_nsf_components)
-            # I_nsf_components = I_nsf_components[:]
-
-        new_nsf_components = set.intersection(I_LOS_candidates, I_nsf_components)
-        if is_empty(new_nsf_components):
-            if print_info:
-                print("new_nsf_components is empty")
-            break
-        # remove new_nsf_components from candidates
-        I_LOS_candidates = set.difference(I_LOS_candidates, new_nsf_components)
-    if not is_empty(Eq_map):
-        # [~, new_eq_order] = sort(Eq_map(1,:))
-        # I_nsf_eq = Eq_map(2, new_eq_order )
-        for count, m in enumerate(Eq_map):
-            m.append(count)
-        sorted(Eq_map, key=lambda x: x[1])
-        new_eq_order = [m[2] for m in Eq_map]
-        Eq_map = [Eq_map[i] for i in new_eq_order]
-        I_nsf_eq = [m[1] for m in Eq_map]
-
-    else:
-        I_nsf_eq = []
-
-    I_LOS_components = I_LOS_candidates
-    I_LOS_eq = sorted(set.difference(set(range(nx + nz)), I_nsf_eq))
-    I_nsf_eq = sorted(I_nsf_eq)
-
-    I_x1 = set.intersection(I_nsf_components, set(range(nx)))
-    I_z1 = set.intersection(I_nsf_components, set(range(nx, nx + nz)))
-    I_z1 = set([i - nx for i in I_z1])
-
-    I_x2 = set.intersection(I_LOS_components, set(range(nx)))
-    I_z2 = set.intersection(I_LOS_components, set(range(nx, nx + nz)))
-    I_z2 = set([i - nx for i in I_z2])
-
-    if print_info:
-        print(f"I_x1 {I_x1}, I_x2 {I_x2}")
-
-    ## permute x, xdot
-    if is_empty(I_x1):
-        x1 = []
-        x1dot = []
-    else:
-        x1 = x[list(I_x1)]
-        x1dot = xdot[list(I_x1)]
-    if is_empty(I_x2):
-        x2 = []
-        x2dot = []
-    else:
-        x2 = x[list(I_x2)]
-        x2dot = xdot[list(I_x2)]
-    if is_empty(I_z1):
-        z1 = []
-    else:
-        z1 = z(I_z1)
-    if is_empty(I_z2):
-        z2 = []
-    else:
-        z2 = z[list(I_z2)]
-
-    I_x1 = sorted(I_x1)
-    I_x2 = sorted(I_x2)
-    I_z1 = sorted(I_z1)
-    I_z2 = sorted(I_z2)
-    gnsf["xdot"] = vertcat(x1dot, x2dot)
-    gnsf["x"] = vertcat(x1, x2)
-    gnsf["z"] = vertcat(z1, z2)
-    gnsf["nx1"] = len(I_x1)
-    gnsf["nx2"] = len(I_x2)
-    gnsf["nz1"] = len(I_z1)
-    gnsf["nz2"] = len(I_z2)
-
-    # store permutations
-    gnsf["idx_perm_x"] = I_x1 + I_x2
-    gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"])
-    gnsf["idx_perm_z"] = I_z1 + I_z2
-    gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"])
-    gnsf["idx_perm_f"] = I_nsf_eq + I_LOS_eq
-    gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"])
-
-    f_LO = SX.sym("f_LO", 0, 0)
-
-    ## rewrite I_LOS_eq as LOS
-    if gnsf["n_out"] == 0:
-        C_phi = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        C_phi = C @ phi_old
-    if gnsf["nx1"] == 0:
-        Ax1 = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        Ax1 = A[:, sorted(I_x1)] @ x1
-    if gnsf["nx1"] + gnsf["nz1"] == 0:
-        lhs_nsf = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        lhs_nsf = E[:, sorted(I_nsf_components)] @ vertcat(x1, z1)
-    n_LO = len(I_LOS_eq)
-    B_LO = np.zeros((n_LO, gnsf["nu"]))
-    A_LO = np.zeros((gnsf["nx2"] + gnsf["nz2"], gnsf["nx2"]))
-    E_LO = np.zeros((n_LO, n_LO))
-    c_LO = np.zeros((n_LO, 1))
-
-    I_LOS_eq = list(I_LOS_eq)
-    for eq in I_LOS_eq:
-        i_LO = I_LOS_eq.index(eq)
-        f_LO = vertcat(f_LO, Ax1[eq] + C_phi[eq] - lhs_nsf[eq])
-        print(f"eq {eq} I_LOS_components {I_LOS_components}, i_LO {i_LO}, f_LO {f_LO}")
-        E_LO[i_LO, :] = E[eq, sorted(I_LOS_components)]
-        A_LO[i_LO, :] = A[eq, I_x2]
-        c_LO[i_LO, :] = c[eq]
-        B_LO[i_LO, :] = B[eq, :]
-    if casadi_length(f_LO) == 0:
-        f_LO = SX.zeros((gnsf["nx2"] + gnsf["nz2"], 1))
-    f_LO = simplify(f_LO)
-    gnsf["A_LO"] = A_LO
-    gnsf["E_LO"] = E_LO
-    gnsf["B_LO"] = B_LO
-    gnsf["c_LO"] = c_LO
-    gnsf["f_lo_expr"] = f_LO
-
-    ## remove I_LOS_eq from NSF type system
-    gnsf["A"] = gnsf["A"][np.ix_(sorted(I_nsf_eq), sorted(I_x1))]
-    gnsf["B"] = gnsf["B"][sorted(I_nsf_eq), :]
-    gnsf["C"] = gnsf["C"][sorted(I_nsf_eq), :]
-    gnsf["E"] = gnsf["E"][np.ix_(sorted(I_nsf_eq), sorted(I_nsf_components))]
-    gnsf["c"] = gnsf["c"][sorted(I_nsf_eq), :]
-
-    ## reduce phi, C
-    I_nonzero = []
-    for ii in range(gnsf["C"].shape[1]):  # n_colums of C:
-        print(f"ii {ii}")
-        if not all(gnsf["C"][:, ii] == 0):  # if column ~= 0
-            I_nonzero.append(ii)
-    gnsf["C"] = gnsf["C"][:, I_nonzero]
-    gnsf["phi_expr"] = gnsf["phi_expr"][I_nonzero]
-
-    gnsf = determine_input_nonlinearity_function(gnsf)
-
-    check_reformulation(model, gnsf, print_info)
-
-    gnsf["nontrivial_f_LO"] = 0
-    if not is_empty(gnsf["f_lo_expr"]):
-        for ii in range(casadi_length(gnsf["f_lo_expr"])):
-            fii = gnsf["f_lo_expr"][ii]
-            if not fii.is_zero():
-                gnsf["nontrivial_f_LO"] = 1
-            if not gnsf["nontrivial_f_LO"] and print_info:
-                print("f_LO is fully trivial (== 0)")
-    check_reformulation(model, gnsf, print_info)
-
-    if print_info:
-        print("")
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            "------------- Success: Linear Output System (LOS) detected ----------------------"
-        )
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print("")
-        print(
-            "==>>  moved  ",
-            gnsf["nx2"],
-            "differential states and ",
-            gnsf["nz2"],
-            " algebraic variables to the Linear Output System",
-        )
-        print(
-            "==>>  recuced output dimension of phi from  ",
-            casadi_length(phi_old),
-            " to ",
-            casadi_length(gnsf["phi_expr"]),
-        )
-        print(" ")
-        print("Matrices defining the LOS read as")
-        print(" ")
-        print("E_LO =")
-        print(gnsf["E_LO"])
-        print("A_LO =")
-        print(gnsf["A_LO"])
-        print("B_LO =")
-        print(gnsf["B_LO"])
-        print("c_LO =")
-        print(gnsf["c_LO"])
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py b/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py
deleted file mode 100644
index 21ab8ebfd5..0000000000
--- a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py
+++ /dev/null
@@ -1,167 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import *
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-
-
-def reformulate_with_invertible_E_mat(gnsf, model, print_info):
-    ## Description
-    # this function checks that the necessary condition to apply the gnsf
-    # structure exploiting integrator to a model, namely that the matrices E11,
-    # E22 are invertible holds.
-    # if this is not the case, it will make these matrices invertible and add:
-    # corresponding terms, to the term C * phi, such that the obtained model is
-    # still equivalent
-
-    # check invertibility of E11, E22 and reformulate if needed:
-    ind_11 = range(gnsf["nx1"])
-    ind_22 = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"])
-
-    if print_info:
-        print(" ")
-        print("----------------------------------------------------")
-        print("checking rank of E11 and E22")
-        print("----------------------------------------------------")
-    ## check if E11, E22 are invertible:
-    z_check = False
-    if gnsf["nz1"] > 0:
-        z_check = (
-            np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_22, ind_22)]) != gnsf["nz1"]
-        )
-
-    if (
-        np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_11, ind_11)]) != gnsf["nx1"]
-        or z_check
-    ):
-        # print warning (always)
-        print(f"the rank of E11 or E22 is not full after the reformulation")
-        print("")
-        print(
-            f"the script will try to reformulate the model with an invertible matrix instead"
-        )
-        print(
-            f"NOTE: this feature is based on a heuristic, it should be used with care!!!"
-        )
-
-        ## load models
-        xdot = gnsf["xdot"]
-        z = gnsf["z"]
-
-        # # GNSF
-        # get dimensions
-        nx1 = gnsf["nx1"]
-        x1dot = xdot[range(nx1)]
-
-        k = vertcat(x1dot, z)
-        for i in [1, 2]:
-            if i == 1:
-                ind = range(gnsf["nx1"])
-            else:
-                ind = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"])
-            mat = gnsf["E"][np.ix_(ind, ind)]
-            import pdb
-
-            pdb.set_trace()
-            while np.linalg.matrix_rank(mat) < len(ind):
-                # import pdb; pdb.set_trace()
-                if print_info:
-                    print(" ")
-                    print(f"the rank of E", str(i), str(i), " is not full")
-                    print(
-                        f"the algorithm will try to reformulate the model with an invertible matrix instead"
-                    )
-                    print(
-                        f"NOTE: this feature is not super stable and might need more testing!!!!!!"
-                    )
-                for sub_max in ind:
-                    sub_ind = range(min(ind), sub_max)
-                    # regard the submatrix mat(sub_ind, sub_ind)
-                    sub_mat = gnsf["E"][sub_ind, sub_ind]
-                    if np.linalg.matrix_rank(sub_mat) < len(sub_ind):
-                        # reformulate the model by adding a 1 to last diagonal
-                        # element and changing rhs respectively.
-                        gnsf["E"][sub_max, sub_max] = gnsf["E"][sub_max, sub_max] + 1
-                        # this means adding the term 1 * k(sub_max) to the sub_max
-                        # row of the l.h.s
-                        if len(np.nonzero(gnsf["C"][sub_max, :])[0]) == 0:
-                            # if isempty(find(gnsf['C'](sub_max,:), 1)):
-                            # add new nonlinearity entry
-                            gnsf["C"][sub_max, gnsf["n_out"] + 1] = 1
-                            gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], k[sub_max])
-                        else:
-                            ind_f = np.nonzero(gnsf["C"][sub_max, :])[0]
-                            if len(ind_f) != 1:
-                                raise Exception("C is assumed to be a selection matrix")
-                            else:
-                                ind_f = ind_f[0]
-                            # add term to corresponding nonlinearity entry
-                            # note: herbey we assume that C is a selection matrix,
-                            # i.e. gnsf['phi_expr'](ind_f) is only entering one equation
-
-                            gnsf["phi_expr"][ind_f] = (
-                                gnsf["phi_expr"][ind_f]
-                                + k[sub_max] / gnsf["C"][sub_max, ind_f]
-                            )
-                            gnsf = determine_input_nonlinearity_function(gnsf)
-                            check_reformulation(model, gnsf, print_info)
-        print("successfully reformulated the model with invertible matrices E11, E22")
-    else:
-        if print_info:
-            print(" ")
-            print(
-                "the rank of both E11 and E22 is naturally full after the reformulation "
-            )
-            print("==>  model reformulation finished")
-            print(" ")
-    if (gnsf['nx2'] > 0 or gnsf['nz2'] > 0) and det(gnsf["E_LO"]) == 0:
-        print(
-            "_______________________________________________________________________________________________________"
-        )
-        print(" ")
-        print("TAKE CARE ")
-        print("E_LO matrix is NOT regular after automatic transcription!")
-        print("->> this means the model CANNOT be used with the gnsf integrator")
-        print(
-            "->> it probably means that one entry (of xdot or z) that was moved to the linear output type system"
-        )
-        print("    does not appear in the model at all (zero column in E_LO)")
-        print(" OR: the columns of E_LO are linearly dependent ")
-        print(" ")
-        print(
-            " SOLUTIONs: a) go through your model & check equations the method wanted to move to LOS"
-        )
-        print("            b) deactivate the detect_LOS option")
-        print(
-            "_______________________________________________________________________________________________________"
-        )
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py b/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py
deleted file mode 100644
index db2d18758e..0000000000
--- a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py
+++ /dev/null
@@ -1,174 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import n_nodes
-import numpy as np
-
-
-def structure_detection_print_summary(gnsf, acados_ocp):
-
-    ## Description
-    # this function prints the most important info after determining a GNSF
-    # reformulation of the implicit model "initial_model" into "gnsf", which is
-    # equivalent to the "reordered_model".
-    model = acados_ocp.model
-    # # GNSF
-    # get dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-
-    nx1 = gnsf["nx1"]
-    nx2 = gnsf["nx2"]
-
-    nz1 = gnsf["nz1"]
-    nz2 = gnsf["nz2"]
-
-    # np = gnsf['np']
-    n_out = gnsf["n_out"]
-    ny = gnsf["ny"]
-    nuhat = gnsf["nuhat"]
-
-    #
-    f_impl_expr = model.f_impl_expr
-    n_nodes_initial = n_nodes(model.f_impl_expr)
-    # x_old = model.x
-    # f_impl_old = model.f_impl_expr
-
-    x = gnsf["x"]
-    z = gnsf["z"]
-
-    phi_current = gnsf["phi_expr"]
-
-    ## PRINT SUMMARY -- STRUCHTRE DETECTION
-    print(" ")
-    print(
-        "*********************************************************************************************"
-    )
-    print(" ")
-    print(
-        "******************        SUCCESS: GNSF STRUCTURE DETECTION COMPLETE !!!      ***************"
-    )
-    print(" ")
-    print(
-        "*********************************************************************************************"
-    )
-    print(" ")
-    print(
-        f"========================= STRUCTURE DETECTION SUMMARY ===================================="
-    )
-    print(" ")
-    print("-------- Nonlinear Static Feedback type system --------")
-    print(" ")
-    print(" successfully transcribed dynamic system model into GNSF structure ")
-    print(" ")
-    print(
-        "reduced dimension of nonlinearity phi from        ",
-        str(nx + nz),
-        " to ",
-        str(gnsf["n_out"]),
-    )
-    print(" ")
-    print(
-        "reduced input dimension of nonlinearity phi from  ",
-        2 * nx + nz + nu,
-        " to ",
-        gnsf["ny"] + gnsf["nuhat"],
-    )
-    print(" ")
-    print(f"reduced number of nodes in CasADi expression of nonlinearity phi from  {n_nodes_initial}  to  {n_nodes(phi_current)}\n")
-    print("----------- Linear Output System (LOS) ---------------")
-    if nx2 + nz2 > 0:
-        print(" ")
-        print(f"introduced Linear Output System of size           ", str(nx2 + nz2))
-        print(" ")
-        if nx2 > 0:
-            print("consisting of the states:")
-            print(" ")
-            print(x[range(nx1, nx)])
-            print(" ")
-        if nz2 > 0:
-            print("and algebraic variables:")
-            print(" ")
-            print(z[range(nz1, nz)])
-            print(" ")
-        if gnsf["purely_linear"] == 1:
-            print(" ")
-            print("Model is fully linear!")
-            print(" ")
-    if not all(gnsf["idx_perm_x"] == np.array(range(nx))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted differential state vector x, such that x_gnsf = x(idx_perm_x) with idx_perm_x ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_x"])
-    if nz != 0 and not all(gnsf["idx_perm_z"] == np.array(range(nz))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted algebraic state vector z, such that z_gnsf = z(idx_perm_z) with idx_perm_z ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_z"])
-    if not all(gnsf["idx_perm_f"] == np.array(range(nx + nz))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted rhs expression vector f, such that f_gnsf = f(idx_perm_f) with idx_perm_f ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_f"])
-    ## print GNSF dimensions
-    print(
-        "--------------------------------------------------------------------------------------------------------"
-    )
-    print(" ")
-    print("The dimensions of the GNSF reformulated model read as:")
-    print(" ")
-    # T_dim = table(nx, nu, nz, np, nx1, nz1, n_out, ny, nuhat)
-    # print( T_dim )
-    print(f"nx    ", {nx})
-    print(f"nu    ", {nu})
-    print(f"nz    ", {nz})
-    # print(f"np    ", {np})
-    print(f"nx1   ", {nx1})
-    print(f"nz1   ", {nz1})
-    print(f"n_out ", {n_out})
-    print(f"ny    ", {ny})
-    print(f"nuhat ", {nuhat})
diff --git a/third_party/acados/acados_template/simulink_default_opts.json b/third_party/acados/acados_template/simulink_default_opts.json
deleted file mode 100644
index 5d178fef85..0000000000
--- a/third_party/acados/acados_template/simulink_default_opts.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-    "outputs": {
-        "u0": 1,
-        "utraj": 0,
-        "xtraj": 0,
-        "solver_status": 1,
-        "cost_value": 0,
-        "KKT_residual": 1,
-        "KKT_residuals": 0,
-        "x1": 1,
-        "CPU_time": 1,
-        "CPU_time_sim": 0,
-        "CPU_time_qp": 0,
-        "CPU_time_lin": 0,
-        "sqp_iter": 1
-    },
-    "inputs": {
-        "lbx_0": 1,
-        "ubx_0": 1,
-        "parameter_traj": 1,
-        "y_ref_0": 1,
-        "y_ref": 1,
-        "y_ref_e": 1,
-        "lbx": 1,
-        "ubx": 1,
-        "lbx_e": 1,
-        "ubx_e": 1,
-        "lbu": 1,
-        "ubu": 1,
-        "lg": 1,
-        "ug": 1,
-        "lh": 1,
-        "uh": 1,
-        "lh_e": 1,
-        "uh_e": 1,
-        "cost_W_0": 0,
-        "cost_W": 0,
-        "cost_W_e": 0,
-        "reset_solver": 0,
-        "x_init": 0,
-        "u_init": 0
-    },
-    "samplingtime": "t0"
-}
diff --git a/third_party/acados/acados_template/utils.py b/third_party/acados/acados_template/utils.py
deleted file mode 100644
index f27617fa30..0000000000
--- a/third_party/acados/acados_template/utils.py
+++ /dev/null
@@ -1,434 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os, sys, json
-import urllib.request
-import shutil
-import numpy as np
-from casadi import SX, MX, DM, Function, CasadiMeta
-
-ALLOWED_CASADI_VERSIONS = ('3.5.6', '3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0')
-
-TERA_VERSION = "0.0.34"
-
-PLATFORM2TERA = {
-    "linux": "linux",
-    "darwin": "osx",
-    "win32": "windows"
-}
-
-
-def get_acados_path():
-    ACADOS_PATH = os.environ.get('ACADOS_SOURCE_DIR')
-    if not ACADOS_PATH:
-        acados_template_path = os.path.dirname(os.path.abspath(__file__))
-        acados_path = os.path.join(acados_template_path, '..','..','..')
-        ACADOS_PATH = os.path.realpath(acados_path)
-        msg = 'Warning: Did not find environment variable ACADOS_SOURCE_DIR, '
-        msg += 'guessed ACADOS_PATH to be {}.\n'.format(ACADOS_PATH)
-        msg += 'Please export ACADOS_SOURCE_DIR to avoid this warning.'
-        print(msg)
-    return ACADOS_PATH
-
-
-def get_python_interface_path():
-    ACADOS_PYTHON_INTERFACE_PATH = os.environ.get('ACADOS_PYTHON_INTERFACE_PATH')
-    if not ACADOS_PYTHON_INTERFACE_PATH:
-        acados_path = get_acados_path()
-        ACADOS_PYTHON_INTERFACE_PATH = os.path.join(acados_path, 'interfaces', 'acados_template', 'acados_template')
-    return ACADOS_PYTHON_INTERFACE_PATH
-
-
-def get_tera_exec_path():
-    TERA_PATH = os.environ.get('TERA_PATH')
-    if not TERA_PATH:
-        TERA_PATH = os.path.join(get_acados_path(), 'bin', 't_renderer')
-        if os.name == 'nt':
-            TERA_PATH += '.exe'
-    return TERA_PATH
-
-
-def check_casadi_version():
-    casadi_version = CasadiMeta.version()
-    if casadi_version in ALLOWED_CASADI_VERSIONS:
-        return
-    else:
-        msg =  'Warning: Please note that the following versions of CasADi  are '
-        msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS))
-        msg += 'If there is an incompatibility with the CasADi generated code, '
-        msg += 'please consider changing your CasADi version.\n'
-        msg += 'Version {} currently in use.'.format(casadi_version)
-        print(msg)
-
-
-def is_column(x):
-    if isinstance(x, np.ndarray):
-        if x.ndim == 1:
-            return True
-        elif x.ndim == 2 and x.shape[1] == 1:
-            return True
-        else:
-            return False
-    elif isinstance(x, (MX, SX, DM)):
-        if x.shape[1] == 1:
-            return True
-        elif x.shape[0] == 0 and x.shape[1] == 0:
-            return True
-        else:
-            return False
-    elif x == None or x == []:
-        return False
-    else:
-        raise Exception("is_column expects one of the following types: np.ndarray, casadi.MX, casadi.SX."
-                        + " Got: " + str(type(x)))
-
-
-def is_empty(x):
-    if isinstance(x, (MX, SX, DM)):
-        return x.is_empty()
-    elif isinstance(x, np.ndarray):
-        if np.prod(x.shape) == 0:
-            return True
-        else:
-            return False
-    elif x == None:
-        return True
-    elif isinstance(x, (set, list)):
-        if len(x)==0:
-            return True
-        else:
-            return False
-    else:
-        raise Exception("is_empty expects one of the following types: casadi.MX, casadi.SX, "
-                        + "None, numpy array empty list, set. Got: " + str(type(x)))
-
-
-def casadi_length(x):
-    if isinstance(x, (MX, SX, DM)):
-        return int(np.prod(x.shape))
-    else:
-        raise Exception("casadi_length expects one of the following types: casadi.MX, casadi.SX."
-                        + " Got: " + str(type(x)))
-
-
-def make_model_consistent(model):
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-
-    if isinstance(x, MX):
-        symbol = MX.sym
-    elif isinstance(x, SX):
-        symbol = SX.sym
-    else:
-        raise Exception("model.x must be casadi.SX or casadi.MX, got {}".format(type(x)))
-
-    if is_empty(p):
-        model.p = symbol('p', 0, 0)
-
-    if is_empty(z):
-        model.z = symbol('z', 0, 0)
-
-    return model
-
-def get_lib_ext():
-    lib_ext = '.so'
-    if sys.platform == 'darwin':
-        lib_ext = '.dylib'
-    elif os.name == 'nt':
-        lib_ext = ''
-
-    return lib_ext
-
-def get_tera():
-    tera_path = get_tera_exec_path()
-    acados_path = get_acados_path()
-
-    if os.path.exists(tera_path) and os.access(tera_path, os.X_OK):
-        return tera_path
-
-    repo_url = "https://github.com/acados/tera_renderer/releases"
-    url = "{}/download/v{}/t_renderer-v{}-{}".format(
-        repo_url, TERA_VERSION, TERA_VERSION, PLATFORM2TERA[sys.platform])
-
-    manual_install = 'For manual installation follow these instructions:\n'
-    manual_install += '1 Download binaries from {}\n'.format(url)
-    manual_install += '2 Copy them in {}/bin\n'.format(acados_path)
-    manual_install += '3 Strip the version and platform from the binaries: '
-    manual_install += 'as t_renderer-v0.0.34-X -> t_renderer)\n'
-    manual_install += '4 Enable execution privilege on the file "t_renderer" with:\n'
-    manual_install += '"chmod +x {}"\n\n'.format(tera_path)
-
-    msg = "\n"
-    msg += 'Tera template render executable not found, '
-    msg += 'while looking in path:\n{}\n'.format(tera_path)
-    msg += 'In order to be able to render the templates, '
-    msg += 'you need to download the tera renderer binaries from:\n'
-    msg += '{}\n\n'.format(repo_url)
-    msg += 'Do you wish to set up Tera renderer automatically?\n'
-    msg += 'y/N? (press y to download tera or any key for manual installation)\n'
-
-    if input(msg) == 'y':
-        print("Dowloading {}".format(url))
-        with urllib.request.urlopen(url) as response, open(tera_path, 'wb') as out_file:
-            shutil.copyfileobj(response, out_file)
-        print("Successfully downloaded t_renderer.")
-        os.chmod(tera_path, 0o755)
-        return tera_path
-
-    msg_cancel = "\nYou cancelled automatic download.\n\n"
-    msg_cancel += manual_install
-    msg_cancel += "Once installed re-run your script.\n\n"
-    print(msg_cancel)
-
-    sys.exit(1)
-
-
-def render_template(in_file, out_file, output_dir, json_path, template_glob=None):
-
-    acados_path = os.path.dirname(os.path.abspath(__file__))
-    if template_glob is None:
-        template_glob = os.path.join(acados_path, 'c_templates_tera', '**', '*')
-    cwd = os.getcwd()
-
-    if not os.path.exists(output_dir):
-        os.makedirs(output_dir)
-    os.chdir(output_dir)
-
-    tera_path = get_tera()
-
-    # call tera as system cmd
-    os_cmd = f"{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'"
-    # Windows cmd.exe can not cope with '...', so use "..." instead:
-    if os.name == 'nt':
-        os_cmd = os_cmd.replace('\'', '\"')
-
-    status = os.system(os_cmd)
-    if (status != 0):
-        raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\n')
-
-    os.chdir(cwd)
-
-
-## Conversion functions
-def make_object_json_dumpable(input):
-    if isinstance(input, (np.ndarray)):
-        return input.tolist()
-    elif isinstance(input, (SX)):
-        return input.serialize()
-    elif isinstance(input, (MX)):
-        # NOTE: MX expressions can not be serialized, only Functions.
-        return input.__str__()
-    elif isinstance(input, (DM)):
-        return input.full()
-    else:
-        raise TypeError(f"Cannot make input of type {type(input)} dumpable.")
-
-
-def format_class_dict(d):
-    """
-    removes the __ artifact from class to dict conversion
-    """
-    out = {}
-    for k, v in d.items():
-        if isinstance(v, dict):
-            v = format_class_dict(v)
-
-        out_key = k.split('__', 1)[-1]
-        out[k.replace(k, out_key)] = v
-    return out
-
-
-def get_ocp_nlp_layout() -> dict:
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'acados_layout.json')
-    with open(abs_path, 'r') as f:
-        ocp_nlp_layout = json.load(f)
-    return ocp_nlp_layout
-
-
-def get_default_simulink_opts() -> dict:
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
-    with open(abs_path, 'r') as f:
-        simulink_opts = json.load(f)
-    return simulink_opts
-
-
-def J_to_idx(J):
-    nrows = J.shape[0]
-    idx = np.zeros((nrows, ))
-    for i in range(nrows):
-        this_idx = np.nonzero(J[i,:])[0]
-        if len(this_idx) != 1:
-            raise Exception('Invalid J matrix structure detected, ' \
-                'must contain one nonzero element per row.')
-        if this_idx.size > 0 and J[i,this_idx[0]] != 1:
-            raise Exception('J matrices can only contain 1s.')
-        idx[i] = this_idx[0]
-    return idx
-
-
-def J_to_idx_slack(J):
-    nrows = J.shape[0]
-    ncol = J.shape[1]
-    idx = np.zeros((ncol, ))
-    i_idx = 0
-    for i in range(nrows):
-        this_idx = np.nonzero(J[i,:])[0]
-        if len(this_idx) == 1:
-            idx[i_idx] = i
-            i_idx = i_idx + 1
-        elif len(this_idx) > 1:
-            raise Exception('J_to_idx_slack: Invalid J matrix. ' \
-                'Found more than one nonzero in row ' + str(i))
-        if this_idx.size > 0 and J[i,this_idx[0]] != 1:
-            raise Exception('J_to_idx_slack: J matrices can only contain 1s, ' \
-                 'got J(' + str(i) + ', ' + str(this_idx[0]) + ') = ' + str(J[i,this_idx[0]]) )
-    if not i_idx == ncol:
-            raise Exception('J_to_idx_slack: J must contain a 1 in every column!')
-    return idx
-
-
-def acados_dae_model_json_dump(model):
-
-    # load model
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-
-    f_impl = model.f_impl_expr
-    model_name = model.name
-
-    # create struct with impl_dae_fun, casadi_version
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl])
-
-    casadi_version = CasadiMeta.version()
-    str_impl_dae_fun = impl_dae_fun.serialize()
-
-    dae_dict = {"str_impl_dae_fun": str_impl_dae_fun, "casadi_version": casadi_version}
-
-    # dump
-    json_file = model_name + '_acados_dae.json'
-    with open(json_file, 'w') as f:
-        json.dump(dae_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-    print("dumped ", model_name, " dae to file:", json_file, "\n")
-
-
-def set_up_imported_gnsf_model(acados_ocp):
-
-    gnsf = acados_ocp.gnsf_model
-
-    # check CasADi version
-    # dump_casadi_version = gnsf['casadi_version']
-    # casadi_version = CasadiMeta.version()
-
-    # if not casadi_version == dump_casadi_version:
-    #     print("WARNING: GNSF model was dumped with another CasADi version.\n"
-    #             + "This might yield errors. Please use the same version for compatibility, serialize version: "
-    #             + dump_casadi_version + " current Python CasADi verison: " + casadi_version)
-    #     input("Press any key to attempt to continue...")
-
-    # load model
-    phi_fun = Function.deserialize(gnsf['phi_fun'])
-    phi_fun_jac_y = Function.deserialize(gnsf['phi_fun_jac_y'])
-    phi_jac_y_uhat = Function.deserialize(gnsf['phi_jac_y_uhat'])
-    get_matrices_fun = Function.deserialize(gnsf['get_matrices_fun'])
-
-    # obtain gnsf dimensions
-    size_gnsf_A = get_matrices_fun.size_out(0)
-    acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1))
-    acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0))
-    acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0))
-
-    # save gnsf functions in model
-    acados_ocp.model.phi_fun = phi_fun
-    acados_ocp.model.phi_fun_jac_y = phi_fun_jac_y
-    acados_ocp.model.phi_jac_y_uhat = phi_jac_y_uhat
-    acados_ocp.model.get_matrices_fun = get_matrices_fun
-
-    # get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},...
-    #  {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,...
-    #   nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO});
-    get_matrices_out = get_matrices_fun(0)
-    acados_ocp.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12])
-    acados_ocp.model.gnsf['purely_linear'] = int(get_matrices_out[13])
-
-    if "f_lo_fun_jac_x1k1uz" in gnsf:
-        f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz'])
-        acados_ocp.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz
-    else:
-        dummy_var_x1 = SX.sym('dummy_var_x1', acados_ocp.dims.gnsf_nx1)
-        dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_ocp.dims.gnsf_nx1)
-        dummy_var_z1 = SX.sym('dummy_var_z1', acados_ocp.dims.gnsf_nz1)
-        dummy_var_u = SX.sym('dummy_var_z1', acados_ocp.dims.nu)
-        dummy_var_p = SX.sym('dummy_var_z1', acados_ocp.dims.np)
-        empty_var = SX.sym('empty_var', 0, 0)
-
-        empty_fun = Function('empty_fun', \
-            [dummy_var_x1, dummy_var_x1dot, dummy_var_z1, dummy_var_u, dummy_var_p],
-                [empty_var])
-        acados_ocp.model.f_lo_fun_jac_x1k1uz = empty_fun
-
-    del acados_ocp.gnsf_model
-
-
-def idx_perm_to_ipiv(idx_perm):
-    n = len(idx_perm)
-    vec = list(range(n))
-    ipiv = np.zeros(n)
-
-    print(n, idx_perm)
-    # import pdb; pdb.set_trace()
-    for ii in range(n):
-        idx0 = idx_perm[ii]
-        for jj in range(ii,n):
-            if vec[jj]==idx0:
-                idx1 = jj
-                break
-        tmp = vec[ii]
-        vec[ii] = vec[idx1]
-        vec[idx1] = tmp
-        ipiv[ii] = idx1
-
-    ipiv = ipiv-1 # C 0-based indexing
-    return ipiv
-
-
-def print_casadi_expression(f):
-    for ii in range(casadi_length(f)):
-        print(f[ii,:])
diff --git a/third_party/acados/acados_template/zoro_description.py b/third_party/acados/acados_template/zoro_description.py
deleted file mode 100644
index 4d795c1502..0000000000
--- a/third_party/acados/acados_template/zoro_description.py
+++ /dev/null
@@ -1,78 +0,0 @@
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-
-from dataclasses import dataclass, field
-import numpy as np
-
-
-@dataclass
-class ZoroDescription:
-    """
-    Zero-Order Robust Optimization scheme.
-
-    For advanced users.
-    """
-    backoff_scaling_gamma: float = 1.0
-    fdbk_K_mat: np.ndarray = None
-    unc_jac_G_mat: np.ndarray = None    # default: an identity matrix
-    P0_mat: np.ndarray = None
-    W_mat: np.ndarray = None
-    idx_lbx_t: list = field(default_factory=list)
-    idx_ubx_t: list = field(default_factory=list)
-    idx_lbx_e_t: list = field(default_factory=list)
-    idx_ubx_e_t: list = field(default_factory=list)
-    idx_lbu_t: list = field(default_factory=list)
-    idx_ubu_t: list = field(default_factory=list)
-    idx_lg_t: list = field(default_factory=list)
-    idx_ug_t: list = field(default_factory=list)
-    idx_lg_e_t: list = field(default_factory=list)
-    idx_ug_e_t: list = field(default_factory=list)
-    idx_lh_t: list = field(default_factory=list)
-    idx_uh_t: list = field(default_factory=list)
-    idx_lh_e_t: list = field(default_factory=list)
-    idx_uh_e_t: list = field(default_factory=list)
-
-def process_zoro_description(zoro_description: ZoroDescription):
-    zoro_description.nw, _ = zoro_description.W_mat.shape
-    if zoro_description.unc_jac_G_mat is None:
-        zoro_description.unc_jac_G_mat = np.eye(zoro_description.nw)
-    zoro_description.nlbx_t = len(zoro_description.idx_lbx_t)
-    zoro_description.nubx_t = len(zoro_description.idx_ubx_t)
-    zoro_description.nlbx_e_t = len(zoro_description.idx_lbx_e_t)
-    zoro_description.nubx_e_t = len(zoro_description.idx_ubx_e_t)
-    zoro_description.nlbu_t = len(zoro_description.idx_lbu_t)
-    zoro_description.nubu_t = len(zoro_description.idx_ubu_t)
-    zoro_description.nlg_t = len(zoro_description.idx_lg_t)
-    zoro_description.nug_t = len(zoro_description.idx_ug_t)
-    zoro_description.nlg_e_t = len(zoro_description.idx_lg_e_t)
-    zoro_description.nug_e_t = len(zoro_description.idx_ug_e_t)
-    zoro_description.nlh_t = len(zoro_description.idx_lh_t)
-    zoro_description.nuh_t = len(zoro_description.idx_uh_t)
-    zoro_description.nlh_e_t = len(zoro_description.idx_lh_e_t)
-    zoro_description.nuh_e_t = len(zoro_description.idx_uh_e_t)
-    return zoro_description.__dict__
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
deleted file mode 100755
index 95b3913c4a..0000000000
--- a/third_party/acados/build.sh
+++ /dev/null
@@ -1,64 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-ARCHNAME="x86_64"
-BLAS_TARGET="X64_AUTOMATIC"
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
-fi
-
-ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_MACOSX_RPATH=1"
-  ARCHNAME="Darwin"
-fi
-
-if [ ! -d acados_repo/ ]; then
-  git clone https://github.com/acados/acados.git $DIR/acados_repo
-  # git clone https://github.com/commaai/acados.git $DIR/acados_repo
-fi
-cd acados_repo
-git fetch --all
-git checkout 8af9b0ad180940ef611884574a0b27a43504311d # v0.2.2
-git submodule update --depth=1 --recursive --init
-
-# build
-mkdir -p build
-cd build
-cmake $ACADOS_FLAGS ..
-make -j20 install
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-rm $DIR/acados_repo/lib/*.json
-
-rm -rf $DIR/include $DIR/acados_template
-cp -r $DIR/acados_repo/include $DIR
-cp -r $DIR/acados_repo/lib $INSTALL_DIR
-cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
-#pip3 install -e $DIR/acados/interfaces/acados_template
-
-# skip macOS - sed is different :/
-if [[ "$OSTYPE" != "darwin"* ]]; then
-  # strip future_fstrings to avoid having to install the compatibility package
-  find $DIR/acados_template/ -type f -exec sed -i '/future.fstrings/d' {} +
-fi
-
-# build tera
-cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  cargo build --verbose --release --target aarch64-apple-darwin
-  cp target/aarch64-apple-darwin/release/t_renderer target/release/t_renderer
-else
-  cargo build --verbose --release
-fi
-cp target/release/t_renderer $INSTALL_DIR/
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_common.h b/third_party/acados/include/acados/dense_qp/dense_qp_common.h
deleted file mode 100644
index 2a9a974f99..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_common.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
-#define ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_dense_qp.h"
-#include "hpipm/include/hpipm_d_dense_qp_res.h"
-#include "hpipm/include/hpipm_d_dense_qp_sol.h"
-// acados
-#include "acados/utils/types.h"
-
-typedef struct d_dense_qp_dim dense_qp_dims;
-typedef struct d_dense_qp dense_qp_in;
-typedef struct d_dense_qp_sol dense_qp_out;
-typedef struct d_dense_qp_res dense_qp_res;
-typedef struct d_dense_qp_res_ws dense_qp_res_ws;
-
-
-
-#ifndef QP_SOLVER_CONFIG_
-#define QP_SOLVER_CONFIG_
-typedef struct
-{
-    void (*dims_set)(void *config_, void *dims_, const char *field, const int* value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *args);
-    void (*opts_update)(void *config, void *dims, void *args);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *args);
-    void *(*memory_assign)(void *config, void *dims, void *args, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *args);
-    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *args, void *mem, void *work);
-    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} qp_solver_config;
-#endif
-
-
-
-#ifndef QP_INFO_
-#define QP_INFO_
-typedef struct
-{
-    double solve_QP_time;
-    double condensing_time;
-    double interface_time;
-    double total_time;
-    int num_iter;
-    int t_computed;
-} qp_info;
-#endif
-
-
-
-/* config */
-//
-acados_size_t dense_qp_solver_config_calculate_size();
-//
-qp_solver_config *dense_qp_solver_config_assign(void *raw_memory);
-
-/* dims */
-//
-acados_size_t dense_qp_dims_calculate_size();
-//
-dense_qp_dims *dense_qp_dims_assign(void *raw_memory);
-//
-void dense_qp_dims_set(void *config_, void *dims_, const char *field, const int* value);
-//
-
-/* in */
-//
-acados_size_t dense_qp_in_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_in *dense_qp_in_assign(dense_qp_dims *dims, void *raw_memory);
-
-/* out */
-//
-acados_size_t dense_qp_out_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_out *dense_qp_out_assign(dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_out_get(dense_qp_out *out, const char *field, void *value);
-
-/* res */
-//
-acados_size_t dense_qp_res_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_res *dense_qp_res_assign(dense_qp_dims *dims, void *raw_memory);
-//
-acados_size_t dense_qp_res_workspace_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_res_ws *dense_qp_res_workspace_assign(dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_compute_t(dense_qp_in *qp_in, dense_qp_out *qp_out);
-//
-void dense_qp_res_compute(dense_qp_in *qp_in, dense_qp_out *qp_out, dense_qp_res *qp_res, dense_qp_res_ws *res_ws);
-//
-void dense_qp_res_compute_nrm_inf(dense_qp_res *qp_res, double res[4]);
-
-/* misc */
-//
-void dense_qp_stack_slacks_dims(dense_qp_dims *in, dense_qp_dims *out);
-//
-void dense_qp_stack_slacks(dense_qp_in *in, dense_qp_in *out);
-//
-void dense_qp_unstack_slacks(dense_qp_out *in, dense_qp_in *qp_out, dense_qp_out *out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h
deleted file mode 100644
index b262089b4f..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
-#define ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// daqp
-#include "daqp/include/types.h"
-
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-
-typedef struct dense_qp_daqp_opts_
-{
-    DAQPSettings* daqp_opts;
-    int warm_start;
-} dense_qp_daqp_opts;
-
-
-typedef struct dense_qp_daqp_memory_
-{
-    double* lb_tmp;
-    double* ub_tmp;
-    int* idxb;
-    int* idxv_to_idxb;
-    int* idxs;
-    int* idxdaqp_to_idxs;
-
-    double* Zl;
-    double* Zu;
-    double* zl;
-    double* zu;
-    double* d_ls;
-    double* d_us;
-
-    double time_qp_solver_call;
-    int iter;
-    DAQPWorkspace * daqp_work;
-
-} dense_qp_daqp_memory;
-
-// opts
-acados_size_t dense_qp_daqp_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_daqp_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-// memory 
-acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-acados_size_t dense_qp_daqp_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_daqp_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-// functions
-int dense_qp_daqp(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_daqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
deleted file mode 100644
index 136279d666..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
-#define ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_dense_qp.h"
-#include "hpipm/include/hpipm_d_dense_qp_ipm.h"
-#include "hpipm/include/hpipm_d_dense_qp_sol.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct dense_qp_hpipm_opts_
-{
-    struct d_dense_qp_ipm_arg *hpipm_opts;
-} dense_qp_hpipm_opts;
-
-
-
-typedef struct dense_qp_hpipm_memory_
-{
-    struct d_dense_qp_ipm_ws *hpipm_workspace;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_hpipm_memory;
-
-
-
-//
-acados_size_t dense_qp_hpipm_opts_calculate_size(void *config, void *dims);
-//
-void *dense_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void dense_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void dense_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
-//
-acados_size_t dense_qp_hpipm_calculate_memory_size(void *dims, void *opts_);
-//
-void *dense_qp_hpipm_assign_memory(void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_hpipm_calculate_workspace_size(void *dims, void *opts_);
-//
-int dense_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_hpipm_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_hpipm_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
deleted file mode 100644
index d051cb15f7..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
-#define ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-enum dense_qp_ooqp_termination_code
-{
-  DENSE_SUCCESSFUL_TERMINATION = 0,
-  DENSE_NOT_FINISHED,
-  DENSE_MAX_ITS_EXCEEDED,
-  DENSE_INFEASIBLE,
-  DENSE_UNKNOWN
-};
-
-typedef struct dense_qp_ooqp_opts_
-{
-    int printLevel;
-    int useDiagonalWeights;  // TODO(dimitris): implement option
-    int fixHessian;
-    int fixDynamics;
-    int fixInequalities;
-} dense_qp_ooqp_opts;
-
-typedef struct dense_qp_ooqp_workspace_
-{
-    double *x;
-    double *gamma;
-    double *phi;
-    double *y;
-    double *z;
-    double *lambda;
-    double *pi;
-    double objectiveValue;
-} dense_qp_ooqp_workspace;
-
-typedef struct dense_qp_ooqp_memory_
-{
-    int firstRun;
-    int nx;
-    int my;
-    int mz;
-    double *c;
-    double *dQ;
-    double *xlow;
-    char *ixlow;
-    double *xupp;
-    char *ixupp;
-    double *dA;
-    double *bA;
-    double *dC;
-    double *clow;
-    char *iclow;
-    double *cupp;
-    char *icupp;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_ooqp_memory;
-
-//
-acados_size_t dense_qp_ooqp_opts_calculate_size(void *config_, dense_qp_dims *dims);
-//
-void *dense_qp_ooqp_opts_assign(void *config_, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_ooqp_opts_initialize_default(void *config_, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_ooqp_opts_update(void *config_, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_ooqp_memory_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_ooqp_memory_assign(void *config_, dense_qp_dims *dims, void *opts_,
-                                  void *raw_memory);
-//
-acados_size_t dense_qp_ooqp_workspace_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_ooqp(void *config_, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_,
-                  void *memory_, void *work_);
-//
-void dense_qp_ooqp_destroy(void *mem_, void *work);
-//
-void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_ooqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
deleted file mode 100644
index 392e472918..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
+++ /dev/null
@@ -1,124 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_QORE_H_
-#define ACADOS_DENSE_QP_DENSE_QP_QORE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// qore
-#include "qore/QPSOLVER_DENSE/include/qpsolver_dense.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct dense_qp_qore_opts_
-{
-    int nsmax;       // maximum size of Schur complement
-    int print_freq;  // print frequency,
-                     // prtfreq  < 0: disable printing;
-                     // prtfreq == 0: print on each call and include working set changes;
-                     // prtfreq  > 0: print on every prtfreq seconds, but do not include working set
-                     // changes;
-    int warm_start;  // warm start with updated matrices H and C
-    int warm_strategy;  // 0: ramp-up from zero homotopy; 1: setup homotopy from the previous
-                        // solution
-    int hot_start;      // hot start with unchanged matrices H and C
-    int max_iter;       // maximum number of iterations
-    int compute_t;      // compute t in qp_out (to have correct residuals in NLP)
-} dense_qp_qore_opts;
-
-typedef struct dense_qp_qore_memory_
-{
-    double *H;
-    double *HH;
-    double *g;
-    double *gg;
-    double *Zl;
-    double *Zu;
-    double *zl;
-    double *zu;
-    double *A;
-    double *b;
-    double *C;
-    double *CC;
-    double *Ct;
-    double *CCt;
-    double *d_lb0;
-    double *d_ub0;
-    double *d_lb;
-    double *d_ub;
-    double *d_lg;
-    double *d_ug;
-    double *d_ls;
-    double *d_us;
-    double *lb;
-    double *ub;
-    int *idxb;
-    int *idxb_stacked;
-    int *idxs;
-    double *prim_sol;
-    double *dual_sol;
-    QoreProblemDense *QP;
-    int num_iter;
-    dense_qp_in *qp_stacked;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_qore_memory;
-
-acados_size_t dense_qp_qore_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_qore_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_qore_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_qore_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_qore_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_qore_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_qore_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_qore(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qore_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_QORE_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
deleted file mode 100644
index 0e13d3ef64..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
+++ /dev/null
@@ -1,126 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
-#define ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct dense_qp_qpoases_opts_
-{
-    double max_cputime;  // maximum cpu time in seconds
-    int max_nwsr;        // maximum number of working set recalculations
-    int warm_start;      // warm start with dual_sol in memory
-    int use_precomputed_cholesky;
-    int hotstart;  // this option requires constant data matrices! (eg linear MPC, inexact schemes
-                   // with frozen sensitivities)
-    int set_acado_opts;  // use same options as in acado code generation
-    int compute_t;       // compute t in qp_out (to have correct residuals in NLP)
-    double tolerance;  // terminationTolerance
-} dense_qp_qpoases_opts;
-
-typedef struct dense_qp_qpoases_memory_
-{
-    double *H;
-    double *HH;
-    double *R;
-    double *g;
-    double *gg;
-    double *Zl;
-    double *Zu;
-    double *zl;
-    double *zu;
-    double *A;
-    double *b;
-    double *d_lb0;
-    double *d_ub0;
-    double *d_lb;
-    double *d_ub;
-    double *C;
-    double *CC;
-    double *d_lg0;
-    double *d_ug0;
-    double *d_lg;
-    double *d_ug;
-    double *d_ls;
-    double *d_us;
-    int *idxb;
-    int *idxb_stacked;
-    int *idxs;
-    double *prim_sol;
-    double *dual_sol;
-    void *QPB;       // NOTE(giaf): cast to QProblemB to use
-    void *QP;        // NOTE(giaf): cast to QProblem to use
-    double cputime;  // cputime of qpoases
-    int nwsr;        // performed number of working set recalculations
-    int first_it;    // to be used with hotstart
-    dense_qp_in *qp_stacked;
-    double time_qp_solver_call; // equal to cputime
-    int iter;
-
-} dense_qp_qpoases_memory;
-
-acados_size_t dense_qp_qpoases_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_qpoases_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_qpoases_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_qpoases_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_qpoases__memorycalculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_qpoases_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_qpoases_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qpoases_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qpoases_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
deleted file mode 100644
index ba97db9768..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
+++ /dev/null
@@ -1,446 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-
-/// \defgroup ocp_nlp ocp_nlp
-/// @{
-/// @}
-
-/// \defgroup ocp_nlp_solver ocp_nlp_solver
-/// @{
-/// @}
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \ingroup ocp_nlp_solver
-/// @{
-
-/// \defgroup ocp_nlp_common ocp_nlp_common
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct ocp_nlp_config
-{
-    int N;  // number of stages
-
-    // solver-specific implementations of memory management functions
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts_);
-    void (*opts_update)(void *config, void *dims, void *opts_);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts_);
-    void *(*memory_assign)(void *config, void *dims, void *opts_, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts_);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    void (*opts_set_at_stage)(void *config_, void *opts_, size_t stage, const char *field, void* value);
-    // evaluate solver // TODO rename into solve
-    int (*evaluate)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    void (*eval_param_sens)(void *config, void *dims, void *opts_, void *mem, void *work,
-                            char *field, int stage, int index, void *sens_nlp_out);
-    // prepare memory
-    int (*precompute)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    void (*memory_reset_qp_solver)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    // initalize this struct with default values
-    void (*config_initialize_default)(void *config);
-    // general getter
-    void (*get)(void *config_, void *dims, void *mem_, const char *field, void *return_value_);
-    void (*opts_get)(void *config_, void *dims, void *opts_, const char *field, void *return_value_);
-    void (*work_get)(void *config_, void *dims, void *work_, const char *field, void *return_value_);
-    // config structs of submodules
-    ocp_qp_xcond_solver_config *qp_solver; // TODO rename xcond_solver
-    ocp_nlp_dynamics_config **dynamics;
-    ocp_nlp_cost_config **cost;
-    ocp_nlp_constraints_config **constraints;
-    ocp_nlp_reg_config *regularize;
-
-} ocp_nlp_config;
-
-//
-acados_size_t ocp_nlp_config_calculate_size(int N);
-//
-ocp_nlp_config *ocp_nlp_config_assign(int N, void *raw_memory);
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-/// Structure to store dimensions/number of variables.
-typedef struct ocp_nlp_dims
-{
-    void **cost;
-    void **dynamics;
-    void **constraints;
-    ocp_qp_xcond_solver_dims *qp_solver;  // xcond solver instead ??
-    ocp_nlp_reg_dims *regularize;
-
-    int *nv;  // number of primal variables (states+controls+slacks)
-    int *nx;  // number of differential states
-    int *nu;  // number of inputs
-    int *ni;  // number of two-sided inequality constraints: nb+ng+nh+ns
-    int *nz;  // number of algebraic variables
-    int *ns;  // number of slack variables
-    int N;    // number of shooting nodes
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-} ocp_nlp_dims;
-
-//
-acados_size_t ocp_nlp_dims_calculate_size(void *config);
-//
-ocp_nlp_dims *ocp_nlp_dims_assign(void *config, void *raw_memory);
-
-/// Sets the dimension of optimization variables
-/// (states, constrols, algebraic variables, slack variables).
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param field The type of optimization variables, either nx, nu, nz, or ns.
-/// \param value_array Number of variables for each stage.
-void ocp_nlp_dims_set_opt_vars(void *config_, void *dims_,
-                               const char *field, const void* value_array);
-
-/// Sets the dimensions of constraints functions for a stage
-/// (bounds on states, bounds on controls, equality constraints,
-/// inequality constraints).
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field The type of constraint/bound, either nbx, nbu, ng, or nh.
-/// \param value_field Number of constraints/bounds for the given stage.
-void ocp_nlp_dims_set_constraints(void *config_, void *dims_, int stage,
-                                  const char *field, const void* value_field);
-
-/// Sets the dimensions of the cost terms for a stage.
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field Type of cost term, can be eiter ny.
-/// \param value_field Number of cost terms/residuals for the given stage.
-void ocp_nlp_dims_set_cost(void *config_, void *dims_, int stage, const char *field,
-                           const void* value_field);
-
-/// Sets the dimensions of the dynamics for a stage.
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field TBD
-/// \param value TBD
-void ocp_nlp_dims_set_dynamics(void *config_, void *dims_, int stage, const char *field,
-                               const void* value);
-
-/************************************************
- * Inputs
- ************************************************/
-
-/// Struct for storing the inputs of an OCP NLP solver
-typedef struct ocp_nlp_in
-{
-    /// Length of sampling intervals/timesteps.
-    double *Ts;
-
-    /// Pointers to cost functions (TBC).
-    void **cost;
-
-    /// Pointers to dynamics functions (TBC).
-    void **dynamics;
-
-    /// Pointers to constraints functions (TBC).
-    void **constraints;
-
-    /// Pointer to allocated memory, to be used for freeing.
-    void *raw_memory;
-
-} ocp_nlp_in;
-
-//
-acados_size_t ocp_nlp_in_calculate_size_self(int N);
-//
-acados_size_t ocp_nlp_in_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
-//
-ocp_nlp_in *ocp_nlp_in_assign_self(int N, void *raw_memory);
-//
-ocp_nlp_in *ocp_nlp_in_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, void *raw_memory);
-
-
-/************************************************
- * out
- ************************************************/
-
-typedef struct ocp_nlp_out
-{
-    struct blasfeo_dvec *ux;  // NOTE: this contains [u; x; s_l; s_u]! - rename to uxs?
-    struct blasfeo_dvec *z;  // algebraic vairables
-    struct blasfeo_dvec *pi;  // multipliers for dynamics
-    struct blasfeo_dvec *lam;  // inequality mulitpliers
-    struct blasfeo_dvec *t;  // slack variables corresponding to evaluation of all inequalities (at the solution)
-
-    // NOTE: the inequalities are internally organized in the following order:
-    // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-    double inf_norm_res;
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-
-} ocp_nlp_out;
-
-//
-acados_size_t ocp_nlp_out_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
-//
-ocp_nlp_out *ocp_nlp_out_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                void *raw_memory);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-/// Globalization types
-typedef enum
-{
-    FIXED_STEP,
-    MERIT_BACKTRACKING,
-} ocp_nlp_globalization_t;
-
-typedef struct ocp_nlp_opts
-{
-    ocp_qp_xcond_solver_opts *qp_solver_opts; // xcond solver opts instead ???
-    void *regularize;
-    void **dynamics;     // dynamics_opts
-    void **cost;         // cost_opts
-    void **constraints;  // constraints_opts
-    double step_length;  // step length in case of FIXED_STEP
-    double levenberg_marquardt;  // LM factor to be added to the hessian before regularization
-    int reuse_workspace;
-    int num_threads;
-    int print_level;
-
-    // TODO: move to separate struct?
-    ocp_nlp_globalization_t globalization;
-    int full_step_dual;
-    int line_search_use_sufficient_descent;
-    int globalization_use_SOC;
-    double alpha_min;
-    double alpha_reduction;
-    double eps_sufficient_descent;
-} ocp_nlp_opts;
-
-//
-acados_size_t ocp_nlp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_opts_set_at_stage(void *config, void *opts, int stage, const char *field, void *value);
-
-
-/************************************************
- * residuals
- ************************************************/
-
-typedef struct ocp_nlp_res
-{
-    struct blasfeo_dvec *res_stat;  // stationarity
-    struct blasfeo_dvec *res_eq;  // dynamics
-    struct blasfeo_dvec *res_ineq;  // inequality constraints
-    struct blasfeo_dvec *res_comp;  // complementarity
-    struct blasfeo_dvec tmp;  // tmp
-    double inf_norm_res_stat;
-    double inf_norm_res_eq;
-    double inf_norm_res_ineq;
-    double inf_norm_res_comp;
-    acados_size_t memsize;
-} ocp_nlp_res;
-
-//
-acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims);
-//
-ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory);
-//
-void ocp_nlp_res_get_inf_norm(ocp_nlp_res *res, double *out);
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct ocp_nlp_memory
-{
-//    void *qp_solver_mem; // xcond solver mem instead ???
-    ocp_qp_xcond_solver_memory *qp_solver_mem; // xcond solver mem instead ???
-    void *regularize_mem;
-    void **dynamics;     // dynamics memory
-    void **cost;         // cost memory
-    void **constraints;  // constraints memory
-
-    // residuals
-    ocp_nlp_res *nlp_res;
-
-    // qp in & out
-    ocp_qp_in *qp_in;
-    ocp_qp_out *qp_out;
-    // QP stuff not entering the qp_in struct
-    struct blasfeo_dmat *dzduxt; // dzdux transposed
-    struct blasfeo_dvec *z_alg; // z_alg, output algebraic variables
-
-    struct blasfeo_dvec *cost_grad;
-    struct blasfeo_dvec *ineq_fun;
-    struct blasfeo_dvec *ineq_adj;
-    struct blasfeo_dvec *dyn_fun;
-    struct blasfeo_dvec *dyn_adj;
-
-    double cost_value;
-
-    bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables
-    struct blasfeo_dvec *sim_guess;
-
-    int *sqp_iter; // pointer to iteration number
-
-} ocp_nlp_memory;
-
-//
-acados_size_t ocp_nlp_memory_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
-//
-ocp_nlp_memory *ocp_nlp_memory_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                      ocp_nlp_opts *opts, void *raw_memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct ocp_nlp_workspace
-{
-
-    void *qp_work;
-    void **dynamics;     // dynamics_workspace
-    void **cost;         // cost_workspace
-    void **constraints;  // constraints_workspace
-
-    // for globalization: -> move to module?!
-    ocp_nlp_out *tmp_nlp_out;
-    ocp_nlp_out *weight_merit_fun;
-    struct blasfeo_dvec tmp_nxu;
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dvec dxnext_dy;
-
-} ocp_nlp_workspace;
-
-//
-acados_size_t ocp_nlp_workspace_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
-//
-ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                ocp_nlp_opts *opts, ocp_nlp_memory *mem, void *raw_memory);
-
-
-
-/************************************************
- * function
- ************************************************/
-
-void ocp_nlp_alias_memory_to_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_initialize_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_approximate_qp_matrices(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_approximate_qp_vectors_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-           ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
-//
-int ocp_nlp_precompute_common(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work,
-            int check_early_termination);
-//
-double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-          ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_initialize_t_slacks(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_res_compute(ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out,
-                         ocp_nlp_res *res, ocp_nlp_memory *mem);
-//
-void ocp_nlp_cost_compute(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
deleted file mode 100644
index 9dbf16f6dc..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-    int nb;  // nbx + nbu
-    int nbu; // number of input box constraints
-    int nbx; // number of state box constraints
-    int ng;  // number of general linear constraints
-    int nh;  // number of nonlinear path constraints
-    int ns;  // nsbu + nsbx + nsg + nsh
-    int nsbu;  // number of softened input bounds
-    int nsbx;  // number of softened state bounds
-    int nsg;  // number of softened general linear constraints
-    int nsh;  // number of softened nonlinear constraints
-    int nbue; // number of input box constraints which are equality
-    int nbxe; // number of state box constraints which are equality
-    int nge;  // number of general linear constraints which are equality
-    int nhe;  // number of nonlinear path constraints which are equality
-} ocp_nlp_constraints_bgh_dims;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config);
-//
-void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_,
-                                      const char *field, const int* value);
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    int *idxb;
-    int *idxs;
-    int *idxe;
-    struct blasfeo_dvec d;  // gathers bounds
-    struct blasfeo_dmat DCt;  // general linear constraint matrix
-            // lg <= [D, C] * [u; x] <= ug
-    external_function_generic *nl_constr_h_fun;  // nonlinear: lh <= h(x,u) <= uh
-    external_function_generic *nl_constr_h_fun_jac;  // nonlinear: lh <= h(x,u) <= uh
-    external_function_generic *nl_constr_h_fun_jac_hess;  // nonlinear: lh <= h(x,u) <= uh
-} ocp_nlp_constraints_bgh_model;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-//
-void ocp_nlp_constraints_bgh_model_get(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_constraints_bgh_opts;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
-    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
-    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
-    int *idxb;                   // pointer to idxb[ii] in qp_in
-    int *idxs_rev;               // pointer to idxs_rev[ii] in qp_in
-    int *idxe;                   // pointer to idxe[ii] in qp_in
-} ocp_nlp_constraints_bgh_memory;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
-//
-void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_nv;
-    struct blasfeo_dmat tmp_nz_nh;
-    struct blasfeo_dmat tmp_nv_nh;
-    struct blasfeo_dmat tmp_nz_nv;
-    struct blasfeo_dmat hess_z;
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dvec tmp_nh;
-} ocp_nlp_constraints_bgh_workspace;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/* functions */
-
-//
-void ocp_nlp_constraints_bgh_config_initialize_default(void *config);
-//
-void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts,
-                                    void *mem, void *work);
-//
-void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-
-//
-void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
deleted file mode 100644
index eb05edf7a6..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
+++ /dev/null
@@ -1,218 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/* dims */
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-    int nb;   // nbx + nbu
-    int nbu;
-    int nbx;
-    int ng;   // number of general linear constraints
-    int nphi; // dimension of convex outer part
-    int ns;   // nsbu + nsbx + nsg + nsphi
-    int nsbu; // number of softened input bounds
-    int nsbx; // number of softened state bounds
-    int nsg;  // number of softened general linear constraints
-    int nsphi;  // number of softened nonlinear constraints
-    int nr;   // dimension of nonlinear function in convex_over_nonlinear constraint
-    int nbue; // number of input box constraints which are equality
-    int nbxe; // number of state box constraints which are equality
-    int nge;  // number of general linear constraints which are equality
-    int nphie;  // number of nonlinear path constraints which are equality
-} ocp_nlp_constraints_bgp_dims;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config);
-//
-void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-/* model */
-
-typedef struct
-{
-    //  ocp_nlp_constraints_bgp_dims *dims;
-    int *idxb;
-    int *idxs;
-    int *idxe;
-    struct blasfeo_dvec d;
-    struct blasfeo_dmat DCt;
-    external_function_generic *nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux;
-    external_function_generic *nl_constr_phi_o_r_fun;
-    external_function_generic *nl_constr_r_fun_jac;
-} ocp_nlp_constraints_bgp_model;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-//
-void ocp_nlp_constraints_bgp_model_get(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-/* options */
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_constraints_bgp_opts;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_constraints_bgp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgp_opts_set(void *config, void *opts, char *field, void *value);
-
-/* memory */
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
-    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
-    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
-    int *idxb;                   // pointer to idxb[ii] in qp_in
-    int *idxs_rev;                   // pointer to idxs_rev[ii] in qp_in
-    int *idxe;                   // pointer to idxe[ii] in qp_in
-} ocp_nlp_constraints_bgp_memory;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_constraints_bgp_memory_assign(void *config, void *dims, void *opts,
-    void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_adj_ptr(void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
-//
-void ocp_nlp_constraints_bgp_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_idxb_ptr(int *idxb, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
-
-/* workspace */
-
-typedef struct
-{
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dmat jac_r_ux_tran;
-    struct blasfeo_dmat tmp_nr_nphi_nr;
-    struct blasfeo_dmat tmp_nv_nr;
-    struct blasfeo_dmat tmp_nv_nphi;
-    struct blasfeo_dmat tmp_nz_nphi;
-} ocp_nlp_constraints_bgp_workspace;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/* functions */
-
-//
-void ocp_nlp_constraints_bgp_config_initialize_default(void *config);
-//
-void ocp_nlp_constraints_bgp_initialize(void *config, void *dims, void *model,
-        void *opts, void *mem, void *work);
-//
-void ocp_nlp_constraints_bgp_update_qp_matrices(void *config_, void *dims,
-        void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims,
-        void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgp_bounds_update(void *config_, void *dims, void *model_,
-        void *opts_, void *memory_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
deleted file mode 100644
index bb73c468de..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_constraints ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value);
-    void (*model_get)(void *config_, void *dims_, void *model_, const char *field, void *value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config, void *opts, char *field, void *value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory);
-    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
-    void (*memory_set_lam_ptr)(struct blasfeo_dvec *lam, void *memory);
-    void (*memory_set_tmp_lam_ptr)(struct blasfeo_dvec *tmp_lam, void *memory);
-    void (*memory_set_DCt_ptr)(struct blasfeo_dmat *DCt, void *memory);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
-    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzduxt, void *memory);
-    void (*memory_set_idxb_ptr)(int *idxb, void *memory);
-    void (*memory_set_idxs_rev_ptr)(int *idxs_rev, void *memory);
-    void (*memory_set_idxe_ptr)(int *idxe, void *memory);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*update_qp_matrices)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*compute_fun)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*bounds_update)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*config_initialize_default)(void *config);
-    // dimension setters
-    void (*dims_set)(void *config_, void *dims_, const char *field, const int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
-} ocp_nlp_constraints_config;
-
-//
-acados_size_t ocp_nlp_constraints_config_calculate_size();
-//
-ocp_nlp_constraints_config *ocp_nlp_constraints_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
deleted file mode 100644
index eb40564036..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-///
-/// \defgroup ocp_nlp_cost ocp_nlp_cost
-///
-
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_common ocp_nlp_cost_common
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int *value);
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config, void *opts, const char *field, void *value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-	double *(*memory_get_fun_ptr)(void *memory);
-    struct blasfeo_dvec *(*memory_get_grad_ptr)(void *memory);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
-    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzdux, void *memory);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
-    void (*memory_set_Z_ptr)(struct blasfeo_dvec *Z, void *memory);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-
-    // computes the function value, gradient and hessian (approximation) of the cost function
-    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    // computes the cost function value (intended for globalization)
-    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*config_initialize_default)(void *config);
-    void (*precompute)(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-
-} ocp_nlp_cost_config;
-
-//
-acados_size_t ocp_nlp_cost_config_calculate_size();
-//
-ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h
deleted file mode 100644
index 2eb3f5d127..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_conl ocp_nlp_cost_conl
-/// \brief This module implements convex-over-nonlinear costs of the form
-/// \f$\min_{x,u,z} \psi(y(x,u,z,p) - y_{\text{ref}}, p)\f$,
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_conl_dims;
-
-//
-acados_size_t ocp_nlp_cost_conl_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_conl_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_conl_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
-//
-void ocp_nlp_cost_conl_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_conl_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    external_function_generic *conl_cost_fun;
-    external_function_generic *conl_cost_fun_jac_hess;
-    struct blasfeo_dvec y_ref;
-    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
-    struct blasfeo_dvec z;              // gradient of slacks as vector
-    double scaling;
-} ocp_nlp_cost_conl_model;
-
-//
-acados_size_t ocp_nlp_cost_conl_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_conl_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_conl_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    bool gauss_newton_hess;  // dummy options, we always use a gauss-newton hessian
-} ocp_nlp_cost_conl_opts;
-
-//
-acados_size_t ocp_nlp_cost_conl_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_conl_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_conl_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_conl_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_conl_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-typedef struct
-{
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    double fun;                         ///< value of the cost function
-} ocp_nlp_cost_conl_memory;
-
-//
-acados_size_t ocp_nlp_cost_conl_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_conl_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_conl_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_conl_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_conl_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_conl_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat W;             // hessian of outer loss function
-    struct blasfeo_dmat W_chol;        // cholesky factor of hessian of outer loss function
-    struct blasfeo_dmat Jt_ux;         // jacobian of inner residual function
-    struct blasfeo_dmat Jt_ux_tilde;   // jacobian of inner residual function plus gradient contribution of algebraic variables
-    struct blasfeo_dmat Jt_z;          // jacobian of inner residual function wrt algebraic variables
-    struct blasfeo_dmat tmp_nv_ny;
-    struct blasfeo_dvec tmp_ny;
-    struct blasfeo_dvec tmp_2ns;
-} ocp_nlp_cost_conl_workspace;
-
-//
-acados_size_t ocp_nlp_cost_conl_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_conl_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_conl_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_conl_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_conl_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_conl_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
deleted file mode 100644
index 78958270de..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
+++ /dev/null
@@ -1,187 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_external_dims;
-
-//
-acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    external_function_generic *ext_cost_fun;  // function
-    external_function_generic *ext_cost_fun_jac_hess;  // function, gradient and hessian
-    external_function_generic *ext_cost_fun_jac;  // function, gradient
-    struct blasfeo_dvec Z;
-    struct blasfeo_dvec z;
-    struct blasfeo_dmat numerical_hessian;  // custom hessian approximation
-    double scaling;
-} ocp_nlp_cost_external_model;
-
-//
-acados_size_t ocp_nlp_cost_external_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_external_model_assign(void *config, void *dims, void *raw_memory);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int use_numerical_hessian;  // > 0 indicating custom hessian is used instead of CasADi evaluation
-} ocp_nlp_cost_external_opts;
-
-//
-acados_size_t ocp_nlp_cost_external_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_external_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_external_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_external_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_external_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-	double fun;                         ///< value of the cost function
-} ocp_nlp_cost_external_memory;
-
-//
-acados_size_t ocp_nlp_cost_external_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_external_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_external_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_external_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_external_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nunx_nunx;
-    struct blasfeo_dmat tmp_nz_nz;
-    struct blasfeo_dmat tmp_nz_nunx;
-    struct blasfeo_dvec tmp_nunxnz;
-    struct blasfeo_dvec tmp_2ns;  // temporary vector of dimension 2*ns
-} ocp_nlp_cost_external_workspace;
-
-//
-acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_external_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_external_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_external_initialize(void *config_, void *dims, void *model_,
-                                      void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_external_update_qp_matrices(void *config_, void *dims, void *model_,
-                                               void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_external_compute_fun(void *config_, void *dims, void *model_,
-                                       void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
deleted file mode 100644
index 801e9a5b87..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
+++ /dev/null
@@ -1,243 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_ls ocp_nlp_cost_ls
-/// \brief This module implements linear-least squares costs of the form
-/// \f$\min_{x,u,z} \| V_x x + V_u u + V_z z - y_{\text{ref}}\|_W^2\f$.
-/// @{
-
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     dims                                   //
-////////////////////////////////////////////////////////////////////////////////
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_ls_dims;
-
-
-///  Calculate the size of the ocp_nlp_cost_ls_dims struct
-///
-///  \param[in] config_ structure containing configuration of ocp_nlp_cost
-///  module
-///  \param[out] []
-///  \return \c size of ocp_nlp_dims struct
-acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config);
-
-
-///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct
-///
-///  \param[in] config structure containing configuration of ocp_nlp_cost
-///  module
-///  \param[in] raw_memory pointer to memory location
-///  \param[out] []
-///  \return dims
-void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     model                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-/// structure containing the data describing the linear least-square cost
-typedef struct
-{
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    struct blasfeo_dmat Cyt;            ///< output matrix: Cy * [u,x] = y; in transposed form
-    struct blasfeo_dmat Vz;             ///< Vz in ls cost Vx*x + Vu*u + Vz*z
-    struct blasfeo_dmat W;              ///< ls norm corresponding to this matrix
-    struct blasfeo_dvec y_ref;          ///< yref
-    struct blasfeo_dvec Z;              ///< diagonal Hessian of slacks as vector (lower and upper)
-    struct blasfeo_dvec z;              ///< gradient of slacks as vector (lower and upper)
-    double scaling;
-    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
-    int Cyt_or_scaling_changed;         ///< flag indicating whether Cyt or scaling has changed and Hessian needs to be recomputed
-} ocp_nlp_cost_ls_model;
-
-//
-acados_size_t ocp_nlp_cost_ls_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_ls_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_ls_model_set(void *config_, void *dims_, void *model_,
-                              const char *field, void *value_);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                   options                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-typedef struct
-{
-    int dummy; // struct can't be void
-} ocp_nlp_cost_ls_opts;
-
-//
-acados_size_t ocp_nlp_cost_ls_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_ls_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_ls_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_ls_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     memory                                 //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-/// structure containing the memory associated with cost_ls component
-/// of the ocp_nlp module
-typedef struct
-{
-    struct blasfeo_dmat hess;           ///< hessian of cost function
-    struct blasfeo_dmat W_chol;         ///< cholesky factor of weight matrix
-    struct blasfeo_dvec res;            ///< ls residual r(x)
-    struct blasfeo_dvec grad;           ///< gradient of cost function
-    struct blasfeo_dvec *ux;            ///< pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux;        ///< pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    struct blasfeo_dmat *RSQrq;         ///< pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;             ///< pointer to Z in qp_in
-	double fun;                         ///< value of the cost function
-} ocp_nlp_cost_ls_memory;
-
-//
-acados_size_t ocp_nlp_cost_ls_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_ls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_ls_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_ls_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                 workspace                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_ny;   // temporary matrix of dimensions nv, ny
-    struct blasfeo_dmat Cyt_tilde;   // updated Cyt (after z elimination)
-    struct blasfeo_dmat dzdux_tran;  // derivatives of z wrt u and x (tran)
-    struct blasfeo_dvec tmp_ny;      // temporary vector of dimension ny
-    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
-    struct blasfeo_dvec tmp_nz;      // temporary vector of dimension nz
-    struct blasfeo_dvec y_ref_tilde; // updated y_ref (after z elimination)
-} ocp_nlp_cost_ls_workspace;
-
-//
-acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                 functions                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-// computations that are done once when solver is created
-void ocp_nlp_cost_ls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_ls_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_ls_initialize(void *config_, void *dims, void *model_, void *opts_,
-                                void *mem_, void *work_);
-//
-void ocp_nlp_cost_ls_update_qp_matrices(void *config_, void *dims, void *model_,
-                                        void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_ls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
deleted file mode 100644
index 5ec68cf580..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
+++ /dev/null
@@ -1,211 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls
-/// \brief This module implements nonlinear-least squares costs of the form
-/// \f$\min_{x,u,z} \| y(x,u,z,p) - y_{\text{ref}} \|_W^2\f$,
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_nls_dims;
-
-//
-acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    // nonliner function nls_y(x,u) replaces Cy * [x,u] in ls_cost
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    external_function_generic *nls_y_fun;  // evaluation of nls function
-    external_function_generic *nls_y_fun_jac;  // evaluation nls function and jacobian
-    external_function_generic *nls_y_hess;  // hessian*seeds of nls residuals
-    struct blasfeo_dmat W;                //
-    struct blasfeo_dvec y_ref;
-    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
-    struct blasfeo_dvec z;              // gradient of slacks as vector
-    double scaling;
-    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
-} ocp_nlp_cost_nls_model;
-
-//
-acados_size_t ocp_nlp_cost_nls_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_nls_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_nls_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    bool gauss_newton_hess;  // gauss-newton hessian approximation
-} ocp_nlp_cost_nls_opts;
-
-//
-acados_size_t ocp_nlp_cost_nls_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_nls_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_nls_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_nls_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_nls_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat W_chol;  // cholesky factor of weight matrix
-    struct blasfeo_dmat Jt;      // jacobian of nls fun
-    struct blasfeo_dvec res;     // nls residual r(x)
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux;     // pointer to ux in tmp_nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    double fun;                         ///< value of the cost function
-} ocp_nlp_cost_nls_memory;
-
-//
-acados_size_t ocp_nlp_cost_nls_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_nls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_nls_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_nls_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_nls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_nls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_ny;
-    struct blasfeo_dmat tmp_nv_nv;
-    struct blasfeo_dmat Vz;
-    struct blasfeo_dmat Cyt_tilde;
-    struct blasfeo_dvec tmp_ny;
-    struct blasfeo_dvec tmp_2ns;
-    struct blasfeo_dvec tmp_nz;
-} ocp_nlp_cost_nls_workspace;
-
-//
-acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_nls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_nls_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_nls_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_nls_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_nls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
deleted file mode 100644
index 43fe71b12f..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_dynamics ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    void (*config_initialize_default)(void *config);
-    sim_config *sim_solver;
-    /* dims */
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
-    /* model */
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    void (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
-    /* opts */
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    /* memory */
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    // get shooting node gap x_next(x_n, u_n) - x_{n+1}
-    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_);
-    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory_);
-    void (*memory_set_ux1_ptr)(struct blasfeo_dvec *ux1, void *memory_);
-    void (*memory_set_tmp_ux1_ptr)(struct blasfeo_dvec *tmp_ux1, void *memory_);
-    void (*memory_set_pi_ptr)(struct blasfeo_dvec *pi, void *memory_);
-    void (*memory_set_tmp_pi_ptr)(struct blasfeo_dvec *tmp_pi, void *memory_);
-    void (*memory_set_BAbt_ptr)(struct blasfeo_dmat *BAbt, void *memory_);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory_);
-    void (*memory_set_dzduxt_ptr)(struct blasfeo_dmat *mat, void *memory_);
-    void (*memory_set_sim_guess_ptr)(struct blasfeo_dvec *vec, bool *bool_ptr, void *memory_);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *vec, void *memory_);
-    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void* value);
-    /* workspace */
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    int (*precompute)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-} ocp_nlp_dynamics_config;
-
-//
-acados_size_t ocp_nlp_dynamics_config_calculate_size();
-//
-ocp_nlp_dynamics_config *ocp_nlp_dynamics_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
deleted file mode 100644
index 3afdc9f4ed..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
+++ /dev/null
@@ -1,209 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-#include "acados_c/sim_interface.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    void *sim;
-    int nx;   // number of states at the current stage
-    int nz;   // number of algebraic states at the current stage
-    int nu;   // number of inputs at the current stage
-    int nx1;  // number of states at the next stage
-    int nu1;  // number of inputes at the next stage
-} ocp_nlp_dynamics_cont_dims;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config);
-//
-void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value);
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    void *sim_solver;
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_dynamics_cont_opts;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_cont_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_cont_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_cont_opts_set(void *config, void *opts, const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;            // pointer to ux in nlp_out at current stage
-    struct blasfeo_dvec *tmp_ux;        // pointer to ux in tmp_nlp_out at current stage
-    struct blasfeo_dvec *ux1;           // pointer to ux in nlp_out at next stage
-    struct blasfeo_dvec *tmp_ux1;       // pointer to ux in tmp_nlp_out at next stage
-    struct blasfeo_dvec *pi;            // pointer to pi in nlp_out at current stage
-    struct blasfeo_dvec *tmp_pi;        // pointer to pi in tmp_nlp_out at current stage
-    struct blasfeo_dmat *BAbt;          // pointer to BAbt in qp_in
-    struct blasfeo_dmat *RSQrq;         // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *z_alg;         // pointer to output z at t = 0
-    bool *set_sim_guess;                 // indicate if initialization for integrator is set from outside
-    struct blasfeo_dvec *sim_guess;     // initializations for integrator
-    // struct blasfeo_dvec *z;             // pointer to (input) z in nlp_out at current stage
-    struct blasfeo_dmat *dzduxt;        // pointer to dzdux transposed
-    void *sim_solver;                   // sim solver memory
-} ocp_nlp_dynamics_cont_memory;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_dynamics_cont_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat hess;
-    sim_in *sim_in;
-    sim_out *sim_out;
-    void *sim_solver;  // sim solver workspace
-} ocp_nlp_dynamics_cont_workspace;
-
-acados_size_t ocp_nlp_dynamics_cont_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    void *sim_model;
-    // double *state_transition; // TODO
-    double T;  // simulation time
-} ocp_nlp_dynamics_cont_model;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_cont_model_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_dynamics_cont_config_initialize_default(void *config);
-//
-void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_cont_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-int ocp_nlp_dynamics_cont_precompute(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
deleted file mode 100644
index 6ea26a7010..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;   // number of states at the current stage
-    int nu;   // number of inputs at the current stage
-    int nx1;  // number of states at the next stage
-    int nu1;  // number of inputes at the next stage
-} ocp_nlp_dynamics_disc_dims;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config);
-//
-void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value);
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_dynamics_disc_opts;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_disc_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_disc_opts_update(void *config, void *dims, void *opts);
-//
-int ocp_nlp_dynamics_disc_precompute(void *config_, void *dims, void *model_, void *opts_,
-                                        void *mem_, void *work_);
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out at current stage
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage
-    struct blasfeo_dvec *ux1;    // pointer to ux in nlp_out at next stage
-    struct blasfeo_dvec *tmp_ux1;// pointer to ux in tmp_nlp_out at next stage
-    struct blasfeo_dvec *pi;     // pointer to pi in nlp_out at current stage
-    struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage
-    struct blasfeo_dmat *BAbt;   // pointer to BAbt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_dynamics_disc_memory;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_dynamics_disc_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_fun_ptr(void *memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_adj_ptr(void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_nv;
-} ocp_nlp_dynamics_disc_workspace;
-
-acados_size_t ocp_nlp_dynamics_disc_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    external_function_generic *disc_dyn_fun;
-    external_function_generic *disc_dyn_fun_jac;
-    external_function_generic *disc_dyn_fun_jac_hess;
-} ocp_nlp_dynamics_disc_model;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_disc_model_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_dynamics_disc_config_initialize_default(void *config);
-//
-void ocp_nlp_dynamics_disc_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_disc_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_disc_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
deleted file mode 100644
index 9388f3fd24..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_reg ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-
-
-/* dims */
-
-//typedef ocp_qp_dims ocp_nlp_reg_dims;
-typedef struct
-{
-    int *nx;
-    int *nu;
-    int *nbu;
-    int *nbx;
-    int *ng;
-    int N;
-} ocp_nlp_reg_dims;
-
-//
-acados_size_t ocp_nlp_reg_dims_calculate_size(int N);
-//
-ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory);
-//
-void ocp_nlp_reg_dims_set(void *config_, ocp_nlp_reg_dims *dims, int stage, char *field, int* value);
-
-
-
-/* config */
-
-typedef struct
-{
-    /* dims */
-    acados_size_t (*dims_calculate_size)(int N);
-    ocp_nlp_reg_dims *(*dims_assign)(int N, void *raw_memory);
-    void (*dims_set)(void *config, ocp_nlp_reg_dims *dims, int stage, char *field, int *value);
-    /* opts */
-    acados_size_t (*opts_calculate_size)(void);
-    void *(*opts_assign)(void *raw_memory);
-    void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts);
-    void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value);
-    /* memory */
-    acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts);
-    void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-    void (*memory_set)(void *config, ocp_nlp_reg_dims *dims, void *memory, char *field, void* value);
-    void (*memory_set_RSQrq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_rq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_BAbt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_b_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_idxb_ptr)(ocp_nlp_reg_dims *dims, int **idxb, void *memory);
-    void (*memory_set_DCt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_ux_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_pi_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_lam_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    /* functions */
-    void (*regularize_hessian)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
-    void (*correct_dual_sol)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
-} ocp_nlp_reg_config;
-
-//
-acados_size_t ocp_nlp_reg_config_calculate_size(void);
-//
-void *ocp_nlp_reg_config_assign(void *raw_memory);
-
-
-
-/* regularization help functions */
-void acados_reconstruct_A(int dim, double *A, double *V, double *d);
-void acados_mirror(int dim, double *A, double *V, double *d, double *e, double epsilon);
-void acados_project(int dim, double *A, double *V, double *d, double *e, double epsilon);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
deleted file mode 100644
index cb523525e1..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double delta;
-    double epsilon;
-//    double gamma; // 0.0
-} ocp_nlp_reg_convexify_opts;
-
-//
-acados_size_t ocp_nlp_reg_convexify_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct {
-    double *R;
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-    double *reg_hess; // TODO move to workspace
-
-    struct blasfeo_dmat Q_tilde;
-    struct blasfeo_dmat Q_bar;
-    struct blasfeo_dmat BAQ;
-    struct blasfeo_dmat L;
-    struct blasfeo_dmat delta_eye;
-    struct blasfeo_dmat St_copy;
-
-    struct blasfeo_dmat *original_RSQrq;
-    struct blasfeo_dmat tmp_RSQ;
-
-	struct blasfeo_dvec tmp_nuxM;
-	struct blasfeo_dvec tmp_nbgM;
-
-//    struct blasfeo_dvec grad;
-//    struct blasfeo_dvec b2;
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec **rq;  // pointer to rq in qp_in
-    struct blasfeo_dmat **BAbt;  // pointer to BAbt in qp_in
-    struct blasfeo_dvec **b;  // pointer to b in qp_in
-    struct blasfeo_dmat **DCt;  // pointer to DCt in qp_in
-    struct blasfeo_dvec **ux;  // pointer to ux in qp_out
-    struct blasfeo_dvec **pi;  // pointer to pi in qp_out
-    struct blasfeo_dvec **lam;  // pointer to lam in qp_out
-	int **idxb; // pointer to idxb in qp_in
-
-} ocp_nlp_reg_convexify_memory;
-
-//
-acados_size_t ocp_nlp_reg_convexify_calculate_memory_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_convexify_assign_memory(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_convexify_config_initialize_default(ocp_nlp_reg_config *config);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
deleted file mode 100644
index 84a023cb69..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double epsilon;
-} ocp_nlp_reg_mirror_opts;
-
-//
-acados_size_t ocp_nlp_reg_mirror_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_mirror_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_mirror_memory;
-
-//
-acados_size_t ocp_nlp_reg_mirror_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_mirror_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_mirror_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
deleted file mode 100644
index b571f3bac1..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-
-/************************************************
- * options
- ************************************************/
-
-//
-acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_noreg_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-//
-acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_noreg_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
-// not needed
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_noreg_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
deleted file mode 100644
index 682ea206dc..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double epsilon;
-} ocp_nlp_reg_project_opts;
-
-//
-acados_size_t ocp_nlp_reg_project_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_project_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_project_memory;
-
-//
-acados_size_t ocp_nlp_reg_project_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_project_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_project_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
deleted file mode 100644
index 7e12952c15..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double thr_eig;
-    double min_eig;
-    double min_pivot;
-	int pivoting;
-} ocp_nlp_reg_project_reduc_hess_opts;
-
-//
-acados_size_t ocp_nlp_reg_project_reduc_hess_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat L; // TODO move to workspace
-    struct blasfeo_dmat L2; // TODO move to workspace
-    struct blasfeo_dmat L3; // TODO move to workspace
-    struct blasfeo_dmat Ls; // TODO move to workspace
-    struct blasfeo_dmat P; // TODO move to workspace
-    struct blasfeo_dmat AL; // TODO move to workspace
-
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat **BAbt;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_project_reduc_hess_memory;
-
-//
-acados_size_t ocp_nlp_reg_project_reduc_hess_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_project_reduc_hess_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_project_reduc_hess_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
deleted file mode 100644
index fdb96417f9..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
+++ /dev/null
@@ -1,170 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_solver
-/// @{
-/// \addtogroup ocp_nlp_sqp ocp_nlp_sqp
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-#define ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_opts *nlp_opts;
-    double tol_stat;     // exit tolerance on stationarity condition
-    double tol_eq;       // exit tolerance on equality constraints
-    double tol_ineq;     // exit tolerance on inequality constraints
-    double tol_comp;     // exit tolerance on complementarity condition
-    int max_iter;
-    int ext_qp_res;      // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
-    int qp_warm_start;   // qp_warm_start in all but the first sqp iterations
-    bool warm_start_first_qp; // to set qp_warm_start in first iteration
-    int rti_phase;       // only phase 0 at the moment 
-    int initialize_t_slacks;  // 0-false or 1-true
-
-} ocp_nlp_sqp_opts;
-
-//
-acados_size_t ocp_nlp_sqp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_sqp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_sqp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_sqp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_sqp_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_sqp_opts_set_at_stage(void *config_, void *opts_, size_t stage, const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    // nlp memory
-    ocp_nlp_memory *nlp_mem;
-
-    double time_qp_sol;
-    double time_qp_solver_call;
-    double time_qp_xcond;
-    double time_lin;
-    double time_reg;
-    double time_tot;
-    double time_glob;
-    double time_sim;
-    double time_sim_la;
-    double time_sim_ad;
-    double time_solution_sensitivities;
-
-    // statistics
-    double *stat;
-    int stat_m;
-    int stat_n;
-
-    int status;
-    int sqp_iter;
-
-} ocp_nlp_sqp_memory;
-
-//
-acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-void ocp_nlp_sqp_memory_reset_qp_solver(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-    void *opts_, void *mem_, void *work_);
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_workspace *nlp_work;
-
-    // temp QP in & out (to be used as workspace in param sens)
-    ocp_qp_in *tmp_qp_in;
-    ocp_qp_out *tmp_qp_out;
-
-    // qp residuals
-    ocp_qp_res *qp_res;
-    ocp_qp_res_ws *qp_res_ws;
-
-} ocp_nlp_sqp_workspace;
-
-//
-acados_size_t ocp_nlp_sqp_workspace_calculate_size(void *config, void *dims, void *opts_);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-int ocp_nlp_sqp(void *config, void *dims, void *nlp_in, void *nlp_out,
-                void *args, void *mem, void *work_);
-//
-void ocp_nlp_sqp_config_initialize_default(void *config_);
-//
-int ocp_nlp_sqp_precompute(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-                void *opts_, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
deleted file mode 100644
index 364d0f4717..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
+++ /dev/null
@@ -1,163 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_solver
-/// @{
-/// \addtogroup ocp_nlp_sqp_rti ocp_nlp_sqp_rti
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-#define ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_opts *nlp_opts;
-    int compute_dual_sol;
-    int ext_qp_res;           // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
-    int qp_warm_start;        // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp.
-    bool warm_start_first_qp; // to set qp_warm_start in first iteration
-    int rti_phase;            // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both)
-
-} ocp_nlp_sqp_rti_opts;
-
-//
-acados_size_t ocp_nlp_sqp_rti_opts_calculate_size(void *config_, void *dims_);
-//
-void *ocp_nlp_sqp_rti_opts_assign(void *config_, void *dims_, void *raw_memory);
-//
-void ocp_nlp_sqp_rti_opts_initialize_default(void *config_, void *dims_, void *opts_);
-//
-void ocp_nlp_sqp_rti_opts_update(void *config_, void *dims_, void *opts_);
-//
-void ocp_nlp_sqp_rti_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_sqp_rti_opts_set_at_stage(void *config_, void *opts_, size_t stage,
-    const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    // nlp memory
-    ocp_nlp_memory *nlp_mem;
-
-    double time_qp_sol;
-    double time_qp_solver_call;
-    double time_qp_xcond;
-    double time_lin;
-    double time_reg;
-    double time_tot;
-    double time_glob;
-    double time_solution_sensitivities;
-
-    // statistics
-    double *stat;
-    int stat_m;
-    int stat_n;
-
-    int status;
-
-} ocp_nlp_sqp_rti_memory;
-
-//
-acados_size_t ocp_nlp_sqp_rti_memory_calculate_size(void *config_, void *dims_, void *opts_);
-//
-void *ocp_nlp_sqp_rti_memory_assign(void *config_, void *dims_, void *opts_,
-    void *raw_memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_workspace *nlp_work;
-
-    // temp QP in & out (to be used as workspace in param sens)
-    ocp_qp_in *tmp_qp_in;
-    ocp_qp_out *tmp_qp_out;
-
-    // qp residuals
-    ocp_qp_res *qp_res;
-    ocp_qp_res_ws *qp_res_ws;
-
-
-} ocp_nlp_sqp_rti_workspace;
-
-//
-acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims_, void *opts_);
-
-
-
-/************************************************
- * functions
- ************************************************/
-//
-int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-    void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_sqp_rti_config_initialize_default(void *config_);
-//
-int ocp_nlp_sqp_rti_precompute(void *config_, void *dims_,
-    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
deleted file mode 100644
index d1a45635e4..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_H_
-#define ACADOS_OCP_QP_OCP_QP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp.h"
-#include "hpipm/include/hpipm_d_ocp_qp_dim.h"
-#include "hpipm/include/hpipm_d_ocp_qp_res.h"
-#include "hpipm/include/hpipm_d_ocp_qp_sol.h"
-// acados
-#include "acados/utils/types.h"
-
-
-
-typedef struct d_ocp_qp_dim ocp_qp_dims;
-typedef struct d_ocp_qp ocp_qp_in;
-typedef struct d_ocp_qp_sol ocp_qp_out;
-typedef struct d_ocp_qp_res ocp_qp_res;
-typedef struct d_ocp_qp_res_ws ocp_qp_res_ws;
-
-
-
-#ifndef QP_SOLVER_CONFIG_
-#define QP_SOLVER_CONFIG_
-typedef struct
-{
-    void (*dims_set)(void *config_, void *dims_, int stage, const char *field, int* value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    void (*memory_reset)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} qp_solver_config;
-#endif
-
-
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config, int N);
-    void *(*dims_assign)(void *config, int N, void *raw_memory);
-    void (*dims_set)(void *config, void *dims_, int stage, const char *field, int* value);
-    void (*dims_get)(void *config, void *dims, const char *field, void* value);
-    // TODO add config everywhere !!!!!
-    acados_size_t (*opts_calculate_size)(void *dims);
-    void *(*opts_assign)(void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *dims, void *opts);
-    void (*opts_update)(void *dims, void *opts);
-    void (*opts_set)(void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *dims, void *opts);
-    void *(*memory_assign)(void *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config, void *mem, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *dims, void *opts);
-    int (*condensing)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    int (*condensing_rhs)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    int (*expansion)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} ocp_qp_xcond_config;
-
-
-
-/// Struct containing metrics of the qp solver.
-#ifndef QP_INFO_
-#define QP_INFO_
-typedef struct
-{
-    double solve_QP_time;
-    double condensing_time;
-    double interface_time;
-    double total_time;
-    int num_iter;
-    int t_computed;
-} qp_info;
-#endif
-
-
-
-/* config */
-//
-acados_size_t ocp_qp_solver_config_calculate_size();
-//
-qp_solver_config *ocp_qp_solver_config_assign(void *raw_memory);
-//
-acados_size_t ocp_qp_condensing_config_calculate_size();
-//
-ocp_qp_xcond_config *ocp_qp_condensing_config_assign(void *raw_memory);
-
-
-/* dims */
-//
-acados_size_t ocp_qp_dims_calculate_size(int N);
-//
-ocp_qp_dims *ocp_qp_dims_assign(int N, void *raw_memory);
-//
-void ocp_qp_dims_set(void *config_, void *dims, int stage, const char *field, int* value);
-//
-void ocp_qp_dims_get(void *config_, void *dims, int stage, const char *field, int* value);
-
-
-/* in */
-//
-acados_size_t ocp_qp_in_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_in *ocp_qp_in_assign(ocp_qp_dims *dims, void *raw_memory);
-
-
-/* out */
-//
-acados_size_t ocp_qp_out_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_out *ocp_qp_out_assign(ocp_qp_dims *dims, void *raw_memory);
-
-/* res */
-//
-acados_size_t ocp_qp_res_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_res *ocp_qp_res_assign(ocp_qp_dims *dims, void *raw_memory);
-//
-acados_size_t ocp_qp_res_workspace_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_res_ws *ocp_qp_res_workspace_assign(ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_res_compute(ocp_qp_in *qp_in, ocp_qp_out *qp_out, ocp_qp_res *qp_res, ocp_qp_res_ws *res_ws);
-//
-void ocp_qp_res_compute_nrm_inf(ocp_qp_res *qp_res, double res[4]);
-
-
-/* misc */
-//
-void ocp_qp_stack_slacks_dims(ocp_qp_dims *in, ocp_qp_dims *out);
-//
-void ocp_qp_stack_slacks(ocp_qp_in *in, ocp_qp_in *out);
-//
-void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
deleted file mode 100644
index f65f602c15..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
-#define ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-typedef struct
-{
-    int N;
-    int *nx;
-    int *nu;
-    int *nb;
-    int *nc;
-    double **A;
-    double **B;
-    double **b;
-    double **Q;
-    double **S;
-    double **R;
-    double **q;
-    double **r;
-    int **idxb;
-    double **lb;
-    double **ub;
-    double **Cx;
-    double **Cu;
-    double **lc;
-    double **uc;
-} colmaj_ocp_qp_in;
-
-typedef struct
-{
-    double **x;
-    double **u;
-    double **pi;
-    double **lam;
-} colmaj_ocp_qp_out;
-
-typedef struct
-{
-    double **res_r;
-    double **res_q;
-    double **res_ls;
-    double **res_us;
-    double **res_b;
-    double **res_d_lb;
-    double **res_d_ub;
-    double **res_d_lg;
-    double **res_d_ug;
-    double **res_d_ls;
-    double **res_d_us;
-    double **res_m_lb;
-    double **res_m_ub;
-    double **res_m_lg;
-    double **res_m_ug;
-    double **res_m_ls;
-    double **res_m_us;
-    double res_nrm_inf[4];
-} colmaj_ocp_qp_res;
-
-//
-acados_size_t colmaj_ocp_qp_in_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_in(ocp_qp_dims *dims, colmaj_ocp_qp_in **qp_in, void *ptr);
-//
-acados_size_t colmaj_ocp_qp_out_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_out(ocp_qp_dims *dims, colmaj_ocp_qp_out **qp_out, void *ptr);
-//
-acados_size_t colmaj_ocp_qp_res_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_res(ocp_qp_dims *dims, colmaj_ocp_qp_res **qp_res, void *ptr);
-//
-void convert_colmaj_to_ocp_qp_in(colmaj_ocp_qp_in *cm_qp_in, ocp_qp_in *qp_in);
-//
-void convert_ocp_qp_out_to_colmaj(ocp_qp_out *qp_out, colmaj_ocp_qp_out *cm_qp_out);
-//
-void convert_ocp_qp_res_to_colmaj(ocp_qp_res *qp_res, colmaj_ocp_qp_res *cm_qp_res);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
deleted file mode 100644
index d23e658b48..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
-#define ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_red.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    ocp_qp_dims *red_dims; // dims of reduced qp
-    dense_qp_dims *fcond_dims;
-} ocp_qp_full_condensing_dims;
-
-
-
-typedef struct ocp_qp_full_condensing_opts_
-{
-    struct d_cond_qp_arg *hpipm_cond_opts;
-    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
-//    dense_qp_dims *fcond_dims;  // TODO(all): move to dims
-    int cond_hess; // 0 cond only rhs, 1 cond hess + rhs
-    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
-    int ric_alg;
-    int mem_qp_in; // allocate qp_in in memory
-} ocp_qp_full_condensing_opts;
-
-
-
-typedef struct ocp_qp_full_condensing_memory_
-{
-    struct d_cond_qp_ws *hpipm_cond_work;
-    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
-    // in memory
-    dense_qp_in *fcond_qp_in;
-    dense_qp_out *fcond_qp_out;
-    ocp_qp_in *red_qp; // reduced qp
-    ocp_qp_out *red_sol; // reduced qp sol
-    // only pointer
-    ocp_qp_in *ptr_qp_in;
-    qp_info *qp_out_info; // info in fcond_qp_in
-    double time_qp_xcond;
-} ocp_qp_full_condensing_memory;
-
-
-
-//
-acados_size_t ocp_qp_full_condensing_opts_calculate_size(void *dims);
-//
-void *ocp_qp_full_condensing_opts_assign(void *dims, void *raw_memory);
-//
-void ocp_qp_full_condensing_opts_initialize_default(void *dims, void *opts_);
-//
-void ocp_qp_full_condensing_opts_update(void *dims, void *opts_);
-//
-void ocp_qp_full_condensing_opts_set(void *opts_, const char *field, void* value);
-//
-acados_size_t ocp_qp_full_condensing_memory_calculate_size(void *dims, void *opts_);
-//
-void *ocp_qp_full_condensing_memory_assign(void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_full_condensing_workspace_calculate_size(void *dims, void *opts_);
-//
-int ocp_qp_full_condensing(void *in, void *out, void *opts, void *mem, void *work);
-//
-int ocp_qp_full_expansion(void *in, void *out, void *opts, void *mem, void *work);
-//
-void ocp_qp_full_condensing_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
deleted file mode 100644
index 261606b842..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_HPIPM_H_
-#define ACADOS_OCP_QP_OCP_QP_HPIPM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_ipm.h"
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-// struct of arguments to the solver
-// TODO(roversch): why not make this a typedef of the underlying struct?
-typedef struct ocp_qp_hpipm_opts_
-{
-    struct d_ocp_qp_ipm_arg *hpipm_opts;
-} ocp_qp_hpipm_opts;
-
-
-
-// TODO(roversch): why not make this a typedef of the underlying struct?
-// struct of the solver memory
-typedef struct ocp_qp_hpipm_memory_
-{
-    struct d_ocp_qp_ipm_ws *hpipm_workspace;
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_hpipm_memory;
-
-
-
-//
-acados_size_t ocp_qp_hpipm_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void ocp_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
-//
-void ocp_qp_hpipm_opts_set(void *config_, void *opts_, const char *field, void *value);
-//
-acados_size_t ocp_qp_hpipm_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_qp_hpipm_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_hpipm_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-int ocp_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_memory_reset(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_eval_sens(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_config_initialize_default(void *config);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
deleted file mode 100644
index 8db53a279d..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
+++ /dev/null
@@ -1,127 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_HPMPC_H_
-#define ACADOS_OCP_QP_OCP_QP_HPMPC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef enum hpmpc_options_t_ { HPMPC_DEFAULT_ARGUMENTS } hpmpc_options_t;
-
-typedef struct ocp_qp_hpmpc_opts_
-{
-    double tol;
-    int max_iter;
-    double mu0;
-    double alpha_min;
-    int warm_start;
-    int N2;  // horizion length of the partially condensed problem
-
-    // partial tightening
-    double sigma_mu;
-    int N;
-    int M;
-} ocp_qp_hpmpc_opts;
-
-// struct of the solver memory
-typedef struct ocp_qp_hpmpc_memory_
-{
-    struct blasfeo_dvec *hpi;
-    double *stats;
-
-    // workspace
-    void *hpmpc_work;  // raw workspace
-
-    // partial tightening-specific (init of extra variables)
-    struct blasfeo_dvec *lam0;
-    struct blasfeo_dvec *ux0;
-    struct blasfeo_dvec *pi0;
-    struct blasfeo_dvec *t0;
-
-    // 2. workspace
-    struct blasfeo_dmat *hsL;
-    struct blasfeo_dmat *hsric_work_mat;
-    struct blasfeo_dmat sLxM;
-    struct blasfeo_dmat sPpM;
-
-    struct blasfeo_dvec *hsQx;
-    struct blasfeo_dvec *hsqx;
-    struct blasfeo_dvec *hstinv;
-    struct blasfeo_dvec *hsrq;
-    struct blasfeo_dvec *hsdux;
-
-    struct blasfeo_dvec *hsdlam;
-    struct blasfeo_dvec *hsdt;
-    struct blasfeo_dvec *hsdpi;
-    struct blasfeo_dvec *hslamt;
-
-    struct blasfeo_dvec *hsPb;
-
-    void *work_ric;
-
-    int out_iter;
-
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_hpmpc_memory;
-
-acados_size_t ocp_qp_hpmpc_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_hpmpc_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_hpmpc_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_hpmpc_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_hpmpc_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_hpmpc_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_hpmpc_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_hpmpc(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpmpc_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpmpc_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_HPMPC_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
deleted file mode 100644
index a535503f21..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
+++ /dev/null
@@ -1,144 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_OOQP_H_
-#define ACADOS_OCP_QP_OCP_QP_OOQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-enum ocp_qp_ooqp_termination_code
-{
-  SPARSE_SUCCESSFUL_TERMINATION = 0,
-  SPARSE_NOT_FINISHED,
-  SPARSE_MAX_ITS_EXCEEDED,
-  SPARSE_INFEASIBLE,
-  SPARSE_UNKNOWN
-};
-
-typedef struct ocp_qp_ooqp_opts_
-{
-    int printLevel;
-    int useDiagonalWeights;  // TODO(dimitris): implement option
-    int fixHessian;
-    int fixHessianSparsity;
-    int fixDynamics;
-    int fixDynamicsSparsity;
-    int fixInequalities;
-    int fixInequalitiesSparsity;
-} ocp_qp_ooqp_opts;
-
-typedef struct ocp_qp_ooqp_workspace_
-{
-    double *x;
-    double *gamma;
-    double *phi;
-    double *y;
-    double *z;
-    double *lambda;
-    double *pi;
-    double objectiveValue;
-    int *tmpInt;    // temporary vector to sort indicies sparse matrices
-    double *tmpReal;  // temporary vector to sort data of sparse matrices
-    // int ierr;
-} ocp_qp_ooqp_workspace;
-
-typedef struct ocp_qp_ooqp_memory_
-{
-    int firstRun;
-    double *c;
-    int nx;
-    int *irowQ;
-    int nnzQ;
-    int *jcolQ;
-    int *orderQ;
-    double *dQ;
-    double *xlow;
-    char *ixlow;
-    double *xupp;
-    char *ixupp;
-    int *irowA;
-    int nnzA;
-    int *jcolA;
-    int *orderA;
-    double *dA;
-    double *bA;
-    int my;
-    int *irowC;
-    int nnzC;
-    int *jcolC;
-    int *orderC;
-    double *dC;
-    double *clow;
-    int mz;
-    char *iclow;
-    double *cupp;
-    char *icupp;
-    int nnz;  // max(nnzQ, nnzA, nnzC)
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_ooqp_memory;
-
-//
-acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_ooqp_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
-                void *work_);
-//
-void ocp_qp_ooqp_destroy(void *mem_, void *work);
-//
-void ocp_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_ooqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
deleted file mode 100644
index 51df1b1cd6..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_OSQP_H_
-#define ACADOS_OCP_QP_OCP_QP_OSQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// osqp
-#include "osqp/include/types.h"
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct ocp_qp_osqp_opts_
-{
-    OSQPSettings *osqp_opts;
-} ocp_qp_osqp_opts;
-
-
-typedef struct ocp_qp_osqp_memory_
-{
-    c_int first_run;
-
-    c_float *q;
-    c_float *l;
-    c_float *u;
-
-    c_int P_nnzmax;
-    c_int *P_i;
-    c_int *P_p;
-    c_float *P_x;
-
-    c_int A_nnzmax;
-    c_int *A_i;
-    c_int *A_p;
-    c_float *A_x;
-
-    OSQPData *osqp_data;
-    OSQPWorkspace *osqp_work;
-
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_osqp_memory;
-
-acados_size_t ocp_qp_osqp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_qp_osqp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_qp_osqp_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void ocp_qp_osqp_opts_update(void *config, void *dims, void *opts_);
-//
-acados_size_t ocp_qp_osqp_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_qp_osqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_osqp_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-int ocp_qp_osqp(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_osqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_osqp_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_OSQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
deleted file mode 100644
index 844f6048fe..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
+++ /dev/null
@@ -1,120 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
-#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_red.h"
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    ocp_qp_dims *red_dims; // dims of reduced qp
-    ocp_qp_dims *pcond_dims;
-    int *block_size;
-    int N2;
-    int N2_bkp;
-} ocp_qp_partial_condensing_dims;
-
-
-
-typedef struct ocp_qp_partial_condensing_opts_
-{
-    struct d_part_cond_qp_arg *hpipm_pcond_opts;
-    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
-//    ocp_qp_dims *pcond_dims;  // TODO(all): move to dims
-//    int *block_size;
-    int N2;
-    int N2_bkp;
-//    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
-    int ric_alg;
-    int mem_qp_in; // allocate qp_in in memory
-} ocp_qp_partial_condensing_opts;
-
-
-
-typedef struct ocp_qp_partial_condensing_memory_
-{
-    struct d_part_cond_qp_ws *hpipm_pcond_work;
-    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
-    // in memory
-    ocp_qp_in *pcond_qp_in;
-    ocp_qp_out *pcond_qp_out;
-    ocp_qp_in *red_qp; // reduced qp
-    ocp_qp_out *red_sol; // reduced qp sol
-    // only pointer
-    ocp_qp_in *ptr_qp_in;
-    ocp_qp_in *ptr_pcond_qp_in;
-    qp_info *qp_out_info; // info in pcond_qp_in
-    double time_qp_xcond;
-} ocp_qp_partial_condensing_memory;
-
-
-
-//
-acados_size_t ocp_qp_partial_condensing_opts_calculate_size(void *dims);
-//
-void *ocp_qp_partial_condensing_opts_assign(void *dims, void *raw_memory);
-//
-void ocp_qp_partial_condensing_opts_initialize_default(void *dims, void *opts_);
-//
-void ocp_qp_partial_condensing_opts_update(void *dims, void *opts_);
-//
-void ocp_qp_partial_condensing_opts_set(void *opts_, const char *field, void* value);
-//
-acados_size_t ocp_qp_partial_condensing_memory_calculate_size(void *dims, void *opts_);
-//
-void *ocp_qp_partial_condensing_memory_assign(void *dims, void *opts, void *raw_memory);
-//
-acados_size_t ocp_qp_partial_condensing_workspace_calculate_size(void *dims, void *opts_);
-//
-int ocp_qp_partial_condensing(void *in, void *out, void *opts, void *mem, void *work);
-//
-int ocp_qp_partial_expansion(void *in, void *out, void *opts, void *mem, void *work);
-//
-void ocp_qp_partial_condensing_config_initialize_default(void *config_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
deleted file mode 100644
index 3b875caeb5..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
-#define ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "qpDUNES.h"
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef enum qpdunes_options_t_ {
-    QPDUNES_DEFAULT_ARGUMENTS,
-    QPDUNES_LINEAR_MPC,     // TODO(dimitris): partly implemented
-    QPDUNES_NONLINEAR_MPC,  // TODO(dimitris): not implemented yet
-    QPDUNES_ACADO_SETTINGS
-} qpdunes_options_t;
-
-typedef enum { QPDUNES_WITH_QPOASES, QPDUNES_WITH_CLIPPING } qpdunes_stage_qp_solver_t;
-
-typedef struct ocp_qp_qpdunes_opts_
-{
-    qpOptions_t options;
-    qpdunes_stage_qp_solver_t stageQpSolver;
-    int warmstart;  // warmstart = 0: all multipliers set to zero, warmstart = 1: use previous mult.
-    bool isLinearMPC;
-} ocp_qp_qpdunes_opts;
-
-typedef struct ocp_qp_qpdunes_memory_
-{
-    int firstRun;
-    int nx;
-    int nu;
-    int nz;
-    int nDmax;  // max(dims->ng)
-    qpData_t qpData;
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_qpdunes_memory;
-
-typedef struct ocp_qp_qpdunes_workspace_
-{
-    double *H;
-    double *Q;
-    double *R;
-    double *S;
-    double *g;
-    double *ABt;
-    double *b;
-    double *Ct;
-    double *lc;
-    double *uc;
-    double *zLow;
-    double *zUpp;
-} ocp_qp_qpdunes_workspace;
-
-//
-acados_size_t ocp_qp_qpdunes_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_qpdunes_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_qpdunes_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_qpdunes_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_qpdunes_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_qpdunes_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_qpdunes_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_qpdunes(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
-                   void *work_);
-//
-void ocp_qp_qpdunes_free_memory(void *mem_);
-//
-void ocp_qp_qpdunes_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_qpdunes_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
deleted file mode 100644
index a78bc65bb9..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
+++ /dev/null
@@ -1,150 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
-#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    void *xcond_dims;
-} ocp_qp_xcond_solver_dims;
-
-
-
-typedef struct ocp_qp_xcond_solver_opts_
-{
-    void *xcond_opts;
-    void *qp_solver_opts;
-} ocp_qp_xcond_solver_opts;
-
-
-
-typedef struct ocp_qp_xcond_solver_memory_
-{
-    void *xcond_memory;
-    void *solver_memory;
-    void *xcond_qp_in;
-    void *xcond_qp_out;
-} ocp_qp_xcond_solver_memory;
-
-
-
-typedef struct ocp_qp_xcond_solver_workspace_
-{
-    void *xcond_work;
-    void *qp_solver_work;
-} ocp_qp_xcond_solver_workspace;
-
-
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config, int N);
-    ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory);
-    void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-    void (*dims_get)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-    acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims);
-    void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void (*opts_update)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    void (*memory_reset)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
-    acados_size_t (*workspace_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
-    void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work);
-    qp_solver_config *qp_solver;  // either ocp_qp_solver or dense_solver
-    ocp_qp_xcond_config *xcond;
-} ocp_qp_xcond_solver_config;  // pcond - partial condensing or fcond - full condensing
-
-
-
-/* config */
-//
-acados_size_t ocp_qp_xcond_solver_config_calculate_size();
-//
-ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_assign(void *raw_memory);
-
-/* dims */
-//
-acados_size_t ocp_qp_xcond_solver_dims_calculate_size(void *config, int N);
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_assign(void *config, int N, void *raw_memory);
-//
-void ocp_qp_xcond_solver_dims_set_(void *config, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-
-/* opts */
-//
-acados_size_t ocp_qp_xcond_solver_opts_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims);
-//
-void *ocp_qp_xcond_solver_opts_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
-//
-void ocp_qp_xcond_solver_opts_initialize_default(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void ocp_qp_xcond_solver_opts_update(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void ocp_qp_xcond_solver_opts_set_(void *config_, void *opts_, const char *field, void* value);
-
-/* memory */
-//
-acados_size_t ocp_qp_xcond_solver_memory_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void *ocp_qp_xcond_solver_memory_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory);
-
-/* workspace */
-//
-acados_size_t ocp_qp_xcond_solver_workspace_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-/* config */
-//
-int ocp_qp_xcond_solver(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *mem_, void *work_);
-
-//
-void ocp_qp_xcond_solver_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
diff --git a/third_party/acados/include/acados/sim/sim_collocation_utils.h b/third_party/acados/include/acados/sim/sim_collocation_utils.h
deleted file mode 100644
index 045d165cbc..0000000000
--- a/third_party/acados/include/acados/sim/sim_collocation_utils.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
-#define ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-
-
-// enum Newton_type_collocation
-// {
-//     exact = 0,
-//     simplified_in,
-//     simplified_inis
-// };
-
-
-
-// typedef struct
-// {
-//     enum Newton_type_collocation type;
-//     double *eig;
-//     double *low_tria;
-//     bool single;
-//     bool freeze;
-
-//     double *transf1;
-//     double *transf2;
-
-//     double *transf1_T;
-//     double *transf2_T;
-// } Newton_scheme;
-
-
-typedef enum
-{
-    GAUSS_LEGENDRE,
-    GAUSS_RADAU_IIA,
-} sim_collocation_type;
-
-
-//
-// acados_size_t gauss_legendre_nodes_work_calculate_size(int ns);
-//
-// void gauss_legendre_nodes(int ns, double *nodes, void *raw_memory);
-//
-// acados_size_t gauss_simplified_work_calculate_size(int ns);
-// //
-// void gauss_simplified(int ns, Newton_scheme *scheme, void *work);
-//
-acados_size_t butcher_tableau_work_calculate_size(int ns);
-//
-// void calculate_butcher_tableau_from_nodes(int ns, double *nodes, double *b, double *A, void *work);
-//
-void calculate_butcher_tableau(int ns, sim_collocation_type collocation_type, double *c_vec,
-                               double *b_vec, double *A_mat, void *work);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
diff --git a/third_party/acados/include/acados/sim/sim_common.h b/third_party/acados/include/acados/sim/sim_common.h
deleted file mode 100644
index c4bbd6ed2b..0000000000
--- a/third_party/acados/include/acados/sim/sim_common.h
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_COMMON_H_
-#define ACADOS_SIM_SIM_COMMON_H_
-
-#include <stdbool.h>
-
-#include "acados/sim/sim_collocation_utils.h"
-#include "acados/utils/timing.h"
-#include "acados/utils/types.h"
-
-#include "acados/utils/external_function_generic.h"
-
-// maximum number of integration stages
-#define NS_MAX 15
-
-
-
-typedef enum
-{
-    // ERK and LIFTED_ERK
-    EXPL_ODE_FUN,
-    EXPL_ODE_HES,  // wrt x and u ???
-    EXPL_VDE_FOR,
-    EXPL_VDE_ADJ,
-    // IRK
-    IMPL_ODE_FUN,
-    IMPL_ODE_FUN_JAC_X_XDOT,
-    IMPL_ODE_JAC_X_XDOT_U,
-    IMPL_ODE_FUN_JAC_X_XDOT_U,
-    IMPL_ODE_HESS,
-    // gnsf
-    PHI_FUN,
-    PHI_FUN_JAC_Y,
-    PHI_JAC_Y_UHAT,
-    LO_FUN,
-    GET_GNSF_MATRICES
-} sim_function_t;
-
-
-
-typedef struct
-{
-    void *dims;
-
-    double *x;  // x[NX] - initial state value for simulation
-    double *u;  // u[NU] - control - constant over simulation time
-
-    double *S_forw;  // forward seed [Sx, Su]
-    double *S_adj;   // backward seed
-
-    bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)]
-
-    void *model;
-
-    double T;  // simulation time
-
-} sim_in;
-
-
-
-typedef struct
-{
-    double CPUtime;  // in seconds
-    double LAtime;   // in seconds
-    double ADtime;   // in seconds
-
-} sim_info;
-
-
-
-typedef struct
-{
-    double *xn;      // xn[NX]
-    double *S_forw;  // S_forw[NX*(NX+NU)]
-    double *S_adj;   //
-    double *S_hess;  //
-
-    double *zn;           // z - algebraic variables - reported at start of simulation interval
-    double *S_algebraic;  // sensitivities of reported value of algebraic variables w.r.t.
-                          // initial stat & control (x_n,u)
-
-    double *grad;  // gradient correction
-
-    sim_info *info;
-
-} sim_out;
-
-
-
-typedef struct
-{
-    int ns;  // number of integration stages
-
-    int num_steps;
-    int num_forw_sens;
-
-    int tableau_size;  // check that is consistent with ns
-            // only update when butcher tableau is changed
-            // kind of private -> no setter!
-    double *A_mat;
-    double *c_vec;
-    double *b_vec;
-
-    bool sens_forw;
-    bool sens_adj;
-    bool sens_hess;
-
-    bool output_z;        // 1 -- if zn should be computed
-    bool sens_algebraic;  // 1 -- if S_algebraic should be computed
-    bool exact_z_output;  // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations
-    sim_collocation_type collocation_type;
-
-    // for explicit integrators: newton_iter == 0 && scheme == NULL
-    // && jac_reuse=false
-    int newton_iter;
-    bool jac_reuse;
-    // Newton_scheme *scheme;
-
-    double newton_tol; // optinally used in implicit integrators
-
-    // workspace
-    void *work;
-
-} sim_opts;
-
-
-
-typedef struct
-{
-    int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
-    int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
-    // opts
-    acados_size_t (*opts_calculate_size)(void *config_, void *dims);
-    void *(*opts_assign)(void *config_, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config_, void *dims, void *opts);
-    void (*opts_update)(void *config_, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
-    void (*opts_get)(void *config_, void *opts_, const char *field, void *value);
-    // mem
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value);
-    int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field);
-    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value);
-    // work
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    // model
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *model, const char *field, void *value);
-    // config
-    void (*config_initialize_default)(void *config);
-    // dims
-    acados_size_t (*dims_calculate_size)();
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config, void *dims, const char *field, const int *value);
-    void (*dims_get)(void *config, void *dims, const char *field, int *value);
-
-} sim_config;
-
-
-
-/* config */
-//
-acados_size_t sim_config_calculate_size();
-//
-sim_config *sim_config_assign(void *raw_memory);
-
-/* in */
-//
-acados_size_t sim_in_calculate_size(void *config, void *dims);
-//
-sim_in *sim_in_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value);
-
-/* out */
-//
-acados_size_t sim_out_calculate_size(void *config, void *dims);
-//
-sim_out *sim_out_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value);
-
-/* opts */
-//
-void sim_opts_set_(sim_opts *opts, const char *field, void *value);
-//
-void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value);
-
-#endif  // ACADOS_SIM_SIM_COMMON_H_
diff --git a/third_party/acados/include/acados/sim/sim_erk_integrator.h b/third_party/acados/include/acados/sim/sim_erk_integrator.h
deleted file mode 100644
index fd46cb4d99..0000000000
--- a/third_party/acados/include/acados/sim/sim_erk_integrator.h
+++ /dev/null
@@ -1,140 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-} sim_erk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // explicit ode
-    external_function_generic *expl_ode_fun;
-    // hessian explicit ode
-    external_function_generic *expl_ode_hes;
-    // forward explicit vde
-    external_function_generic *expl_vde_for;
-    // adjoint explicit vde
-    external_function_generic *expl_vde_adj;
-
-} erk_model;
-
-
-
-typedef struct
-{
-	// memory
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-	// workspace structs
-} sim_erk_memory;
-
-
-
-typedef struct
-{
-	// workspace mem
-    double *rhs_forw_in;  // x + S + p
-
-    double *K_traj;         // (stages*nX) or (steps*stages*nX) for adj
-    double *out_forw_traj;  // S or (steps+1)*nX for adj
-
-    double *rhs_adj_in;
-    double *out_adj_tmp;
-    double *adj_traj;
-
-} sim_erk_workspace;
-
-
-
-// dims
-acados_size_t sim_erk_dims_calculate_size();
-void *sim_erk_dims_assign(void *config_, void *raw_memory);
-void sim_erk_dims_set(void *config_, void *dims_, const char *field, const int* value);
-void sim_erk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// model
-acados_size_t sim_erk_model_calculate_size(void *config, void *dims);
-void *sim_erk_model_assign(void *config, void *dims, void *raw_memory);
-int sim_erk_model_set(void *model, const char *field, void *value);
-
-// opts
-acados_size_t sim_erk_opts_calculate_size(void *config, void *dims);
-//
-void sim_erk_opts_update(void *config_, void *dims, void *opts_);
-//
-void *sim_erk_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void sim_erk_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void sim_erk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-
-// memory
-acados_size_t sim_erk_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *sim_erk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-int sim_erk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
-
-
-// workspace
-acados_size_t sim_erk_workspace_calculate_size(void *config, void *dims, void *opts_);
-
-//
-int sim_erk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
-//
-void sim_erk_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_gnsf.h b/third_party/acados/include/acados/sim/sim_gnsf.h
deleted file mode 100644
index 404532a732..0000000000
--- a/third_party/acados/include/acados/sim/sim_gnsf.h
+++ /dev/null
@@ -1,364 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_GNSF_H_
-#define ACADOS_SIM_SIM_GNSF_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-
-#include "acados/utils/timing.h"
-#include "acados/utils/types.h"
-#include "acados/sim/sim_common.h"
-
-#include "blasfeo/include/blasfeo_common.h"
-// #include "blasfeo/include/blasfeo_d_aux.h"
-// #include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-// #include "blasfeo/include/blasfeo_d_blas.h"
-// #include "blasfeo/include/blasfeo_d_kernel.h"
-// #include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
-// #include "blasfeo/include/blasfeo_target.h"
-
-/* 
-GNSF - Generalized Nonlinear Static Feedback Model
-has the following form
-https://github.com/acados/acados/files/3359595/gnsf_structure_blo.pdf
-
-Details on the algorithm can be found in master thesis of Jonathan Frey,
-which presents a slightly different format without the terms B_LO, c_LO.
-https://github.com/acados/acados/files/2318322/gnsf_structure.pdf
-https://cdn.syscop.de/publications/Frey2018.pdf
-https://cdn.syscop.de/publications/Frey2019.pdf
-*/
-
-typedef struct
-{
-    int nx; // total number of differential states
-    int nu; // total number of inputs
-    int nz; // total number of algebraic states
-    int nx1; // number of differential states in NSF part
-    int nz1; // number of algebraic states in NSF part
-    int n_out; // output dimension of phi
-    int ny; // dimension of first input of phi
-    int nuhat; // dimension of second input of phi
-
-} sim_gnsf_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // phi: nonlinearity function
-    external_function_generic *phi_fun;
-    external_function_generic *phi_fun_jac_y;
-    external_function_generic *phi_jac_y_uhat;
-
-    // f_lo: linear output function
-    external_function_generic *f_lo_fun_jac_x1_x1dot_u_z;
-
-    // to import model matrices
-    external_function_generic *get_gnsf_matrices;
-
-    // flag indicating, if model defining matrices are imported via external (casadi) function,
-    //    [default]: true -> auto;
-    bool auto_import_gnsf;
-
-    // booleans from structure detection
-    bool nontrivial_f_LO; // indicates if f_LO is constant zero function
-    bool fully_linear; // indicates if model is fully linear LOS
-
-    /* model defining matrices */
-    // TODO: add setters to set manually
-    double *A;
-    double *B;
-    double *C;
-    double *E;
-
-    double *L_x;
-    double *L_xdot;
-    double *L_z;
-    double *L_u;
-
-    double *A_LO;
-    double *B_LO;
-    double *E_LO;
-
-    /* constant vector */
-    double *c;
-    double *c_LO;
-
-    // permutation vector - to have GNSF order of x, z within sim_gnsf only
-    int *ipiv_x;
-    int *ipiv_z;
-
-    double *ipiv_x_double;
-    double *ipiv_z_double;
-
-} gnsf_model;
-
-
-
-// pre_workspace - workspace used in the precomputation phase
-typedef struct
-{
-    struct blasfeo_dmat E11;
-    struct blasfeo_dmat E12;
-    struct blasfeo_dmat E21;
-    struct blasfeo_dmat E22;
-
-    struct blasfeo_dmat A1;
-    struct blasfeo_dmat A2;
-    struct blasfeo_dmat B1;
-    struct blasfeo_dmat B2;
-    struct blasfeo_dmat C1;
-    struct blasfeo_dmat C2;
-
-    struct blasfeo_dmat AA1;
-    struct blasfeo_dmat AA2;
-    struct blasfeo_dmat BB1;
-    struct blasfeo_dmat BB2;
-    struct blasfeo_dmat CC1;
-    struct blasfeo_dmat CC2;
-    struct blasfeo_dmat DD1;
-    struct blasfeo_dmat DD2;
-    struct blasfeo_dmat EE1;
-    struct blasfeo_dmat EE2;
-
-    struct blasfeo_dmat QQ1;
-
-    struct blasfeo_dmat LLZ;
-    struct blasfeo_dmat LLx;
-    struct blasfeo_dmat LLK;
-
-    int *ipivEE1;  // index of pivot vector
-    int *ipivEE2;
-    int *ipivQQ1;
-
-    // for algebraic sensitivity propagation
-    struct blasfeo_dmat Q1;
-
-    // for constant term in NSF
-    struct blasfeo_dvec cc1;
-    struct blasfeo_dvec cc2;
-
-} gnsf_pre_workspace;
-
-
-
-// workspace
-typedef struct
-{
-    double *Z_work;  // used to perform computations to get out->zn
-
-    int *ipiv;  // index of pivot vector
-
-    struct blasfeo_dvec *vv_traj;
-    struct blasfeo_dvec *yy_traj;
-    struct blasfeo_dmat *f_LO_jac_traj;
-
-    struct blasfeo_dvec K2_val;
-    struct blasfeo_dvec x0_traj;
-    struct blasfeo_dvec res_val;
-    struct blasfeo_dvec u0;
-    struct blasfeo_dvec lambda;
-    struct blasfeo_dvec lambda_old;
-
-    struct blasfeo_dvec yyu;
-    struct blasfeo_dvec yyss;
-
-    struct blasfeo_dvec K1_val;
-    struct blasfeo_dvec f_LO_val;
-    struct blasfeo_dvec x1_stage_val;
-    struct blasfeo_dvec Z1_val;
-
-    struct blasfeo_dvec K1u;
-    struct blasfeo_dvec Zu;
-    struct blasfeo_dvec ALOtimesx02;
-    struct blasfeo_dvec BLOtimesu0;
-
-    struct blasfeo_dvec uhat;
-
-    struct blasfeo_dmat J_r_vv;
-    struct blasfeo_dmat J_r_x1u;
-
-    struct blasfeo_dmat dK1_dx1;
-    struct blasfeo_dmat dK1_du;
-    struct blasfeo_dmat dZ_dx1;
-    struct blasfeo_dmat dZ_du;
-    struct blasfeo_dmat J_G2_K1;
-
-    struct blasfeo_dmat dK2_dx1;
-    struct blasfeo_dmat dK2_dvv;
-    struct blasfeo_dmat dxf_dwn;
-    struct blasfeo_dmat S_forw_new;
-    struct blasfeo_dmat S_algebraic_aux;
-
-    struct blasfeo_dmat dPsi_dvv;
-    struct blasfeo_dmat dPsi_dx;
-    struct blasfeo_dmat dPsi_du;
-
-    struct blasfeo_dmat dPHI_dyuhat;
-    struct blasfeo_dvec z0;
-
-    // memory only available if (opts->sens_algebraic)
-    // struct blasfeo_dvec y_one_stage;
-    // struct blasfeo_dvec x0dot_1;
-    // struct blasfeo_dmat dz10_dx1u;  // (nz1) * (nx1+nu);
-    // struct blasfeo_dmat dr0_dvv0;  // (n_out * n_out)
-    // struct blasfeo_dmat f_LO_jac0; // (nx2+nz2) * (2*nx1 + nz1 + nu)
-    // struct blasfeo_dmat sens_z2_rhs; // (nx2 + nz2) * (nx1 + nu)
-    // int *ipiv_vv0;
-
-} gnsf_workspace;
-
-
-
-// memory
-typedef struct
-{
-    bool first_call;
-
-    // simulation time for one step
-    double dt;
-
-    // (scaled) butcher table
-    double *A_dt;
-    double *b_dt;
-    double *c_butcher;
-
-    // value used to initialize integration variables - corresponding to value of phi
-    double *phi_guess;  //  n_out
-
-    struct blasfeo_dmat S_forw;
-    struct blasfeo_dmat S_algebraic;
-
-    // precomputed matrices
-    struct blasfeo_dmat KKv;
-    struct blasfeo_dmat KKx;
-    struct blasfeo_dmat KKu;
-
-    struct blasfeo_dmat YYv;
-    struct blasfeo_dmat YYx;
-    struct blasfeo_dmat YYu;
-
-    struct blasfeo_dmat ZZv;
-    struct blasfeo_dmat ZZx;
-    struct blasfeo_dmat ZZu;
-
-    struct blasfeo_dmat ALO;
-    struct blasfeo_dmat BLO;
-    struct blasfeo_dmat M2_LU;
-    int *ipivM2;
-
-    struct blasfeo_dmat dK2_dx2;
-    struct blasfeo_dmat dK2_du;
-    struct blasfeo_dmat dx2f_dx2u;
-
-    struct blasfeo_dmat Lu;
-
-    // precomputed vectors for constant term in NSF
-    struct blasfeo_dvec KK0;
-    struct blasfeo_dvec YY0;
-    struct blasfeo_dvec ZZ0;
-
-    // for algebraic sensitivities only;
-    // struct blasfeo_dmat *Z0x;
-    // struct blasfeo_dmat *Z0u;
-    // struct blasfeo_dmat *Z0v;
-
-    // struct blasfeo_dmat *Y0x;
-    // struct blasfeo_dmat *Y0u;
-    // struct blasfeo_dmat *Y0v;
-
-    // struct blasfeo_dmat *K0x;
-    // struct blasfeo_dmat *K0u;
-    // struct blasfeo_dmat *K0v;
-
-    // struct blasfeo_dmat *ELO_LU;
-    // int *ipiv_ELO;
-    // struct blasfeo_dmat *ELO_inv_ALO;
-
-    // struct blasfeo_dmat *Lx;
-    // struct blasfeo_dmat *Lxdot;
-    // struct blasfeo_dmat *Lz;
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-} sim_gnsf_memory;
-
-
-
-// gnsf dims
-acados_size_t sim_gnsf_dims_calculate_size();
-void *sim_gnsf_dims_assign(void *config_, void *raw_memory);
-
-// get & set functions
-void sim_gnsf_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_gnsf_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// opts
-acados_size_t sim_gnsf_opts_calculate_size(void *config, void *dims);
-void *sim_gnsf_opts_assign(void *config, void *dims, void *raw_memory);
-void sim_gnsf_opts_initialize_default(void *config, void *dims, void *opts_);
-void sim_gnsf_opts_update(void *config_, void *dims, void *opts_);
-void sim_gnsf_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-// model
-acados_size_t sim_gnsf_model_calculate_size(void *config, void *dims_);
-void *sim_gnsf_model_assign(void *config, void *dims_, void *raw_memory);
-int sim_gnsf_model_set(void *model_, const char *field, void *value);
-
-// precomputation
-int sim_gnsf_precompute(void *config_, sim_in *in, sim_out *out, void *opts_, void *mem_,
-                       void *work_);
-
-// workspace & memory
-acados_size_t sim_gnsf_workspace_calculate_size(void *config, void *dims_, void *args);
-acados_size_t sim_gnsf_memory_calculate_size(void *config, void *dims_, void *opts_);
-void *sim_gnsf_memory_assign(void *config, void *dims_, void *opts_, void *raw_memory);
-
-// interface
-void sim_gnsf_config_initialize_default(void *config_);
-
-// integrator
-int sim_gnsf(void *config, sim_in *in, sim_out *out, void *opts, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_GNSF_H_
diff --git a/third_party/acados/include/acados/sim/sim_irk_integrator.h b/third_party/acados/include/acados/sim/sim_irk_integrator.h
deleted file mode 100644
index 5090aa0bb5..0000000000
--- a/third_party/acados/include/acados/sim/sim_irk_integrator.h
+++ /dev/null
@@ -1,183 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-#include "blasfeo/include/blasfeo_common.h"
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-
-} sim_irk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // implicit fun - can either be fully implicit ode or dae
-    //          - i.e. dae has z as additional last argument & nz > 0
-    external_function_generic *impl_ode_fun;
-    // implicit ode & jac_x & jax_xdot & jac_z
-    external_function_generic *impl_ode_fun_jac_x_xdot_z;
-    // jax_x & jac_xdot & jac_u & jac_z of implicit ode
-    external_function_generic *impl_ode_jac_x_xdot_u_z;
-    // hessian of implicit ode:
-    external_function_generic *impl_ode_hess;
-} irk_model;
-
-
-
-typedef struct
-{
-    struct blasfeo_dvec *rG;        // residuals of G (nx*ns)
-    struct blasfeo_dvec *K;         // internal K variables ((nx+nz)*ns)
-    struct blasfeo_dvec *xt;        // temporary x
-    struct blasfeo_dvec *xn;        // x at each integration step
-    struct blasfeo_dvec xtdot;      // temporary xdot
-
-    struct blasfeo_dvec *lambda;    // adjoint sensitivities (nx + nu)
-    struct blasfeo_dvec *lambdaK;   // auxiliary variable ((nx+nz)*ns) for adjoint propagation
-
-    struct blasfeo_dmat df_dx;     // temporary Jacobian of ode w.r.t x (nx+nz, nx)
-    struct blasfeo_dmat df_dxdot;  // temporary Jacobian of ode w.r.t xdot (nx+nz, nx)
-    struct blasfeo_dmat df_du;     // temporary Jacobian of ode w.r.t u (nx+nz, nu)
-    struct blasfeo_dmat df_dz;     // temporary Jacobian of ode w.r.t z (nx+nz, nu)
-
-    /* NOTE: the memory allocation corresponding to the following fields is CONDITIONAL */
-
-    // only allocated if (opts->sens_algebraic || opts->output_z)
-    int *ipiv_one_stage;  // index of pivot vector (nx + nz)
-    double *Z_work;  // used to perform computations to get out->zn (ns)
-
-    // df_dxdotz, dk0_dxu, only allocated if (opts->sens_algebraic && opts->exact_z_output)
-    //      used for algebraic sensitivity generation
-    struct blasfeo_dmat df_dxdotz;  // temporary Jacobian of ode w.r.t. xdot,z (nx+nz, nx+nz);
-    struct blasfeo_dmat dk0_dxu;    // intermediate result, (nx+nz, nx+nu)
-
-    // dK_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of (num_steps) blasfeo_dmat
-    //                                  to store intermediate results
-    struct blasfeo_dmat *dK_dxu;  // jacobian of (K,Z) over x and u ((nx+nz)*ns, nx+nu);
-
-    // S_forw: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of (num_steps + 1) blasfeo_dmat
-    //                                  to store intermediate results
-    struct blasfeo_dmat *S_forw;  // forward sensitivities (nx, nx+nu)
-
-    // dG_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
-    struct blasfeo_dmat *dG_dxu;  // jacobian of G over x and u ((nx+nz)*ns, nx+nu)
-
-    // dG_dK:  if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
-    struct blasfeo_dmat *dG_dK;   // jacobian of G over K ((nx+nz)*ns, (nx+nz)*ns)
-
-    // ipiv: index of pivot vector
-    //         if (!opts->sens_hess) - array (ns * (nx + nz)) that is reused
-    //         if ( opts->sens_hess) - array (ns * (nx + nz)) * num_steps, to store all
-    //              pivot vectors for dG_dxu
-    int *ipiv;  // index of pivot vector
-
-    // xn_traj, K_traj only available if( opts->sens_adj || opts->sens_hess )
-    struct blasfeo_dvec *xn_traj;  // xn trajectory
-    struct blasfeo_dvec *K_traj;   // K trajectory
-
-    /* the following variables are only available if (opts->sens_hess) */
-    // For Hessian propagation
-    struct blasfeo_dmat Hess;   // temporary Hessian (nx + nu, nx + nu)
-    // output of impl_ode_hess
-    struct blasfeo_dmat f_hess;  // size: (nx + nu, nx + nu)
-    struct blasfeo_dmat dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
-    struct blasfeo_dmat tmp_dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
-
-} sim_irk_workspace;
-
-
-typedef struct
-{
-    double *xdot;  // xdot[NX] - initialization for state derivatives k within the integrator
-    double *z;     // z[NZ] - initialization for algebraic variables z
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-} sim_irk_memory;
-
-
-// get & set functions
-void sim_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// dims
-acados_size_t sim_irk_dims_calculate_size();
-void *sim_irk_dims_assign(void *config_, void *raw_memory);
-
-// model
-acados_size_t sim_irk_model_calculate_size(void *config, void *dims);
-void *sim_irk_model_assign(void *config, void *dims, void *raw_memory);
-int sim_irk_model_set(void *model, const char *field, void *value);
-
-// opts
-acados_size_t sim_irk_opts_calculate_size(void *config, void *dims);
-void *sim_irk_opts_assign(void *config, void *dims, void *raw_memory);
-void sim_irk_opts_initialize_default(void *config, void *dims, void *opts_);
-void sim_irk_opts_update(void *config_, void *dims, void *opts_);
-void sim_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-// memory
-acados_size_t sim_irk_memory_calculate_size(void *config, void *dims, void *opts_);
-void *sim_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-int sim_irk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
-
-// workspace
-acados_size_t sim_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
-void sim_irk_config_initialize_default(void *config);
-
-// main
-int sim_irk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
deleted file mode 100644
index e60bb80ebf..0000000000
--- a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
+++ /dev/null
@@ -1,157 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-} sim_lifted_irk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // implicit ode
-    external_function_generic *impl_ode_fun;
-    // implicit ode & jax_x & jac_xdot & jac_u implicit ode
-    external_function_generic *impl_ode_fun_jac_x_xdot_u;
-
-} lifted_irk_model;
-
-
-
-typedef struct
-{
-
-    struct blasfeo_dmat *J_temp_x;     // temporary Jacobian of ode w.r.t x (nx, nx)
-    struct blasfeo_dmat *J_temp_xdot;  // temporary Jacobian of ode w.r.t xdot (nx, nx)
-    struct blasfeo_dmat *J_temp_u;     // temporary Jacobian of ode w.r.t u (nx, nu)
-
-    struct blasfeo_dvec *rG;      // residuals of G (nx*ns)
-    struct blasfeo_dvec *xt;      // temporary x
-    struct blasfeo_dvec *xn;      // x at each integration step (for evaluations)
-    struct blasfeo_dvec *xn_out;  // x at each integration step (output)
-    struct blasfeo_dvec *dxn;     // dx at each integration step
-    struct blasfeo_dvec *w;       // stacked x and u
-
-    int *ipiv;  // index of pivot vector
-
-} sim_lifted_irk_workspace;
-
-
-
-typedef struct
-{
-    // memory for lifted integrators
-    struct blasfeo_dmat *S_forw;    // forward sensitivities
-    struct blasfeo_dmat *JGK;       // jacobian of G over K (nx*ns, nx*ns)
-    struct blasfeo_dmat *JGf;       // jacobian of G over x and u (nx*ns, nx+nu);
-    struct blasfeo_dmat *JKf;       // jacobian of K over x and u (nx*ns, nx+nu);
-
-    struct blasfeo_dvec *K;         // internal variables (nx*ns)
-    struct blasfeo_dvec *x;         // states (nx) -- for expansion step
-    struct blasfeo_dvec *u;         // controls (nu) -- for expansion step
-
-    int update_sens;
-    // int init_K;
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-} sim_lifted_irk_memory;
-
-
-
-/* dims */
-void sim_lifted_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_lifted_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-acados_size_t sim_lifted_irk_dims_calculate_size();
-//
-void *sim_lifted_irk_dims_assign(void* config_, void *raw_memory);
-
-/* model */
-//
-acados_size_t sim_lifted_irk_model_calculate_size(void *config, void *dims);
-//
-void *sim_lifted_irk_model_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_lifted_irk_model_set(void *model_, const char *field, void *value);
-
-/* opts */
-//
-acados_size_t sim_lifted_irk_opts_calculate_size(void *config, void *dims);
-//
-void *sim_lifted_irk_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void sim_lifted_irk_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void sim_lifted_irk_opts_update(void *config_, void *dims, void *opts_);
-//
-void sim_lifted_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-/* memory */
-//
-acados_size_t sim_lifted_irk_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *sim_lifted_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-
-/* workspace */
-//
-acados_size_t sim_lifted_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-void sim_lifted_irk_config_initialize_default(void *config);
-
-/* solver */
-//
-int sim_lifted_irk(void *config, sim_in *in, sim_out *out, void *opts_,
-        void *mem_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/utils/external_function_generic.h b/third_party/acados/include/acados/utils/external_function_generic.h
deleted file mode 100644
index 1e68dc155d..0000000000
--- a/third_party/acados/include/acados/utils/external_function_generic.h
+++ /dev/null
@@ -1,242 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
-#define ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-/************************************************
- * generic external function
- ************************************************/
-
-// type of arguments
-typedef enum {
-    COLMAJ,
-    BLASFEO_DMAT,
-    BLASFEO_DVEC,
-    COLMAJ_ARGS,
-    BLASFEO_DMAT_ARGS,
-    BLASFEO_DVEC_ARGS,
-    IGNORE_ARGUMENT
-} ext_fun_arg_t;
-
-struct colmaj_args
-{
-    double *A;
-    int lda;
-};
-
-struct blasfeo_dmat_args
-{
-    struct blasfeo_dmat *A;
-    int ai;
-    int aj;
-};
-
-struct blasfeo_dvec_args
-{
-    struct blasfeo_dvec *x;
-    int xi;
-};
-
-// prototype of an external function
-typedef struct
-{
-    // public members (have to be before private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-    // private members
-    // .....
-} external_function_generic;
-
-
-
-/************************************************
- * generic external parametric function
- ************************************************/
-
-// prototype of a parametric external function
-typedef struct
-{
-    // public members for core (have to be before private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-	// public members for interfaces
-    void (*get_nparam)(void *, int *);
-    void (*set_param)(void *, double *);
-    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*fun)(void **, void **, void *);
-    double *p;  // parameters
-    int np;     // number of parameters
-    // .....
-} external_function_param_generic;
-
-//
-acados_size_t external_function_param_generic_struct_size();
-//
-void external_function_param_generic_set_fun(external_function_param_generic *fun, void *value);
-//
-acados_size_t external_function_param_generic_calculate_size(external_function_param_generic *fun, int np);
-//
-void external_function_param_generic_assign(external_function_param_generic *fun, void *mem);
-//
-void external_function_param_generic_wrapper(void *self, ext_fun_arg_t *type_in, void **in, ext_fun_arg_t *type_out, void **out);
-//
-void external_function_param_generic_get_nparam(void *self, int *np);
-//
-void external_function_param_generic_set_param(void *self, double *p);
-
-
-/************************************************
- * casadi external function
- ************************************************/
-
-typedef struct
-{
-    // public members (have to be the same as in the prototype, and before the private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*casadi_fun)(const double **, double **, int *, double *, void *);
-    int (*casadi_work)(int *, int *, int *, int *);
-    const int *(*casadi_sparsity_in)(int);
-    const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)(void);
-    int (*casadi_n_out)(void);
-    double **args;
-    double **res;
-    double *w;
-    int *iw;
-    int *args_size;     // size of args[i]
-    int *res_size;      // size of res[i]
-    int args_num;       // number of args arrays
-    int args_size_tot;  // total size of args arrays
-    int res_num;        // number of res arrays
-    int res_size_tot;   // total size of res arrays
-    int in_num;         // number of input arrays
-    int out_num;        // number of output arrays
-    int iw_size;        // number of ints for worksapce
-    int w_size;         // number of doubles for workspace
-} external_function_casadi;
-
-//
-acados_size_t external_function_casadi_struct_size();
-//
-void external_function_casadi_set_fun(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_work(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_sparsity_in(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_sparsity_out(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_n_in(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_n_out(external_function_casadi *fun, void *value);
-//
-acados_size_t external_function_casadi_calculate_size(external_function_casadi *fun);
-//
-void external_function_casadi_assign(external_function_casadi *fun, void *mem);
-//
-void external_function_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
-                                      ext_fun_arg_t *type_out, void **out);
-
-/************************************************
- * casadi external parametric function
- ************************************************/
-
-typedef struct
-{
-    // public members for core (have to be the same as in the prototype, and before the private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-	// public members for interfaces
-    void (*get_nparam)(void *, int *);
-    void (*set_param)(void *, double *);
-    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*casadi_fun)(const double **, double **, int *, double *, void *);
-    int (*casadi_work)(int *, int *, int *, int *);
-    const int *(*casadi_sparsity_in)(int);
-    const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)(void);
-    int (*casadi_n_out)(void);
-    double **args;
-    double **res;
-    double *w;
-    int *iw;
-    int *args_size;     // size of args[i]
-    int *res_size;      // size of res[i]
-    int args_num;       // number of args arrays
-    int args_size_tot;  // total size of args arrays
-    int res_num;        // number of res arrays
-    int res_size_tot;   // total size of res arrays
-    int in_num;         // number of input arrays
-    int out_num;        // number of output arrays
-    int iw_size;        // number of ints for worksapce
-    int w_size;         // number of doubles for workspace
-    int np;             // number of parameters
-} external_function_param_casadi;
-
-//
-acados_size_t external_function_param_casadi_struct_size();
-//
-void external_function_param_casadi_set_fun(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_work(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_sparsity_in(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_sparsity_out(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_n_in(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_n_out(external_function_param_casadi *fun, void *value);
-//
-acados_size_t external_function_param_casadi_calculate_size(external_function_param_casadi *fun, int np);
-//
-void external_function_param_casadi_assign(external_function_param_casadi *fun, void *mem);
-//
-void external_function_param_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
-                                            ext_fun_arg_t *type_out, void **out);
-//
-void external_function_param_casadi_get_nparam(void *self, int *np);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
diff --git a/third_party/acados/include/acados/utils/math.h b/third_party/acados/include/acados/utils/math.h
deleted file mode 100644
index 7156a82084..0000000000
--- a/third_party/acados/include/acados/utils/math.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_UTILS_MATH_H_
-#define ACADOS_UTILS_MATH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-#if defined(__MABX2__)
-double fmax(double a, double b);
-int isnan(double x);
-#endif
-
-#define MIN(a,b) (((a)<(b))?(a):(b))
-#define MAX(a,b) (((a)>(b))?(a):(b))
-
-void dgemm_nn_3l(int m, int n, int k, double *A, int lda, double *B, int ldb, double *C, int ldc);
-// void dgemv_n_3l(int m, int n, double *A, int lda, double *x, double *y);
-// void dgemv_t_3l(int m, int n, double *A, int lda, double *x, double *y);
-// void dcopy_3l(int n, double *x, int incx, double *y, int incy);
-void daxpy_3l(int n, double da, double *dx, double *dy);
-void dscal_3l(int n, double da, double *dx);
-double twonormv(int n, double *ptrv);
-
-/* copies a matrix into another matrix */
-void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb);
-
-/* solution of a system of linear equations */
-void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
-
-/* matrix exponential */
-void expm(int row, double *A);
-
-int idamax_3l(int n, double *x);
-
-void dswap_3l(int n, double *x, int incx, double *y, int incy);
-
-void dger_3l(int m, int n, double alpha, double *x, int incx, double *y, int incy, double *A,
-             int lda);
-
-void dgetf2_3l(int m, int n, double *A, int lda, int *ipiv, int *info);
-
-void dlaswp_3l(int n, double *A, int lda, int k1, int k2, int *ipiv);
-
-void dtrsm_l_l_n_u_3l(int m, int n, double *A, int lda, double *B, int ldb);
-
-void dgetrs_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb);
-
-void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
-
-double onenorm(int row, int col, double *ptrA);
-
-// double twonormv(int n, double *ptrv);
-
-void padeapprox(int m, int row, double *A);
-
-void expm(int row, double *A);
-
-// void d_compute_qp_size_ocp2dense_rev(int N, int *nx, int *nu, int *nb, int **hidxb, int *ng,
-//                                      int *nvd, int *ned, int *nbd, int *ngd);
-
-void acados_eigen_decomposition(int dim, double *A, double *V, double *d, double *e);
-
-double minimum_of_doubles(double *x, int n);
-
-void neville_algorithm(double xx, int n, double *x, double *Q, double *out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_MATH_H_
diff --git a/third_party/acados/include/acados/utils/mem.h b/third_party/acados/include/acados/utils/mem.h
deleted file mode 100644
index 681a371e36..0000000000
--- a/third_party/acados/include/acados/utils/mem.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_MEM_H_
-#define ACADOS_UTILS_MEM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h>
-#include <stdbool.h>
-
-#include "types.h"
-
-// blasfeo
-#include "blasfeo/include/blasfeo_d_aux.h"
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-
-// TODO(dimitris): probably does not belong here
-typedef struct
-{
-    int (*fun)(void *);
-    acados_size_t (*calculate_args_size)(void *);
-    void *(*assign_args)(void *);
-    void (*initialize_default_args)(void *);
-    acados_size_t (*calculate_memory_size)(void *);
-    void *(*assign_memory)(void *);
-    acados_size_t (*calculate_workspace_size)(void *);
-} module_solver;
-
-// make int counter of memory multiple of a number (typically 8 or 64)
-void make_int_multiple_of(acados_size_t num, acados_size_t *size);
-
-// align char pointer to number (typically 8 for pointers and doubles,
-// 64 for blasfeo structs) and return offset
-int align_char_to(int num, char **c_ptr);
-
-// switch between malloc and calloc (for valgrinding)
-void *acados_malloc(size_t nitems, acados_size_t size);
-
-// uses always calloc
-void *acados_calloc(size_t nitems, acados_size_t size);
-
-// allocate vector of pointers to vectors of doubles and advance pointer
-void assign_and_advance_double_ptrs(int n, double ***v, char **ptr);
-
-// allocate vector of pointers to vectors of ints and advance pointer
-void assign_and_advance_int_ptrs(int n, int ***v, char **ptr);
-
-// allocate vector of pointers to strvecs and advance pointer
-void assign_and_advance_blasfeo_dvec_structs(int n, struct blasfeo_dvec **sv, char **ptr);
-
-// allocate vector of pointers to strmats and advance pointer
-void assign_and_advance_blasfeo_dmat_structs(int n, struct blasfeo_dmat **sm, char **ptr);
-
-// allocate vector of pointers to vector of pointers to strmats and advance pointer
-void assign_and_advance_blasfeo_dmat_ptrs(int n, struct blasfeo_dmat ***sm, char **ptr);
-
-// allocate vector of chars and advance pointer
-void assign_and_advance_char(int n, char **v, char **ptr);
-
-// allocate vector of ints and advance pointer
-void assign_and_advance_int(int n, int **v, char **ptr);
-
-// allocate vector of bools and advance pointer
-void assign_and_advance_bool(int n, bool **v, char **ptr);
-
-// allocate vector of doubles and advance pointer
-void assign_and_advance_double(int n, double **v, char **ptr);
-
-// allocate strvec and advance pointer
-void assign_and_advance_blasfeo_dvec_mem(int n, struct blasfeo_dvec *sv, char **ptr);
-
-// allocate strmat and advance pointer
-void assign_and_advance_blasfeo_dmat_mem(int m, int n, struct blasfeo_dmat *sA, char **ptr);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_MEM_H_
diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h
deleted file mode 100644
index 824d3cee22..0000000000
--- a/third_party/acados/include/acados/utils/print.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_PRINT_H_
-#define ACADOS_UTILS_PRINT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_common_frontend.h"
-#include "acados/utils/types.h"
-
-// void print_matrix(char *file_name, const real_t *matrix, const int_t nrows, const int_t ncols);
-
-// void print_matrix_name(char *file_name, char *name, const real_t *matrix, const int_t nrows,
-//                        const int_t ncols);
-
-// void print_int_matrix(char *file_name, const int_t *matrix, const int_t nrows, const int_t ncols);
-
-// void print_array(char *file_name, real_t *array, int_t size);
-
-// void print_int_array(char *file_name, const int_t *array, int_t size);
-
-void read_matrix(const char *file_name, real_t *array, const int_t nrows, const int_t ncols);
-
-void write_double_vector_to_txt(real_t *vec, int_t n, const char *fname);
-
-// ocp nlp
-// TODO(andrea): inconsistent naming
-void ocp_nlp_dims_print(ocp_nlp_dims *dims);
-// TODO(andrea): inconsistent naming
-void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
-// TODO(andrea): inconsistent naming
-void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);
-
-// ocp qp
-// TODO: move printing routines below that print qp structures to HPIPM!
-void print_ocp_qp_dims(ocp_qp_dims *dims);
-
-// void print_dense_qp_dims(dense_qp_dims *dims);
-
-void print_ocp_qp_in(ocp_qp_in *qp_in);
-
-void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in);
-
-void print_ocp_qp_out(ocp_qp_out *qp_out);
-
-void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out);
-
-void print_ocp_qp_res(ocp_qp_res *qp_res);
-
-void print_dense_qp_in(dense_qp_in *qp_in);
-// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);
-
-// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);
-
-// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);
-
-// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);
-
-// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);
-
-void print_qp_info(qp_info *info);
-
-// void acados_warning(char warning_string[]);
-
-// void acados_error(char error_string[]);
-
-// void acados_not_implemented(char feature_string[]);
-
-// blasfeo
-// void print_blasfeo_target();
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_PRINT_H_
diff --git a/third_party/acados/include/acados/utils/strsep.h b/third_party/acados/include/acados/utils/strsep.h
deleted file mode 100644
index 62bdfb4891..0000000000
--- a/third_party/acados/include/acados/utils/strsep.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_STRSEP_H_
-#define ACADOS_UTILS_STRSEP_H_
-
-#ifdef __cplusplus
-#include <string>
-#define STD(x) std::x
-namespace std
-{
-#else
-#include <string.h>
-#define STD(x) x
-#endif
-
-char* strsep_acados(char** stringp, const char* delim)
-{
-    char* result;
-
-    if ((stringp == NULL) || (*stringp == NULL)) return NULL;
-
-    result = *stringp;
-
-    while (**stringp && !STD(strchr)(delim, **stringp)) ++*stringp;
-
-    if (**stringp)
-        *(*stringp)++ = '\0';
-    else
-        *stringp = NULL;
-
-    return result;
-}
-
-#ifdef __cplusplus
-}  // namespace std
-#endif
-
-#undef STD
-
-#endif  // ACADOS_UTILS_STRSEP_H_
diff --git a/third_party/acados/include/acados/utils/timing.h b/third_party/acados/include/acados/utils/timing.h
deleted file mode 100644
index b0955932da..0000000000
--- a/third_party/acados/include/acados/utils/timing.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_TIMING_H_
-#define ACADOS_UTILS_TIMING_H_
-
-#include "acados/utils/types.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef MEASURE_TIMINGS
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-/* Use Windows QueryPerformanceCounter for timing. */
-#include <Windows.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    LARGE_INTEGER tic;
-    LARGE_INTEGER toc;
-    LARGE_INTEGER freq;
-} acados_timer;
-
-#elif defined(__APPLE__)
-
-#include <mach/mach_time.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    uint64_t tic;
-    uint64_t toc;
-    mach_timebase_info_data_t tinfo;
-} acados_timer;
-
-#elif defined(__MABX2__)
-
-#include <brtenv.h>
-
-typedef struct acados_timer_
-{
-    double time;
-} acados_timer;
-
-#else
-
-/* Use POSIX clock_gettime() for timing on non-Windows machines. */
-#include <time.h>
-
-#if (__STDC_VERSION__ >= 199901L) && !(defined __MINGW32__ || defined __MINGW64__)  // C99 Mode
-
-#include <sys/stat.h>
-#include <sys/time.h>
-
-typedef struct acados_timer_
-{
-    struct timeval tic;
-    struct timeval toc;
-} acados_timer;
-
-#else  // ANSI C Mode
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    struct timespec tic;
-    struct timespec toc;
-} acados_timer;
-
-#endif  // __STDC_VERSION__ >= 199901L
-
-#endif  // (defined _WIN32 || defined _WIN64)
-
-#else
-
-// Dummy type when timings are off
-typedef real_t acados_timer;
-
-#endif  // MEASURE_TIMINGS
-
-/** A function for measurement of the current time. */
-void acados_tic(acados_timer* t);
-
-/** A function which returns the elapsed time. */
-real_t acados_toc(acados_timer* t);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_TIMING_H_
diff --git a/third_party/acados/include/acados/utils/types.h b/third_party/acados/include/acados/utils/types.h
deleted file mode 100644
index a27ef9e552..0000000000
--- a/third_party/acados/include/acados/utils/types.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_TYPES_H_
-#define ACADOS_UTILS_TYPES_H_
-
-/* Symbol visibility in DLLs */
-#ifndef ACADOS_SYMBOL_EXPORT
-  #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
-    #if defined(STATIC_LINKED)
-      #define ACADOS_SYMBOL_EXPORT
-    #else
-      #define ACADOS_SYMBOL_EXPORT __declspec(dllexport)
-    #endif
-  #elif defined(__GNUC__) && ((__GNUC__ >= 4) || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
-    #define ACADOS_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
-  #else
-    #define ACADOS_SYMBOL_EXPORT
-  #endif
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-
-#define MAX_STR_LEN 256
-#define ACADOS_EPS 1e-12
-#define ACADOS_NEG_INFTY -1.0e9
-#define ACADOS_POS_INFTY +1.0e9
-#define UNUSED(x) ((void)(x))
-
-
-
-typedef double real_t;
-typedef int int_t;
-typedef size_t acados_size_t;
-
-
-typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, double* w, void* mem);
-
-
-
-// enum of return values
-enum return_values
-{
-    ACADOS_SUCCESS,
-    ACADOS_NAN_DETECTED,
-    ACADOS_MAXITER,
-    ACADOS_MINSTEP,
-    ACADOS_QP_FAILURE,
-    ACADOS_READY,
-};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_TYPES_H_
diff --git a/third_party/acados/include/acados_c/condensing_interface.h b/third_party/acados/include/acados_c/condensing_interface.h
deleted file mode 100644
index b4302078d6..0000000000
--- a/third_party/acados/include/acados_c/condensing_interface.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
-#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_full_condensing.h"
-#include "acados/ocp_qp/ocp_qp_partial_condensing.h"
-
-typedef enum {
-    PARTIAL_CONDENSING,
-    FULL_CONDENSING,
-} condensing_t;
-
-typedef struct
-{
-    condensing_t condensing_type;
-} condensing_plan;
-
-typedef struct
-{
-    ocp_qp_xcond_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} condensing_module;
-
-ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan);
-//
-void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_);
-//
-acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_);
-//
-condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_,
-                                            void *opts_, void *raw_memory);
-//
-condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_,
-                                            void *opts_);
-//
-int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out);
-//
-int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/dense_qp_interface.h b/third_party/acados/include/acados_c/dense_qp_interface.h
deleted file mode 100644
index b3af4bf682..0000000000
--- a/third_party/acados/include/acados_c/dense_qp_interface.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-
-typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP, DENSE_QP_DAQP } dense_qp_solver_t;
-
-typedef struct
-{
-    dense_qp_solver_t qp_solver;
-} dense_qp_solver_plan;
-
-typedef struct
-{
-    qp_solver_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} dense_qp_solver;
-
-qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan);
-//
-dense_qp_dims *dense_qp_dims_create();
-//
-dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
-//
-dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_,
-                                 void *raw_memory);
-//
-dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out);
-//
-void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out,
-                                 double *res);
-//
-bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in);
-//
-bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in);
-//
-bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr);
-//
-bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/external_function_interface.h b/third_party/acados/include/acados_c/external_function_interface.h
deleted file mode 100644
index d4f52db850..0000000000
--- a/third_party/acados/include/acados_c/external_function_interface.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
-#define INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/external_function_generic.h"
-
-
-
-/************************************************
- * generic external parametric function
- ************************************************/
-
-//
-void external_function_param_generic_create(external_function_param_generic *fun, int np);
-//
-void external_function_param_generic_free(external_function_param_generic *fun);
-
-
-
-/************************************************
- * casadi external function
- ************************************************/
-
-//
-void external_function_casadi_create(external_function_casadi *fun);
-//
-void external_function_casadi_free(external_function_casadi *fun);
-//
-void external_function_casadi_create_array(int size, external_function_casadi *funs);
-//
-void external_function_casadi_free_array(int size, external_function_casadi *funs);
-
-
-
-/************************************************
- * casadi external parametric function
- ************************************************/
-
-//
-void external_function_param_casadi_create(external_function_param_casadi *fun, int np);
-//
-void external_function_param_casadi_free(external_function_param_casadi *fun);
-//
-void external_function_param_casadi_create_array(int size, external_function_param_casadi *funs,
-                                                 int np);
-//
-void external_function_param_casadi_free_array(int size, external_function_param_casadi *funs);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h
deleted file mode 100644
index dd3e596f8b..0000000000
--- a/third_party/acados/include/acados_c/ocp_nlp_interface.h
+++ /dev/null
@@ -1,428 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h"
-#include "acados/sim/sim_erk_integrator.h"
-#include "acados/sim/sim_irk_integrator.h"
-#include "acados/sim/sim_lifted_irk_integrator.h"
-#include "acados/sim/sim_gnsf.h"
-#include "acados/utils/types.h"
-// acados_c
-#include "acados_c/ocp_qp_interface.h"
-#include "acados_c/sim_interface.h"
-
-
-/// Solution methods for optimal control problems.
-typedef enum
-{
-    SQP,
-    SQP_RTI,
-    INVALID_NLP_SOLVER,
-} ocp_nlp_solver_t;
-
-
-/// Types of the cost function.
-typedef enum
-{
-    LINEAR_LS,
-    NONLINEAR_LS,
-    CONVEX_OVER_NONLINEAR,
-    EXTERNAL,
-    INVALID_COST,
-} ocp_nlp_cost_t;
-
-
-/// Types of the system dynamics, discrete or continuous time.
-typedef enum
-{
-    CONTINUOUS_MODEL,
-    DISCRETE_MODEL,
-    INVALID_DYNAMICS,
-} ocp_nlp_dynamics_t;
-
-
-/// Constraint types
-typedef enum
-{
-    /// Comprises simple bounds, polytopic constraints,
-    /// general non-linear constraints.
-    BGH,
-
-    /// Comprises simple bounds, polytopic constraints,
-    /// general non-linear constraints, and positive definite constraints.
-    BGP,
-
-    INVALID_CONSTRAINT,
-} ocp_nlp_constraints_t;
-
-
-/// Regularization types
-typedef enum
-{
-    NO_REGULARIZE,
-    MIRROR,
-    PROJECT,
-    PROJECT_REDUC_HESS,
-    CONVEXIFY,
-    INVALID_REGULARIZE,
-} ocp_nlp_reg_t;
-
-
-/// Structure to store the configuration of a non-linear program
-typedef struct ocp_nlp_plan_t
-{
-    /// QP solver configuration.
-    ocp_qp_solver_plan_t ocp_qp_solver_plan;
-
-    /// Simulation solver configuration for each stage.
-    sim_solver_plan_t *sim_solver_plan;
-
-    /// Nlp solver type.
-    ocp_nlp_solver_t nlp_solver;
-
-    /// Regularization type, defaults to no regularization.
-    ocp_nlp_reg_t regularization;
-
-    /// Cost type for each stage.
-    ocp_nlp_cost_t *nlp_cost;
-
-    /// Dynamics type for each stage.
-    ocp_nlp_dynamics_t *nlp_dynamics;
-
-    /// Constraints type for each stage.
-    ocp_nlp_constraints_t *nlp_constraints;
-
-    /// Horizon length.
-    int N;
-
-} ocp_nlp_plan_t;
-
-
-/// Structure to store the state/configuration for the non-linear programming solver
-typedef struct ocp_nlp_solver
-{
-    ocp_nlp_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} ocp_nlp_solver;
-
-
-/// Constructs an empty plan struct (user nlp configuration), all fields are set to a
-/// default/invalid state.
-///
-/// \param N Horizon length
-ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *ocp_nlp_plan_create(int N);
-
-/// Destructor for plan struct, frees memory.
-///
-/// \param plan_ The plan struct to destroy.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_plan_destroy(void* plan_);
-
-
-/// Constructs an nlp configuration struct from a plan.
-///
-/// \param plan The plan (user nlp configuration).
-ACADOS_SYMBOL_EXPORT ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan);
-
-/// Desctructor of the nlp configuration.
-///
-/// \param config_ The configuration struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_config_destroy(void *config_);
-
-
-/// Constructs an struct that contains the dimensions of the variables.
-///
-/// \param config_ The configuration struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_dims *ocp_nlp_dims_create(void *config_);
-
-/// Destructor of The dimension struct.
-///
-/// \param dims_ The dimension struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_dims_destroy(void *dims_);
-
-
-/// Constructs an input struct for a non-linear programs.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the inputs struct.
-///
-/// \param in The inputs struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_in_destroy(void *in);
-
-
-/// Sets the sampling times for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field Has to be "Ts" (TBC other options).
-/// \param value The sampling times (floating point).
-ACADOS_SYMBOL_EXPORT void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
-        const char *field, void *value);
-
-///
-// void ocp_nlp_in_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
-//         const char *field, void *value);
-
-/// Sets the function pointers to the dynamics functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param fun_type The name of the function type, either impl_ode_fun,
-///     impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC)
-/// \param fun_ptr Function pointer to the dynamics function.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-        int stage, const char *fun_type, void *fun_ptr);
-
-
-/// Sets the function pointers to the cost functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either nls_res_jac,
-///     y_ref, W (others TBC)
-/// \param value Cost values.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-        int stage, const char *field, void *value);
-
-
-/// Sets the function pointers to the constraints functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either lb, ub (others TBC)
-/// \param value Constraints function or values.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in, int stage, const char *field, void *value);
-
-///
-ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in, int stage, const char *field, void *value);
-
-/* out */
-
-/// Constructs an output struct for the non-linear program.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the output struct.
-///
-/// \param out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_destroy(void *out);
-
-
-/// Sets fields in the output struct of an nlp solver, used to initialize the solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param out The output struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either x, u, pi.
-/// \param value Initialization values.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value);
-
-
-/// Gets values of fields in the output struct of an nlp solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param out The output struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either x, u, z, pi.
-/// \param value Pointer to the output memory.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value);
-
-//
-ACADOS_SYMBOL_EXPORT void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value);
-
-// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below?
-ACADOS_SYMBOL_EXPORT int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-/* opts */
-
-/// Creates an options struct for the non-linear program.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the options.
-///
-/// \param opts The options struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_destroy(void *opts);
-
-/// Sets an option.
-///
-/// \param config The configuration struct.
-/// \param opts_ The options struct.
-/// \param field Name of the option.
-/// \param value Value of the option.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value);
-
-
-// ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_get(ocp_nlp_config *config, void *opts_, const char *field, void* value);
-
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value);
-
-
-/// TBC
-/// Updates the options.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
-
-
-/* solver */
-
-/// Creates an ocp solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-/// \return The solver.
-ACADOS_SYMBOL_EXPORT ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
-
-/// Destructor of the solver.
-///
-/// \param solver The solver struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_destroy(void *solver);
-
-/// Solves the optimal control problem. Call ocp_nlp_precompute before
-/// calling this functions (TBC).
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-
-/// Resets the memory of the QP solver
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_reset_qp_memory(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Performs precomputations for the solver. Needs to be called before
-/// ocl_nlp_solve (TBC).
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Computes cost function value.
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Computes the residuals.
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-//
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);
-
-/* get */
-/// \param config The configuration struct.
-/// \param solver The solver struct.
-/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ...
-/// \param return_value_ Pointer to the output memory.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
-        const char *field, void *return_value_);
-
-/* set */
-/// Sets the initial guesses for the integrator for the given stage.
-///
-/// \param config The configuration struct.
-/// \param solver The ocp_nlp_solver struct.
-/// \param stage Stage number.
-/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK)
-/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used).
-ACADOS_SYMBOL_EXPORT void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h
deleted file mode 100644
index 3dc3f1a532..0000000000
--- a/third_party/acados/include/acados_c/ocp_qp_interface.h
+++ /dev/null
@@ -1,263 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
-
-
-/// QP solver types (Enumeration).
-///
-/// Full list of fields:
-///   PARTIAL_CONDENSING_HPIPM
-///   PARTIAL_CONDENSING_HPMPC
-///   PARTIAL_CONDENSING_OOQP
-///   PARTIAL_CONDENSING_OSQP
-///   PARTIAL_CONDENSING_QPDUNES
-///   FULL_CONDENSING_HPIPM
-///   FULL_CONDENSING_QPOASES
-///   FULL_CONDENSING_QORE
-///   FULL_CONDENSING_OOQP
-///   INVALID_QP_SOLVER
-///
-/// Note: In this enumeration the partial condensing solvers have to be
-///       specified before the full condensing solvers.
-typedef enum {
-    PARTIAL_CONDENSING_HPIPM,
-#ifdef ACADOS_WITH_HPMPC
-    PARTIAL_CONDENSING_HPMPC,
-#else
-    PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OOQP
-    PARTIAL_CONDENSING_OOQP,
-#else
-    PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OSQP
-    PARTIAL_CONDENSING_OSQP,
-#else
-    PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_QPDUNES
-    PARTIAL_CONDENSING_QPDUNES,
-#else
-    PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE,
-#endif
-    FULL_CONDENSING_HPIPM,
-#ifdef ACADOS_WITH_QPOASES
-    FULL_CONDENSING_QPOASES,
-#else
-    FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_DAQP
-    FULL_CONDENSING_DAQP,
-#else
-    FULL_CONDENSING_DAQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_QORE
-    FULL_CONDENSING_QORE,
-#else
-    FULL_CONDENSING_QORE_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OOQP
-    FULL_CONDENSING_OOQP,
-#else
-    FULL_CONDENSING_OOQP_NOT_AVAILABLE,
-#endif
-    INVALID_QP_SOLVER,
-} ocp_qp_solver_t;
-
-
-/// Struct containing qp solver
-typedef struct
-{
-    ocp_qp_solver_t qp_solver;
-} ocp_qp_solver_plan_t;
-
-
-/// Linear ocp configuration.
-typedef struct
-{
-    ocp_qp_xcond_solver_config *config;
-    ocp_qp_xcond_solver_dims *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} ocp_qp_solver;
-
-
-/// Initializes the qp solver configuration.
-/// TBC should this be private/static - no, used in ocp_nlp
-void ocp_qp_xcond_solver_config_initialize_from_plan(
-    ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config);
-
-/// Constructs a qp solver config and Initializes with default values.
-///
-/// \param plan The qp solver plan struct.
-ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan);
-
-/// Destructor for config struct, frees memory.
-///
-/// \param config The config object to destroy.
-void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config);
-
-
-/// Constructs a struct that contains the dimensions for the variables of the qp.
-///
-/// \param N The number of variables.
-ocp_qp_dims *ocp_qp_dims_create(int N);
-
-/// Destructor of The dimension struct.
-///
-/// \param dims The dimension struct.
-void ocp_qp_dims_free(void *dims);
-
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N);
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims(
-    ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims);
-//
-void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_);
-
-void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims,
-                                  int stage, const char *field, int* value);
-
-
-/// Constructs an input object for the qp.
-///
-/// \param dims The dimension struct.
-ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims);
-
-
-void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in,
-                   int stage, char *field, void *value);
-
-/// Destructor of the inputs struct.
-///
-/// \param in_ The inputs struct.
-void ocp_qp_in_free(void *in_);
-
-
-/// Constructs an outputs object for the qp.
-///
-/// \param dims The dimension struct.
-ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims);
-
-/// Destructor of the output struct.
-///
-/// \param out_ The output struct.
-void ocp_qp_out_free(void *out_);
-
-
-/// Getter of output struct
-void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value);
-
-
-/// Constructs an options object for the qp.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config,
-                                      ocp_qp_xcond_solver_dims *dims);
-
-/// Destructor of the options struct.
-///
-/// \param opts The options struct to destroy.
-void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts);
-
-
-/// Setter of the options struct.
-///
-/// \param opts The options struct.
-void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config,
-           ocp_qp_xcond_solver_opts *opts, const char *field, void* value);
-
-/// TBC Should be private/static?
-acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// TBC Reserves memory? TBC Should this be private?
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-/// \param raw_memory Pointer to raw memory to assign to qp solver.
-ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims,
-                             void *opts_, void *raw_memory);
-
-/// Creates a qp solver. Reserves memory.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config,
-                             ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// Destroys a qp solver. Frees memory.
-///
-/// \param solver The qp solver
-void ocp_qp_solver_destroy(ocp_qp_solver *solver);
-
-void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config,
-                             ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// Solves the qp.
-///
-/// \param solver The solver.
-/// \param qp_in The inputs struct.
-/// \param qp_out The output struct.
-int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out);
-
-
-/// Calculates the infinity norm of the residuals.
-///
-/// \param dims The dimension struct.
-/// \param qp_in The inputs struct.
-/// \param qp_out The output struct.
-/// \param res Output array for the residuals.
-void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out,
-                               double *res);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h
deleted file mode 100644
index 09a05d6995..0000000000
--- a/third_party/acados/include/acados_c/sim_interface.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_SIM_INTERFACE_H_
-#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-
-
-
-typedef enum
-{
-    ERK,
-    IRK,
-    GNSF,
-    LIFTED_IRK,
-    INVALID_SIM_SOLVER,
-} sim_solver_t;
-
-
-
-typedef struct
-{
-    sim_solver_t sim_solver;
-} sim_solver_plan_t;
-
-
-
-typedef struct
-{
-    sim_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} sim_solver;
-
-
-
-/* config */
-//
-ACADOS_SYMBOL_EXPORT sim_config *sim_config_create(sim_solver_plan_t plan);
-//
-ACADOS_SYMBOL_EXPORT void sim_config_destroy(void *config);
-
-/* dims */
-//
-ACADOS_SYMBOL_EXPORT void *sim_dims_create(void *config_);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_destroy(void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_get(sim_config *config, void *dims, const char *field, int* value);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out);
-
-/* in */
-//
-ACADOS_SYMBOL_EXPORT sim_in *sim_in_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_in_destroy(void *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value);
-
-
-/* out */
-//
-ACADOS_SYMBOL_EXPORT sim_out *sim_out_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_out_destroy(void *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value);
-
-/* opts */
-//
-ACADOS_SYMBOL_EXPORT void *sim_opts_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_destroy(void *opts);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_set(sim_config *config, void *opts, const char *field, void *value);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_get(sim_config *config, void *opts, const char *field, void *value);
-
-/* solver */
-//
-ACADOS_SYMBOL_EXPORT acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_);
-//
-ACADOS_SYMBOL_EXPORT sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory);
-//
-ACADOS_SYMBOL_EXPORT sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_);
-//
-ACADOS_SYMBOL_EXPORT void sim_solver_destroy(void *solver);
-//
-ACADOS_SYMBOL_EXPORT int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_solver_set(sim_solver *solver, const char *field, void *value);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_SIM_INTERFACE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo.h b/third_party/acados/include/blasfeo/include/blasfeo.h
deleted file mode 100644
index c854918193..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#include "blasfeo_processor_features.h"
-#include "blasfeo_target.h"
-#include "blasfeo_block_size.h"
-#include "blasfeo_stdlib.h"
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux.h"
-#include "blasfeo_d_aux_ext_dep.h"
-#include "blasfeo_d_kernel.h"
-#include "blasfeo_d_blas.h"
-#include "blasfeo_s_aux.h"
-#include "blasfeo_s_aux_ext_dep.h"
-#include "blasfeo_s_kernel.h"
-#include "blasfeo_s_blas.h"
-#include "blasfeo_i_aux_ext_dep.h"
-#include "blasfeo_v_aux_ext_dep.h"
-#include "blasfeo_timing.h"
-#include "blasfeo_memory.h"
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
deleted file mode 100644
index 5d0907a61c..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
+++ /dev/null
@@ -1,447 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_BLOCK_SIZE_H_
-#define BLASFEO_BLOCK_SIZE_H_
-
-
-
-#define D_EL_SIZE 8 // double precision
-#define S_EL_SIZE 4 // single precision
-
-
-
-#if defined( TARGET_X64_INTEL_SKYLAKE_X )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) //(1024*1024) // L2 data cache size: 1 MB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (6*1024*1024) //(8*1024*1024) // LLC cache size: 8 MB ; TLB 1536*4 kB = 6 MB
-// double
-#define D_PS 8 // panel size
-#define D_PLD 8 // 4 // GCD of panel length
-#define D_M_KERNEL 24 // max kernel size
-#define D_N_KERNEL 8 // max kernel size
-#define D_KC 128 //256 // 192
-#define D_NC 144 //72 //96 //72 // 120 // 512
-#define D_MC 2400 // 6000
-// single
-#define S_PS 16 // panel size
-#define S_PLD 4 // GCD of panel length TODO probably 16 when writing assebly
-#define S_M_KERNEL 32 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 128 //256
-#define S_NC 128 //144
-#define S_MC 3000
-
-#elif defined( TARGET_X64_INTEL_HASWELL )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (6*1024*1024) // LLC cache size: 6 MB ; TLB 1024*4 kB = 4 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 8 // max kernel size
-#define D_KC 256 // 192
-#define D_NC 64 //96 //72 // 120 // 512
-#define D_MC 1500
-// single
-#define S_PS 8 // panel size
-#define S_PLD 4 // 2 // GCD of panel length
-#define S_M_KERNEL 24 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 144
-#define S_MC 3000
-
-#elif defined( TARGET_X64_INTEL_SANDY_BRIDGE )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (4*1024*1024) // LLC cache size: 4 MB ; TLB 1024*4 kB = 4 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256 //320 //256 //320
-#define D_NC 72 //64 //72 //60 // 120
-#define D_MC 1000 // 800
-// single
-#define S_PS 8 // panel size
-#define S_PLD 4 // 2 // GCD of panel length
-#define S_M_KERNEL 16 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 144
-#define S_MC 2000
-
-#elif defined( TARGET_X64_INTEL_CORE )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-#elif defined( TARGET_X64_AMD_BULLDOZER )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_X86_AMD_JAGUAR )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_X86_AMD_BARCELONA )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_APPLE_M1)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (128*1024) // L1 data cache size (big cores): 64 kB, ?-way ; DTLB1 ?
-#define LLC_CACHE_SIZE (12*1024*1024) // LLC (L2) cache size (big cores): 12 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 512 //256
-#define D_NC 128 //256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 512
-#define S_NC 256
-#define S_MC 6000
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A76)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (64*1024) // L1 data cache size: 64 kB, 4-way ; DTLB1 48*4 kB = 192 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 512 //256
-#define D_NC 128 //256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 512
-#define S_NC 256
-#define S_MC 6000
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A73)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 (64?) kB, 4-way, seen as 8-(16-)way ; DTLB1 48*4 kB = 192 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 320
-#define D_NC 256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A57)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 2-way ; DTLB1 32*4 kB = 128 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB // 2 MB ???
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 128 //224 //256 //192
-#define D_NC 72 //40 //36 //48
-#define D_MC (4*192) //512 //488 //600
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A55)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ; DTLB1 16*4 kB = 64 kB
-#define LLC_CACHE_SIZE (512*1024) // LLC cache size: 512 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 224
-#define D_NC 160
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A53)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ??? ; DTLB1 10*4 kB = 40 kB
-#define LLC_CACHE_SIZE (256*1024) // LLC cache size: 256 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 160
-#define D_NC 128
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A15 )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A7 )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A9 )
-// common
-#define CACHE_LINE_SIZE 32
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_GENERIC )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#else
-#error "Unknown architecture"
-#endif
-
-
-
-#define D_CACHE_LINE_EL (CACHE_LINE_SIZE/D_EL_SIZE)
-#define D_L1_CACHE_EL (L1_CACHE_SIZE/D_EL_SIZE)
-#define D_L2_CACHE_EL (L2_CACHE_SIZE/D_EL_SIZE)
-#define D_LLC_CACHE_EL (LLC_CACHE_SIZE/D_EL_SIZE)
-
-#define S_CACHE_LINE_EL (CACHE_LINE_SIZE/S_EL_SIZE)
-#define S_L1_CACHE_EL (L1_CACHE_SIZE/S_EL_SIZE)
-#define S_L2_CACHE_EL (L2_CACHE_SIZE/S_EL_SIZE)
-#define S_LLC_CACHE_EL (LLC_CACHE_SIZE/S_EL_SIZE)
-
-
-
-#endif  // BLASFEO_BLOCK_SIZE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_common.h b/third_party/acados/include/blasfeo/include/blasfeo_common.h
deleted file mode 100644
index 03b6c36d84..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_common.h
+++ /dev/null
@@ -1,274 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_COMMON_H_
-#define BLASFEO_COMMON_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER)
-#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES )))
-#elif defined (_MSC_VER)
-#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC
-#else
-#define ALIGNED(VEC, BYTES) VEC
-#endif
-
-
-
-
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) )
-
-#include "blasfeo_block_size.h"
-
-// matrix structure
-struct blasfeo_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-// vector structure
-struct blasfeo_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))])
-#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))])
-#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
-
-#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER)
-
-// matrix structure
-struct blasfeo_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a m*n array of doubles
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a m*n array of floats
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-// vector structure
-struct blasfeo_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
-
-#else
-
-#error : wrong LA or MF choice
-
-#endif
-
-
-
-// Explicitly panel-major matrix structure
-struct blasfeo_pm_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int ps; // panel size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int ps; // panel size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-// Explicitly column-major matrix structure
-struct blasfeo_cm_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a m*n array of doubles
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a m*n array of floats
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-
-#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
-#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
-#define BLASFEO_PM_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_PM_SVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_CM_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_CM_SVECEL(sa,ai) ((sa)->pa[ai])
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_COMMON_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
deleted file mode 100644
index a6d6119c6c..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operations header
- *
- * include/blasfeo_aux_lib*.h
- *
- */
-
-#ifndef BLASFEO_D_AUX_H_
-#define BLASFEO_D_AUX_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux_old.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// --- memory size calculations
-//
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_memsize_dmat(int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a dmat
-size_t blasfeo_memsize_diag_dmat(int m, int n);
-// returns the memory size (in bytes) needed for a dvec
-size_t blasfeo_memsize_dvec(int m);
-
-// --- creation
-//
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- packing
-// pack the column-major matrix A into the matrix struct B
-void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the lower-triangular column-major matrix A into the matrix struct B
-void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the upper-triangular column-major matrix A into the matrix struct B
-void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// transpose and pack the column-major matrix A into the matrix struct B
-void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the vector x into the vector structure y
-void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
-// unpack the matrix structure A into the column-major matrix B
-void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// transpose and unpack the matrix structure A into the column-major matrix B
-void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// pack the vector structure x into the vector y
-void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
-
-// --- cast
-//
-//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
-//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
-//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
-
-
-// ge
-// --- insert/extract
-//
-// sA[ai, aj] <= a
-void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// <= sA[ai, aj]
-double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- set
-// A <= alpha
-void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- copy / scale
-// B <= A
-void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// A <= alpha*A
-void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// B <= alpha*A
-void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A, A lower triangular
-void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- sum
-// B <= B + alpha*A
-void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// y <= y + alpha*x
-void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-
-// --- traspositions
-// B <= A'
-void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A lower triangular
-void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A upper triangular
-void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-
-// dia
-// diag(A) += alpha
-void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A) <= alpha*x
-void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] <= alpha*x
-void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// x <= diag(A)
-void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// x <= diag(A)[idx]
-void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// diag(A) += alpha*x
-void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] += alpha*x
-void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// diag(A)[idx] = y + alpha*x
-void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-
-// row
-void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// col
-void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// vec
-// a <= alpha
-void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// sx[xi] <= a
-void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// <= sx[xi]
-double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
-// y <= x
-void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// x <= alpha*x
-void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// y <= alpha*x
-void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// z[idx] += alpha * x
-void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// z[idx] <= alpha * x
-void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// z <= alpha * x[idx]
-void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_dveccl(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_dveccl_mask(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
-	struct blasfeo_dvec *sm, int mi);
-
-void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_pm_memsize_dmat(int ps, int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
-// print
-void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj);
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_cm_memsize_dmat(int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// aux
-void blasfeo_cm_dgetr(int m, int n, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
deleted file mode 100644
index bee9e986f1..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
+++ /dev/null
@@ -1,145 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operation external dependancies header
- *
- * include/blasfeo_d_aux_ext_dep.h
- *
- * - dynamic memory allocation
- * - print
- *
- */
-
-#ifndef BLASFEO_D_AUX_EXT_DEP_H_
-#define BLASFEO_D_AUX_EXT_DEP_H_
-
-
-
-#include <stdio.h>
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-/* column-major matrices */
-
-// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros(double **pA, int row, int col);
-// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros_align(double **pA, int row, int col);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros_align_bytes(double **pA, int size);
-// free the memory allocated by d_zeros
-void d_free(double *pA);
-// free the memory allocated by d_zeros_align or d_zeros_align_bytes
-void d_free_align(double *pA);
-// print a column-major matrix
-void d_print_mat(int m, int n, double *A, int lda);
-// print the transposed of a column-major matrix
-void d_print_tran_mat(int row, int col, double *A, int lda);
-// print to file a column-major matrix
-void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda);
-// print to file a column-major matrix in exponential format
-void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
-// print to string a column-major matrix
-void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda);
-// print to file the transposed of a column-major matrix
-void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda);
-// print to file the transposed of a column-major matrix in exponential format
-void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
-// print in exponential notation a column-major matrix
-void d_print_exp_mat(int m, int n, double *A, int lda);
-// print in exponential notation the transposed of a column-major matrix
-void d_print_exp_tran_mat(int row, int col, double *A, int lda);
-
-/* strmat and strvec */
-
-// create a strmat for a matrix of size m*n by dynamically allocating memory
-void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
-// create a strvec for a vector of size m by dynamically allocating memory
-void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
-// free the memory allocated by blasfeo_allocate_dmat
-void blasfeo_free_dmat(struct blasfeo_dmat *sA);
-// free the memory allocated by blasfeo_allocate_dvec
-void blasfeo_free_dvec(struct blasfeo_dvec *sa);
-// print a strmat
-void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print in exponential notation a strmat
-void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to file a strmat
-void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to file a strmat in exponential format
-void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to string a strmat
-void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print the transposed of a strmat
-void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print a strvec
-void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print in exponential notation a strvec
-void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print to file a strvec
-void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-// print to string a strvec
-void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-// print the transposed of a strvec
-void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print in exponential notation the transposed of a strvec
-void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print to file the transposed of a strvec
-void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-// print to string the transposed of a strvec
-void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
deleted file mode 100644
index 81b811f032..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operation external dependancies header
- *
- * include/blasfeo_d_aux_ext_dep.h
- *
- * - dynamic memory allocation
- * - print
- *
- */
-
-#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_
-#define BLASFEO_D_AUX_EXT_DEP_REF_H_
-
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// expose reference BLASFEO for testing
-// see blasfeo_d_aux_exp_dep.h for help
-
-void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA);
-void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa);
-void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA);
-void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa);
-void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
deleted file mode 100644
index 3a1847a6a0..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * ----------- TOMOVE
- *
- * expecting column major matrices
- *
- */
-
-#include "blasfeo_common.h"
-
-
-void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
-void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
-// TODO remove ???
-void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd);
-// TODO ddiaad1
-void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd);
-
-
-void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
-void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
-void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
-void drowin_lib(int kmax, double alpha, double *x, double *pD);
-void drowex_lib(int kmax, double alpha, double *pD, double *x);
-void drowad_lib(int kmax, double alpha, double *x, double *pD);
-void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
-void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
-void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
-void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
-void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
-void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
-void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dvecin_libsp(int kmax, int *idx, double *x, double *y);
-void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
deleted file mode 100644
index 1e007fa89e..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
+++ /dev/null
@@ -1,208 +0,0 @@
-
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_AUX_REF_H_
-#define BLASFEO_D_AUX_REF_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux_old.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// --- memory calculations
-//
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_ref_memsize_dmat(int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a dmat
-size_t blasfeo_ref_memsize_diag_dmat(int m, int n);
-// returns the memory size (in bytes) needed for a dvec
-size_t blasfeo_ref_memsize_dvec(int m);
-
-// --- creation
-//
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- packing
-// pack the column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the lower-triangular column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the upper-triangular column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// transpose and pack the column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the vector x into the vector structure y
-void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
-// unpack the matrix structure A into the column-major matrix B
-void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// transpose and unpack the matrix structure A into the column-major matrix B
-void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// pack the vector structure x into the vector y
-void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
-
-// --- cast
-//
-void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
-void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
-void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
-
-
-// ge
-// --- insert/extract
-//
-// sA[ai, aj] <= a
-void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// <= sA[ai, aj]
-double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- set
-// A <= alpha
-void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- copy / scale
-// B <= A
-void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// A <= alpha*A
-void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// B <= alpha*A
-void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A, A lower triangular
-void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- sum
-// B <= B + alpha*A
-void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj);
-// y <= y + alpha*x
-void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-
-// --- traspositions
-// B <= A'
-void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A lower triangular
-void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A upper triangular
-void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-
-// dia
-// diag(A) += alpha
-void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A) <= alpha*x
-void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] <= alpha*x
-void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// x <= diag(A)
-void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// x <= diag(A)[idx]
-void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// diag(A) += alpha*x
-void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] += alpha*x
-void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// diag(A)[idx] = y + alpha*x
-void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-
-// row
-void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// col
-void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// vec
-// a <= alpha
-void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// sx[xi] <= a
-void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// <= sx[xi]
-double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi);
-// y <= x
-void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// x <= alpha*x
-void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// y <= alpha*x
-void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_ref_dveccl(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_ref_dveccl_mask(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
-	struct blasfeo_dvec *sm, int mi);
-
-void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
deleted file mode 100644
index 1c61635f3f..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
+++ /dev/null
@@ -1,226 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operations header
- *
- * include/blasfeo_aux_lib*.h
- *
- */
-
-#ifndef BLASFEO_D_AUX_TEST_H_
-#define BLASFEO_D_AUX_TEST_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// --- memory calculations
-int test_blasfeo_memsize_dmat(int m, int n);
-int test_blasfeo_memsize_diag_dmat(int m, int n);
-int test_blasfeo_memsize_dvec(int m);
-
-// --- creation
-void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- conversion
-void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
-void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi);
-void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
-
-// --- cast
-void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA);
-void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA);
-void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa);
-
-// ------ copy / scale
-
-// B <= A
-void test_blasfeo_dgecp(int m, int n,
-					struct blasfeo_dmat *sA, int ai, int aj,
-					struct blasfeo_dmat *sB, int bi, int bj);
-
-// A <= alpha*A
-void test_blasfeo_dgesc(int m, int n,
-					double alpha,
-					struct blasfeo_dmat *sA, int ai, int aj);
-
-// B <= alpha*A
-void test_blasfeo_dgecpsc(int m, int n,
-					double alpha,
-					struct blasfeo_dmat *sA, int ai, int aj,
-					struct blasfeo_dmat *sB, int bi, int bj);
-
-// // --- insert/extract
-// //
-// // <= sA[ai, aj]
-// void test_blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// // <= sA[ai, aj]
-// double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-// // sx[xi] <= a
-// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// // <= sx[xi]
-// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
-// // A <= alpha
-
-// // --- set
-// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// // a <= alpha
-// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// // B <= A
-
-
-// // --- vector
-// // y <= x
-// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
-// // x <= alpha*x
-// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai);
-// // TODO
-// // x <= alpha*x
-// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
-
-
-// // B <= A, A lower triangular
-// void test_blasfeo_dtrcp_l(int m,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sB, int bi, int bj);
-
-// void test_blasfeo_dtrcpsc_l(int m, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sB, int bi, int bj);
-
-// void test_blasfeo_dtrsc_l(int m, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj);
-
-
-// // B <= B + alpha*A
-// void test_blasfeo_dgead(int m, int n, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sC, int ci, int cj);
-
-// // y <= y + alpha*x
-// void test_blasfeo_dvecad(int m, double alpha,
-//                     struct blasfeo_dvec *sa, int ai,
-//                     struct blasfeo_dvec *sc, int ci);
-
-// // --- traspositions
-// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
-// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
-// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
-// void test_blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_drowin_lib(int kmax, double alpha, double *x, double *pD);
-// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_drowex_lib(int kmax, double alpha, double *pD, double *x);
-// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_drowad_lib(int kmax, double alpha, double *x, double *pD);
-// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
-// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
-// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
-// void test_drowsw_lib(int kmax, double *pA, double *pC);
-// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
-// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
-// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
-// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y);
-// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
-// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dveccl(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dveccl_mask(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, struct blasfeo_dvec *sm, int mi);
-// void test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-// ext_dep
-
-void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
-void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
-
-void test_blasfeo_free_dmat(struct blasfeo_dmat *sA);
-void test_blasfeo_free_dvec(struct blasfeo_dvec *sa);
-
-void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-
-void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-
-void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
deleted file mode 100644
index ea8d006731..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLAS_H_
-#define BLASFEO_D_BLAS_H_
-
-
-
-#include "blasfeo_d_blasfeo_api.h"
-#include "blasfeo_d_blas_api.h"
-
-
-
-#endif  // BLASFEO_D_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
deleted file mode 100644
index 2eab1e4094..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
+++ /dev/null
@@ -1,281 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef BLASFEO_D_BLAS_API_H_
-#define BLASFEO_D_BLAS_API_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef BLAS_API
-#ifdef CBLAS_API
-#ifndef BLASFEO_CBLAS_ENUM
-#define BLASFEO_CBLAS_ENUM
-#ifdef FORTRAN_BLAS_API
-#ifndef CBLAS_H
-enum CBLAS_LAYOUT {CblasRowMajor=101, CblasColMajor=102};
-enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#define CBLAS_ORDER CBLAS_LAYOUT /* this for backward compatibility with CBLAS_ORDER */
-#endif // CBLAS_H
-#else // FORTRAN_BLAS_API
-enum BLASFEO_CBLAS_LAYOUT {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102};
-enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113};
-enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122};
-enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132};
-enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142};
-#define BLASFEO_CBLAS_ORDER BLASFEO_CBLAS_LAYOUT /* this for backward compatibility with BLASFEO_CBLAS_ORDER */
-#endif // FORTRAN_BLAS_API
-#endif // BLASFEO_CBLAS_ENUM
-#endif // CBLAS_API
-#endif // BLAS_API
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef BLAS_API
-
-
-
-#ifdef FORTRAN_BLAS_API
-
-
-
-// BLAS 1
-//
-void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
-//
-void dcopy_(int *n, double *x, int *incx, double *y, int *incy);
-//
-double ddot_(int *n, double *x, int *incx, double *y, int *incy);
-
-// BLAS 2
-//
-void dgemv_(char *tran, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void dsymv_(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// BLAS 3
-//
-void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-//
-void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-//
-void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void dsyr2k_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-
-
-// LAPACK
-//
-void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-//
-void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info);
-//
-void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
-//
-void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-//
-void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-
-
-
-// aux
-void dgetr_(int *m, int *n, double *A, int *lda, double *B, int *ldb);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
-//
-void cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
-//
-void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
-
-// CBLAS 2
-//
-void cblas_dgemv(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
-
-// CBLAS 3
-//
-void cblas_dgemm(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
-//
-void cblas_dsyrk(const enum CBLAS_LAYOUT layout, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
-//
-void cblas_dtrmm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-//
-void cblas_dtrsm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#else // BLASFEO_API
-
-
-
-// BLAS 1
-//
-void blasfeo_blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
-//
-double blasfeo_blas_ddot(int *n, double *x, int *incx, double *y, int *incy);
-//
-void blasfeo_blas_dcopy(int *n, double *x, int *incx, double *y, int *incy);
-
-// BLAS 2
-//
-void blasfeo_blas_dgemv(char *trans, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void blasfeo_blas_dsymv(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void blasfeo_blas_dger(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// BLAS 3
-//
-void blasfeo_blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-//
-void blasfeo_blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-//
-void blasfeo_blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void blasfeo_blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void blasfeo_blas_dsyr2k(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-
-
-// LAPACK
-//
-void blasfeo_lapack_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-//
-void blasfeo_lapack_dgetrf_np(int *m, int *n, double *A, int *lda, int *info);
-//
-void blasfeo_lapack_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
-//
-void blasfeo_lapack_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dpotrf(char *uplo, int *m, double *A, int *lda, int *info);
-//
-void blasfeo_lapack_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-
-
-
-// aux
-void blasfeo_blas_dgetr(int *m, int *n, double *A, int *lda, double *B, int *ldb);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void blasfeo_cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
-//
-void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
-//
-void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
-
-// CBLAS 2
-//
-void blasfeo_cblas_dgemv(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const int M, const int N, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
-
-// CBLAS 3
-//
-void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
-//
-void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
-//
-void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-//
-void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#endif // BLASFEO_API
-
-
-
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
deleted file mode 100644
index 88bb3fce22..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
+++ /dev/null
@@ -1,364 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_API_H_
-#define BLASFEO_D_BLASFEO_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
-// NB: Different arguments semantic compare to equivalent standard BLAS routine
-void blasfeo_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y
-void blasfeo_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z += x .* y
-void blasfeo_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-double blasfeo_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// return x^T * y
-double blasfeo_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_drotg(double a, double b, double *c, double *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A^T * x
-void blasfeo_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(n)
-void blasfeo_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A lower triangular
-void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A lower triangular, unit diagonal
-void blasfeo_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A upper triangular
-void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A^T * x_t
-void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-void blasfeo_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B^T
-void blasfeo_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-// D <= alpha * A^{-1} * B , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
-void blasfeo_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
-void blasfeo_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular
-void blasfeo_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular
-void blasfeo_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-// D <= chol( C + A * B^T ) ; C, D lower triangular
-void blasfeo_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-int blasfeo_dgeqrf_worksize(int m, int n); // in bytes
-void blasfeo_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_dorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-int blasfeo_dgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// BLAS 3
-void blasfeo_cm_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-// BLAS 2
-void blasfeo_cm_dgemv_n(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dgemv_t(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dsymv_l(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dsymv_u(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dger(int m, int n, double alpha, struct blasfeo_cm_dvec *sx, int xi, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-// LAPACK
-void blasfeo_cm_dpotrf_l(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dpotrf_u(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgetrf_rp(int m, int n, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj, int *ipiv);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
deleted file mode 100644
index 141a1f0f06..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_API_REF_H_
-#define BLASFEO_D_BLASFEO_API_REF_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// expose reference BLASFEO for testing
-
-// --- level 1
-
-void blasfeo_daxpy_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_daxpby_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dvecmul_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dvecmulacc_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-double blasfeo_dvecmuldot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-double blasfeo_ddot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi);
-void blasfeo_drotg_ref(double a, double b, double *c, double *s);
-void blasfeo_dcolrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj0, int aj1, double c, double s);
-void blasfeo_drowrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-// --- level 2
-
-// dense
-void blasfeo_dgemv_n_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dgemv_t_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_lnn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_ltn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_lnu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_ltu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dgemv_nt_ref(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx_n, int xi_n, struct blasfeo_dvec_ref *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec_ref *sy_n, int yi_n, struct blasfeo_dvec_ref *sy_t, int yi_t, struct blasfeo_dvec_ref *sz_n, int zi_n, struct blasfeo_dvec_ref *sz_t, int zi_t);
-void blasfeo_dsymv_l_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-
-// diagonal
-void blasfeo_dgemv_d_ref(int m, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-
-
-// --- level 3
-
-// dense
-void blasfeo_dgemm_nn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_nt_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_tn_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_tt_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dsyrk_ln_mn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_ln_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_lt_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_un_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_ut_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dtrmm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrmm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dtrsm_lunu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lunn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_llnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_llnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_runu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_runn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rlnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-// diagonal
-void dgemm_diag_left_lib_ref(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_dgemm_dn_ref(int m, int n, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_nd_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sB, int bi, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-// --- lapack
-
-void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_dpotrf_l_ref(int m, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dpotrf_l_mn_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_dgeqrf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_pd_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_pd_la_ref(int m, int n1, struct blasfeo_dmat_ref *sL, int li, int lj, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
-void blasfeo_dgelqf_pd_lla_ref(int m, int n1, struct blasfeo_dmat_ref *sL0, int l0i, int l0j, struct blasfeo_dmat_ref *sL1, int l1i, int l1j, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h
deleted file mode 100644
index 405733f13e..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_HP_API_H_
-#define BLASFEO_D_BLASFEO_HP_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-
-// D <= beta * C + alpha * A^T * B
-void blasfeo_hp_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T; C, D lower triangular
-void blasfeo_hp_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * A^T ; C, D lower triangular
-void blasfeo_hp_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular
-void blasfeo_hp_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_hp_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_HP_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
deleted file mode 100644
index 1a8b22c67e..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
+++ /dev/null
@@ -1,283 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_REF_API_H_
-#define BLASFEO_D_BLASFEO_REF_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
-// NB: Different arguments semantic compare to equivalent standard BLAS routine
-void blasfeo_ref_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_ref_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y
-void blasfeo_ref_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z += x .* y
-void blasfeo_ref_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-double blasfeo_ref_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// return x^T * y
-double blasfeo_ref_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_ref_drotg(double a, double b, double *c, double *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_ref_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_ref_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_ref_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_ref_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_ref_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_ref_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_ref_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_ref_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_ref_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_ref_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_ref_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_ref_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_ref_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ref_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ref_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_ref_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_ref_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_ref_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_ref_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B^T
-void blasfeo_ref_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ref_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ref_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ref_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ref_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_ref_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_ref_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_ref_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_ref_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_ref_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_ref_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_ref_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_ref_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_ref_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_ref_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_ref_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_ref_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_ref_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_ref_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_ref_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
-void blasfeo_ref_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
-void blasfeo_ref_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular
-void blasfeo_ref_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular
-void blasfeo_ref_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_ref_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_ref_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_ref_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_ref_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ref_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_ref_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_ref_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-int blasfeo_ref_dgeqrf_worksize(int m, int n); // in bytes
-void blasfeo_ref_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_ref_dorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_ref_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_ref_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-int blasfeo_ref_dgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_ref_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_REF_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
deleted file mode 100644
index d20ac38bbd..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
+++ /dev/null
@@ -1,1321 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_KERNEL_H_
-#define BLASFEO_D_KERNEL_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// utils
-void blasfeo_align_2MB(void *ptr, void **ptr_align);
-void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
-void blasfeo_align_64_byte(void *ptr, void **ptr_align);
-
-
-//
-// lib8
-//
-
-// 24x8
-void kernel_dgemm_nt_24x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_24x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dtrsm_nt_rl_inv_24x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
-void kernel_dpotrf_nt_l_24x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_24x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_24x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
-void kernel_dgemm_dtrsm_nt_rl_inv_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dlarfb8_rn_24_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
-// 16x8
-void kernel_dgemm_nt_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nt_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nn_16x8_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nt_l_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrmm_nn_rl_16x8_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int m1, int n1);
-void kernel_dtrmm_nn_rl_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_16x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
-void kernel_dtrsm_nt_rl_inv_16x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
-void kernel_dpotrf_nt_l_16x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_16x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dgemm_dtrsm_nt_rl_inv_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dlarfb8_rn_16_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb8_rn_la_16_lib8(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb8_rn_lla_16_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-// 8x16
-void kernel_dgemm_tt_8x16_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_8x16_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_8x16_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nt_8x16_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_8x16_vs_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 8x8
-void kernel_dgemm_nt_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nt_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nn_8x8_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_8x8_vs_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nn_8x8_gen_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_8x8_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_8x8_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_8x8_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, int offc, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nt_l_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrmm_nn_rl_8x8_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_8x8_vs_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrmm_nn_rl_8x8_gen_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_8x8_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8_vs_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dpotrf_nt_l_8x8_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x8_vs_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int m1, int n1);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int m1, int n1);
-void kernel_dgelqf_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_pd_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_8_lib8(int kmax, double *pD, double *dD);
-void kernel_dgelqf_pd_8_lib8(int kmax, double *pD, double *dD);
-void kernel_dlarft_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarfb8_rn_8_lib8(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb8_rn_8_vs_lib8(int kmax, double *pV, double *pT, double *pD, int m1);
-void kernel_dlarfb8_rn_1_lib8(int kmax, double *pV, double *pT, double *pD);
-void kernel_dgelqf_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_la_vs_lib8(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
-void kernel_dgelqf_pd_la_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pA, double *pT);
-void kernel_dlarft_la_8_lib8(int n1, double *dD, double *pA, double *pT);
-void kernel_dlarfb8_rn_la_8_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dlarfb8_rn_la_8_vs_lib8(int n1, double *pVA, double *pT, double *pD, double *pA, int m1);
-void kernel_dlarfb8_rn_la_1_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dgelqf_pd_lla_vs_lib8(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
-void kernel_dgelqf_pd_lla_dlarft8_8_lib8(int n0, int n1, double *pD, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarft_lla_8_lib8(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarfb8_rn_lla_8_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-void kernel_dlarfb8_rn_lla_8_vs_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA, int m1);
-void kernel_dlarfb8_rn_lla_1_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-
-// panel copy / pack
-// 24
-void kernel_dpack_nn_24_lib8(int kmax, double *A, int lda, double *C, int sdc);
-void kernel_dpack_nn_24_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
-// 16
-void kernel_dpacp_nn_16_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_16_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-void kernel_dpack_nn_16_lib8(int kmax, double *A, int lda, double *C, int sdc);
-void kernel_dpack_nn_16_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
-// 8
-void kernel_dpacp_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_l_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_l_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_l_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_l_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpaad_nn_8_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B);
-void kernel_dpaad_nn_8_vs_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpack_nn_8_lib8(int kmax, double *A, int lda, double *C);
-void kernel_dpack_nn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
-void kernel_dpack_tn_8_lib8(int kmax, double *A, int lda, double *C);
-void kernel_dpack_tn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
-// 4
-void kernel_dpack_tt_4_lib8(int kmax, double *A, int lda, double *C, int sdc); // TODO offsetC 
-void kernel_dpack_tt_4_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); // TODO offsetC 
-
-// level 2 BLAS
-// 16
-void kernel_dgemv_n_16_lib8(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-// 8
-void kernel_dgemv_n_8_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_n_8_vs_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m1);
-//void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m0, int m1);
-void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, int offsetA, double *A, double *x, double *beta, double *y, double *z, int m1);
-void kernel_dgemv_t_8_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_8_vs_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int n1);
-void kernel_dgemv_nt_8_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_8_vs_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int n1);
-void kernel_dsymv_l_8_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z);
-void kernel_dsymv_l_8_vs_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z, int n1);
-void kernel_dsymv_l_8_gen_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrmv_n_ln_8_lib8(int k, double *A, double *x, double *z);
-void kernel_dtrmv_n_ln_8_vs_lib8(int k, double *A, double *x, double *z, int m1);
-void kernel_dtrmv_n_ln_8_gen_lib8(int k, int offsetA, double *A, double *x, double *z, int m1);
-void kernel_dtrmv_t_ln_8_lib8(int k, double *A, int sda, double *x, double *z);
-void kernel_dtrmv_t_ln_8_vs_lib8(int k, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrmv_t_ln_8_gen_lib8(int k, int offsetA, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrsv_n_l_inv_8_lib8(int k, double *A, double *inv_diag_A, double *x, double *z);
-void kernel_dtrsv_n_l_inv_8_vs_lib8(int k, double *A, double *inv_diag_A, double *x, double *z, int m1, int n1);
-void kernel_dtrsv_t_l_inv_8_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z);
-void kernel_dtrsv_t_l_inv_8_vs_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z, int m1, int n1);
-
-
-
-//
-// lib4
-//
-
-// level 2 BLAS
-// 12
-void kernel_dgemv_n_12_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-// 8
-void kernel_dgemv_n_8_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dtrmv_un_8_lib4(int k, double *A, int sda, double *x, double *z);
-// 4
-void kernel_dgemv_n_4_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_n_4_vs_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k1);
-void kernel_dgemv_n_4_gen_lib4(int kmax, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k0, int k1);
-void kernel_dgemv_t_4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int k1);
-void kernel_dtrsv_ln_inv_4_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ln_inv_4_vs_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z, int km, int kn);
-void kernel_dtrsv_lt_inv_4_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_3_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_2_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_1_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_4_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_3_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_2_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_1_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_ln_one_4_vs_lib4(int kmax, double *A, double *x, double *y, double *z, int km, int kn);
-void kernel_dtrsv_ln_one_4_lib4(int kmax, double *A, double *x, double *y, double *z);
-void kernel_dtrsv_un_inv_4_lib4(int kmax, double *A, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ut_inv_4_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ut_inv_4_vs_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z, int m1, int n1);
-void kernel_dtrmv_un_4_lib4(int k, double *A, double *x, double *z);
-void kernel_dtrmv_ut_4_lib4(int k, double *A, int sda, double *x, double *z);
-void kernel_dtrmv_ut_4_vs_lib4(int k, double *A, int sda, double *x, double *z, int km);
-void kernel_dgemv_nt_6_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_4_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_4_vs_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int km);
-void kernel_dsymv_l_4_lib4(int kmax, double *alpha, double *A, int sda, double *x, double *z);
-void kernel_dsymv_l_4_gen_lib4(int kmax, double *alpha, int offA, double *A, int sda, double *x, double *z, int km);
-
-
-
-// level 3 BLAS
-// 12x4
-void kernel_dgemm_nt_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nt_12x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dgemm_nn_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nn_12x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_12x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_tt_12x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nn_u_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nt_ru_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
-void kernel_dtrmm_nt_ru_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nn_rl_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
-void kernel_dtrsm_nn_ll_one_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_12x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_12x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x12
-void kernel_dgemm_nt_4x12_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x12_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nn_4x12_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x12_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x12_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x12_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrsm_nt_rl_inv_4x12_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x12_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x8
-void kernel_dgemm_nt_8x8l_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8u_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8l_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8u_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
-void kernel_dsyrk_nn_u_8x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_8x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x8_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [L00 *; A10 L11]
-void kernel_dsyrk_nt_l_8x8_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [L00 *; A10 L11]
-void kernel_dtrsm_nt_rl_inv_8x8l_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8l_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x8u_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8u_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x4
-void kernel_dgemm_nt_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nt_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dgemm_nn_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_8x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_tt_8x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nn_u_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dsyrk_nt_l_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dtrmm_nt_ru_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
-void kernel_dtrmm_nt_ru_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nn_rl_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
-void kernel_dtrmm_nn_rl_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
-void kernel_dtrsm_nn_ll_one_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_8x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_8x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x8
-void kernel_dgemm_nt_4x8_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x8_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nn_4x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x8_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x8_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrsm_nt_rl_inv_4x8_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x8_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x2
-void kernel_dgemm_nn_8x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 2x8
-void kernel_dgemm_nn_2x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_2x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 10xX
-void kernel_dgemm_nn_10x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_10x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_10x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_10x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 6xX
-void kernel_dgemm_nn_8x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 4x4
-void kernel_dgemm_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nt_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dgemm_nn_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nn_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_4x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x4_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nn_u_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dsyrk_nn_u_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dsyrk_nt_l_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dsyrk_nt_l_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dsyrk_nt_u_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_u_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dsyrk_nt_u_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib4(int k, double *alpha, double *A, double *B, double *D); //
-void kernel_dtrmm_nt_ru_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *D, int km, int kn); //
-void kernel_dtrmm_nn_rl_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nn_ll_one_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_lu_one_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E);
-void kernel_dtrsm_nn_lu_one_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, int km, int kn);
-// 4x2
-void kernel_dgemm_nn_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nt_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_nt_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1);
-void kernel_dsyrk_nt_l_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dtrmm_nn_rl_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x2_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x2_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-// 2x4
-void kernel_dgemm_nn_2x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_2x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 2x2
-void kernel_dgemm_nn_2x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_2x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_2x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-// diag
-void kernel_dgemm_diag_right_4_a0_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *D, int sdd);
-void kernel_dgemm_diag_right_4_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_3_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_2_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_1_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_left_4_a0_lib4(int kmax, double *alpha, double *A, double *B, double *D);
-void kernel_dgemm_diag_left_4_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_3_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_2_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_1_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-// low rank update
-void kernel_dger4_sub_12r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
-void kernel_dger4_sub_12r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
-void kernel_dger4_sub_8r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
-void kernel_dger4_sub_8r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
-void kernel_dger4_sub_4r_lib4(int n, double *A, double *B, double *C);
-void kernel_dger4_sub_4r_vs_lib4(int n, double *A, double *B, double *C, int km);
-
-
-
-// LAPACK
-// 12x4
-void kernel_dpotrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_l_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_l_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_m_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_m_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_r_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_r_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_m_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_m_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_r_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_r_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 8x8
-void kernel_dpotrf_nt_l_8x8_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x8_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 8x4
-void kernel_dpotrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_l_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_l_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_r_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_r_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_r_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_r_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x4
-void kernel_dpotrf_nt_l_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-#if defined(TARGET_X64_INTEL_SANDY_BRIDGE)
-void kernel_dlauum_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dlauum_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-#endif
-void kernel_dgetrf_nn_4x4_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D);
-void kernel_dgetrf_nn_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dgetrf_nt_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-void kernel_dgeqrf_4_lib4(int m, double *pD, int sdd, double *dD);
-void kernel_dgeqrf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dlarf_4_lib4(int m, int n, double *pV, int sdv, double *tau, double *pC, int sdc); // rank-4 reflector
-void kernel_dlarf_t_4_lib4(int m, int n, double *pD, int sdd, double *pVt, double *dD, double *pC0, int sdc, double *pW);
-void kernel_dgelqf_4_lib4(int n, double *pD, double *dD);
-void kernel_dgelqf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dlarft_4_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_3_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_2_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_1_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
-void kernel_dlarfb12_rn_12_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK);
-void kernel_dlarfb12_rn_4_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK, int km);
-void kernel_dlarfb4_rn_12_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb4_rn_8_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb4_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dgelqf_pd_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_4_lib4(int n, double *pD, double *dD);
-void kernel_dgelqf_pd_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_pd_la_vs_lib4(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
-void kernel_dlarft_4_la_lib4(int n1, double *dD, double *pA, double *pT);
-void kernel_dlarfb4_rn_12_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb4_rn_8_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb4_rn_4_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dlarfb4_rn_1_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dgelqf_pd_lla_vs_lib4(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
-void kernel_dlarft_4_lla_lib4(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarfb4_rn_12_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-void kernel_dlarfb4_rn_8_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-void kernel_dlarfb4_rn_4_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-void kernel_dlarfb4_rn_1_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-// 4x2
-void kernel_dpotrf_nt_l_4x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_4x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 2x2
-void kernel_dpotrf_nt_l_2x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_2x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 12
-void kernel_dgetrf_pivot_12_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_12_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
-// 8
-void kernel_dgetrf_pivot_8_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_8_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
-// 4
-void kernel_dgetrf_pivot_4_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_4_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n1);
-// vector
-void kernel_drowsw_lib4(int kmax, double *pA, double *pC);
-
-
-
-// merged routines
-// 12x4
-void kernel_dgemm_dtrsm_nt_rl_inv_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x12
-void kernel_dgemm_dtrsm_nt_rl_inv_4x12_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 8x8
-void kernel_dsyrk_dpotrf_nt_l_8x8_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8l_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8u_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 8x4
-void kernel_dgemm_dtrsm_nt_rl_inv_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x8
-void kernel_dgemm_dtrsm_nt_rl_inv_4x8_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x4
-void kernel_dgemm_dtrsm_nt_rl_inv_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 4x2
-void kernel_dgemm_dtrsm_nt_rl_inv_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 2x2
-void kernel_dsyrk_dpotrf_nt_l_2x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_2x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-
-/*
- *
- * Auxiliary routines
- *
- * cpsc copy and scale, scale
- * cp copy
- * add
- * set and scale
- * transpose and scale
- * set and scale
- *
- */
-
-// copy and scale
-void kernel_dgecpsc_8_0_lib4(int tri, int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
-void kernel_dgecpsc_8_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgecpsc_8_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgecpsc_8_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-
-void kernel_dgecpsc_4_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_4_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_4_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_4_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_3_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_3_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_3_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_2_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_2_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_1_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-
-// copy only
-void kernel_dgecp_8_0_lib4(int tri, int kmax, double *A, int sda, double *B, int sdb);
-
-void kernel_dgecp_4_0_lib4(int tri, int kmax, double *A, double *B);
-
-// add
-void kernel_dgead_8_0_lib4(int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
-void kernel_dgead_8_1_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_8_2_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_8_3_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_4_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_4_1_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_4_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_4_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_3_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_3_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_3_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_2_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_2_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_1_0_lib4(int kmax, double alpha, double *A, double *B);
-
-// set
-void kernel_dgeset_4_lib4(int kmax, double alpha, double *A);
-void kernel_dtrset_4_lib4(int kmax, double alpha, double *A);
-
-// traspose
-void kernel_dgetr_8_lib4(int tri, int kmax, int kna, double alpha, double *A, int sda, double *C, int sdc);
-void kernel_dgetr_4_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_3_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_2_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_1_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_4_0_lib4(int m, double *A, int sda, double *B);
-
-
-
-// pack
-// 12
-void kernel_dpack_nn_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_nn_12_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-void kernel_dpack_tt_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
-// 8
-void kernel_dpack_nn_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_nn_8_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-void kernel_dpack_tt_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
-// 4
-void kernel_dpack_nn_4_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_nn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
-void kernel_dpack_tn_4_p0_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_tn_4_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_tn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
-void kernel_dpack_tt_4_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_tt_4_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-// unpack
-// 12
-void kernel_dunpack_nn_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
-void kernel_dunpack_nn_12_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
-void kernel_dunpack_tt_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
-// 8
-void kernel_dunpack_nn_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
-void kernel_dunpack_nn_8_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
-void kernel_dunpack_tt_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
-// 4
-void kernel_dunpack_nn_4_lib4(int kmax, double *A, double *B, int ldb);
-void kernel_dunpack_nn_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
-void kernel_dunpack_nt_4_lib4(int kmax, double *A, double *B, int ldb);
-void kernel_dunpack_nt_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
-void kernel_dunpack_tt_4_lib4(int kmax, double *A, int sda, double *B, int ldb);
-
-// panel copy
-// 12
-void kernel_dpacp_nn_12_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_12_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-// 8
-void kernel_dpacp_nn_8_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_8_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-// 4
-void kernel_dpacp_nt_4_lib4(int kmax, double *A, int offsetB, double *B, int sdb);
-void kernel_dpacp_tn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_4_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-
-
-
-/************************************************
-* BLAS API kernels
-************************************************/
-
-//#if defined(BLAS_API)
-
-// A, B panel-major bs=4; C, D column-major
-// 12x4
-void kernel_dgemm_nt_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dsyrk_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_12x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_12x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x12
-void kernel_dgemm_nt_4x12_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_p0_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1, double *A_p, double *B_p);
-void kernel_dtrmm_nt_rl_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dsyrk_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dpotrf_nt_l_8x8_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_8x8_vs_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 8x4
-void kernel_dgemm_nt_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_8x4_p_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p);
-void kernel_dsyrk_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_8x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_8x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x8
-void kernel_dgemm_nt_4x8_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nt_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_4x4_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_4x4_vs_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x2
-void kernel_dgemm_nt_4x2_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-
-// A panel-major bs=4; B, C, D column-major
-// 12x4
-void kernel_dgemm_nn_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_12x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_12x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_l_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_l_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_m_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_m_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_r_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_r_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-// 4x12
-void kernel_dgemm_nn_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nn_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_8x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_l_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_l_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_r_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_r_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-// 4x8
-void kernel_dgemm_nn_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nn_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_4x4_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_4x4_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_4x4_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_4x4_vs_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-
-// B panel-major bs=4; A, C, D column-major
-// 12x4
-void kernel_dgemm_nt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x12
-void kernel_dgemm_nt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_dgemm_nt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A, C, D panel-major; B, E column-major
-// TODO merge with above
-// 12x4
-void kernel_dtrsm_nn_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-// 8x4
-void kernel_dtrsm_nn_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-// 4x4
-void kernel_dtrsm_nn_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-
-// A, B, C, D column-major
-// 12x4
-void kernel_dgemm_nn_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x12
-void kernel_dgemm_nn_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nn_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_dgemm_nn_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nn_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A column-major
-// 12
-void kernel_dgetrf_pivot_12_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_12_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-// 8
-void kernel_dgetrf_pivot_8_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_8_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-// 4
-void kernel_dgetrf_pivot_4_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_4_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-
-// vector
-void kernel_ddot_11_lib(int n, double *x, double *y, double *res);
-void kernel_daxpy_11_lib(int n, double *alpha, double *x, double *y);
-void kernel_drowsw_lib(int kmax, double *pA, int lda, double *pC, int ldc);
-
-//#endif // BLAS_API
-
-
-
-// larger kernels
-// 12
-void kernel_dgemm_nt_12xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_12xn_pl_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_mx12_p0_lib44cc(int m, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-// 8
-void kernel_dgemm_nt_8xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-
-
-
-// A, B panel-major bs=8; C, D column-major
-// 24x8
-void kernel_dgemm_nt_24x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_24x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 16x8
-void kernel_dgemm_nt_16x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_16x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A, panel-major bs=8; B, C, D column-major
-// 24x8
-void kernel_dgemm_nt_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 16x8
-void kernel_dgemm_nt_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// B, panel-major bs=8; A, C, D column-major
-// 8x24
-void kernel_dgemm_nt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x16
-void kernel_dgemm_nt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-
-// level 2 BLAS
-void kernel_dgemv_n_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dgemv_n_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dgemv_t_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z, int km);
-void kernel_dsymv_l_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dsymv_l_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dsymv_u_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dsymv_u_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dger_4_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd);
-void kernel_dger_4_vs_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd, int km);
-
-
-
-// aux
-void kernel_dvecld_inc1(int kmax, double *x);
-void kernel_dveccp_inc1(int kmax, double *x, double *y);
-
-//void kernel_dgetr_nt_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp);
-//void kernel_dgetr_nt_8_lib(int kmax, double *A, int lda, double *C, int ldc);
-//void kernel_dgetr_nt_4_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp);
-void kernel_dgetr_tn_8_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_4_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_4_vs_lib(int kmax, double *A, int lda, double *C, int ldc, int m1);
-
-
-// building blocks for blocked algorithms
-//
-void blasfeo_hp_dgemm_nt_m2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd);
-void blasfeo_hp_dgemm_nt_n2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd);
-//
-void kernel_dpack_buffer_fn(int m, int n, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ft(int m, int n, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ln(int m, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_lt(int m, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ut(int m, double *A, int lda, double *pA, int sda);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
deleted file mode 100644
index 74c3fb5c0a..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_I_AUX_EXT_DEP_H_
-#define BLASFEO_I_AUX_EXT_DEP_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-// i_aux_extern_depend_lib
-void int_zeros(int **pA, int row, int col);
-void int_zeros_align(int **pA, int row, int col);
-void int_free(int *pA);
-void int_free_align(int *pA);
-void int_print_mat(int row, int col, int *A, int lda);
-int int_print_to_string_mat(char **buf_out, int row, int col, int *A, int lda);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_I_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
deleted file mode 100644
index 6248853e29..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_M_AUX_H_
-#define BLASFEO_M_AUX_H_
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void blasfeo_cvt_d2s_vec(int m, struct blasfeo_dvec *vd, int vdi, struct blasfeo_svec *vs, int vsi);
-void blasfeo_cvt_s2d_vec(int m, struct blasfeo_svec *vs, int vsi, struct blasfeo_dvec *vd, int vdi);
-void blasfeo_cvt_d2s_mat(int m, int n, struct blasfeo_dmat *Md, int mid, int nid, struct blasfeo_smat *Ms, int mis, int nis);
-void blasfeo_cvt_s2d_mat(int m, int n, struct blasfeo_smat *Ms, int mis, int nis, struct blasfeo_dmat *Md, int mid, int nid);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_M_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_memory.h b/third_party/acados/include/blasfeo/include/blasfeo_memory.h
deleted file mode 100644
index da4e7fa090..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_memory.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2020 by Gianluca Frison.                                                          *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef BLASFEO_MEMORY_H_
-#define BLASFEO_MEMORY_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-int blasfeo_is_init();
-//
-void blasfeo_init();
-//
-void blasfeo_quit();
-//
-void *blasfeo_get_buffer();
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // BLASFEO_MEMORY_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_naming.h b/third_party/acados/include/blasfeo/include/blasfeo_naming.h
deleted file mode 100644
index c289443b17..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_naming.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-/*
- * ----------- Naming conventions
- *
- *  (precision)(data)
- *
- * 1) d(double)
- *    s(single)
- *
- * 2) ge(general)
- *    tr(triangular)
- *    vec(vector)
- *    row(row)
- *    col(column)
- *    dia(diagonal)
- *
- * 3) se(set)
- *    cp(copy)
- *    sc(scale)
- *    ad(add)
- *    tr(transpose)
- *    in(insert)
- *    ex(extract)
- *    pe(premute)
- *    sw(swap)
- *
- *    f(factorization)
- *
- *    lqf(LQ factorization)
- *    qrf (factorization)
- *    trf (LU factorization using partial pivoting with row interchanges.)
- *
- * 4) _l(lower) / _u(upper)
- *    _lib8 (hp implementation, 8 rows kernel)
- *    _lib4 (hp implementation, 4 rows kernel)
- *    _lib0 (hp interface with reference implentation)
- *    _lib (reference implementation)
- *    _libref (reference implementation with dedicated namespace)
- *
- * 5) _sp(sparse)
- *    _exp(exponential format)
- */
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
deleted file mode 100644
index 67a0a4da04..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Ian McInerney                                                                           *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_PROCESSOR_FEATURES_H_
-#define BLASFEO_PROCESSOR_FEATURES_H_
-
-/**
- * Flags to indicate the different processor features
- */
-//enum
-//{
-//    // x86-64 CPU features
-//    BLASFEO_PROCESSOR_FEATURE_AVX  = 0x0001,    /// AVX instruction set
-//    BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002,    /// AVX2 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_FMA  = 0x0004,    /// FMA instruction set
-//    BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008,    /// SSE3 instruction set
-//
-//    // ARM CPU features
-//    BLASFEO_PROCESSOR_FEATURE_VFPv3  = 0x0100,  /// VFPv3 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_NEON   = 0x0100,  /// NEON instruction set
-//    BLASFEO_PROCESSOR_FEATURE_VFPv4  = 0x0100,  /// VFPv4 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100,  /// NEONv2 instruction set
-//} BLASFEO_PROCESSOR_FEATURES;
-
-/**
- * Test the features that this processor provides against what the library was compiled with.
- *
- * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
- * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
- */
-int blasfeo_processor_cpu_features( int* features );
-
-/**
- * Test the features that this processor provides against what the library was compiled with.
- *
- * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
- * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
- */
-void blasfeo_processor_library_features( int* features );
-
-/**
- * Create a string listing the features the current processor supports.
- *
- * @param features - Flags from the BLASFEO_PROCESSOR_FEATURES enum indicating the features supported
- * @param featureString - Character array to store the feature string in
- */
-void blasfeo_processor_feature_string( int features, char* featureString );
-
-/**
- * Get a string listing the processor features that this library version needs to run.
- *
- * @param featureString - Character array to store the feature string in
- */
-void blasfeo_processor_library_string( char* featureString );
-
-#endif  // BLASFEO_PROCESSOR_FEATURES_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
deleted file mode 100644
index f43f5e83ce..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
+++ /dev/null
@@ -1,168 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_H_
-#define BLASFEO_S_AUX_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_s_aux_old.h"
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-// returns the memory size (in bytes) needed for a smat
-size_t blasfeo_memsize_smat(int m, int n);
-size_t blasfeo_memsize_smat_ps(int ps, int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a smat
-size_t blasfeo_memsize_diag_smat(int m, int n);
-// returns the memory size (in bytes) needed for a svec
-size_t blasfeo_memsize_svec(int m);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void blasfeo_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-void blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_u_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-//void s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-//void s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-//void s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-
-// ge
-void blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-float blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// tr
-void blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// dia
-void blasfeo_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-void blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// row
-void blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// col
-void blasfeo_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// vec
-void blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-void blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-void blasfeo_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
-float blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
-void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-void blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_svecnrm_2(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-void blasfeo_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_pm_memsize_smat(int ps, int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_pm_create_smat(int ps, int m, int n, struct blasfeo_pm_smat *sA, void *memory);
-
-
-
-/*
-* Explicitly column-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_cm_memsize_smat(int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_cm_create_smat(int m, int n, struct blasfeo_pm_smat *sA, void *memory);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
deleted file mode 100644
index 5209d20d37..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_EXT_DEP_H_
-#define BLASFEO_S_AUX_EXT_DEP_H_
-
-
-
-#include <stdio.h>
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-/************************************************
-* s_aux_extern_depend_lib.c
-************************************************/
-
-/* column-major matrices */
-
-// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros(float **pA, int row, int col);
-// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros_align(float **pA, int row, int col);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros_align_bytes(float **pA, int size);
-// free the memory allocated by d_zeros
-void s_free(float *pA);
-// free the memory allocated by d_zeros_align or d_zeros_align_bytes
-void s_free_align(float *pA);
-// print a column-major matrix
-void s_print_mat(int m, int n, float *A, int lda);
-// print the transposed of a column-major matrix
-void s_print_tran_mat(int row, int col, float *A, int lda);
-// print to file a column-major matrix
-void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda);
-// print to file a column-major matrix in exponential format
-void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
-// print to string a column-major matrix
-void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda);
-// print to file the transposed of a column-major matrix
-void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda);
-// print to file the transposed of a column-major matrix in exponential format
-void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
-// print in exponential notation a column-major matrix
-void s_print_exp_mat(int m, int n, float *A, int lda);
-// print in exponential notation the transposed of a column-major matrix
-void s_print_exp_tran_mat(int row, int col, float *A, int lda);
-
-/* strmat and strvec */
-
-// create a strmat for a matrix of size m*n by dynamically allocating memory
-void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
-// create a strvec for a vector of size m by dynamically allocating memory
-void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
-// free the memory allocated by blasfeo_allocate_dmat
-void blasfeo_free_smat(struct blasfeo_smat *sA);
-// free the memory allocated by blasfeo_allocate_dvec
-void blasfeo_free_svec(struct blasfeo_svec *sa);
-// print a strmat
-void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print in exponential notation a strmat
-void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to file a strmat
-void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to file a strmat in exponential format
-void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to string a strmat
-void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print the transpose of a strmat
-void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print a strvec
-void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-// print in exponential notation a strvec
-void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-// print to file a strvec
-void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-// print to string a strvec
-void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-// print the transposed of a strvec
-void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-// print in exponential notation the transposed of a strvec
-void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-// print to file the transposed of a strvec
-void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-// print to string the transposed of a strvec
-void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // BLASFEO_S_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
deleted file mode 100644
index 6640e20a40..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_EXT_DEP_REF_H_
-#define BLASFEO_S_AUX_EXT_DEP_REF_H_
-
-#if defined(EXT_DEP)
-
-
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// expose reference BLASFEO for testing
-// see blasfeo_s_aux_exp_dep.h for help
-
-void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA);
-void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa);
-void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA);
-void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa);
-void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // EXT_DEP
-
-#endif  // BLASFEO_S_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
deleted file mode 100644
index 5c6db37bab..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-// TODO remove
-//
-void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
-void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
-void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
-void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
-void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
-void srowin_lib(int kmax, float alpha, float *x, float *pD);
-void srowex_lib(int kmax, float alpha, float *pD, float *x);
-void srowad_lib(int kmax, float alpha, float *x, float *pD);
-void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
-void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
-void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
-void srowsw_lib(int kmax, float *pA, float *pC);
-void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
-void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
-void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
-void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void svecin_libsp(int kmax, int *idx, float *x, float *y);
-void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
deleted file mode 100644
index 998e1d8999..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
+++ /dev/null
@@ -1,147 +0,0 @@
-
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_REF_H_
-#define BLASFEO_S_AUX_REF_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_s_aux_old.h"
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-// returns the memory size (in bytes) needed for a smat
-size_t blasfeo_ref_memsize_smat(int m, int n);
-size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a smat
-size_t blasfeo_ref_memsize_diag_smat(int m, int n);
-// returns the memory size (in bytes) needed for a svec
-size_t blasfeo_ref_memsize_svec(int m);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
-void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
-void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-
-// ge
-void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// tr
-void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// dia
-void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// row
-void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// col
-void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// vec
-void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi);
-float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_REF_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
deleted file mode 100644
index 08d9a14a6a..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
+++ /dev/null
@@ -1,177 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_TEST_H_
-#define BLASFEO_S_AUX_TEST_H_
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-int test_blasfeo_memsize_smat(int m, int n);
-int test_blasfeo_memsize_diag_smat(int m, int n);
-int test_blasfeo_memsize_svec(int m);
-
-void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-
-void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-
-void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-// copy and scale
-void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-
-// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
-// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
-
-// // A <= alpha
-// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-// // a <= alpha
-// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-
-
-// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-
-// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-
-// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
-// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
-// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
-// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
-// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
-// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_srowin_lib(int kmax, float alpha, float *x, float *pD);
-// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_srowex_lib(int kmax, float alpha, float *pD, float *x);
-// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-// void test_srowad_lib(int kmax, float alpha, float *x, float *pD);
-// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
-// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
-// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
-// void test_srowsw_lib(int kmax, float *pA, float *pC);
-// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
-// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
-// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
-// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// void test_svecin_libsp(int kmax, int *idx, float *x, float *y);
-// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
-// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-// void test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-// ext_dep
-
-void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
-void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
-
-void test_blasfeo_free_smat(struct blasfeo_smat *sA);
-void test_blasfeo_free_svec(struct blasfeo_svec *sa);
-
-void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-
-void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-
-void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
deleted file mode 100644
index 200f1f51b1..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLAS_H_
-#define BLASFEO_S_BLAS_H_
-
-
-
-#include "blasfeo_s_blasfeo_api.h"
-#include "blasfeo_s_blas_api.h"
-
-
-
-#endif  // BLASFEO_S_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
deleted file mode 100644
index cf2b3e0a2d..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
+++ /dev/null
@@ -1,182 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef BLASFEO_S_BLAS_API_H_
-#define BLASFEO_S_BLAS_API_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef BLAS_API
-#ifdef CBLAS_API
-#ifndef BLASFEO_CBLAS_ENUM
-#define BLASFEO_CBLAS_ENUM
-#ifdef FORTRAN_BLAS_API
-#ifndef CBLAS_H
-enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
-enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#endif // CBLAS_H
-#else // FORTRAN_BLAS_API
-enum BLASFEO_CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
-enum BLASFEO_CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum BLASFEO_CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum BLASFEO_CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum BLASFEO_CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#endif // FORTRAN_BLAS_API
-#endif // BLASFEO_CBLAS_ENUM
-#endif // CBLAS_API
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef BLAS_API
-
-
-
-#ifdef FORTRAN_BLAS_API
-
-
-
-// BLAS 1
-//
-void saxpy_(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
-//
-float sdot_(int *n, float *x, int *incx, float *y, int *incy);
-
-// BLAS 3
-//
-void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-//
-void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-
-
-
-// LAPACK
-//
-void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
-
-// CBLAS 3
-//
-void cblas_sgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
-//
-void cblas_strsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#else // BLASFEO_API
-
-
-
-// BLAS 1
-//
-void blasfeo_blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
-//
-float blasfeo_blas_sdot(int *n, float *x, int *incx, float *y, int *incy);
-
-// BLAS 3
-//
-void blasfeo_blas_sgemm(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-//
-void blasfeo_blas_strsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-
-
-
-// LAPACK
-//
-void blasfeo_lapack_spotrf(char *uplo, int *m, float *A, int *lda, int *info);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void blasfeo_cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
-
-// CBLAS 3
-//
-void blasfeo_cblas_sgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
-//
-void blasfeo_cblas_strsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#endif // BLASFEO_API
-
-
-
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
deleted file mode 100644
index 8b98104735..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
+++ /dev/null
@@ -1,284 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_API_H_
-#define BLASFEO_S_BLASFEO_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-void blasfeo_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y
-void blasfeo_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z += x .* y
-void blasfeo_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-float blasfeo_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// return x^T * y
-float blasfeo_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_srotg(float a, float b, float *c, float *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^T ; B upper triangular
-void blasfeo_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
-void blasfeo_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
-void blasfeo_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular
-void blasfeo_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular
-void blasfeo_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-void blasfeo_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_sgeqrf_worksize(int m, int n); // in bytes
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_sorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_sgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
-
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// BLAS 3
-void blasfeo_cm_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_llnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_llnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lunn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lunu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rlnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rlnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_runn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_runu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-// LAPACK
-void blasfeo_cm_spotrf_l(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_spotrf_u(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
deleted file mode 100644
index f429a79dc3..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_API_REF_H_
-#define BLASFEO_S_BLASFEO_API_REF_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// expose reference BLASFEO for testing
-
-// --- level 1
-
-void blasfeo_saxpy_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_saxpby_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_svecmul_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_svecmulacc_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-float blasfeo_svecmuldot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-float blasfeo_sdot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi);
-void blasfeo_srotg_ref(float a, float b, float *c, float *s);
-void blasfeo_scolrot_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj0, int aj1, float c, float s);
-void blasfeo_srowrot_ref(int m, struct blasfeo_smat_ref *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-// --- level 2
-
-// dense
-void blasfeo_sgemv_n_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_sgemv_t_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_lnn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_ltn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_lnu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_ltu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_sgemv_nt_ref(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx_n, int xi_n, struct blasfeo_svec_ref *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec_ref *sy_n, int yi_n, struct blasfeo_svec_ref *sy_t, int yi_t, struct blasfeo_svec_ref *sz_n, int zi_n, struct blasfeo_svec_ref *sz_t, int zi_t);
-void blasfeo_ssymv_l_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-
-// diagonal
-void blasfeo_sgemv_d_ref(int m, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-
-
-// --- level 3
-
-// dense
-void blasfeo_sgemm_nn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_nt_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_tn_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_tt_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-void blasfeo_ssyrk_ln_mn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_ln_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_lt_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_un_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_ut_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-void blasfeo_strmm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strmm_rlnn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rltn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rltu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_llnu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_lunn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-// diagonal
-void dgemm_diag_left_lib_ref(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_sgemm_dn_ref(int m, int n, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_nd_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sB, int bi, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-// --- lapack
-
-void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_spotrf_l_ref(int m, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_spotrf_l_mn_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_sgeqrf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_pd_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_pd_la_ref(int m, int n1, struct blasfeo_smat_ref *sL, int li, int lj, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
-void blasfeo_sgelqf_pd_lla_ref(int m, int n1, struct blasfeo_smat_ref *sL0, int l0i, int l0j, struct blasfeo_smat_ref *sL1, int l1i, int l1j, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
deleted file mode 100644
index 17cb179695..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
+++ /dev/null
@@ -1,252 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_REF_API_H_
-#define BLASFEO_S_BLASFEO_REF_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-void blasfeo_ref_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_ref_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y
-void blasfeo_ref_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z += x .* y
-void blasfeo_ref_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-float blasfeo_ref_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// return x^T * y
-float blasfeo_ref_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_ref_srotg(float a, float b, float *c, float *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_ref_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_ref_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_ref_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_ref_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_ref_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_ref_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_ref_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_ref_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_ref_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_ref_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_ref_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_ref_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_ref_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ref_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ref_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_ref_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_ref_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_ref_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_ref_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ref_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ref_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ref_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ref_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^T ; B upper triangular
-void blasfeo_ref_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_ref_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
-void blasfeo_ref_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
-void blasfeo_ref_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular
-void blasfeo_ref_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular
-void blasfeo_ref_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_ref_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_ref_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_ref_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_ref_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ref_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_ref_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_ref_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-void blasfeo_ref_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_ref_sgeqrf_worksize(int m, int n); // in bytes
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_ref_sorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_ref_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_ref_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_ref_sgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_ref_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_REF_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
deleted file mode 100644
index 99d2b28c82..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
+++ /dev/null
@@ -1,692 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_KERNEL_H_
-#define BLASFEO_S_KERNEL_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// utils
-void blasfeo_align_2MB(void *ptr, void **ptr_align);
-void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
-void blasfeo_align_64_byte(void *ptr, void **ptr_align);
-
-
-
-//
-// lib8
-//
-
-// 24x4
-void kernel_sgemm_nt_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nt_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nt_24x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nn_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nn_24x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_ssyrk_nt_l_20x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_20x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_spotrf_nt_l_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_spotrf_nt_l_20x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_20x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_20x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_20x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_ssyrk_spotrf_nt_l_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_strmm_nn_rl_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
-void kernel_strmm_nn_rl_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
-
-// 16x8
-void kernel_sgemm_nt_16x8_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *spil);
-
-// 16x4
-void kernel_sgemm_nt_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nt_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nt_16x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nn_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nn_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_ssyrk_nt_l_12x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_12x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_spotrf_nt_l_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_spotrf_nt_l_12x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_12x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_12x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_12x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_ssyrk_spotrf_nt_l_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_strmm_nn_rl_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
-void kernel_strmm_nn_rl_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
-void kernel_strmm_nn_rl_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-
-// 8x8
-void kernel_sgemm_nt_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_8x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_8x8_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
-void kernel_sgemm_nn_8x8_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nn_8x8_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_ssyrk_nt_l_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_spotrf_nt_l_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-
-// 8x4
-void kernel_sgemm_nt_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_8x4_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
-void kernel_sgemm_nn_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nn_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-//void kernel_ssyrk_nt_l_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_ssyrk_nt_l_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_spotrf_nt_l_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-void kernel_strmm_nn_rl_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
-void kernel_strmm_nn_rl_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D, int km, int kn);
-void kernel_strmm_nn_rl_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strmm_nt_ru_8x4_lib8(int k, float *alpha, float *A, float *B, float *D);
-void kernel_strmm_nt_ru_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *D, int km, int kn);
-
-// 4x8
-void kernel_sgemm_nt_4x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_4x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_4x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strsm_nt_rl_inv_4x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_4x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-
-// 8
-void kernel_sgemv_n_8_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_n_8_vs_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_n_8_gen_lib8(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
-void kernel_sgemv_t_8_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_8_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_t_4_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_4_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_strsv_ln_inv_8_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_ln_inv_8_vs_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_strsv_lt_inv_8_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_8_vs_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_sgemv_nt_4_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_vs_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
-void kernel_ssymv_l_4l_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
-void kernel_ssymv_l_4r_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
-void kernel_ssymv_l_4l_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
-void kernel_ssymv_l_4r_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
-
-// -------- aux
-
-// ---- copy
-
-// lib4
-//
-void kernel_sgecpsc_4_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_4_0_lib4(int kmax, float *A, float *B);
-
-void kernel_sgecpsc_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_1_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_3_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_3_0_lib4(int kmax, float *A, float *B);
-void kernel_sgecpsc_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_3_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_3_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_2_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_2_0_lib4(int kmax, float *A, float *B);
-void kernel_sgecpsc_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_2_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_1_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_1_0_lib4(int kmax, float *A, float *B);
-
-// lib8
-//
-void kernel_sgecp_8_0_lib8(int m, float *A, float *B);
-void kernel_sgecp_8_0_gen_lib8(int m, float *A, float *B, int m1);
-void kernel_sgecp_8_0_gen_u_lib8(int m, float *A, float *B, int m1);
-
-void kernel_sgesc_8_0_lib8(int m, float *alpha, float *A);
-void kernel_sgesc_8_0_gen_lib8(int m, float *alpha, float *A, int m1);
-void kernel_sgesc_8_0_gen_u_lib8(int m, float *alpha, float *A, int m1);
-
-void kernel_sgecpsc_8_0_lib8(int m, float *alpha, float *A, float *B);
-void kernel_sgecpsc_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
-void kernel_sgecpsc_8_0_gen_u_lib8(int m, float *alpha, float *A, float *B, int m1);
-
-void kernel_sgecp_8_1_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_2_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_3_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_4_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_5_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_6_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_7_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-// transpose
-//
-void kernel_sgetr_8_0_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_0_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_1_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_2_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_3_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_4_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_5_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_6_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_7_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
-
-// add
-//
-void kernel_sgead_8_0_lib8(int m, float *alpha, float *A, float *B);
-void kernel_sgead_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
-void kernel_sgead_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-
-//
-// lib4
-//
-
-
-
-// level 2 BLAS
-// 4
-void kernel_sgemv_n_4_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_n_4_vs_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_n_4_gen_lib4(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
-void kernel_sgemv_t_4_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_4_vs_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_strsv_ln_inv_4_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_ln_inv_4_vs_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_strsv_lt_inv_4_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_3_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_2_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_1_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strmv_un_4_lib4(int k, float *A, float *x, float *z);
-void kernel_strmv_ut_4_lib4(int k, float *A, int sda, float *x, float *z);
-void kernel_strmv_ut_4_vs_lib4(int k, float *A, int sda, float *x, float *z, int km);
-void kernel_sgemv_nt_6_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_vs_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
-void kernel_ssymv_l_4_lib4(int kmax, float *alpha, float *A, int sda, float *x_n, float *z_n);
-void kernel_ssymv_l_4_gen_lib4(int kmax, float *alpha, int offA, float *A, int sda, float *x_n, float *z_n, int km);
-
-
-
-// level 3 BLAS
-// 12x4
-void kernel_sgemm_nt_16x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_16x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_strsm_nt_rl_inv_16x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_16x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 12x4
-void kernel_sgemm_nt_12x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_12x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_strsm_nt_rl_inv_12x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_12x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_8x8_vs_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_sgemm_nn_8x8_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nn_8x8_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-// 8x4
-void kernel_sgemm_nt_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_sgemm_nn_8x4_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nn_8x4_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_ssyrk_nt_l_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_ssyrk_nt_l_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); //
-void kernel_strsm_nt_rl_inv_8x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
-void kernel_sgemm_nt_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
-void kernel_sgemm_nt_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_sgemm_nn_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); //
-void kernel_sgemm_nn_4x4_vs_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); //
-void kernel_sgemm_nn_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_ssyrk_nt_l_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
-void kernel_ssyrk_nt_l_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
-void kernel_ssyrk_nt_l_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strmm_nt_ru_4x4_lib4(int k, float *alpha, float *A, float *B, float *D); //
-void kernel_strmm_nt_ru_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *D, int km, int kn); //
-void kernel_strmm_nn_rl_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
-void kernel_strmm_nn_rl_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nt_rl_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nt_ru_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nt_ru_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nn_ru_inv_4x4_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nn_ll_one_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E);
-void kernel_strsm_nn_ll_one_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nn_lu_inv_4x4_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nn_lu_inv_4x4_vs_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-// diag
-void kernel_sgemm_diag_right_4_a0_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *D, int sdd);
-void kernel_sgemm_diag_right_4_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_3_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_2_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_1_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_left_4_a0_lib4(int kmax, float *alpha, float *A, float *B, float *D);
-void kernel_sgemm_diag_left_4_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_3_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_2_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_1_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-
-
-
-// LAPACK
-// 16x4
-void kernel_spotrf_nt_l_16x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_16x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 12x4
-void kernel_spotrf_nt_l_12x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_12x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 8x4
-void kernel_spotrf_nt_l_8x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 4x4
-void kernel_spotrf_nt_l_4x4_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_4x4_vs_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_sgetrf_nn_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D);
-void kernel_sgetrf_nn_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_sgetrf_pivot_4_lib4(int m, float *pA, int sda, float *inv_diag_A, int* ipiv);
-void kernel_sgetrf_pivot_4_vs_lib4(int m, int n, float *pA, int sda, float *inv_diag_A, int* ipiv);
-
-
-
-// merged routines
-// 4x4
-void kernel_sgemm_strsm_nt_rl_inv_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-
-
-
-// auxiliary routines
-void kernel_strcp_l_4_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_4_1_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_4_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_4_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_3_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_3_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_3_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_2_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_2_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_1_0_lib4(int kmax, float *A, float *B);
-void kernel_sgead_4_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_3_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_2_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_1_0_lib4(int kmax, float *alpha, float *A, float *B);
-// TODO
-void kernel_sgeset_4_lib4(int kmax, float alpha, float *A);
-void kernel_strset_4_lib4(int kmax, float alpha, float *A);
-void kernel_sgetr_4_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_3_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_2_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_1_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-
-
-
-// pack
-// 24 lib 8
-void kernel_spack_nn_24_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_24_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 16 lib 8
-void kernel_spack_nn_16_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_16_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 8 lib 8
-void kernel_spack_nn_8_lib8(int kmax, float *A, int lda, float *B);
-void kernel_spack_nn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tn_8_lib8(int kmax, float *A, int lda, float *B);
-void kernel_spack_tn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tt_8_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_tt_8_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 8 lib 4
-void kernel_spack_nn_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_8_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
-//void kernel_spack_tt_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
-// 4
-void kernel_spack_nn_4_lib4(int kmax, float *A, int lda, float *B);
-void kernel_spack_nn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tn_4_lib4(int kmax, float *A, int lda, float *B);
-void kernel_spack_tn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tt_4_lib4(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_tt_4_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// unpack
-// 8
-void kernel_sunpack_nn_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
-void kernel_sunpack_nn_8_vs_lib4(int kmax, float *A, int sda, float *B, int ldb, int m1);
-//void kernel_sunpack_tt_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
-// 4
-void kernel_sunpack_nn_4_lib4(int kmax, float *A, float *B, int ldb);
-void kernel_sunpack_nn_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
-void kernel_sunpack_nt_4_lib4(int kmax, float *A, float *B, int ldb);
-void kernel_sunpack_nt_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
-void kernel_sunpack_tt_4_lib4(int kmax, float *A, int sda, float *B, int ldb);
-
-// panel copy
-// 4
-void kernel_spacp_nt_4_lib4(int kmax, float *A, int offsetB, float *B, int sdb);
-void kernel_spacp_tn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
-void kernel_spacp_nn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
-void kernel_spacp_nn_4_vs_lib4(int kmax, int offsetA, float *A, int sda, float *B, int m1);
-
-
-
-/************************************************
-* BLAS API kernels
-************************************************/
-
-//#if defined(BLAS_API)
-
-// A, B panel-major bs=8; C, D column-major
-// 24x4
-void kernel_sgemm_nt_24x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_24x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 16x4
-void kernel_sgemm_nt_16x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_16x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_spotrf_nt_l_8x8_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_spotrf_nt_l_8x8_vs_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
-void kernel_strsm_nt_rl_inv_8x8_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_8x8_vs_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-// 8x4
-void kernel_sgemm_nt_8x4_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A, B panel-major bs=4; C, D column-major
-// 8x8
-void kernel_sgemm_nt_8x8_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-// 8x4
-void kernel_sgemm_nt_8x4_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_spotrf_nt_l_8x4_lib44cc(int kmax, float *A, int sda, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_strsm_nt_rl_inv_8x4_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
-void kernel_strsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
-void kernel_strsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
-void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
-
-// B panel-major bs=8; A, C, D column-major
-// 4x24
-void kernel_sgemm_nt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x16
-void kernel_sgemm_nt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_sgemm_nt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// B panel-major bs=4; A, C, D column-major
-// 8x8
-void kernel_sgemm_nt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_sgemm_nt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A panel-major bs=8; B, C, D column-major
-// 24x4
-void kernel_sgemm_nn_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 16x4
-void kernel_sgemm_nn_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nn_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_sgemm_nn_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A panel-major bs=4; B, C, D column-major
-// 8x8
-void kernel_sgemm_nn_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-// 8x4
-void kernel_sgemm_nn_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_sgemm_nn_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_strsm_nn_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nn_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-
-// A, C, D panel-major; B, E column-major
-// TODO merge with above
-// 4x4
-void kernel_strsm_nn_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nn_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-
-// A, B, C, D column-major
-void kernel_sgemm_nn_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// vector
-void kernel_sdot_11_lib(int n, float *x, float *y, float *res);
-void kernel_saxpy_11_lib(int n, float *alpha, float *x, float *y);
-
-
-//#endif // BLAS_API
-
-
-
-// larger kernels
-// 24
-void kernel_sgemm_nt_24xn_p0_lib88cc(int n, int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, float *A_p, float *B_p);
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
deleted file mode 100644
index 9bd248b1d4..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_STDLIB_H_
-#define BLASFEO_STDLIB_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#include <stdlib.h>
-
-//
-void blasfeo_malloc(void **ptr, size_t size);
-//
-void blasfeo_malloc_align(void **ptr, size_t size);
-//
-void blasfeo_free(void *ptr);
-//
-void blasfeo_free_align(void *ptr);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // BLASFEO_STDLIB_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_target.h b/third_party/acados/include/blasfeo/include/blasfeo_target.h
deleted file mode 100644
index 51f617a649..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_target.h
+++ /dev/null
@@ -1,73 +0,0 @@
-#ifndef TARGET_X64_INTEL_HASWELL
-#define TARGET_X64_INTEL_HASWELL
-#endif
-
-#ifndef TARGET_NEED_FEATURE_AVX2
-#define TARGET_NEED_FEATURE_AVX2 1
-#endif
-
-#ifndef TARGET_NEED_FEATURE_FMA
-#define TARGET_NEED_FEATURE_FMA 1
-#endif
-
-#ifndef TARGET_NEED_FEATURE_SSE3
-/* #undef TARGET_NEED_FEATURE_SSE3 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_AVX
-/* #undef TARGET_NEED_FEATURE_AVX */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_VFPv3
-/* #undef TARGET_NEED_FEATURE_VFPv3 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_NEON
-/* #undef TARGET_NEED_FEATURE_NEON */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_VFPv4
-/* #undef TARGET_NEED_FEATURE_VFPv4 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_NEONv2
-/* #undef TARGET_NEED_FEATURE_NEONv2 */
-#endif
-
-#ifndef LA_HIGH_PERFORMANCE
-#define LA_HIGH_PERFORMANCE
-#endif
-
-#ifndef MF_PANELMAJ
-#define MF_PANELMAJ
-#endif
-
-#ifndef EXT_DEP
-#define ON 1
-#define OFF 0
-#if ON==ON
-#define EXT_DEP
-#endif
-#undef ON
-#undef OFF
-#endif
-
-#ifndef BLAS_API
-#define ON 1
-#define OFF 0
-#if OFF==ON
-#define BLAS_API
-#endif
-#undef ON
-#undef OFF
-#endif
-
-#ifndef FORTRAN_BLAS_API
-#define ON 1
-#define OFF 0
-#if OFF==ON
-#define FORTRAN_BLAS_API
-#endif
-#undef ON
-#undef OFF
-#endif
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_timing.h b/third_party/acados/include/blasfeo/include/blasfeo_timing.h
deleted file mode 100644
index 5671b888fe..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_timing.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_TIMING_H_
-#define BLASFEO_TIMING_H_
-
-//#include <stdbool.h>
-
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-	/* Use Windows QueryPerformanceCounter for timing. */
-	#include <Windows.h>
-
-	/** A structure for keeping internal timer data. */
-	typedef struct blasfeo_timer_ {
-		LARGE_INTEGER tic;
-		LARGE_INTEGER toc;
-		LARGE_INTEGER freq;
-	} blasfeo_timer;
-
-#elif(defined __APPLE__)
-
-	#include <mach/mach_time.h>
-
-	/** A structure for keeping internal timer data. */
-	typedef struct blasfeo_timer_ {
-		uint64_t tic;
-		uint64_t toc;
-		mach_timebase_info_data_t tinfo;
-	} blasfeo_timer;
-
-#elif(defined __DSPACE__)
-
-	#include <brtenv.h>
-
-	typedef struct blasfeo_timer_ {
-		double time;
-	} blasfeo_timer;
-
-#elif(defined __XILINX_NONE_ELF__ || defined __XILINX_ULTRASCALE_NONE_ELF_JAILHOUSE__)
-
-	#include "xtime_l.h"
-
-	typedef struct blasfeo_timer_ {
-		uint64_t tic;
-		uint64_t toc;
-	} blasfeo_timer;
-
-#else
-
-	/* Use POSIX clock_gettime() for timing on non-Windows machines. */
-	#include <time.h>
-
-	#if __STDC_VERSION__ >= 199901L  // C99 Mode
-
-		#include <sys/stat.h>
-		#include <sys/time.h>
-
-		typedef struct blasfeo_timer_ {
-			struct timeval tic;
-			struct timeval toc;
-		} blasfeo_timer;
-
-	#else  // ANSI C Mode
-
-		/** A structure for keeping internal timer data. */
-		typedef struct blasfeo_timer_ {
-			struct timespec tic;
-			struct timespec toc;
-		} blasfeo_timer;
-
-	#endif  // __STDC_VERSION__ >= 199901L
-
-#endif  // (defined _WIN32 || defined _WIN64)
-
-/** A function for measurement of the current time. */
-void blasfeo_tic(blasfeo_timer* t);
-
-/** A function which returns the elapsed time. */
-double blasfeo_toc(blasfeo_timer* t);
-
-#endif  // BLASFEO_TIMING_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
deleted file mode 100644
index 1598551185..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_V_AUX_EXT_DEP_H_
-#define BLASFEO_V_AUX_EXT_DEP_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-/************************************************
-* d_aux_extern_depend_lib.c
-************************************************/
-
-#ifdef EXT_DEP
-
-void v_zeros(void **ptrA, int size);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to void; set allocated memory to zero
-void v_zeros_align(void **ptrA, int size);
-// free the memory allocated by v_zeros
-void v_free(void *ptrA);
-// free the memory allocated by v_zeros_aligned
-void v_free_align(void *ptrA);
-// dynamically allocate size bytes of memory and set accordingly a pointer to char; set allocated memory to zero
-void c_zeros(char **ptrA, int size);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to char; set allocated memory to zero
-void c_zeros_align(char **ptrA, int size);
-// free the memory allocated by c_zeros
-void c_free(char *ptrA);
-// free the memory allocated by c_zeros_aligned
-void c_free_align(char *ptrA);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // BLASFEO_V_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/d_blas.h b/third_party/acados/include/blasfeo/include/d_blas.h
deleted file mode 100644
index ffd2578da3..0000000000
--- a/third_party/acados/include/blasfeo/include/d_blas.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-double ddot_(int *m, double *x, int *incx, double *y, int *incy);
-void dcopy_(int *m, double *x, int *incx, double *y, int *incy);
-void daxpy_(int *m, double *alpha, double *x, int *incx, double *y, int *incy);
-void dscal_(int *m, double *alpha, double *x, int *incx);
-void drot_(int *m, double *x, int *incx, double *y, int *incy, double *c, double *s);
-void drotg_(double *a, double *b, double *c, double *s);
-
-// level 2
-void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-void dsymv_(char *uplo, int *m, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-void dtrmv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
-void dtrsv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
-void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// level 3
-void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-void dsyrk_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-void dtrmm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-void dtrsm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-void dsyr2k_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-// lapack
-void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-void dgeqrf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-void dgeqr2_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *info);
-void dgelqf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-void dorglq_(int *m, int *n, int *k, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/d_blas_64.h b/third_party/acados/include/blasfeo/include/d_blas_64.h
deleted file mode 100644
index 4f40d00dfb..0000000000
--- a/third_party/acados/include/blasfeo/include/d_blas_64.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-double ddot_(long long *m, double *x, long long *incx, double *y, long long *incy);
-void dcopy_(long long *m, double *x, long long *incx, double *y, long long *incy);
-void daxpy_(long long *m, double *alpha, double *x, long long *incx, double *y, long long *incy);
-void dscal_(long long *m, double *alpha, double *x, long long *incx);
-
-// level 2
-void dgemv_(char *ta, long long *m, long long *n, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
-void dsymv_(char *uplo, long long *m, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
-void dtrmv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
-void dtrsv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
-void dger_(long long *m, long long *n, double *alpha, double *x, long long *incx, double *y, long long *incy, double *A, long long *lda);
-
-// level 3
-void dgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, double *alpha, double *A, long long *lda, double *B, long long *ldb, double *beta, double *C, long long *ldc);
-void dsyrk_(char *uplo, char *trans, long long *n, long long *k, double *alpha, double *A, long long *lda, double *beta, double *C, long long *ldc);
-void dtrmm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
-void dtrsm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
-
-// lapack
-void dpotrf_(char *uplo, long long *m, double *A, long long *lda, long long *info);
-void dgetrf_(long long *m, long long *n, double *A, long long *lda, long long *ipiv, long long *info);
-void dgeqrf_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *lwork, long long *info);
-void dgeqr2_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas.h b/third_party/acados/include/blasfeo/include/s_blas.h
deleted file mode 100644
index 3b299ce64c..0000000000
--- a/third_party/acados/include/blasfeo/include/s_blas.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-float sdot_(int *m, float *x, int *incx, float *y, int *incy);
-void scopy_(int *m, float *x, int *incx, float *y, int *incy);
-void saxpy_(int *m, float *alpha, float *x, int *incx, float *y, int *incy);
-void sscal_(int *m, float *alpha, float *x, int *incx);
-void srot_(int *m, float *x, int *incx, float *y, int *incy, float *c, float *s);
-void srotg_(float *a, float *b, float *c, float *s);
-
-// level 2
-void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-void ssymv_(char *uplo, int *m, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-void strmv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
-void strsv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
-void sger_(int *m, int *n, float *alpha, float *x, int *incx, float *y, int *incy, float *A, int *lda);
-
-// level 3
-void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-void ssyrk_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *beta, float *C, int *ldc);
-void strmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-void ssyr2k_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-
-// lapack
-void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-void sgetrf_(int *m, int *n, float *A, int *lda, int *ipiv, int *info);
-void sgeqrf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-void sgeqr2_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *info);
-void sgelqf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-void sorglq_(int *m, int *n, int *k, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas_64.h b/third_party/acados/include/blasfeo/include/s_blas_64.h
deleted file mode 100644
index b9efab6c23..0000000000
--- a/third_party/acados/include/blasfeo/include/s_blas_64.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-float sdot_(long long *m, float *x, long long *incx, float *y, long long *incy);
-void scopy_(long long *m, float *x, long long *incx, float *y, long long *incy);
-void saxpy_(long long *m, float *alpha, float *x, long long *incx, float *y, long long *incy);
-void sscal_(long long *m, float *alpha, float *x, long long *incx);
-
-// level 2
-void sgemv_(char *ta, long long *m, long long *n, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
-void ssymv_(char *uplo, long long *m, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
-void strmv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
-void strsv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
-void sger_(long long *m, long long *n, float *alpha, float *x, long long *incx, float *y, long long *incy, float *A, long long *lda);
-
-// level 3
-void sgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, float *alpha, float *A, long long *lda, float *B, long long *ldb, float *beta, float *C, long long *ldc);
-void ssyrk_(char *uplo, char *trans, long long *n, long long *k, float *alpha, float *A, long long *lda, float *beta, float *C, long long *ldc);
-void strmm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
-void strsm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
-
-// lapack
-void spotrf_(char *uplo, long long *m, float *A, long long *lda, long long *info);
-void sgetrf_(long long *m, long long *n, float *A, long long *lda, long long *ipiv, long long *info);
-void sgeqrf_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *lwork, long long *info);
-void sgeqr2_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
deleted file mode 100644
index 7bd3d7e8bc..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_AUX_MEM_H_
-#define HPIPM_AUX_MEM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void hpipm_zero_memset(hpipm_size_t memsize, void *mem);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_AUX_MEM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_string.h b/third_party/acados/include/hpipm/include/hpipm_aux_string.h
deleted file mode 100644
index 804cba5dc1..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_aux_string.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_AUX_STRING_H_
-#define HPIPM_AUX_STRING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define MAX_STR_LEN 5
-int hpipm_strcmp(char *str1, char *str2);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_AUX_STRING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_common.h b/third_party/acados/include/hpipm/include/hpipm_common.h
deleted file mode 100644
index 0cc96a7b50..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_common.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_COMMON_H_
-#define HPIPM_COMMON_H_
-
-#include <stddef.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef size_t hpipm_size_t;
-
-enum hpipm_mode
-	{
-	SPEED_ABS, // focus on speed, absolute IPM formulation
-	SPEED, // focus on speed, relative IPM formulation
-	BALANCE, // balanced mode, relative IPM formulation
-	ROBUST, // focus on robustness, relative IPM formulation
-	};
-
-enum hpipm_status
-	{
-	SUCCESS, // found solution satisfying accuracy tolerance
-	MAX_ITER, // maximum iteration number reached
-	MIN_STEP, // minimum step length reached
-	NAN_SOL, // NaN in solution detected
-	INCONS_EQ, // unconsistent equality constraints
-	};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_COMMON_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
deleted file mode 100644
index 0e4c41f221..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_CAST_QCQP_H_
-#define HPIPM_D_CAST_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp.h"
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_cast_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
-//
-void d_cast_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_CAST_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_cond.h
deleted file mode 100644
index 5900a2ab10..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_H_
-#define HPIPM_D_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_d_dense_qp_sol.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qp_dim.h"
-#include "hpipm_d_ocp_qp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_cond_qp_arg
-	{
-	int cond_last_stage; // condense last stage
-	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_cond_qp_ws
-	{
-	struct blasfeo_dmat *Gamma;
-	struct blasfeo_dmat *GammaQ;
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Lx;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dvec *Gammab;
-	struct blasfeo_dvec *l;
-	struct blasfeo_dvec *tmp_nbgM;
-	struct blasfeo_dvec *tmp_nuxM;
-	int bs; // block size
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_cond_qp_arg_memsize();
-//
-void d_cond_qp_arg_create(struct d_cond_qp_arg *cond_arg, void *mem);
-//
-void d_cond_qp_arg_set_default(struct d_cond_qp_arg *cond_arg);
-// condensing algorithm: 0 N2-nx3, 1 N3-nx2
-void d_cond_qp_arg_set_cond_alg(int cond_alg, struct d_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void d_cond_qp_arg_set_ric_alg(int ric_alg, struct d_cond_qp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void d_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_prim_sol(int value, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_cond_qp_arg *cond_arg);
-
-//
-void d_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, struct d_dense_qp_dim *dense_dim);
-//
-hpipm_size_t d_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws, void *mem);
-//
-void d_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-// TODO remove
-void d_cond_qp_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-//
-void d_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
deleted file mode 100644
index 73afba3c7e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_AUX_H_
-#define HPIPM_D_COND_AUX_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_cond_BAbt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_BAt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_b(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_RSQrq(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_RSQ(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_rq(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_DCtd(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_DCt(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_d(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-//
-void d_update_cond_BAbt(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_update_cond_RSQrq_N2nx3(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_update_cond_DCtd(int *idxc, struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, int *idxs2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
deleted file mode 100644
index 266567bb8d..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_QCQP_H_
-#define HPIPM_D_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp.h"
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_cond_qcqp_arg
-	{
-	struct d_cond_qp_arg *qp_arg;
-	int cond_last_stage; // condense last stage
-//	int cond_variant; // TODO
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_cond_qcqp_ws
-	{
-	struct d_cond_qp_ws *qp_ws;
-	struct blasfeo_dmat *hess_array; // TODO remove
-	struct blasfeo_dmat *zero_hess; // TODO remove
-	struct blasfeo_dvec *grad_array; // TODO remove
-	struct blasfeo_dvec *zero_grad; // TODO remove
-	struct blasfeo_dvec *tmp_nvc;
-	struct blasfeo_dvec *tmp_nuxM;
-	struct blasfeo_dmat *GammaQ;
-	struct blasfeo_dmat *tmp_DCt;
-	struct blasfeo_dmat *tmp_nuM_nxM;
-//	struct blasfeo_dvec *d_qp;
-//	struct blasfeo_dvec *d_mask_qp;
-	hpipm_size_t memsize;
-	};
-
-
-//
-hpipm_size_t d_cond_qcqp_arg_memsize();
-//
-void d_cond_qcqp_arg_create(struct d_cond_qcqp_arg *cond_arg, void *mem);
-//
-void d_cond_qcqp_arg_set_default(struct d_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void d_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_cond_qcqp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void d_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qcqp_arg *cond_arg);
-
-//
-void d_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
-//
-hpipm_size_t d_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg);
-//
-void d_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws, void *mem);
-//
-void d_cond_qcqp_qc(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_qc_lhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_qc_rhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp_sol *dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_QCQP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
deleted file mode 100644
index f39d9a9b50..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_CORE_QP_IPM_
-#define HPIPM_D_CORE_QP_IPM_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_core_qp_ipm_workspace
-	{
-	double *v; // primal variables
-	double *pi; // equality constraints multipliers
-	double *lam; // inequality constraints multipliers
-	double *t; // inequality constraints slacks
-	double *t_inv; // inverse of t
-	double *v_bkp; // backup of primal variables
-	double *pi_bkp; // backup of equality constraints multipliers
-	double *lam_bkp; // backup of inequality constraints multipliers
-	double *t_bkp; // backup of inequality constraints slacks
-	double *dv; // step in v
-	double *dpi; // step in pi
-	double *dlam; // step in lam
-	double *dt; // step in t
-	double *res_g; // q-residuals
-	double *res_b; // b-residuals
-	double *res_d; // d-residuals
-	double *res_m; // m-residuals
-	double *res_m_bkp; // m-residuals
-	double *Gamma; // Hessian update
-	double *gamma; // gradient update
-	double alpha; // step length
-	double alpha_prim; // step length
-	double alpha_dual; // step length
-	double sigma; // centering XXX
-	double mu; // duality measuere
-	double mu_aff; // affine duality measuere
-	double nc_inv; // 1.0/nc, where nc is the total number of inequality constraints
-	double nc_mask_inv; // 1.0/nc_mask
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double t_min_inv; // inverse of min value in t vector
-	double tau_min; // min value of barrier parameter
-	int nv; // number of primal variables
-	int ne; // number of equality constraints
-	int nc; // (twice the) number of (two-sided) inequality constraints
-	int nc_mask; // total number of ineq constr after masking
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_memsize_core_qp_ipm(int nv, int ne, int nc);
-//
-void d_create_core_qp_ipm(int nv, int ne, int nc, struct d_core_qp_ipm_workspace *workspace, void *mem);
-//
-void d_core_qp_ipm(struct d_core_qp_ipm_workspace *workspace);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
deleted file mode 100644
index 30cc824bad..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_AUX_
-#define HPIPM_S_CORE_QP_IPM_AUX_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void d_compute_Gamma_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_lam_t_qp(double *res_d, double *res_m, double *dlam, double *dt, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_alpha_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_update_var_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_mu_aff_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_backup_res_m(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_centering_correction_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_centering_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_tau_min_qp(struct d_core_qp_ipm_workspace *rws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
deleted file mode 100644
index 3da5716493..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
+++ /dev/null
@@ -1,199 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_H_
-#define HPIPM_D_DENSE_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
-	struct blasfeo_dmat *A; // equality constraint matrix
-	struct blasfeo_dmat *Ct; // inequality constraints matrix
-	struct blasfeo_dmat *Hq; // hessians of quadratic constraints
-	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *b; // equality constraint vector
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp *qp, void *memory);
-
-//
-void d_dense_qcqp_set(char *field, void *value, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_H(double *H, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_g(double *g, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_A(double *A, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_b(double *b, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxb(int *idxb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lb(double *lb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lb_mask(double *lb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ub(double *ub, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ub_mask(double *ub, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_C(double *C, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lg(double *lg, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lg_mask(double *lg, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ug(double *ug, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ug_mask(double *ug, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Hq(double *Hq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_gq(double *gq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_uq(double *uq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_uq_mask(double *uq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxs(int *idxs, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxs_rev(int *idxs_rev, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Zl(double *Zl, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Zu(double *Zu, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_zl(double *zl, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_zu(double *zu, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ls(double *ls, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ls_mask(double *ls, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_us(double *us, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_us_mask(double *us, struct d_dense_qcqp *qp);
-
-// getters (COLMAJ)
-
-void d_dense_qcqp_get_H(struct d_dense_qcqp *qp, double *H);
-//
-void d_dense_qcqp_get_g(struct d_dense_qcqp *qp, double *g);
-//
-void d_dense_qcqp_get_A(struct d_dense_qcqp *qp, double *A);
-//
-void d_dense_qcqp_get_b(struct d_dense_qcqp *qp, double *b);
-//
-void d_dense_qcqp_get_idxb(struct d_dense_qcqp *qp, int *idxb);
-//
-void d_dense_qcqp_get_lb(struct d_dense_qcqp *qp, double *lb);
-//
-void d_dense_qcqp_get_lb_mask(struct d_dense_qcqp *qp, double *lb);
-//
-void d_dense_qcqp_get_ub(struct d_dense_qcqp *qp, double *ub);
-//
-void d_dense_qcqp_get_ub_mask(struct d_dense_qcqp *qp, double *ub);
-//
-void d_dense_qcqp_get_C(struct d_dense_qcqp *qp, double *C);
-//
-void d_dense_qcqp_get_lg(struct d_dense_qcqp *qp, double *lg);
-//
-void d_dense_qcqp_get_lg_mask(struct d_dense_qcqp *qp, double *lg);
-//
-void d_dense_qcqp_get_ug(struct d_dense_qcqp *qp, double *ug);
-//
-void d_dense_qcqp_get_ug_mask(struct d_dense_qcqp *qp, double *ug);
-//
-void d_dense_qcqp_get_idxs(struct d_dense_qcqp *qp, int *idxs);
-//
-void d_dense_qcqp_get_idxs_rev(struct d_dense_qcqp *qp, int *idxs_rev);
-//
-void d_dense_qcqp_get_Zl(struct d_dense_qcqp *qp, double *Zl);
-//
-void d_dense_qcqp_get_Zu(struct d_dense_qcqp *qp, double *Zu);
-//
-void d_dense_qcqp_get_zl(struct d_dense_qcqp *qp, double *zl);
-//
-void d_dense_qcqp_get_zu(struct d_dense_qcqp *qp, double *zu);
-//
-void d_dense_qcqp_get_ls(struct d_dense_qcqp *qp, double *ls);
-//
-void d_dense_qcqp_get_ls_mask(struct d_dense_qcqp *qp, double *ls);
-//
-void d_dense_qcqp_get_us(struct d_dense_qcqp *qp, double *us);
-//
-void d_dense_qcqp_get_us_mask(struct d_dense_qcqp *qp, double *us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
deleted file mode 100644
index fa8c574a1e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_DIM_H_
-#define HPIPM_D_DENSE_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_dim
-	{
-	struct d_dense_qp_dim *qp_dim; // dim of qp approximation
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nq;  // number of quadratic constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int nsq; // number of softened quadratic constraints
-	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_dim_memsize();
-//
-void d_dense_qcqp_dim_create(struct d_dense_qcqp_dim *dim, void *memory);
-//
-void d_dense_qcqp_dim_set(char *field_name, int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nv(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ne(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nb(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ng(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nq(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsb(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsg(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsq(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ns(int value, struct d_dense_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
deleted file mode 100644
index fa3f98fa79..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
+++ /dev/null
@@ -1,193 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_IPM_H_
-#define HPIPM_D_DENSE_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_dense_qcqp_dim.h>
-#include <hpipm_d_dense_qcqp.h>
-#include <hpipm_d_dense_qcqp_res.h>
-#include <hpipm_d_dense_qcqp_sol.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_ipm_arg
-	{
-	struct d_dense_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double reg_dual; // reg of dual hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qcqp_ipm_ws
-	{
-	struct d_dense_qp_ipm_ws *qp_ws;
-	struct d_dense_qp *qp;
-	struct d_dense_qp_sol *qp_sol;
-	struct d_dense_qcqp_res_ws *qcqp_res_ws;
-	struct d_dense_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nv;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_ipm_arg_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_ipm_arg_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_ipm_arg *arg, void *mem);
-//
-void d_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set(char *field, void *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_mu0(double *mu0, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_lam_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_t_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_split_step(int *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_dense_qcqp_ipm_ws_memsize(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_ws_create(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws, void *mem);
-//
-void d_dense_qcqp_ipm_get(char *field, struct d_dense_qcqp_ipm_ws *ws, void *value);
-//
-void d_dense_qcqp_ipm_get_status(struct d_dense_qcqp_ipm_ws *ws, int *status);
-//
-void d_dense_qcqp_ipm_get_iter(struct d_dense_qcqp_ipm_ws *ws, int *iter);
-//
-void d_dense_qcqp_ipm_get_max_res_stat(struct d_dense_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_dense_qcqp_ipm_get_max_res_eq(struct d_dense_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_dense_qcqp_ipm_get_max_res_ineq(struct d_dense_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_dense_qcqp_ipm_get_max_res_comp(struct d_dense_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_dense_qcqp_ipm_get_stat(struct d_dense_qcqp_ipm_ws *ws, double **stat);
-//
-void d_dense_qcqp_ipm_get_stat_m(struct d_dense_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_dense_qcqp_init_var(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-//
-void d_dense_qcqp_ipm_solve(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-#if 0
-//
-void d_dense_qcqp_ipm_predict(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-//
-void d_dense_qcqp_ipm_sens(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-#endif
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_IPM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
deleted file mode 100644
index a76f16215e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_RES_H_
-#define HPIPM_D_DENSE_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_dense_qcqp_dim.h>
-#include <hpipm_d_dense_qcqp.h>
-#include <hpipm_d_dense_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_res
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // infinity norm of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nv; // work space of size nv
-	struct blasfeo_dvec *tmp_nbgq; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_ns; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_res_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_res_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_dense_qcqp_res_ws_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_res_ws_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res_ws *workspace, void *mem);
-//
-void d_dense_qcqp_res_compute(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_res *res, struct d_dense_qcqp_res_ws *ws);
-//
-void d_dense_qcqp_res_compute_inf_norm(struct d_dense_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QCQP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
deleted file mode 100644
index 6c697a8e69..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_SOL_H_
-#define HPIPM_D_DENSE_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_sol
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dvec *v;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_sol_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_sol_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_sol *qp_sol, void *memory);
-//
-void d_dense_qcqp_sol_get_v(struct d_dense_qcqp_sol *qp_sol, double *v);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
deleted file mode 100644
index a34218bae4..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_UTILS_H_
-#define HPIPM_D_DENSE_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-//#include "hpipm_d_dense_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_dense_qcqp_dim_print(struct d_dense_qcqp_dim *qp_dim);
-//
-//void d_dense_qcqp_dim_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim);
-//
-void d_dense_qcqp_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
-//
-//void d_dense_qcqp_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_sol_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_sol *dense_qcqp_sol);
-//
-//void d_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_res_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_res *dense_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
deleted file mode 100644
index 02fba5a922..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_H_
-#define HPIPM_D_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
-	struct blasfeo_dmat *A; // equality constraint matrix
-	struct blasfeo_dmat *Ct; // inequality constraints matrix
-	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *b; // equality constraint vector
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory);
-
-// setters - colmaj
-//
-void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
-//
-void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
-//
-void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_H(double *H, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_g(double *g, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_A(double *A, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_b(double *b, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_C(double *C, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_us(double *us, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp);
-
-// getters - colmaj
-//
-void d_dense_qp_get_H(struct d_dense_qp *qp, double *H);
-//
-void d_dense_qp_get_g(struct d_dense_qp *qp, double *g);
-//
-void d_dense_qp_get_A(struct d_dense_qp *qp, double *A);
-//
-void d_dense_qp_get_b(struct d_dense_qp *qp, double *b);
-//
-void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb);
-//
-void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb);
-//
-void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb);
-//
-void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub);
-//
-void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub);
-//
-void d_dense_qp_get_C(struct d_dense_qp *qp, double *C);
-//
-void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg);
-//
-void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg);
-//
-void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug);
-//
-void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug);
-//
-void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs);
-//
-void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev);
-//
-void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl);
-//
-void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu);
-//
-void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl);
-//
-void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu);
-//
-void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls);
-//
-void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls);
-//
-void d_dense_qp_get_us(struct d_dense_qp *qp, double *us);
-//
-void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us);
-
-// setters - rowmaj
-//
-void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
-
-// getters - rowmaj
-//
-void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
deleted file mode 100644
index 98a551f312..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_DIM_H_
-#define HPIPM_D_DENSE_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_dim
-	{
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int ns;  // number of softened constraints (nsb+nsg)
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_dim_memsize();
-//
-void d_dense_qp_dim_create(struct d_dense_qp_dim *qp_dim, void *memory);
-//
-void d_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set(char *field_name, int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nv(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ne(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nb(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ng(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nsb(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nsg(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ns(int value, struct d_dense_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
deleted file mode 100644
index e6e5d5d9b5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
+++ /dev/null
@@ -1,260 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_IPM_H_
-#define HPIPM_D_DENSE_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_dense_qp_dim.h>
-#include <hpipm_d_dense_qp.h>
-#include <hpipm_d_dense_qp_res.h>
-#include <hpipm_d_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_ipm_arg
-	{
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double reg_dual; // reg of dual hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int kkt_fact_alg; // 0 null-space, 1 schur-complement
-	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
-	int compute_obj; // compute obj on exit
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qp_ipm_ws
-	{
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_dense_qp_res_ws *res_ws;
-	struct d_dense_qp_sol *sol_step;
-	struct d_dense_qp_sol *sol_itref;
-	struct d_dense_qp *qp_step;
-	struct d_dense_qp *qp_itref;
-	struct d_dense_qp_res *res;
-	struct d_dense_qp_res *res_itref;
-	struct d_dense_qp_res *res_step;
-	struct blasfeo_dvec *Gamma; //
-	struct blasfeo_dvec *gamma; //
-	struct blasfeo_dvec *Zs_inv; //
-	struct blasfeo_dmat *Lv; //
-	struct blasfeo_dmat *AL; //
-	struct blasfeo_dmat *Le; //
-	struct blasfeo_dmat *Ctx; //
-	struct blasfeo_dvec *lv; //
-	struct blasfeo_dvec *sv; // scale for Lv
-	struct blasfeo_dvec *se; // scale for Le
-	struct blasfeo_dvec *tmp_nbg; // work space of size nb+ng
-	struct blasfeo_dvec *tmp_ns; // work space of size ns
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dmat *lq1;
-	struct blasfeo_dvec *tmp_m;
-	struct blasfeo_dmat *A_LQ;
-	struct blasfeo_dmat *A_Q;
-	struct blasfeo_dmat *Zt;
-	struct blasfeo_dmat *ZtH;
-	struct blasfeo_dmat *ZtHZ;
-	struct blasfeo_dvec *xy;
-	struct blasfeo_dvec *Yxy;
-	struct blasfeo_dvec *xz;
-	struct blasfeo_dvec *tmp_nv;
-	struct blasfeo_dvec *tmp_2ns;
-	struct blasfeo_dvec *tmp_nv2ns;
-	struct blasfeo_dmat *A_li; // A of linearly independent equality constraints
-	struct blasfeo_dvec *b_li; // b of linearly independent equality constraints
-	struct blasfeo_dmat *A_bkp; // pointer to backup A
-	struct blasfeo_dvec *b_bkp; // pointer to backup b
-	struct blasfeo_dmat *Ab_LU;
-	double *stat; // convergence statistics
-	int *ipiv_v;
-	int *ipiv_e;
-	int *ipiv_e1;
-	void *lq_work0;
-	void *lq_work1;
-	void *lq_work_null;
-	void *orglq_work_null;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // numer of recorded stat per ipm iter
-	int scale;
-	int use_hess_fact;
-	int use_A_fact;
-	int status;
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int ne_li; // number of linearly independent equality constraints
-	int ne_bkp; // ne backup
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_ipm_arg_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_ipm_arg_create(struct d_dense_qp_dim *dim, struct d_dense_qp_ipm_arg *arg, void *mem);
-//
-void d_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set(char *field, void *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_mu0(double *mu0, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_lam_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_t_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tau_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_compute_obj(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qp_ipm_arg *arg);
-
-//
-void d_dense_qp_ipm_arg_set_split_step(int *value, struct d_dense_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_dense_qp_ipm_ws_memsize(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_ws_create(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws, void *mem);
-//
-void d_dense_qp_ipm_get(char *field, struct d_dense_qp_ipm_ws *ws, void *value);
-//
-void d_dense_qp_ipm_get_status(struct d_dense_qp_ipm_ws *ws, int *status);
-//
-void d_dense_qp_ipm_get_iter(struct d_dense_qp_ipm_ws *ws, int *iter);
-//
-void d_dense_qp_ipm_get_max_res_stat(struct d_dense_qp_ipm_ws *ws, double *res_stat);
-//
-void d_dense_qp_ipm_get_max_res_eq(struct d_dense_qp_ipm_ws *ws, double *res_eq);
-//
-void d_dense_qp_ipm_get_max_res_ineq(struct d_dense_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_dense_qp_ipm_get_max_res_comp(struct d_dense_qp_ipm_ws *ws, double *res_comp);
-//
-void d_dense_qp_ipm_get_stat(struct d_dense_qp_ipm_ws *ws, double **stat);
-//
-void d_dense_qp_ipm_get_stat_m(struct d_dense_qp_ipm_ws *ws, int *stat_m);
-//
-void d_dense_qp_init_var(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_abs_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_delta_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_solve(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_predict(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_sens(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_compute_step_length(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
deleted file mode 100644
index 6d05779f4b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_KKT_H_
-#define HPIPM_D_DENSE_QP_KKT_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_fact_solve_kkt_unconstr_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_fact_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_fact_lq_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_remove_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_restore_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_compute_obj(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
deleted file mode 100644
index 7c2023257a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
+++ /dev/null
@@ -1,105 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_RES_H_
-#define HPIPM_D_DENSE_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_dense_qp_dim.h>
-#include <hpipm_d_dense_qp.h>
-#include <hpipm_d_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_res
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbg; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_ns; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_res_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_res_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res *res, void *mem);
-//
-hpipm_size_t d_dense_qp_res_ws_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_res_ws_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res_ws *workspace, void *mem);
-//
-void d_dense_qp_res_compute(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
-//
-void d_dense_qp_res_compute_lin(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_sol *qp_step, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
-//
-void d_dense_qp_res_compute_inf_norm(struct d_dense_qp_res *res);
-//
-void d_dense_qp_res_get_all(struct d_dense_qp_res *res, double *res_g, double *res_ls, double *res_us, double *res_b, double *res_d_lb, double *res_d_ub, double *res_d_lg, double *res_d_ug, double *res_d_ls, double *res_d_us, double *res_m_lb, double *res_m_ub, double *res_m_lg, double *res_m_ug, double *res_m_ls, double *res_m_us);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
deleted file mode 100644
index aaa3fdb0e4..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_SOL_H_
-#define HPIPM_D_DENSE_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_sol
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dvec *v;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	double obj;
-	int valid_obj;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_sol_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_sol_create(struct d_dense_qp_dim *dim, struct d_dense_qp_sol *qp_sol, void *memory);
-//
-void d_dense_qp_sol_get_all(struct d_dense_qp_sol *qp_sol, double *v, double *ls, double *us, double *pi, double *lam_lb, double *lam_ub, double *lam_lg, double *lam_ug, double *lam_ls, double *lam_us);
-//
-void d_dense_qp_sol_get(char *field, struct d_dense_qp_sol *sol, void *value);
-//
-void d_dense_qp_sol_get_v(struct d_dense_qp_sol *sol, double *v);
-//
-void d_dense_qp_sol_get_valid_obj(struct d_dense_qp_sol *sol, int *valid_obj);
-//
-void d_dense_qp_sol_get_obj(struct d_dense_qp_sol *sol, double *obj);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
deleted file mode 100644
index ccb77aaca3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_UTILS_H_
-#define HPIPM_D_DENSE_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_d_dense_qp_sol.h"
-#include "hpipm_d_dense_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_dense_qp_dim_print(struct d_dense_qp_dim *qp_dim);
-//
-//void d_dense_qp_dim_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim);
-//
-void d_dense_qp_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
-//
-//void d_dense_qp_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
-//
-void d_dense_qp_sol_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_sol *dense_qp_sol);
-//
-//void d_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_res_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_res *dense_qp_res);
-//
-void d_dense_qp_arg_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *qp_ipm_arg);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
deleted file mode 100644
index 240c9b04be..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
+++ /dev/null
@@ -1,303 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_H_
-#define HPIPM_D_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_dmat *DCt; // inequality constraints matrix
-	struct blasfeo_dmat **Hq; // hessians of quadratic constraints
-	struct blasfeo_dvec *b; // dynamics vector
-	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_strsize();
-//
-hpipm_size_t d_ocp_qcqp_memsize(struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp *qp, void *memory);
-//
-void d_ocp_qcqp_copy_all(struct d_ocp_qcqp *qp_orig, struct d_ocp_qcqp *qp_dest);
-
-// setters
-//
-void d_ocp_qcqp_set_all_zero(struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_rhs_zero(struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set(char *field_name, int stage, void *value, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_A(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_B(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_b(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Q(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_S(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_R(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_q(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_r(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lb(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lb_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ub(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ub_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxb(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxbx(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxbu(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_C(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_D(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lg(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lg_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ug(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ug_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Qq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Sq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Rq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_qq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_rq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_uq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_uq_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Zl(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Zu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_zl(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_zu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lls(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lls_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lus(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lus_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxs(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsg(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsq(int stage, double *vec, struct d_ocp_qcqp *qp);
-
-// getters
-//
-void d_ocp_qcqp_get(char *field, int stage, struct d_ocp_qcqp *qp, void *value);
-//
-void d_ocp_qcqp_get_A(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_B(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_b(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Q(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_S(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_R(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_q(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_r(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ub(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ub_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lb(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lb_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_idxb(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_idxbx(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jbx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-//void d_ocp_qcqp_get_idxbu(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jbu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_C(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_D(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_lg(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lg_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ug(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ug_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Zl(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Zu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_zl(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_zu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lls(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lls_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lus(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lus_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void d_ocp_qcqp_get_idxs(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-void d_ocp_qcqp_get_idxs_rev(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jsbu(int stage, struct d_ocp_qcqp *qp, float *vec);
-//
-//void d_ocp_qcqp_get_Jsbx(int stage, struct d_ocp_qcqp *qp, float *vec);
-//
-//void d_ocp_qcqp_get_Jsg(int stage, struct d_ocp_qcqp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
deleted file mode 100644
index 268628a2b2..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_DIM_H_
-#define HPIPM_D_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_dim
-	{
-	struct d_ocp_qp_dim *qp_dim; // dim of qp approximation
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of (two-sided) state box constraints
-	int *nbu; // number of (two-sided) input box constraints
-	int *ng; // number of (two-sided) general constraints
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of (two-sided) soft state box constraints
-	int *nsbu; // number of (two-sided) soft input box constraints
-	int *nsg; // number of (two-sided) soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t d_ocp_qcqp_dim_memsize(int N);
-//
-void d_ocp_qcqp_dim_create(int N, struct d_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void d_ocp_qcqp_dim_copy_all(struct d_ocp_qcqp_dim *dim_orig, struct d_ocp_qcqp_dim *dim_dest);
-//
-void d_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_ng(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nq(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_ns(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_get(struct d_ocp_qcqp_dim *dim, char *field, int stage, int *value);
-//
-void d_ocp_qcqp_dim_get_N(struct d_ocp_qcqp_dim *dim, int *value);
-//
-void d_ocp_qcqp_dim_get_nx(struct d_ocp_qcqp_dim *dim, int stage, int *value);
-//
-void d_ocp_qcqp_dim_get_nu(struct d_ocp_qcqp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
deleted file mode 100644
index 99f2329dcc..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_IPM_H_
-#define HPIPM_D_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qcqp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qcqp_res.h>
-#include <hpipm_d_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_ipm_arg
-	{
-	struct d_ocp_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qcqp_ipm_ws
-	{
-	struct d_ocp_qp_ipm_ws *qp_ws;
-	struct d_ocp_qp *qp;
-	struct d_ocp_qp_sol *qp_sol;
-	struct d_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct d_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t d_ocp_qcqp_ipm_arg_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_ipm_arg_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void d_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void d_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void d_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void d_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void d_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void d_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-void d_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void d_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void d_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void d_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t d_ocp_qcqp_ipm_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_ipm_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void d_ocp_qcqp_ipm_get(char *field, struct d_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void d_ocp_qcqp_ipm_get_status(struct d_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void d_ocp_qcqp_ipm_get_iter(struct d_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void d_ocp_qcqp_ipm_get_max_res_stat(struct d_ocp_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_ocp_qcqp_ipm_get_max_res_eq(struct d_ocp_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_ocp_qcqp_ipm_get_max_res_ineq(struct d_ocp_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_ocp_qcqp_ipm_get_max_res_comp(struct d_ocp_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_ocp_qcqp_ipm_get_stat(struct d_ocp_qcqp_ipm_ws *ws, double **stat);
-//
-void d_ocp_qcqp_ipm_get_stat_m(struct d_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_ocp_qcqp_init_var(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
-//
-void d_ocp_qcqp_ipm_solve(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QCQP_IPM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
deleted file mode 100644
index 077f134677..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_RES_H_
-#define HPIPM_D_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qcqp_dim.h>
-#include <hpipm_d_ocp_qcqp.h>
-#include <hpipm_d_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_res
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_res_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_res_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_ocp_qcqp_res_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_res_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res_ws *workspace, void *mem);
-//
-void d_ocp_qcqp_res_compute(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_res *res, struct d_ocp_qcqp_res_ws *ws);
-//
-void d_ocp_qcqp_res_compute_inf_norm(struct d_ocp_qcqp_res *res);
-//
-void d_ocp_qcqp_res_get_max_res_stat(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_eq(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_ineq(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_comp(struct d_ocp_qcqp_res *res, double *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QCQP_RES_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
deleted file mode 100644
index 68adbfce2d..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_SOL_H_
-#define HPIPM_D_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_sol
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_sol_strsize();
-//
-hpipm_size_t d_ocp_qcqp_sol_memsize(struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_sol_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void d_ocp_qcqp_sol_copy_all(struct d_ocp_qcqp_sol *qp_sol_orig, struct d_ocp_qcqp_sol *qp_sol_dest);
-//
-void d_ocp_qcqp_sol_get(char *field, int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_u(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_x(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_sl(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_su(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_pi(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_lb(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_ub(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_lg(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_ug(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_set(char *field, int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_u(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_x(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_sl(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_su(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
deleted file mode 100644
index 00248f1dbe..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_UTILS_H_
-#define HPIPM_D_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_ocp_qcqp_dim_print(struct d_ocp_qcqp_dim *qcqp_dim);
-//
-void d_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim);
-//
-void d_ocp_qcqp_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_sol_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void d_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_res_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
deleted file mode 100644
index ca26cdba34..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
+++ /dev/null
@@ -1,306 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_H_
-#define HPIPM_D_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_dmat *DCt; // inequality constraints matrix
-	struct blasfeo_dvec *b; // dynamics vector
-	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
-	int *diag_H_flag; // flag the fact that Hessian is diagonal
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_strsize();
-//
-hpipm_size_t d_ocp_qp_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp *qp, void *memory);
-//
-void d_ocp_qp_copy_all(struct d_ocp_qp *qp_orig, struct d_ocp_qp *qp_dest);
-
-// setters
-//
-void d_ocp_qp_set_all_zero(struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_rhs_zero(struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_all_rowmaj(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set(char *field_name, int stage, void *value, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_A(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_B(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_b(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Q(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_S(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_R(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_q(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_r(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lb(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lb_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ub(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ub_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbx_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubx_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbu_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubu_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxb(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbx(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbu(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_C(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_D(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lg(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lg_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ug(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ug_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Zl(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Zu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_zl(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_zu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lls(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lls_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lus(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lus_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxs(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxs_rev(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsg(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxe(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbxe(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbue(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxge(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbxe(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbue(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jge(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_diag_H_flag(int stage, int *value, struct d_ocp_qp *qp);
-
-// getters
-//
-void d_ocp_qp_get(char *field, int stage, struct d_ocp_qp *qp, void *value);
-//
-void d_ocp_qp_get_A(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_B(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_b(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Q(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_S(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_R(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_q(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_r(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ub(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ub_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lb(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lb_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbx_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubx_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbu_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubu_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_idxb(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_idxbx(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jbx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-//void d_ocp_qp_get_idxbu(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jbu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_C(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_D(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_lg(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lg_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ug(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ug_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Zl(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Zu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_zl(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_zu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lls(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lls_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lus(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lus_mask(int stage, struct d_ocp_qp *qp, double *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void d_ocp_qp_get_idxs(int stage, struct d_ocp_qp *qp, int *vec);
-//
-void d_ocp_qp_get_idxs_rev(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jsbu(int stage, struct d_ocp_qp *qp, float *vec);
-//
-//void d_ocp_qp_get_Jsbx(int stage, struct d_ocp_qp *qp, float *vec);
-//
-//void d_ocp_qp_get_Jsg(int stage, struct d_ocp_qp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
deleted file mode 100644
index dcfb801d31..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
+++ /dev/null
@@ -1,142 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_DIM_H_
-#define HPIPM_D_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_dim
-	{
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of state box constraints
-	int *nbu; // number of input box constraints
-	int *ng; // number of general constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nbxe; // number of state box constraints which are equality
-	int *nbue; // number of input box constraints which are equality
-	int *nge; // number of general constraints which are equality
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_dim_strsize();
-//
-hpipm_size_t d_ocp_qp_dim_memsize(int N);
-//
-void d_ocp_qp_dim_create(int N, struct d_ocp_qp_dim *qp_dim, void *memory);
-//
-void d_ocp_qp_dim_copy_all(struct d_ocp_qp_dim *dim_orig, struct d_ocp_qp_dim *dim_dest);
-//
-void d_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set(char *field, int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_ng(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_ns(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsbx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsbu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsg(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbxe(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbue(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nge(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_get(struct d_ocp_qp_dim *dim, char *field, int stage, int *value);
-//
-void d_ocp_qp_dim_get_N(struct d_ocp_qp_dim *dim, int *value);
-//
-void d_ocp_qp_dim_get_nx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_ng(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_ns(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsbx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsbu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsg(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbxe(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbue(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nge(struct d_ocp_qp_dim *dim, int stage, int *value);
-
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
deleted file mode 100644
index d2a2833f22..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
+++ /dev/null
@@ -1,250 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_IPM_H_
-#define HPIPM_D_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_res.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_ipm_arg
-	{
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different steps for primal and dual variables
-	int var_init_scheme; // variables initialization scheme
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qp_ipm_ws
-	{
-	double qp_res[4]; // infinity norm of residuals
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_ocp_qp_dim *dim; // cache dim
-	struct d_ocp_qp_res_ws *res_workspace;
-	struct d_ocp_qp_sol *sol_step;
-	struct d_ocp_qp_sol *sol_itref;
-	struct d_ocp_qp *qp_step;
-	struct d_ocp_qp *qp_itref;
-	struct d_ocp_qp_res *res_itref;
-	struct d_ocp_qp_res *res;
-	struct blasfeo_dvec *Gamma; // hessian update
-	struct blasfeo_dvec *gamma; // hessian update
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nxM
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *Pb; // Pb
-	struct blasfeo_dvec *Zs_inv;
-	struct blasfeo_dvec *tmp_m;
-	struct blasfeo_dvec *l; // cache linear part for _get_ric_xxx
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Ls;
-	struct blasfeo_dmat *P;
-	struct blasfeo_dmat *Lh;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dmat *tmp_nxM_nxM;
-	double *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int square_root_alg; // cache from arg
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int valid_ric_vec; // meaningful riccati vectors
-	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_ipm_arg_strsize();
-//
-hpipm_size_t d_ocp_qp_ipm_arg_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_ipm_arg_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, void *mem);
-//
-void d_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_arg_set(char *field, void *value, struct d_ocp_qp_ipm_arg *arg);
-// set maximum number of iterations
-void d_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_ocp_qp_ipm_arg *arg);
-// set minimum step lenght
-void d_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_ocp_qp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
-// set regularization of primal variables
-void d_ocp_qp_ipm_arg_set_reg_prim(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_ocp_qp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_ocp_qp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void d_ocp_qp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qp_ipm_arg *arg);
-// dual solution of equality constraints (only for abs_form==1)
-void d_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_ocp_qp_ipm_arg *arg);
-// compute residuals after solution
-void d_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qp_ipm_arg *arg);
-// compute residuals of prediction
-void d_ocp_qp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of lam in the solution
-void d_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of t in the solution
-void d_ocp_qp_ipm_arg_set_t_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of tau in the solution
-void d_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// set split step: 0 same step, 1 different step for primal and dual variables
-void d_ocp_qp_ipm_arg_set_split_step(int *value, struct d_ocp_qp_ipm_arg *arg);
-// variables initialization scheme
-void d_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct d_ocp_qp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_ocp_qp_ipm_ws_strsize();
-//
-hpipm_size_t d_ocp_qp_ipm_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, void *mem);
-//
-void d_ocp_qp_ipm_get(char *field, struct d_ocp_qp_ipm_ws *ws, void *value);
-//
-void d_ocp_qp_ipm_get_status(struct d_ocp_qp_ipm_ws *ws, int *status);
-//
-void d_ocp_qp_ipm_get_iter(struct d_ocp_qp_ipm_ws *ws, int *iter);
-//
-void d_ocp_qp_ipm_get_max_res_stat(struct d_ocp_qp_ipm_ws *ws, double *res_stat);
-//
-void d_ocp_qp_ipm_get_max_res_eq(struct d_ocp_qp_ipm_ws *ws, double *res_eq);
-//
-void d_ocp_qp_ipm_get_max_res_ineq(struct d_ocp_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_ocp_qp_ipm_get_max_res_comp(struct d_ocp_qp_ipm_ws *ws, double *res_comp);
-//
-void d_ocp_qp_ipm_get_stat(struct d_ocp_qp_ipm_ws *ws, double **stat);
-//
-void d_ocp_qp_ipm_get_stat_m(struct d_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void d_ocp_qp_ipm_get_ric_Lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Lr);
-//
-void d_ocp_qp_ipm_get_ric_Ls(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Ls);
-//
-void d_ocp_qp_ipm_get_ric_P(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *P);
-//
-void d_ocp_qp_ipm_get_ric_lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *lr);
-//
-void d_ocp_qp_ipm_get_ric_p(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *p);
-// feedback control gain in the form u = K x + k
-void d_ocp_qp_ipm_get_ric_K(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *K);
-// feedback control gain in the form u = K x + k
-void d_ocp_qp_ipm_get_ric_k(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *k);
-//
-void d_ocp_qp_init_var(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_abs_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_delta_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_solve(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_predict(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_sens(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
deleted file mode 100644
index 19dcec32ca..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_KKT_H_
-#define HPIPM_D_OCP_QP_KKT_H_
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-//
-void d_ocp_qp_fact_solve_kkt_unconstr(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_fact_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_fact_lq_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
deleted file mode 100644
index f0482b0444..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_RED_H_
-#define HPIPM_D_OCP_QP_RED_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_reduce_eq_dof_arg
-	{
-	double lam_min;
-	double t_min;
-	int alias_unchanged; // do not keep copy unchanged stage
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-struct d_ocp_qp_reduce_eq_dof_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM;
-	struct blasfeo_dvec *tmp_nbgM;
-	int *e_imask_ux;
-	int *e_imask_d;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-void d_ocp_qp_dim_reduce_eq_dof(struct d_ocp_qp_dim *dim, struct d_ocp_qp_dim *dim_red);
-//
-hpipm_size_t d_ocp_qp_reduce_eq_dof_arg_memsize();
-//
-void d_ocp_qp_reduce_eq_dof_arg_create(struct d_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_default(struct d_ocp_qp_reduce_eq_dof_arg *arg);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-hpipm_size_t d_ocp_qp_reduce_eq_dof_ws_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_reduce_eq_dof_ws_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_reduce_eq_dof_ws *work, void *mem);
-//
-void d_ocp_qp_reduce_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_reduce_eq_dof_lhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_reduce_eq_dof_rhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_restore_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol_red, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_RED_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
deleted file mode 100644
index 061c5729cd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_RES_H_
-#define HPIPM_D_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_res
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_res_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_res_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t d_ocp_qp_res_ws_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_res_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res_ws *workspace, void *mem);
-//
-void d_ocp_qp_res_compute(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
-//
-void d_ocp_qp_res_compute_lin(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_sol *qp_step, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
-//
-void d_ocp_qp_res_compute_inf_norm(struct d_ocp_qp_res *res);
-//
-void d_ocp_qp_res_get_all(struct d_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
-//
-void d_ocp_qp_res_get_max_res_stat(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_eq(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_ineq(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_comp(struct d_ocp_qp_res *res, double *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_RES_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
deleted file mode 100644
index eb91f3a7b1..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_SOL_H_
-#define HPIPM_D_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_sol
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_sol_strsize();
-//
-hpipm_size_t d_ocp_qp_sol_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_sol_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_sol *qp_sol, void *memory);
-//
-void d_ocp_qp_sol_copy_all(struct d_ocp_qp_sol *qp_sol_orig, struct d_ocp_qp_sol *qp_sol_dest);
-//
-void d_ocp_qp_sol_get_all(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_ocp_qp_sol_get_all_rowmaj(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_ocp_qp_sol_set_all(double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_get(char *field, int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_u(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_x(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_sl(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_su(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_pi(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lb(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lbu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lbx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ub(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ubu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ubx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lg(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ug(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_set(char *field, int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_u(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_x(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_sl(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_su(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
deleted file mode 100644
index 217e9d94ae..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_UTILS_H_
-#define HPIPM_D_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qp_sol.h"
-#include "hpipm_d_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_ocp_qp_dim_print(struct d_ocp_qp_dim *qp_dim);
-//
-void d_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim);
-//
-void d_ocp_qp_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_sol_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_sol *ocp_qp_sol);
-//
-void d_ocp_qp_ipm_arg_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_res_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_UTILS_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
deleted file mode 100644
index 1c5f785035..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_PART_COND_H_
-#define HPIPM_D_PART_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_common.h"
-#include "hpipm_d_cond.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_part_cond_qp_arg
-	{
-	struct d_cond_qp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_part_cond_qp_ws
-	{
-	struct d_cond_qp_ws *cond_workspace;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_part_cond_qp_arg_memsize(int N2);
-//
-void d_part_cond_qp_arg_create(int N2, struct d_part_cond_qp_arg *cond_arg, void *mem);
-//
-void d_part_cond_qp_arg_set_default(struct d_part_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void d_part_cond_qp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_prim_sol(int value, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_part_cond_qp_arg *cond_arg);
-
-//
-void d_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
-//
-void d_part_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim);
-//
-hpipm_size_t d_part_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws, void *mem);
-//
-void d_part_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_ocp_qp_sol *part_dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-
-//
-void d_part_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
deleted file mode 100644
index 2d6624e5bb..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_PART_COND_QCQP_H_
-#define HPIPM_D_PART_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_cond_qcqp.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_part_cond_qcqp_arg
-	{
-	struct d_cond_qcqp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_part_cond_qcqp_ws
-	{
-	struct d_cond_qcqp_ws *cond_ws;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_part_cond_qcqp_arg_memsize(int N2);
-//
-void d_part_cond_qcqp_arg_create(int N2, struct d_part_cond_qcqp_arg *cond_arg, void *mem);
-//
-void d_part_cond_qcqp_arg_set_default(struct d_part_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void d_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qcqp_arg *cond_arg);
-
-//
-void d_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
-//
-void d_part_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim);
-//
-hpipm_size_t d_part_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg);
-//
-void d_part_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws, void *mem);
-//
-void d_part_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_ocp_qcqp_sol *part_dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
deleted file mode 100644
index 320b66bb28..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_SIM_ERK_H_
-#define HPIPM_D_SIM_ERK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_sim_erk_arg
-	{
-	struct d_sim_rk_data *rk_data; // integrator data
-	double h; // step size
-	int steps; // number of steps
-//	int for_sens; // compute adjoint sensitivities
-//	int adj_sens; // compute adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_sim_erk_ws
-	{
-	void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode
-	void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde
-	void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde
-	void *ode_args; // pointer to ode args
-	struct d_sim_erk_arg *erk_arg; // erk arg
-	double *K; // internal variables
-	double *x_for; // states and forward sensitivities
-	double *x_traj; // states at all steps
-	double *l; // adjoint sensitivities
-	double *p; // parameter
-	double *x_tmp; // temporary states and forward sensitivities
-	double *adj_in;
-	double *adj_tmp;
-	int nx; // number of states
-	int np; // number of parameters
-	int nf; // number of forward sensitivities
-	int na; // number of adjoint sensitivities
-	int nf_max; // max number of forward sensitivities
-	int na_max; // max number of adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_sim_erk_arg_memsize();
-//
-void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem);
-//
-void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg);
-
-//
-hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
-//
-void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory);
-//
-void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work);
-// number of directions for forward sensitivities
-void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work);
-// parameters (e.g. inputs)
-void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work);
-// state
-void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work);
-// forward sensitivities
-void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work);
-// ode funtion
-void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
-// forward vde function
-void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
-// ode_args, passed straight to the ode/vde_for/vde_adj functions
-void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work);
-// state
-void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x);
-// forward sensitivities
-void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs);
-//
-void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_ERK_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
deleted file mode 100644
index a50dcbb491..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_SIM_RK_H_
-#define HPIPM_D_SIM_RK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_sim_rk_data
-	{
-	double *A_rk; // A in butcher tableau
-	double *B_rk; // b in butcher tableau
-	double *C_rk; // c in butcher tableau
-	int expl; // erk vs irk
-	int ns; // number of stages
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_sim_rk_data_memsize(int ns);
-//
-void d_sim_rk_data_create(int ns, struct d_sim_rk_data *rk_data, void *memory);
-//
-void d_sim_rk_data_init_default(char *field, struct d_sim_rk_data *rk_data);
-//
-void d_sim_rk_data_set_all(int expl, double *A_rk, double *B_rk, double *C_rk, struct d_sim_rk_data *rk_data);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_RK_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
deleted file mode 100644
index f36b51a064..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
+++ /dev/null
@@ -1,213 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_H_
-#define HPIPM_D_TREE_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_common.h"
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dmat *BAbt; // Nn-1
-	struct blasfeo_dmat *RSQrq; // Nn
-	struct blasfeo_dmat *DCt; // Nn
-	struct blasfeo_dmat **Hq; // Nn
-	struct blasfeo_dvec *b; // Nn-1
-	struct blasfeo_dvec *rqz; // Nn
-	struct blasfeo_dvec *d; // Nn
-	struct blasfeo_dvec *d_mask; // Nn
-	struct blasfeo_dvec *m; // Nn
-	struct blasfeo_dvec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_memsize(struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp *qp, void *memory);
-//
-void d_tree_ocp_qcqp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_A(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_B(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_b(int edge, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Q(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_S(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_R(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_q(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_r(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lb(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ub(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxb(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_C(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_D(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ug(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Qq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Sq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Rq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_qq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_rq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_uq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_uq_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lls(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lus(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxs(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxge(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jbue(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jge(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qcqp *qp);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
deleted file mode 100644
index 257b82b252..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_DIM_H_
-#define HPIPM_D_TREE_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_dim
-	{
-	struct d_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_dim_memsize(int Nn);
-//
-void d_tree_ocp_qcqp_dim_create(int Nn, struct d_tree_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void d_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
deleted file mode 100644
index 4a0fed1067..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_IPM_H_
-#define HPIPM_D_TREE_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qcqp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qcqp_res.h>
-#include <hpipm_d_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_ipm_arg
-	{
-	struct d_tree_ocp_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-//	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qcqp_ipm_ws
-	{
-	struct d_tree_ocp_qp_ipm_ws *qp_ws;
-	struct d_tree_ocp_qp *qp;
-	struct d_tree_ocp_qp_sol *qp_sol;
-	struct d_tree_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct d_tree_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_arg_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_ipm_arg_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void d_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void d_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void d_tree_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_tree_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_tree_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_tree_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_tree_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_tree_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void d_tree_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-//void d_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void d_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-//void d_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void d_tree_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void d_tree_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void d_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_ipm_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void d_tree_ocp_qcqp_ipm_get(char *field, struct d_tree_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void d_tree_ocp_qcqp_ipm_get_status(struct d_tree_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void d_tree_ocp_qcqp_ipm_get_iter(struct d_tree_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_eq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_ineq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_comp(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_tree_ocp_qcqp_ipm_get_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double **stat);
-//
-void d_tree_ocp_qcqp_ipm_get_stat_m(struct d_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_tree_ocp_qcqp_init_var(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
-//
-void d_tree_ocp_qcqp_ipm_solve(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
deleted file mode 100644
index 69eebb1ba4..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_RES_H_
-#define HPIPM_D_TREE_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qcqp_dim.h>
-#include <hpipm_d_tree_ocp_qcqp.h>
-#include <hpipm_d_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_res
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_res_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_res_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_tree_ocp_qcqp_res_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_res_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res_ws *ws, void *mem);
-//
-void d_tree_ocp_qcqp_res_compute(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_res *res, struct d_tree_ocp_qcqp_res_ws *ws);
-//
-void d_tree_ocp_qcqp_res_compute_inf_norm(struct d_tree_ocp_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
deleted file mode 100644
index cde8de5c51..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_SOL_H_
-#define HPIPM_D_TREE_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_tree_ocp_qcqp_sol
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_sol_memsize(struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_sol_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void d_tree_ocp_qcqp_sol_get(char *field, int node_edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_u(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_x(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_sl(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_su(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_pi(int edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_lb(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_ub(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_lg(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_ug(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
deleted file mode 100644
index 5ef04fcf66..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
-#define HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-#include "hpipm_d_tree_ocp_qcqp.h"
-#include "hpipm_d_tree_ocp_qcqp_sol.h"
-#include "hpipm_d_tree_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_tree_ocp_qcqp_dim_print(struct d_tree_ocp_qcqp_dim *qp_dim);
-//
-//void d_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim);
-//
-void d_tree_ocp_qcqp_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_sol_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void d_tree_ocp_qcqp_ipm_arg_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-//void d_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_res_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
deleted file mode 100644
index 1666ad7c71..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_H_
-#define HPIPM_D_TREE_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dmat *BAbt; // Nn-1
-	struct blasfeo_dmat *RSQrq; // Nn
-	struct blasfeo_dmat *DCt; // Nn
-	struct blasfeo_dvec *b; // Nn-1
-	struct blasfeo_dvec *rqz; // Nn
-	struct blasfeo_dvec *d; // Nn
-	struct blasfeo_dvec *d_mask; // Nn
-	struct blasfeo_dvec *m; // Nn
-	struct blasfeo_dvec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-//	int **idxs; // index of soft constraints
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp *qp, void *memory);
-//
-void d_tree_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_A(int edge, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_B(int edge, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_b(int edge, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Q(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_S(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_R(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_q(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_r(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lb(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ub(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxb(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxbx(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxbu(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_C(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_D(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lg(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ug(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Zl(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Zu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_zl(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_zu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lls(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lus(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxs(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsg(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxe(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxbue(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxge(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jbue(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jge(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qp *qp);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
deleted file mode 100644
index 659b664594..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_DIM_H_
-#define HPIPM_D_TREE_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_dim
-	{
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_dim_strsize();
-//
-hpipm_size_t d_tree_ocp_qp_dim_memsize(int Nn);
-//
-void d_tree_ocp_qp_dim_create(int Nn, struct d_tree_ocp_qp_dim *qp_dim, void *memory);
-//
-void d_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_ng(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_ns(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nge(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
deleted file mode 100644
index fb634208ce..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
+++ /dev/null
@@ -1,209 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_TREE_OCP_QP_IPM_H_
-#define HPIPM_D_TREE_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qp_res.h>
-#include <hpipm_d_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_ipm_arg
-	{
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qp_ipm_ws
-	{
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_tree_ocp_qp_res_ws *res_workspace;
-	struct d_tree_ocp_qp_sol *sol_step;
-	struct d_tree_ocp_qp_sol *sol_itref;
-	struct d_tree_ocp_qp *qp_step;
-	struct d_tree_ocp_qp *qp_itref;
-	struct d_tree_ocp_qp_res *res_itref;
-	struct d_tree_ocp_qp_res *res;
-	struct blasfeo_dvec *Gamma; // hessian update
-	struct blasfeo_dvec *gamma; // hessian update
-	struct blasfeo_dvec *tmp_nxM; // work space of size nxM
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbgM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *Pb; // Pb
-	struct blasfeo_dvec *Zs_inv;
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Lh;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dvec *tmp_m;
-	double *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	double qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_ipm_arg_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_ipm_arg_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, void *mem);
-//
-void d_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_reg_prim(double *reg, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_tree_ocp_qp_ipm_ws_memsize(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_ws_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws, void *mem);
-//
-void d_tree_ocp_qp_ipm_get_status(struct d_tree_ocp_qp_ipm_ws *ws, int *status);
-//
-void d_tree_ocp_qp_ipm_get_iter(struct d_tree_ocp_qp_ipm_ws *ws, int *iter);
-//
-void d_tree_ocp_qp_ipm_get_max_res_stat(struct d_tree_ocp_qp_ipm_ws *ws, double *res_stat);
-//
-void d_tree_ocp_qp_ipm_get_max_res_eq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_eq);
-//
-void d_tree_ocp_qp_ipm_get_max_res_ineq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_tree_ocp_qp_ipm_get_max_res_comp(struct d_tree_ocp_qp_ipm_ws *ws, double *res_comp);
-//
-void d_tree_ocp_qp_ipm_get_stat(struct d_tree_ocp_qp_ipm_ws *ws, double **stat);
-//
-void d_tree_ocp_qp_ipm_get_stat_m(struct d_tree_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void d_tree_ocp_qp_init_var(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_abs_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_delta_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_solve(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
deleted file mode 100644
index 4afd52fe4b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-//
-void d_tree_ocp_qp_fact_solve_kkt_unconstr(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_fact_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_fact_lq_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
deleted file mode 100644
index fe499080ea..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_RES_H_
-#define HPIPM_D_TREE_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_res
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_res_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
-//
-void d_tree_ocp_qp_res_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t d_tree_ocp_qp_res_ws_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
-//
-void d_tree_ocp_qp_res_ws_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res_ws *ws, void *mem);
-//
-void d_tree_ocp_qp_res_get_all(struct d_tree_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
-//
-void d_tree_ocp_qp_res_compute(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
-//
-void d_tree_ocp_qp_res_compute_lin(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_sol *qp_step, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
-//
-void d_tree_ocp_qp_res_compute_inf_norm(struct d_tree_ocp_qp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
deleted file mode 100644
index 343d5e8ca6..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_SOL_H_
-#define HPIPM_D_TREE_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_tree_ocp_qp_sol
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_sol_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_sol_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_sol *qp_sol, void *memory);
-//
-void d_tree_ocp_qp_sol_get_all(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_tree_ocp_qp_sol_get(char *field, int node_edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_u(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_x(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_sl(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_su(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_pi(int edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_lb(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_ub(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_lg(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_ug(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
deleted file mode 100644
index b689fdc0fa..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
-#define HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-#include "hpipm_d_tree_ocp_qp.h"
-#include "hpipm_d_tree_ocp_qp_sol.h"
-#include "hpipm_d_tree_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_tree_ocp_qp_dim_print(struct d_tree_ocp_qp_dim *qp_dim);
-//
-//void d_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim);
-//
-void d_tree_ocp_qp_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_sol_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_sol *ocp_qp_sol);
-//
-void d_tree_ocp_qp_ipm_arg_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-//void d_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_res_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
deleted file mode 100644
index 8bc101003e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-
-#ifndef HPIPM_M_DENSE_QP_H_
-#define HPIPM_M_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_s_dense_qp.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void cvt_d2s_dense_qp(struct d_dense_qp *qpd, struct s_dense_qp *qps);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_M_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
deleted file mode 100644
index 4610321b97..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-
-#ifndef HPIPM_M_DENSE_QP_DIM_H_
-#define HPIPM_M_DENSE_QP_DIM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void cvt_d2s_dense_qp_dim(struct d_dense_qp_dim *qpd, struct s_dense_qp_dim *qps);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_M_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
deleted file mode 100644
index 95c3dad1aa..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void m_cvt_d_ocp_qp_to_s_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
deleted file mode 100644
index 1c44acee2e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-struct m_ipm_hard_ocp_qp_workspace
-	{
-	struct d_ipm_hard_core_qp_workspace *core_workspace;
-	struct blasfeo_dvec *dux;
-	struct blasfeo_dvec *dpi;
-	struct blasfeo_dvec *dt_lb;
-	struct blasfeo_dvec *dt_lg;
-	struct blasfeo_svec *sdux; // XXX
-	struct blasfeo_svec *sdpi; // XXX
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals XXX remove ???
-	struct blasfeo_dvec *res_d_lb; // d-residuals
-	struct blasfeo_dvec *res_d_ub; // d-residuals
-	struct blasfeo_dvec *res_d_lg; // d-residuals
-	struct blasfeo_dvec *res_d_ug; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	struct blasfeo_dvec *res_m_lb; // m-residuals
-	struct blasfeo_dvec *res_m_ub; // m-residuals
-	struct blasfeo_dvec *res_m_lg; // m-residuals
-	struct blasfeo_dvec *res_m_ug; // m-residuals
-	struct blasfeo_svec *sres_g; // q-residuals // XXX
-	struct blasfeo_svec *sres_b; // b-residuals // XXX
-	struct blasfeo_dvec *Qx_lb; // hessian update
-	struct blasfeo_dvec *Qx_lg; // hessian update
-	struct blasfeo_dvec *qx_lb; // gradient update
-	struct blasfeo_dvec *qx_lg; // gradient update
-	struct blasfeo_svec *sQx_lb; // hessian update // XXX
-	struct blasfeo_svec *sQx_lg; // hessian update // XXX
-	struct blasfeo_svec *sqx_lb; // gradient update // XXX
-	struct blasfeo_svec *sqx_lg; // gradient update // XXX
-	struct blasfeo_dvec *tmp_nbM; // work space of size nbM
-	struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX
-	struct blasfeo_dvec *tmp_ngM; // work space of size ngM
-	struct blasfeo_svec *Pb; // Pb // XXX
-	struct blasfeo_smat *L; // XXX
-	struct blasfeo_smat *AL; // XXX
-	struct blasfeo_svec *sSx; // scaling
-	struct blasfeo_svec *sSi; // scaling inverted
-	double *stat; // convergence statistics
-	double res_mu; // mu-residual
-	int iter; // iteration number
-	int compute_Pb;
-	int scale;
-	};
-
-
-
-struct m_ipm_hard_ocp_qp_arg
-	{
-	double alpha_min; // exit cond on step length
-	double mu_max; // exit cond on duality measure
-	double mu0; // initial value for duality measure
-	int iter_max; // exit cond in iter number
-	};
-
-
-
-//
-hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg);
-//
-void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem);
-//
-void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
-//
-void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
deleted file mode 100644
index 032fe95b1f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void m_fact_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
-void m_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
deleted file mode 100644
index ba01ecb3bd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_CAST_QCQP_H_
-#define HPIPM_S_CAST_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp.h"
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_cast_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
-//
-void s_cast_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_CAST_QCQP_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_cond.h
deleted file mode 100644
index 30116798b7..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_H_
-#define HPIPM_S_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp.h"
-#include "hpipm_s_dense_qp_sol.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qp_dim.h"
-#include "hpipm_s_ocp_qp_sol.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_cond_qp_arg
-	{
-	int cond_last_stage; // condense last stage
-	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_cond_qp_ws
-	{
-	struct blasfeo_smat *Gamma;
-	struct blasfeo_smat *GammaQ;
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Lx;
-	struct blasfeo_smat *AL;
-	struct blasfeo_svec *Gammab;
-	struct blasfeo_svec *l;
-	struct blasfeo_svec *tmp_nbgM;
-	struct blasfeo_svec *tmp_nuxM;
-	int bs; // block size
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_cond_qp_arg_memsize();
-//
-void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem);
-//
-void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg);
-// condensing algorithm: 0 N2-nx3, 1 N3-nx2
-void s_cond_qp_arg_set_cond_alg(int cond_alg, struct s_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void s_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_prim_sol(int value, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_cond_qp_arg *cond_arg);
-
-//
-void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim);
-//
-hpipm_size_t s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem);
-//
-void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-// TODO remove
-void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-//
-void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
deleted file mode 100644
index 003472ab9f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_AUX_H_
-#define HPIPM_S_COND_AUX_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_cond_BAbt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_BAt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_b(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_RSQrq(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_RSQ(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_rq(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_DCtd(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, int *idxs_rev2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_DCt(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, int *idxs_rev2, struct blasfeo_svec *Z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_d(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-//
-void s_update_cond_BAbt(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_update_cond_RSQrq_N2nx3(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_update_cond_DCtd(int *idxc, struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, int *idxs2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
deleted file mode 100644
index c36678abd5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
+++ /dev/null
@@ -1,130 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_QCQP_H_
-#define HPIPM_S_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp.h"
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_cond_qcqp_arg
-	{
-	struct s_cond_qp_arg *qp_arg;
-	int cond_last_stage; // condense last stage
-//	int cond_variant; // TODO
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_cond_qcqp_ws
-	{
-	struct s_cond_qp_ws *qp_ws;
-	struct blasfeo_smat *hess_array; // TODO remove
-	struct blasfeo_smat *zero_hess; // TODO remove
-	struct blasfeo_svec *zero_grad; // TODO remove
-	struct blasfeo_svec *grad_array; // TODO remove
-	struct blasfeo_svec *tmp_nvc;
-	struct blasfeo_svec *tmp_nuxM;
-	struct blasfeo_smat *GammaQ;
-	struct blasfeo_smat *tmp_DCt;
-	struct blasfeo_smat *tmp_nuM_nxM;
-//	struct blasfeo_svec *d_qp;
-//	struct blasfeo_svec *d_mask_qp;
-	hpipm_size_t memsize;
-	};
-
-
-//
-hpipm_size_t s_cond_qcqp_arg_memsize();
-//
-void s_cond_qcqp_arg_create(struct s_cond_qcqp_arg *cond_arg, void *mem);
-//
-void s_cond_qcqp_arg_set_default(struct s_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void s_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_cond_qcqp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void s_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qcqp_arg *cond_arg);
-
-//
-void s_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
-//
-hpipm_size_t s_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg);
-//
-void s_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws, void *mem);
-//
-void s_cond_qcqp_qc(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_qc_lhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_qc_rhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp_sol *dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
deleted file mode 100644
index 480392c7d9..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_
-#define HPIPM_S_CORE_QP_IPM_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_core_qp_ipm_workspace
-	{
-	float *v; // primal variables
-	float *pi; // equality constraints multipliers
-	float *lam; // inequality constraints multipliers
-	float *t; // inequality constraints slacks
-	float *t_inv; // inverse of t
-	float *v_bkp; // backup of primal variables
-	float *pi_bkp; // backup of equality constraints multipliers
-	float *lam_bkp; // backup of inequality constraints multipliers
-	float *t_bkp; // backup of inequality constraints slacks
-	float *dv; // step in v
-	float *dpi; // step in pi
-	float *dlam; // step in lam
-	float *dt; // step in t
-	float *res_g; // q-residuals
-	float *res_b; // b-residuals
-	float *res_d; // d-residuals
-	float *res_m; // m-residuals
-	float *res_m_bkp; // m-residuals
-	float *Gamma; // Hessian update
-	float *gamma; // gradient update
-	float alpha_prim; // step length
-	float alpha_dual; // step length
-	float alpha; // step length
-	float sigma; // centering XXX
-	float mu; // duality measuere
-	float mu_aff; // affine duality measuere
-	float nc_inv; // 1.0/nc, where nc is the total number of constraints
-	float nc_mask_inv; // 1.0/nc_mask
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float t_min_inv; // inverse of min value in t vector
-	float tau_min; // min value of barrier parameter
-	int nv; // number of primal variables
-	int ne; // number of equality constraints
-	int nc; // (twice the) number of (two-sided) inequality constraints
-	int nc_mask; // total number of ineq constr after masking
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_memsize_core_qp_ipm(int nv, int ne, int nc);
-//
-void s_create_core_qp_ipm(int nv, int ne, int nc, struct s_core_qp_ipm_workspace *workspace, void *mem);
-//
-void s_core_qp_ipm(struct s_core_qp_ipm_workspace *workspace);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
deleted file mode 100644
index 1ac3d7ede9..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_AUX_
-#define HPIPM_S_CORE_QP_IPM_AUX_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_compute_Gamma_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_lam_t_qp(float *res_d, float *res_m, float *dlam, float *dt, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_alpha_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_update_var_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_mu_aff_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_backup_res_m(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_centering_correction_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_centering_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_tau_min_qp(struct s_core_qp_ipm_workspace *rws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
deleted file mode 100644
index d03c065375..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
+++ /dev/null
@@ -1,200 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_H_
-#define HPIPM_S_DENSE_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_smat *Hv; // hessian of cost & vector work space
-	struct blasfeo_smat *A; // equality constraint matrix
-	struct blasfeo_smat *Ct; // inequality constraints matrix
-	struct blasfeo_smat *Hq; // hessians of quadratic constraints
-	struct blasfeo_svec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *b; // equality constraint vector
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp *qp, void *memory);
-
-//
-void s_dense_qcqp_set(char *field, void *value, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_H(float *H, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_g(float *g, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_A(float *A, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_b(float *b, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxb(int *idxb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lb(float *lb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lb_mask(float *lb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ub(float *ub, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ub_mask(float *ub, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_C(float *C, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lg(float *lg, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lg_mask(float *lg, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ug(float *ug, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ug_mask(float *ug, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Hq(float *Hq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_gq(float *gq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_uq(float *uq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_uq_mask(float *uq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxs(int *idxs, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxs_rev(int *idxs_rev, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Zl(float *Zl, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Zu(float *Zu, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_zl(float *zl, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_zu(float *zu, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ls(float *ls, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ls_mask(float *ls, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_us(float *us, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_us_mask(float *us, struct s_dense_qcqp *qp);
-
-// getters (COLMAJ)
-
-void s_dense_qcqp_get_H(struct s_dense_qcqp *qp, float *H);
-//
-void s_dense_qcqp_get_g(struct s_dense_qcqp *qp, float *g);
-//
-void s_dense_qcqp_get_A(struct s_dense_qcqp *qp, float *A);
-//
-void s_dense_qcqp_get_b(struct s_dense_qcqp *qp, float *b);
-//
-void s_dense_qcqp_get_idxb(struct s_dense_qcqp *qp, int *idxb);
-//
-void s_dense_qcqp_get_lb(struct s_dense_qcqp *qp, float *lb);
-//
-void s_dense_qcqp_get_lb_mask(struct s_dense_qcqp *qp, float *lb);
-//
-void s_dense_qcqp_get_ub(struct s_dense_qcqp *qp, float *ub);
-//
-void s_dense_qcqp_get_ub_mask(struct s_dense_qcqp *qp, float *ub);
-//
-void s_dense_qcqp_get_C(struct s_dense_qcqp *qp, float *C);
-//
-void s_dense_qcqp_get_lg(struct s_dense_qcqp *qp, float *lg);
-//
-void s_dense_qcqp_get_lg_mask(struct s_dense_qcqp *qp, float *lg);
-//
-void s_dense_qcqp_get_ug(struct s_dense_qcqp *qp, float *ug);
-//
-void s_dense_qcqp_get_ug_mask(struct s_dense_qcqp *qp, float *ug);
-//
-void s_dense_qcqp_get_idxs(struct s_dense_qcqp *qp, int *idxs);
-//
-void s_dense_qcqp_get_idxs_rev(struct s_dense_qcqp *qp, int *idxs_rev);
-//
-void s_dense_qcqp_get_Zl(struct s_dense_qcqp *qp, float *Zl);
-//
-void s_dense_qcqp_get_Zu(struct s_dense_qcqp *qp, float *Zu);
-//
-void s_dense_qcqp_get_zl(struct s_dense_qcqp *qp, float *zl);
-//
-void s_dense_qcqp_get_zu(struct s_dense_qcqp *qp, float *zu);
-//
-void s_dense_qcqp_get_ls(struct s_dense_qcqp *qp, float *ls);
-//
-void s_dense_qcqp_get_ls_mask(struct s_dense_qcqp *qp, float *ls);
-//
-void s_dense_qcqp_get_us(struct s_dense_qcqp *qp, float *us);
-//
-void s_dense_qcqp_get_us_mask(struct s_dense_qcqp *qp, float *us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
deleted file mode 100644
index 04908c2c3a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_DIM_H_
-#define HPIPM_S_DENSE_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_dim
-	{
-	struct s_dense_qp_dim *qp_dim; // dim of qp approximation
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nq;  // number of quadratic constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int nsq; // number of softened quadratic constraints
-	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_dim_memsize();
-//
-void s_dense_qcqp_dim_create(struct s_dense_qcqp_dim *dim, void *memory);
-//
-void s_dense_qcqp_dim_set(char *fiels_name, int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nv(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ne(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nb(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ng(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nq(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsb(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsg(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsq(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ns(int value, struct s_dense_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
deleted file mode 100644
index 8f85768ee3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
+++ /dev/null
@@ -1,204 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_IPM_H_
-#define HPIPM_S_DENSE_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_dense_qcqp_dim.h>
-#include <hpipm_s_dense_qcqp.h>
-#include <hpipm_s_dense_qcqp_res.h>
-#include <hpipm_s_dense_qcqp_sol.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_ipm_arg
-	{
-	struct s_dense_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float reg_dual; // reg of dual hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qcqp_ipm_ws
-	{
-//	float qp_res[4]; // infinity norm of residuals
-	struct s_dense_qp_ipm_ws *qp_ws;
-	struct s_dense_qp *qp;
-	struct s_dense_qp_sol *qp_sol;
-	struct s_dense_qcqp_res_ws *qcqp_res_ws;
-	struct s_dense_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nv;
-//	float *stat; // convergence statistics
-//	void *lq_work0;
-//	void *lq_work1;
-	int iter; // iteration number
-//	int stat_max; // iterations saved in stat
-//	int stat_m; // numer of recorded stat per ipm iter
-//	int scale;
-//	int use_hess_fact;
-	int status;
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_ipm_arg_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_ipm_arg_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_ipm_arg *arg, void *mem);
-//
-void s_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set(char *field, void *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_mu0(float *mu0, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_lam_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_t_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_split_step(int *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_dense_qcqp_ipm_ws_memsize(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_ws_create(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws, void *mem);
-//
-void s_dense_qcqp_ipm_get(char *field, struct s_dense_qcqp_ipm_ws *ws, void *value);
-//
-void s_dense_qcqp_ipm_get_status(struct s_dense_qcqp_ipm_ws *ws, int *status);
-//
-void s_dense_qcqp_ipm_get_iter(struct s_dense_qcqp_ipm_ws *ws, int *iter);
-//
-void s_dense_qcqp_ipm_get_max_res_stat(struct s_dense_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_dense_qcqp_ipm_get_max_res_eq(struct s_dense_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_dense_qcqp_ipm_get_max_res_ineq(struct s_dense_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_dense_qcqp_ipm_get_max_res_comp(struct s_dense_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_dense_qcqp_ipm_get_stat(struct s_dense_qcqp_ipm_ws *ws, float **stat);
-//
-void s_dense_qcqp_ipm_get_stat_m(struct s_dense_qcqp_ipm_ws *ws, int *stat_m);
-#if 0
-//
-void s_dense_qcqp_init_var(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#endif
-//
-void s_dense_qcqp_ipm_solve(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#if 0
-//
-void s_dense_qcqp_ipm_predict(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-//
-void s_dense_qcqp_ipm_sens(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#endif
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
deleted file mode 100644
index 779658cc8f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_RES_H_
-#define HPIPM_S_DENSE_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_dense_qcqp_dim.h>
-#include <hpipm_s_dense_qcqp.h>
-#include <hpipm_s_dense_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_res
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // infinity norm of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nv; // work space of size nv
-	struct blasfeo_svec *tmp_nbgq; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_ns; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_res_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_res_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_dense_qcqp_res_ws_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_res_ws_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res_ws *workspace, void *mem);
-//
-void s_dense_qcqp_res_compute(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_res *res, struct s_dense_qcqp_res_ws *ws);
-//
-void s_dense_qcqp_res_compute_inf_norm(struct s_dense_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_DENSE_QCQP_RES_H_
-
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
deleted file mode 100644
index 197a690e52..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_SOL_H_
-#define HPIPM_S_DENSE_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_sol
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_svec *v;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_sol_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_sol_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_sol *qp_sol, void *memory);
-//
-void s_dense_qcqp_sol_get_v(struct s_dense_qcqp_sol *qp_sol, float *v);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_SOL_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
deleted file mode 100644
index 4f5aae26eb..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_UTILS_H_
-#define HPIPM_S_DENSE_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-//#include "hpipm_s_dense_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_dense_qcqp_dim_print(struct s_dense_qcqp_dim *qp_dim);
-//
-//void s_dense_qcqp_dim_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim);
-//
-void s_dense_qcqp_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
-//
-//void s_dense_qcqp_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_sol_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_sol *dense_qcqp_sol);
-//
-//void s_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_res_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_res *dense_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_UTILS_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
deleted file mode 100644
index 3c2517fe1b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_H_
-#define HPIPM_S_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_smat *Hv; // hessian & gradient
-	struct blasfeo_smat *A; // dynamics matrix
-	struct blasfeo_smat *Ct; // constraints matrix
-	struct blasfeo_svec *gz; // gradient & gradient of slacks
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *d; // constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_create(struct s_dense_qp_dim *dim, struct s_dense_qp *qp, void *memory);
-
-// setters - colmaj
-//
-void s_dense_qp_set_all(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
-//
-void s_dense_qp_get_all(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
-//
-void s_dense_qp_set(char *field, void *value, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_H(float *H, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_g(float *g, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_A(float *A, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_b(float *b, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxb(int *idxb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jb(float *Jb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lb(float *lb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lb_mask(float *lb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ub(float *ub, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ub_mask(float *ub, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_C(float *C, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lg(float *lg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lg_mask(float *lg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ug(float *ug, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ug_mask(float *ug, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxs(int *idxs, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxs_rev(int *idxs_rev, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jsb(float *Jsb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jsg(float *Jsg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Zl(float *Zl, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Zu(float *Zu, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_us(float *us, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp);
-
-// getters - colmaj
-//
-void s_dense_qp_get_H(struct s_dense_qp *qp, float *H);
-//
-void s_dense_qp_get_g(struct s_dense_qp *qp, float *g);
-//
-void s_dense_qp_get_A(struct s_dense_qp *qp, float *A);
-//
-void s_dense_qp_get_b(struct s_dense_qp *qp, float *b);
-//
-void s_dense_qp_get_idxb(struct s_dense_qp *qp, int *idxb);
-//
-void s_dense_qp_get_lb(struct s_dense_qp *qp, float *lb);
-//
-void s_dense_qp_get_lb_mask(struct s_dense_qp *qp, float *lb);
-//
-void s_dense_qp_get_ub(struct s_dense_qp *qp, float *ub);
-//
-void s_dense_qp_get_ub_mask(struct s_dense_qp *qp, float *ub);
-//
-void s_dense_qp_get_C(struct s_dense_qp *qp, float *C);
-//
-void s_dense_qp_get_lg(struct s_dense_qp *qp, float *lg);
-//
-void s_dense_qp_get_lg_mask(struct s_dense_qp *qp, float *lg);
-//
-void s_dense_qp_get_ug(struct s_dense_qp *qp, float *ug);
-//
-void s_dense_qp_get_ug_mask(struct s_dense_qp *qp, float *ug);
-//
-void s_dense_qp_get_idxs(struct s_dense_qp *qp, int *idxs);
-//
-void s_dense_qp_get_idxs_rev(struct s_dense_qp *qp, int *idxs_rev);
-//
-void s_dense_qp_get_Zl(struct s_dense_qp *qp, float *Zl);
-//
-void s_dense_qp_get_Zu(struct s_dense_qp *qp, float *Zu);
-//
-void s_dense_qp_get_zl(struct s_dense_qp *qp, float *zl);
-//
-void s_dense_qp_get_zu(struct s_dense_qp *qp, float *zu);
-//
-void s_dense_qp_get_ls(struct s_dense_qp *qp, float *ls);
-//
-void s_dense_qp_get_ls_mask(struct s_dense_qp *qp, float *ls);
-//
-void s_dense_qp_get_us(struct s_dense_qp *qp, float *us);
-//
-void s_dense_qp_get_us_mask(struct s_dense_qp *qp, float *us);
-
-// setters - rowmaj
-//
-void s_dense_qp_set_all_rowmaj(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
-
-// getters - rowmaj
-//
-void s_dense_qp_get_all_rowmaj(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
deleted file mode 100644
index b979d24432..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_DIM_H_
-#define HPIPM_S_DENSE_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_dim
-	{
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int ns;  // number of softened constraints (nsb+nsg)
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_dim_memsize();
-//
-void s_dense_qp_dim_create(struct s_dense_qp_dim *qp_dim, void *memory);
-//
-void s_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set(char *fiels_name, int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nv(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ne(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nb(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ng(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nsb(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nsg(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ns(int value, struct s_dense_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
deleted file mode 100644
index f2d56d4529..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
+++ /dev/null
@@ -1,260 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_IPM_H_
-#define HPIPM_S_DENSE_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_dense_qp_dim.h>
-#include <hpipm_s_dense_qp.h>
-#include <hpipm_s_dense_qp_res.h>
-#include <hpipm_s_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_ipm_arg
-	{
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float reg_dual; // reg of dual hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int kkt_fact_alg; // 0 null-space, 1 schur-complement
-	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
-	int compute_obj; // compute obj on exit
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_dense_qp_res_ws *res_ws;
-	struct s_dense_qp_sol *sol_step;
-	struct s_dense_qp_sol *sol_itref;
-	struct s_dense_qp *qp_step;
-	struct s_dense_qp *qp_itref;
-	struct s_dense_qp_res *res;
-	struct s_dense_qp_res *res_itref;
-	struct s_dense_qp_res *res_step;
-	struct blasfeo_svec *Gamma; //
-	struct blasfeo_svec *gamma; //
-	struct blasfeo_svec *Zs_inv; //
-	struct blasfeo_smat *Lv; //
-	struct blasfeo_smat *AL; //
-	struct blasfeo_smat *Le; //
-	struct blasfeo_smat *Ctx; //
-	struct blasfeo_svec *lv; //
-	struct blasfeo_svec *sv; // scale for Lv
-	struct blasfeo_svec *se; // scale for Le
-	struct blasfeo_svec *tmp_nbg; // work space of size nb+ng
-	struct blasfeo_svec *tmp_ns; // work space of size ns
-	struct blasfeo_smat *lq0;
-	struct blasfeo_smat *lq1;
-	struct blasfeo_svec *tmp_m;
-	struct blasfeo_smat *A_LQ;
-	struct blasfeo_smat *A_Q;
-	struct blasfeo_smat *Zt;
-	struct blasfeo_smat *ZtH;
-	struct blasfeo_smat *ZtHZ;
-	struct blasfeo_svec *xy;
-	struct blasfeo_svec *Yxy;
-	struct blasfeo_svec *xz;
-	struct blasfeo_svec *tmp_nv;
-	struct blasfeo_svec *tmp_2ns;
-	struct blasfeo_svec *tmp_nv2ns;
-	struct blasfeo_smat *A_li; // A of linearly independent equality constraints
-	struct blasfeo_svec *b_li; // b of linearly independent equality constraints
-	struct blasfeo_smat *A_bkp; // pointer to backup A
-	struct blasfeo_svec *b_bkp; // pointer to backup b
-	struct blasfeo_smat *Ab_LU;
-	float *stat; // convergence statistics
-	int *ipiv_v;
-	int *ipiv_e;
-	int *ipiv_e1;
-	void *lq_work0;
-	void *lq_work1;
-	void *lq_work_null;
-	void *orglq_work_null;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // numer of recorded stat per ipm iter
-	int scale;
-	int use_hess_fact;
-	int use_A_fact;
-	int status;
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int ne_li; // number of linearly independent equality constraints
-	int ne_bkp; // ne backup
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_ipm_arg_memsize(struct s_dense_qp_dim *qp_dim);
-//
-void s_dense_qp_ipm_arg_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, void *mem);
-//
-void s_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set(char *field, void *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_mu0(float *mu0, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_lam_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_t_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tau_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_compute_obj(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_split_step(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_dense_qp_ipm_ws_memsize(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_ws_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws, void *mem);
-//
-void s_dense_qp_ipm_get(char *field, struct s_dense_qp_ipm_ws *ws, void *value);
-//
-void s_dense_qp_ipm_get_status(struct s_dense_qp_ipm_ws *ws, int *status);
-//
-void s_dense_qp_ipm_get_iter(struct s_dense_qp_ipm_ws *ws, int *iter);
-//
-void s_dense_qp_ipm_get_max_res_stat(struct s_dense_qp_ipm_ws *ws, float *res_stat);
-//
-void s_dense_qp_ipm_get_max_res_eq(struct s_dense_qp_ipm_ws *ws, float *res_eq);
-//
-void s_dense_qp_ipm_get_max_res_ineq(struct s_dense_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_dense_qp_ipm_get_max_res_comp(struct s_dense_qp_ipm_ws *ws, float *res_comp);
-//
-void s_dense_qp_ipm_get_stat(struct s_dense_qp_ipm_ws *ws, float **stat);
-//
-void s_dense_qp_ipm_get_stat_m(struct s_dense_qp_ipm_ws *ws, int *stat_m);
-//
-void s_dense_qp_init_var(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_abs_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_delta_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_solve(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_predict(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_sens(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_compute_step_length(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
deleted file mode 100644
index 260dc0ab21..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_KKT_H_
-#define HPIPM_S_DENSE_QP_KKT_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_fact_solve_kkt_unconstr_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_fact_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_fact_lq_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_remove_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_restore_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_compute_obj(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
deleted file mode 100644
index 06b609c537..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_RES_H_
-#define HPIPM_S_DENSE_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_dense_qp_dim.h>
-#include <hpipm_s_dense_qp.h>
-#include <hpipm_s_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_res
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbg; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_ns; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_res_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_res_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res *res, void *mem);
-//
-hpipm_size_t s_dense_qp_res_ws_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_res_ws_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res_ws *workspace, void *mem);
-//
-void s_dense_qp_res_compute(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
-//
-void s_dense_qp_res_compute_lin(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_sol *qp_step, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
-//
-void s_dense_qp_res_compute_inf_norm(struct s_dense_qp_res *res);
-//
-void s_dense_qp_res_get_all(struct s_dense_qp_res *res, float *res_g, float *res_ls, float *res_us, float *res_b, float *res_d_lb, float *res_d_ub, float *res_d_lg, float *res_d_ug, float *res_d_ls, float *res_d_us, float *res_m_lb, float *res_m_ub, float *res_m_lg, float *res_m_ug, float *res_m_ls, float *res_m_us);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
deleted file mode 100644
index 1f40076378..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_SOL_H_
-#define HPIPM_S_DENSE_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_sol
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_svec *v;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	float obj;
-	int valid_obj;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_sol_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_sol_create(struct s_dense_qp_dim *dim, struct s_dense_qp_sol *qp_sol, void *memory);
-//
-void s_dense_qp_sol_get_all(struct s_dense_qp_sol *qp_sol, float *v, float *ls, float *us, float *pi, float *lam_lb, float *lam_ub, float *lam_lg, float *lam_ug, float *lam_ls, float *lam_us);
-//
-void s_dense_qp_sol_get(char *field, struct s_dense_qp_sol *sol, void *value);
-//
-void s_dense_qp_sol_get_v(struct s_dense_qp_sol *sol, float *v);
-//
-void s_dense_qp_sol_get_valid_obj(struct s_dense_qp_sol *sol, int *valid_obj);
-//
-void s_dense_qp_sol_get_obj(struct s_dense_qp_sol *sol, float *obj);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
deleted file mode 100644
index 3dd93259a5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_UTILS_H_
-#define HPIPM_S_DENSE_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-#include "hpipm_s_dense_qp.h"
-#include "hpipm_s_dense_qp_sol.h"
-#include "hpipm_s_dense_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_dense_qp_dim_print(struct s_dense_qp_dim *qp_dim);
-//
-//void s_dense_qp_dim_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim);
-//
-void s_dense_qp_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
-//
-//void s_dense_qp_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
-//
-void s_dense_qp_sol_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_sol *dense_qp_sol);
-//
-//void s_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_res_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_res *dense_qp_res);
-//
-void s_dense_qp_arg_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *qp_ipm_arg);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
deleted file mode 100644
index b90b2ac633..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
+++ /dev/null
@@ -1,303 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_H_
-#define HPIPM_S_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_smat *DCt; // inequality constraints matrix
-	struct blasfeo_smat **Hq; // hessians of quadratic constraints
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_strsize();
-//
-hpipm_size_t s_ocp_qcqp_memsize(struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp *qp, void *memory);
-//
-void s_ocp_qcqp_copy_all(struct s_ocp_qcqp *qp_orig, struct s_ocp_qcqp *qp_dest);
-
-// setters
-//
-void s_ocp_qcqp_set_all_zero(struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_rhs_zero(struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set(char *fiels_name, int stage, void *value, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_A(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_B(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_b(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Q(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_S(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_R(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_q(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_r(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lb(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lb_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ub(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ub_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxb(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxbx(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxbu(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_C(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_D(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lg(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lg_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ug(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ug_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Qq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Sq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Rq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_qq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_rq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_uq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_uq_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Zl(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Zu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_zl(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_zu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lls(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lls_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lus(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lus_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxs(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsg(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsq(int stage, float *vec, struct s_ocp_qcqp *qp);
-
-// getters
-//
-void s_ocp_qcqp_get(char *field, int stage, struct s_ocp_qcqp *qp, void *value);
-//
-void s_ocp_qcqp_get_A(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_B(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_b(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Q(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_S(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_R(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_q(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_r(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ub(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ub_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lb(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lb_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_idxb(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_idxbx(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_idxbu(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_C(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_D(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_lg(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lg_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ug(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ug_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Zl(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Zu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_zl(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_zu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lls(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lls_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lus(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lus_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void s_ocp_qcqp_get_idxs(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-void s_ocp_qcqp_get_idxs_rev(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jsbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_Jsbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_Jsg(int stage, struct s_ocp_qcqp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
deleted file mode 100644
index c09903f074..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_DIM_H_
-#define HPIPM_S_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_dim
-	{
-	struct s_ocp_qp_dim *qp_dim; // dim of qp approximation
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of (two-sided) state box constraints
-	int *nbu; // number of (two-sided) input box constraints
-	int *ng; // number of (two-sided) general constraints
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of (two-sided) soft state box constraints
-	int *nsbu; // number of (two-sided) soft input box constraints
-	int *nsg; // number of (two-sided) soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t s_ocp_qcqp_dim_memsize(int N);
-//
-void s_ocp_qcqp_dim_create(int N, struct s_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void s_ocp_qcqp_dim_copy_all(struct s_ocp_qcqp_dim *dim_orig, struct s_ocp_qcqp_dim *dim_dest);
-//
-void s_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_ng(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nq(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_ns(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_get(struct s_ocp_qcqp_dim *dim, char *field, int stage, int *value);
-//
-void s_ocp_qcqp_dim_get_N(struct s_ocp_qcqp_dim *dim, int *value);
-//
-void s_ocp_qcqp_dim_get_nx(struct s_ocp_qcqp_dim *dim, int stage, int *value);
-//
-void s_ocp_qcqp_dim_get_nu(struct s_ocp_qcqp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
deleted file mode 100644
index c14fc1c9fd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_IPM_H_
-#define HPIPM_S_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qcqp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qcqp_res.h>
-#include <hpipm_s_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_ipm_arg
-	{
-	struct s_ocp_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qcqp_ipm_ws
-	{
-	struct s_ocp_qp_ipm_ws *qp_ws;
-	struct s_ocp_qp *qp;
-	struct s_ocp_qp_sol *qp_sol;
-	struct s_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct s_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t s_ocp_qcqp_ipm_arg_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_ipm_arg_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void s_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void s_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void s_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void s_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void s_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void s_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-void s_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void s_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void s_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void s_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t s_ocp_qcqp_ipm_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_ipm_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void s_ocp_qcqp_ipm_get(char *field, struct s_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void s_ocp_qcqp_ipm_get_status(struct s_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void s_ocp_qcqp_ipm_get_iter(struct s_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void s_ocp_qcqp_ipm_get_max_res_stat(struct s_ocp_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_ocp_qcqp_ipm_get_max_res_eq(struct s_ocp_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_ocp_qcqp_ipm_get_max_res_ineq(struct s_ocp_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_ocp_qcqp_ipm_get_max_res_comp(struct s_ocp_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_ocp_qcqp_ipm_get_stat(struct s_ocp_qcqp_ipm_ws *ws, float **stat);
-//
-void s_ocp_qcqp_ipm_get_stat_m(struct s_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void s_ocp_qcqp_init_var(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
-//
-void s_ocp_qcqp_ipm_solve(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
deleted file mode 100644
index 1ceeec93b7..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_RES_H_
-#define HPIPM_S_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qcqp_dim.h>
-#include <hpipm_s_ocp_qcqp.h>
-#include <hpipm_s_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_res
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_res_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_res_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_ocp_qcqp_res_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_res_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res_ws *workspace, void *mem);
-//
-void s_ocp_qcqp_res_compute(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_res *res, struct s_ocp_qcqp_res_ws *ws);
-//
-void s_ocp_qcqp_res_compute_inf_norm(struct s_ocp_qcqp_res *res);
-//
-void s_ocp_qcqp_res_get_max_res_stat(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_eq(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_ineq(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_comp(struct s_ocp_qcqp_res *res, float *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QCQP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
deleted file mode 100644
index 3d58022cc9..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_SOL_H_
-#define HPIPM_S_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_sol
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_sol_strsize();
-//
-hpipm_size_t s_ocp_qcqp_sol_memsize(struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_sol_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void s_ocp_qcqp_sol_copy_all(struct s_ocp_qcqp_sol *qp_sol_orig, struct s_ocp_qcqp_sol *qp_sol_dest);
-//
-void s_ocp_qcqp_sol_get(char *field, int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_u(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_x(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_sl(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_su(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_pi(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_lb(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_ub(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_lg(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_ug(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_set(char *field, int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_u(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_x(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_sl(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_su(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_SOL_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
deleted file mode 100644
index d64e3aabe7..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_UTILS_H_
-#define HPIPM_S_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_ocp_qcqp_dim_print(struct s_ocp_qcqp_dim *qcqp_dim);
-//
-void s_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim);
-//
-void s_ocp_qcqp_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_sol_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void s_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_res_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
deleted file mode 100644
index b49191f192..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
+++ /dev/null
@@ -1,306 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_H_
-#define HPIPM_S_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_smat *DCt; // inequality constraints matrix
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
-	int *diag_H_flag; // flag the fact that Hessian is diagonal
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_strsize();
-//
-hpipm_size_t s_ocp_qp_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp *qp, void *memory);
-//
-void s_ocp_qp_copy_all(struct s_ocp_qp *qp_orig, struct s_ocp_qp *qp_dest);
-
-// setters
-//
-void s_ocp_qp_set_all_zero(struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_rhs_zero(struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_all_rowmaj(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set(char *fiels_name, int stage, void *value, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_A(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_B(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_b(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Q(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_S(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_R(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_q(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_r(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lb(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lb_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ub(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ub_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbx_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubx_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbu_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubu_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxb(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbx(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbu(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_C(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_D(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lg(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lg_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ug(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ug_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Zl(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Zu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_zl(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_zu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lls(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lls_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lus(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lus_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxs(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxs_rev(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsg(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxe(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbxe(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbue(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxge(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbxe(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbue(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jge(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_diag_H_flag(int stage, int *value, struct s_ocp_qp *qp);
-
-// getters
-//
-void s_ocp_qp_get(char *field, int stage, struct s_ocp_qp *qp, void *value);
-//
-void s_ocp_qp_get_A(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_B(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_b(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Q(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_S(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_R(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_q(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_r(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ub(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ub_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lb(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lb_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbx_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubx_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbu_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubu_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_idxb(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_idxbx(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_idxbu(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_C(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_D(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_lg(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lg_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ug(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ug_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Zl(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Zu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_zl(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_zu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lls(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lls_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lus(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lus_mask(int stage, struct s_ocp_qp *qp, float *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void s_ocp_qp_get_idxs(int stage, struct s_ocp_qp *qp, int *vec);
-//
-void s_ocp_qp_get_idxs_rev(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jsbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_Jsbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_Jsg(int stage, struct s_ocp_qp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
deleted file mode 100644
index bce80243b3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_DIM_H_
-#define HPIPM_S_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_dim
-	{
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of state box constraints
-	int *nbu; // number of input box constraints
-	int *ng; // number of general constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nbxe; // number of state box constraints which are equality
-	int *nbue; // number of input box constraints which are equality
-	int *nge; // number of general constraints which are equality
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_dim_strsize();
-//
-hpipm_size_t s_ocp_qp_dim_memsize(int N);
-//
-void s_ocp_qp_dim_create(int N, struct s_ocp_qp_dim *qp_dim, void *memory);
-//
-void s_ocp_qp_dim_copy_all(struct s_ocp_qp_dim *dim_orig, struct s_ocp_qp_dim *dim_dest);
-//
-void s_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set(char *field, int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_ng(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_ns(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsbx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsbu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsg(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbxe(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbue(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nge(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_get(struct s_ocp_qp_dim *dim, char *field, int stage, int *value);
-//
-void s_ocp_qp_dim_get_N(struct s_ocp_qp_dim *dim, int *value);
-//
-void s_ocp_qp_dim_get_nx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_ng(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_ns(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsbx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsbu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsg(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbxe(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbue(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nge(struct s_ocp_qp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
deleted file mode 100644
index 11f3c47be6..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
+++ /dev/null
@@ -1,250 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_IPM_H_
-#define HPIPM_S_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_res.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_ipm_arg
-	{
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different steps for primal and dual variables
-	int var_init_scheme; // variables initialization scheme
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_ocp_qp_res_ws *res_workspace;
-	struct s_ocp_qp_dim *dim; // cache dim
-	struct s_ocp_qp_sol *sol_step;
-	struct s_ocp_qp_sol *sol_itref;
-	struct s_ocp_qp *qp_step;
-	struct s_ocp_qp *qp_itref;
-	struct s_ocp_qp_res *res;
-	struct s_ocp_qp_res *res_itref;
-	struct blasfeo_svec *Gamma; // hessian update
-	struct blasfeo_svec *gamma; // hessian update
-	struct blasfeo_svec *tmp_nuxM; // work space of size nxM
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *Pb; // Pb
-	struct blasfeo_svec *Zs_inv;
-	struct blasfeo_svec *tmp_m;
-	struct blasfeo_svec *l; // cache linear part for _get_ric_xxx
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Ls;
-	struct blasfeo_smat *P;
-	struct blasfeo_smat *Lh;
-	struct blasfeo_smat *AL;
-	struct blasfeo_smat *lq0;
-	struct blasfeo_smat *tmp_nxM_nxM;
-	float *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	float qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int square_root_alg; // cache from arg
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int valid_ric_vec; // meaningful riccati vectors
-	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_ipm_arg_strsize();
-//
-hpipm_size_t s_ocp_qp_ipm_arg_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_ipm_arg_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, void *mem);
-//
-void s_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_arg_set(char *field, void *value, struct s_ocp_qp_ipm_arg *arg);
-// set maximum number of iterations
-void s_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_ocp_qp_ipm_arg *arg);
-// set minimum step lenght
-void s_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_ocp_qp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
-// set regularization of primal variables
-void s_ocp_qp_ipm_arg_set_reg_prim(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_ocp_qp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_ocp_qp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void s_ocp_qp_ipm_arg_set_ric_alg(int *alg, struct s_ocp_qp_ipm_arg *arg);
-// dual solution of equality constraints (only for abs_form==1)
-void s_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_ocp_qp_ipm_arg *arg);
-// compute residuals after solution
-void s_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qp_ipm_arg *arg);
-// compute residuals of prediction
-void s_ocp_qp_ipm_arg_set_comp_res_pred(int *alg, struct s_ocp_qp_ipm_arg *arg);
-// min value of lam in the solution
-void s_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// min value of t in the solution
-void s_ocp_qp_ipm_arg_set_t_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// min value of tau in the solution
-void s_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// set split step: 0 same step, 1 different step for primal and dual variables
-void s_ocp_qp_ipm_arg_set_split_step(int *value, struct s_ocp_qp_ipm_arg *arg);
-// variables initialization scheme
-void s_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct s_ocp_qp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_ocp_qp_ipm_ws_strsize();
-//
-hpipm_size_t s_ocp_qp_ipm_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, void *mem);
-//
-void s_ocp_qp_ipm_get(char *field, struct s_ocp_qp_ipm_ws *ws, void *value);
-//
-void s_ocp_qp_ipm_get_status(struct s_ocp_qp_ipm_ws *ws, int *status);
-//
-void s_ocp_qp_ipm_get_iter(struct s_ocp_qp_ipm_ws *ws, int *iter);
-//
-void s_ocp_qp_ipm_get_max_res_stat(struct s_ocp_qp_ipm_ws *ws, float *res_stat);
-//
-void s_ocp_qp_ipm_get_max_res_eq(struct s_ocp_qp_ipm_ws *ws, float *res_eq);
-//
-void s_ocp_qp_ipm_get_max_res_ineq(struct s_ocp_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_ocp_qp_ipm_get_max_res_comp(struct s_ocp_qp_ipm_ws *ws, float *res_comp);
-//
-void s_ocp_qp_ipm_get_stat(struct s_ocp_qp_ipm_ws *ws, float **stat);
-//
-void s_ocp_qp_ipm_get_stat_m(struct s_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void s_ocp_qp_ipm_get_ric_Lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Lr);
-//
-void s_ocp_qp_ipm_get_ric_Ls(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Ls);
-//
-void s_ocp_qp_ipm_get_ric_P(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *P);
-//
-void s_ocp_qp_ipm_get_ric_lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *lr);
-//
-void s_ocp_qp_ipm_get_ric_p(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *p);
-// feedback control gain in the form u = K x + k
-void s_ocp_qp_ipm_get_ric_K(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *K);
-// feedback control gain in the form u = K x + k
-void s_ocp_qp_ipm_get_ric_k(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *k);
-//
-void s_ocp_qp_init_var(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_abs_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_delta_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_solve(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_predict(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_sens(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
deleted file mode 100644
index 3eb1f4aae8..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef HPIPM_S_OCP_QP_KKT_H_
-#define HPIPM_S_OCP_QP_KKT_H_
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_ocp_qp_fact_solve_kkt_unconstr(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_fact_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_fact_lq_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-#endif // HPIPM_S_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
deleted file mode 100644
index 5a7b3b0703..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_RED_H_
-#define HPIPM_S_OCP_QP_RED_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_reduce_eq_dof_arg
-	{
-	float lam_min;
-	float t_min;
-	int alias_unchanged; // do not keep copy unchanged stage
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-struct s_ocp_qp_reduce_eq_dof_ws
-	{
-	struct blasfeo_svec *tmp_nuxM;
-	struct blasfeo_svec *tmp_nbgM;
-	int *e_imask_ux;
-	int *e_imask_d;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-void s_ocp_qp_dim_reduce_eq_dof(struct s_ocp_qp_dim *dim, struct s_ocp_qp_dim *dim_red);
-//
-hpipm_size_t s_ocp_qp_reduce_eq_dof_arg_memsize();
-//
-void s_ocp_qp_reduce_eq_dof_arg_create(struct s_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_default(struct s_ocp_qp_reduce_eq_dof_arg *arg);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-hpipm_size_t s_ocp_qp_reduce_eq_dof_ws_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_reduce_eq_dof_ws_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_reduce_eq_dof_ws *work, void *mem);
-//
-void s_ocp_qp_reduce_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_reduce_eq_dof_lhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_reduce_eq_dof_rhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_restore_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol_red, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_RED_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
deleted file mode 100644
index 821585da65..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_RES_H_
-#define HPIPM_S_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_res
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_res_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_res_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t s_ocp_qp_res_ws_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_res_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res_ws *workspace, void *mem);
-//
-void s_ocp_qp_res_compute(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
-//
-void s_ocp_qp_res_compute_lin(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_sol *qp_step, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
-//
-void s_ocp_qp_res_compute_inf_norm(struct s_ocp_qp_res *res);
-//
-void s_ocp_qp_res_get_all(struct s_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
-//
-void s_ocp_qp_res_get_max_res_stat(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_eq(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_ineq(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_comp(struct s_ocp_qp_res *res, float *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
deleted file mode 100644
index 94dfa0d003..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_SOL_H_
-#define HPIPM_S_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_sol
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_sol_strsize();
-//
-hpipm_size_t s_ocp_qp_sol_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_sol_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_sol *qp_sol, void *memory);
-//
-void s_ocp_qp_sol_copy_all(struct s_ocp_qp_sol *qp_sol_orig, struct s_ocp_qp_sol *qp_sol_dest);
-//
-void s_qp_sol_get_all(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_qp_sol_get_all_rowmaj(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_ocp_qp_sol_set_all(float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_get(char *field, int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_u(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_x(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_sl(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_su(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_pi(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lb(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lbu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lbx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ub(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ubu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ubx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lg(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ug(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_set(char *field, int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_u(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_x(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_sl(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_su(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
deleted file mode 100644
index a4f832a5ea..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_UTILS_H_
-#define HPIPM_S_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qp_sol.h"
-#include "hpipm_s_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_ocp_qp_dim_print(struct s_ocp_qp_dim *qp_dim);
-//
-void s_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim);
-//
-void s_ocp_qp_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_sol_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_sol *ocp_qp_sol);
-//
-void s_ocp_qp_ipm_arg_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_res_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
deleted file mode 100644
index e40511e69f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_PART_COND_H_
-#define HPIPM_S_PART_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_cond.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_part_cond_qp_arg
-	{
-	struct s_cond_qp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_part_cond_qp_ws
-	{
-	struct s_cond_qp_ws *cond_workspace;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_part_cond_qp_arg_memsize(int N2);
-//
-void s_part_cond_qp_arg_create(int N2, struct s_part_cond_qp_arg *cond_arg, void *mem);
-//
-void s_part_cond_qp_arg_set_default(struct s_part_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void s_part_cond_qp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_prim_sol(int value, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_part_cond_qp_arg *cond_arg);
-
-//
-void s_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
-//
-void s_part_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim);
-//
-hpipm_size_t s_part_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws, void *mem);
-//
-void s_part_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_ocp_qp_sol *part_dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-
-//
-void s_part_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
deleted file mode 100644
index 311f7000bf..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_PART_COND_QCQP_H_
-#define HPIPM_S_PART_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_cond_qcqp.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_part_cond_qcqp_arg
-	{
-	struct s_cond_qcqp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_part_cond_qcqp_ws
-	{
-	struct s_cond_qcqp_ws *cond_ws;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_part_cond_qcqp_arg_memsize(int N2);
-//
-void s_part_cond_qcqp_arg_create(int N2, struct s_part_cond_qcqp_arg *cond_arg, void *mem);
-//
-void s_part_cond_qcqp_arg_set_default(struct s_part_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void s_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qcqp_arg *cond_arg);
-
-//
-void s_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
-//
-void s_part_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim);
-//
-hpipm_size_t s_part_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg);
-//
-void s_part_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws, void *mem);
-//
-void s_part_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_ocp_qcqp_sol *part_dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
deleted file mode 100644
index 1a05ad1a28..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_SIM_ERK_H_
-#define HPIPM_S_SIM_ERK_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_sim_erk_arg
-	{
-	struct s_sim_rk_data *rk_data; // integrator data
-	float h; // step size
-	int steps; // number of steps
-//	int for_sens; // compute adjoint sensitivities
-//	int adj_sens; // compute adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_sim_erk_ws
-	{
-	void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to ode
-	void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to forward vde
-	void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out); // function pointer to adjoint vde
-	void *ode_args; // pointer to ode args
-	struct s_sim_erk_arg *erk_arg; // erk arg
-	float *K; // internal variables
-	float *x_for; // states and forward sensitivities
-	float *x_traj; // states at all steps
-	float *l; // adjoint sensitivities
-	float *p; // parameter
-	float *x_tmp; // temporary states and forward sensitivities
-	float *adj_in;
-	float *adj_tmp;
-	int nx; // number of states
-	int np; // number of parameters
-	int nf; // number of forward sensitivities
-	int na; // number of adjoint sensitivities
-	int nf_max; // max number of forward sensitivities
-	int na_max; // max number of adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_sim_erk_arg_memsize();
-//
-void s_sim_erk_arg_create(struct s_sim_erk_arg *erk_arg, void *mem);
-//
-void s_sim_erk_arg_set_all(struct s_sim_rk_data *rk_data, float h, int steps, struct s_sim_erk_arg *erk_arg);
-
-//
-hpipm_size_t s_sim_erk_ws_memsize(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
-//
-void s_sim_erk_ws_create(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct s_sim_erk_ws *work, void *memory);
-//
-void s_sim_erk_ws_set_all(int nf, int na, float *x, float *fs, float *bs, float *p, void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out), void *ode_args, struct s_sim_erk_ws *work);
-// number of directions for forward sensitivities
-void s_sim_erk_ws_set_nf(int *nf, struct s_sim_erk_ws *work);
-// parameters (e.g. inputs)
-void s_sim_erk_ws_set_p(float *p, struct s_sim_erk_ws *work);
-// state
-void s_sim_erk_ws_set_x(float *x, struct s_sim_erk_ws *work);
-// forward sensitivities
-void s_sim_erk_ws_set_fs(float *fs, struct s_sim_erk_ws *work);
-// ode funtion
-void s_sim_erk_ws_set_ode(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
-// forward vde function
-void s_sim_erk_ws_set_vde_for(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
-// ode_args, passed straight to the ode/vde_for/vde_adj functions
-void s_sim_erk_ws_set_ode_args(void *ode_args, struct s_sim_erk_ws *work);
-// state
-void s_sim_erk_ws_get_x(struct s_sim_erk_ws *work, float *x);
-// forward sensitivities
-void s_sim_erk_ws_get_fs(struct s_sim_erk_ws *work, float *fs);
-//
-void s_sim_erk_solve(struct s_sim_erk_arg *arg, struct s_sim_erk_ws *work);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_ERK_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
deleted file mode 100644
index 53acd71498..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_SIM_RK_H_
-#define HPIPM_S_SIM_RK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_sim_rk_data
-	{
-	float *A_rk; // A in butcher tableau
-	float *B_rk; // b in butcher tableau
-	float *C_rk; // c in butcher tableau
-	int expl; // erk vs irk
-	int ns; // number of stages
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_sim_rk_data_memsize(int ns);
-//
-void s_sim_rk_data_create(int ns, struct s_sim_rk_data *rk_data, void *memory);
-//
-void s_sim_rk_data_init_default(char *field, struct s_sim_rk_data *rk_data);
-//
-void s_sim_rk_data_set_all(int expl, float *A_rk, float *B_rk, float *C_rk, struct s_sim_rk_data *rk_data);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_SIM_RK_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
deleted file mode 100644
index 450e992624..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
+++ /dev/null
@@ -1,213 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_H_
-#define HPIPM_S_TREE_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_smat *BAbt; // Nn-1
-	struct blasfeo_smat *RSQrq; // Nn
-	struct blasfeo_smat *DCt; // Nn
-	struct blasfeo_smat **Hq; // Nn
-	struct blasfeo_svec *b; // Nn-1
-	struct blasfeo_svec *rqz; // Nn
-	struct blasfeo_svec *d; // Nn
-	struct blasfeo_svec *d_mask; // Nn
-	struct blasfeo_svec *m; // Nn
-	struct blasfeo_svec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_memsize(struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp *qp, void *memory);
-//
-void s_tree_ocp_qcqp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_A(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_B(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_b(int edge, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Q(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_S(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_R(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_q(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_r(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lb(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ub(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxb(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_C(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_D(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ug(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Qq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Sq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Rq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_qq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_rq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_uq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_uq_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lls(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lus(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxs(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxge(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jbue(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jge(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qcqp *qp);
-
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
deleted file mode 100644
index 7a49d51995..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_DIM_H_
-#define HPIPM_S_TREE_OCP_QCQP_DIM_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_dim
-	{
-	struct s_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_dim_memsize(int Nn);
-//
-void s_tree_ocp_qcqp_dim_create(int Nn, struct s_tree_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void s_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
deleted file mode 100644
index 69d65914c5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_IPM_H_
-#define HPIPM_S_TREE_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qcqp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qcqp_res.h>
-#include <hpipm_s_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_ipm_arg
-	{
-	struct s_tree_ocp_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-//	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qcqp_ipm_ws
-	{
-	struct s_tree_ocp_qp_ipm_ws *qp_ws;
-	struct s_tree_ocp_qp *qp;
-	struct s_tree_ocp_qp_sol *qp_sol;
-	struct s_tree_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct s_tree_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_arg_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_ipm_arg_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void s_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void s_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void s_tree_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_tree_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_tree_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_tree_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_tree_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_tree_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void s_tree_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-//void s_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void s_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-//void s_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void s_tree_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void s_tree_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void s_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_ipm_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void s_tree_ocp_qcqp_ipm_get(char *field, struct s_tree_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void s_tree_ocp_qcqp_ipm_get_status(struct s_tree_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void s_tree_ocp_qcqp_ipm_get_iter(struct s_tree_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_eq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_ineq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_comp(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_tree_ocp_qcqp_ipm_get_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float **stat);
-//
-void s_tree_ocp_qcqp_ipm_get_stat_m(struct s_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void s_tree_ocp_qcqp_init_var(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
-//
-void s_tree_ocp_qcqp_ipm_solve(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_IPM_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
deleted file mode 100644
index d0d84a6f23..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
+++ /dev/null
@@ -1,109 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_RES_H_
-#define HPIPM_S_TREE_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qcqp_dim.h>
-#include <hpipm_s_tree_ocp_qcqp.h>
-#include <hpipm_s_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_res
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_res_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_res_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_tree_ocp_qcqp_res_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_res_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res_ws *ws, void *mem);
-//
-void s_tree_ocp_qcqp_res_compute(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_res *res, struct s_tree_ocp_qcqp_res_ws *ws);
-//
-void s_tree_ocp_qcqp_res_compute_inf_norm(struct s_tree_ocp_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_RES_H_
-
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
deleted file mode 100644
index 47f038c6b3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_SOL_H_
-#define HPIPM_S_TREE_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_tree_ocp_qcqp_sol
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_sol_memsize(struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_sol_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void s_tree_ocp_qcqp_sol_get_u(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_x(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_sl(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_su(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_pi(int edge, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_lb(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_ub(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_lg(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_ug(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
deleted file mode 100644
index 79528de1ce..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-#define HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-#include "hpipm_s_tree_ocp_qcqp.h"
-#include "hpipm_s_tree_ocp_qcqp_sol.h"
-#include "hpipm_s_tree_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_tree_ocp_qcqp_dim_print(struct s_tree_ocp_qcqp_dim *qp_dim);
-//
-//void s_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim);
-//
-void s_tree_ocp_qcqp_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_sol_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void s_tree_ocp_qcqp_ipm_arg_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-//void s_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_res_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
deleted file mode 100644
index 722b930b9a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
+++ /dev/null
@@ -1,196 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_H_
-#define HPIPM_S_TREE_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_smat *BAbt; // Nn-1
-	struct blasfeo_smat *RSQrq; // Nn
-	struct blasfeo_smat *DCt; // Nn
-	struct blasfeo_svec *b; // Nn-1
-	struct blasfeo_svec *rqz; // Nn
-	struct blasfeo_svec *d; // Nn
-	struct blasfeo_svec *d_mask; // Nn
-	struct blasfeo_svec *m; // Nn
-	struct blasfeo_svec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-//	int **idxs; // index of soft constraints
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp *qp, void *memory);
-//
-void s_tree_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_A(int edge, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_B(int edge, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_b(int edge, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Q(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_S(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_R(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_q(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_r(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lb(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ub(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxb(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxbx(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxbu(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_C(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_D(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lg(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ug(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Zl(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Zu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_zl(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_zu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lls(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lus(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxs(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsg(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxe(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxbue(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxge(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jbue(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jge(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qp *qp);
-
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
deleted file mode 100644
index 90df57182b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_DIM_H_
-#define HPIPM_S_TREE_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_dim
-	{
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_dim_strsize();
-//
-hpipm_size_t s_tree_ocp_qp_dim_memsize(int Nn);
-//
-void s_tree_ocp_qp_dim_create(int Nn, struct s_tree_ocp_qp_dim *qp_dim, void *memory);
-//
-void s_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_ng(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_ns(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nge(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
deleted file mode 100644
index f8c26d3173..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
+++ /dev/null
@@ -1,208 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_TREE_OCP_QP_IPM_H_
-#define HPIPM_S_TREE_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qp_res.h>
-#include <hpipm_s_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_ipm_arg
-	{
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_tree_ocp_qp_res_ws *res_workspace;
-	struct s_tree_ocp_qp_sol *sol_step;
-	struct s_tree_ocp_qp_sol *sol_itref;
-	struct s_tree_ocp_qp *qp_step;
-	struct s_tree_ocp_qp *qp_itref;
-	struct s_tree_ocp_qp_res *res_itref;
-	struct s_tree_ocp_qp_res *res;
-	struct blasfeo_svec *Gamma; // hessian update
-	struct blasfeo_svec *gamma; // hessian update
-	struct blasfeo_svec *tmp_nxM; // work space of size nxM
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbgM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *Pb; // Pb
-	struct blasfeo_svec *Zs_inv;
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Lh;
-	struct blasfeo_smat *AL;
-	struct blasfeo_smat *lq0;
-	struct blasfeo_svec *tmp_m;
-	float *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	float qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_ipm_arg_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_ipm_arg_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, void *mem);
-//
-void s_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_reg_prim(float *reg, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_tree_ocp_qp_ipm_ws_memsize(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_ws_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws, void *mem);
-//
-void s_tree_ocp_qp_ipm_get_status(struct s_tree_ocp_qp_ipm_ws *ws, int *status);
-//
-void s_tree_ocp_qp_ipm_get_iter(struct s_tree_ocp_qp_ipm_ws *ws, int *iter);
-//
-void s_tree_ocp_qp_ipm_get_max_res_stat(struct s_tree_ocp_qp_ipm_ws *ws, float *res_stat);
-//
-void s_tree_ocp_qp_ipm_get_max_res_eq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_eq);
-//
-void s_tree_ocp_qp_ipm_get_max_res_ineq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_tree_ocp_qp_ipm_get_max_res_comp(struct s_tree_ocp_qp_ipm_ws *ws, float *res_comp);
-//
-void s_tree_ocp_qp_ipm_get_stat(struct s_tree_ocp_qp_ipm_ws *ws, float **stat);
-//
-void s_tree_ocp_qp_ipm_get_stat_m(struct s_tree_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void s_tree_ocp_qp_init_var(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_abs_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_delta_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_solve(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
deleted file mode 100644
index bcf7354783..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_tree_ocp_qp_fact_solve_kkt_unconstr(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_fact_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_fact_lq_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
deleted file mode 100644
index 5c6797204f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_RES_H_
-#define HPIPM_S_TREE_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_res
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_res_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
-//
-void s_tree_ocp_qp_res_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t s_tree_ocp_qp_res_ws_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
-//
-void s_tree_ocp_qp_res_ws_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res_ws *ws, void *mem);
-//
-void s_tree_ocp_qp_res_get_all(struct s_tree_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
-//
-void s_tree_ocp_qp_res_compute(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
-//
-void s_tree_ocp_qp_res_compute_lin(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_sol *qp_step, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
-//
-void s_tree_ocp_qp_res_compute_inf_norm(struct s_tree_ocp_qp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
deleted file mode 100644
index 71e887675b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_SOL_H_
-#define HPIPM_S_TREE_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_tree_ocp_qp_sol
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_sol_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_sol_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_sol *qp_sol, void *memory);
-//
-void s_tree_ocp_qp_sol_get_all(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_tree_ocp_qp_sol_get_u(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_x(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_sl(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_su(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_pi(int edge, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_lb(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_ub(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_lg(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_ug(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
deleted file mode 100644
index ec1747568f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_UTILS_H_
-#define HPIPM_S_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-#include "hpipm_s_tree_ocp_qp.h"
-#include "hpipm_s_tree_ocp_qp_sol.h"
-#include "hpipm_s_tree_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_tree_ocp_qp_dim_print(struct s_tree_ocp_qp_dim *qp_dim);
-//
-//void s_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim);
-//
-void s_tree_ocp_qp_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_sol_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_sol *ocp_qp_sol);
-//
-void s_tree_ocp_qp_ipm_arg_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-//void s_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_res_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
deleted file mode 100644
index a3c77a670a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_SCENARIO_TREE_H_
-#define HPIPM_SCENARIO_TREE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct sctree
-	{
-	struct node *root; // pointer to root
-	int *kids; // pointer to array of kids
-	int Nn; // numer of nodes
-	int md; // number of realizations
-	int Nr; // robust horizion
-	int Nh; // control horizion
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t sctree_memsize(int md, int Nr, int Nh);
-//
-void sctree_create(int md, int Nr, int Nh, struct sctree *st, void *memory);
-//
-void sctree_cast_to_tree(struct sctree *st, struct tree *tt);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_SCENARIO_TREE_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_timing.h b/third_party/acados/include/hpipm/include/hpipm_timing.h
deleted file mode 100644
index bd0f2dbcb3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_timing.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_TIMING_H_
-#define HPIPM_TIMING_H_
-
-
-
-#include <blasfeo_timing.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-typedef blasfeo_timer hpipm_timer;
-
-
-
-//
-void hpipm_tic(hpipm_timer *t);
-//
-double hpipm_toc(hpipm_timer *t);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_TIMING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_tree.h b/third_party/acados/include/hpipm/include/hpipm_tree.h
deleted file mode 100644
index f9d69ecddd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_tree.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef HPIPM_TREE_H_
-#define HPIPM_TREE_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct node
-	{
-	int *kids;  // 64 bits
-	int idx;    // 32 bits
-	int dad;    // 32 bits
-	int nkids;  // 32 bits
-	int stage;  // 32 bits
-	int real;   // 32 bits
-	int idxkid; // 32 bits // XXX needed ???
-	// total     256 bits
-	};
-
-
-
-struct tree
-	{
-	struct node *root; // pointer to root
-	int *kids; // pointer to array of kids
-	int Nn; // numer of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_TREE_H_
diff --git a/third_party/acados/include/qpOASES_e/Bounds.h b/third_party/acados/include/qpOASES_e/Bounds.h
deleted file mode 100644
index 4e41c1d163..0000000000
--- a/third_party/acados/include/qpOASES_e/Bounds.h
+++ /dev/null
@@ -1,543 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Bounds.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Bounds class designed to manage working sets of
- *	bounds within a QProblem.
- */
-
-
-#ifndef QPOASES_BOUNDS_H
-#define QPOASES_BOUNDS_H
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages working sets of bounds (= box constraints).
- *
- *	This class manages working sets of bounds (= box constraints)
- *	by storing index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Indexlist *freee;					/**< Index list of free variables. */
-	Indexlist *fixed;					/**< Index list of fixed variables. */
-
-	Indexlist *shiftedFreee;			/**< Memory for shifting free variables. */
-	Indexlist *shiftedFixed;			/**< Memory for shifting fixed variables. */
-
-	Indexlist *rotatedFreee;			/**< Memory for rotating free variables. */
-	Indexlist *rotatedFixed;			/**< Memory for rotating fixed variables. */
-
-	SubjectToType   *type; 				/**< Type of bounds. */
-	SubjectToStatus *status;			/**< Status of bounds. */
-
-	SubjectToType   *typeTmp;			/**< Temp memory for type of bounds. */
-	SubjectToStatus *statusTmp;			/**< Temp memory for status of bounds. */
-
-	BooleanType noLower;	 			/**< This flag indicates if there is no lower bound on any variable. */
-	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
-
-	int n;								/**< Total number of bounds. */
-} Bounds;
-
-int Bounds_calculateMemorySize( int n);
-
-char *Bounds_assignMemory(int n, Bounds **mem, void *raw_memory);
-
-Bounds *Bounds_createMemory( int n );
-
-/** Constructor which takes the number of bounds. */
-void BoundsCON(	Bounds* _THIS,
-				int _n									/**< Number of bounds. */
-				);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void BoundsCPY(	Bounds* FROM,
-				Bounds* TO
-				);
-
-
-/** Initialises object with given number of bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Bounds_init(	Bounds* _THIS,
-							int _n					/**< Number of bounds. */
-							);
-
-
-/** Initially adds number of a new (i.e. not yet in the list) bound to
- *  given index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_setupBound(	Bounds* _THIS,
-								int number,				/**< Number of new bound. */
-								SubjectToStatus _status	/**< Status of new bound. */
-								);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of free bounds; the order depends on the SujectToType
- *  of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllFree(	Bounds* _THIS
-									);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of fixed bounds (on their lower bounds);
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllLower(	Bounds* _THIS
-									);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of fixed bounds (on their upper bounds);
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllUpper(	Bounds* _THIS
-									);
-
-
-/** Moves index of a bound from index list of fixed to that of free bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_moveFixedToFree(	Bounds* _THIS,
-									int number				/**< Number of bound to be freed. */
-									);
-
-/** Moves index of a bound from index list of free to that of fixed bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_moveFreeToFixed(	Bounds* _THIS,
-									int number,				/**< Number of bound to be fixed. */
-									SubjectToStatus _status	/**< Status of bound to be fixed. */
-									);
-
-/** Flip fixed bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_flipFixed(	Bounds* _THIS,
-								int number
-								);
-
-/** Swaps the indices of two free bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED */
-returnValue Bounds_swapFree(	Bounds* _THIS,
-								int number1,					/**< Number of first bound. */
-								int number2						/**< Number of second bound. */
-								);
-
-
-/** Returns number of variables.
- *	\return Number of variables. */
-static inline int Bounds_getNV(	Bounds* _THIS
-							);
-
-/** Returns number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int Bounds_getNFV(	Bounds* _THIS
-									);
-
-/** Returns number of bounded (but possibly free) variables.
- *	\return Number of bounded (but possibly free) variables. */
-static inline int Bounds_getNBV(	Bounds* _THIS
-									);
-
-/** Returns number of unbounded variables.
- *	\return Number of unbounded variables. */
-static inline int Bounds_getNUV(	Bounds* _THIS
-									);
-
-/** Returns number of free variables.
- *	\return Number of free variables. */
-static inline int Bounds_getNFR(	Bounds* _THIS
-									);
-
-/** Returns number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int Bounds_getNFX(	Bounds* _THIS
-									);
-
-
-/** Returns a pointer to free variables index list.
- *	\return Pointer to free variables index list. */
-static inline Indexlist* Bounds_getFree(	Bounds* _THIS
-											);
-
-/** Returns a pointer to fixed variables index list.
- *	\return Pointer to fixed variables index list. */
-static inline Indexlist* Bounds_getFixed(	Bounds* _THIS
-											);
-
-
-/** Returns number of bounds with given SubjectTo type.
- *	\return Number of bounds with given type. */
-static inline int Bounds_getNumberOfType(	Bounds* _THIS,
-											SubjectToType _type	/**< Type of bound. */
-											);
-
-
-/** Returns type of bound.
- *	\return Type of bound \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline SubjectToType Bounds_getType(	Bounds* _THIS,
-											int i			/**< Number of bound. */
-											);
-
-/** Returns status of bound.
- *	\return Status of bound \n
- 			ST_UNDEFINED */
-static inline SubjectToStatus Bounds_getStatus(	Bounds* _THIS,
-												int i		/**< Number of bound. */
-												);
-
-
-/** Sets type of bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Bounds_setType(	Bounds* _THIS,
-											int i,				/**< Number of bound. */
-											SubjectToType value	/**< Type of bound. */
-											);
-
-/** Sets status of bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Bounds_setStatus(	Bounds* _THIS,
-											int i,					/**< Number of bound. */
-											SubjectToStatus value	/**< Status of bound. */
-											);
-
-
-/** Sets status of lower bounds. */
-static inline void Bounds_setNoLower(	Bounds* _THIS,
-										BooleanType _status		/**< Status of lower bounds. */
-										);
-
-/** Sets status of upper bounds. */
-static inline void Bounds_setNoUpper(	Bounds* _THIS,
-										BooleanType _status		/**< Status of upper bounds. */
-										);
-
-
-/** Returns status of lower bounds.
- *	\return BT_TRUE if there is no lower bound on any variable. */
-static inline BooleanType Bounds_hasNoLower(	Bounds* _THIS
-												);
-
-/** Returns status of upper bounds.
- *	\return BT_TRUE if there is no upper bound on any variable. */
-static inline BooleanType Bounds_hasNoUpper(	Bounds* _THIS
-												);
-
-
-/** Shifts forward type and status of all bounds by a given
- *  offset. This offset has to lie within the range [0,n/2] and has to
- *  be an integer divisor of the total number of bounds n.
- *  Type and status of the first \<offset\> bounds is thrown away,
- *  type and status of the last \<offset\> bounds is doubled,
- *  e.g. for offset = 2: \n
- *  shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_INVALID_ARGUMENTS \n
- 			RET_SHIFTING_FAILED */
-returnValue Bounds_shift(	Bounds* _THIS,
-							int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
-							);
-
-/** Rotates forward type and status of all bounds by a given
- *  offset. This offset has to lie within the range [0,n].
- *  Example for offset = 2: \n
- *  rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_ROTATING_FAILED */
-returnValue Bounds_rotate(	Bounds* _THIS,
-							int offset		/**< Rotation offset within the range [0,n]. */
-							);
-
-
-/** Prints information on bounds object
- *  (in particular, lists of free and fixed bounds.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INDEXLIST_CORRUPTED */
-returnValue Bounds_print(	Bounds* _THIS
-							);
-
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set corresponding to the desired status;
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAll(	Bounds* _THIS,
-								SubjectToStatus _status	/**< Desired initial status for all bounds. */
-								);
-
-
-/** Adds the index of a new bound to index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_addIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
-								int newnumber,				/**< Number of new bound. */
-								SubjectToStatus newstatus	/**< Status of new bound. */
-								);
-
-/** Removes the index of a bound from index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_REMOVEINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_removeIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
-								int removenumber			/**< Number of bound to be removed. */
-								);
-
-/** Swaps the indices of two constraints or bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_swapIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
-								int number1,				/**< Number of first bound. */
-								int number2					/**< Number of second bound. */
-								);
-
-
-
-/*
- *	g e t N u m b e r O f T y p e
- */
-static inline int Bounds_getNumberOfType( Bounds* _THIS, SubjectToType _type )
-{
-	int i;
-	int numberOfType = 0;
-
-	if ( _THIS->type != 0 )
-	{
-		for( i=0; i<_THIS->n; ++i )
-			if ( _THIS->type[i] == _type )
-				++numberOfType;
-	}
-
-	return numberOfType;
-}
-
-
-/*
- *	g e t T y p e
- */
-static inline SubjectToType Bounds_getType( Bounds* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->type[i];
-
-	return ST_UNKNOWN;
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->status[i];
-
-	return ST_UNDEFINED;
-}
-
-
-/*
- *	s e t T y p e
- */
-static inline returnValue Bounds_setType( Bounds* _THIS, int i, SubjectToType value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->type[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t S t a t u s
- */
-static inline returnValue Bounds_setStatus( Bounds* _THIS, int i, SubjectToStatus value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->status[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t N o L o w e r
- */
-static inline void Bounds_setNoLower( Bounds* _THIS, BooleanType _status )
-{
-	_THIS->noLower = _status;
-}
-
-
-/*
- *	s e t N o U p p e r
- */
-static inline void Bounds_setNoUpper( Bounds* _THIS, BooleanType _status )
-{
-	_THIS->noUpper = _status;
-}
-
-
-/*
- *	h a s N o L o w e r
- */
-static inline BooleanType Bounds_hasNoLower( Bounds* _THIS )
-{
-	return _THIS->noLower;
-}
-
-
-/*
- *	h a s N o U p p p e r
- */
-static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS )
-{
-	return _THIS->noUpper;
-}
-
-
-
-/*
- *	g e t N V
- */
-static inline int Bounds_getNV( Bounds* _THIS )
-{
- 	return _THIS->n;
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int Bounds_getNFV( Bounds* _THIS )
-{
- 	return Bounds_getNumberOfType( _THIS,ST_EQUALITY );
-}
-
-
-/*
- *	g e t N B V
- */
-static inline int Bounds_getNBV( Bounds* _THIS )
-{
- 	return Bounds_getNumberOfType( _THIS,ST_BOUNDED );
-}
-
-
-/*
- *	g e t N U V
- */
-static inline int Bounds_getNUV( Bounds* _THIS )
-{
-	return Bounds_getNumberOfType( _THIS,ST_UNBOUNDED );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int Bounds_getNFR( Bounds* _THIS )
-{
- 	return Indexlist_getLength( _THIS->freee );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int Bounds_getNFX( Bounds* _THIS )
-{
-	return Indexlist_getLength( _THIS->fixed );
-}
-
-
-/*
- *	g e t F r e e
- */
-static inline Indexlist* Bounds_getFree( Bounds* _THIS )
-{
-	return _THIS->freee;
-}
-
-
-/*
- *	g e t F i x e d
- */
-static inline Indexlist* Bounds_getFixed( Bounds* _THIS )
-{
-	return _THIS->fixed;
-}
-
-
-END_NAMESPACE_QPOASES
-
-#endif	/* QPOASES_BOUNDS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Constants.h b/third_party/acados/include/qpOASES_e/Constants.h
deleted file mode 100644
index 13c777d75b..0000000000
--- a/third_party/acados/include/qpOASES_e/Constants.h
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Constants.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Definition of all global constants.
- */
-
-
-#ifndef QPOASES_CONSTANTS_H
-#define QPOASES_CONSTANTS_H
-
-
-#include <qpOASES_e/Types.h>
-
-#ifdef __CODE_GENERATION__
-
-  #define CONVERTTOSTRINGAUX(x) #x
-  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
-
-  #ifndef QPOASES_CUSTOM_INTERFACE
-  #include "acado_qpoases3_interface.h"
-  #else
-  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
-  #endif
-
-#endif
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-#ifndef __EXTERNAL_DIMENSIONS__
-
-  /*#define QPOASES_NVMAX  50
-  #define QPOASES_NCMAX  100*/
-  #define QPOASES_NVMAX  287
-  #define QPOASES_NCMAX  709
-
-#endif /* __EXTERNAL_DIMENSIONS__ */
-
-
-/** Maximum number of variables within a QP formulation.
- *	Note: this value has to be positive! */
-#define NVMAX  QPOASES_NVMAX
-
-/** Maximum number of constraints within a QP formulation.
- *	Note: this value has to be positive! */
-#define NCMAX  QPOASES_NCMAX
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMAX QPOASES_NVMAX
-#else
-#define NVCMAX QPOASES_NCMAX
-#endif
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMIN QPOASES_NCMAX
-#else
-#define NVCMIN QPOASES_NVMAX
-#endif
-
-
-/** Maximum number of QPs in a sequence solved by means of the OQP interface.
- *	Note: this value has to be positive! */
-#define NQPMAX 1000
-
-
-/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
- *	Note: this value has to be positive! */
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  static const real_t QPOASES_EPS = 1.193e-07;
-  #else
-  static const real_t QPOASES_EPS = 2.221e-16;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-
-
-/** Numerical value of zero (for situations in which it would be
- *	unreasonable to compare with 0.0).
- *  Note: this value has to be positive! */
-static const real_t QPOASES_ZERO = 1.0e-25;
-
-/** Numerical value of infinity (e.g. for non-existing bounds).
- *	Note: this value has to be positive! */
-static const real_t QPOASES_INFTY = 1.0e20;
-
-/** Tolerance to used for isEqual, isZero etc.
- *	Note: this value has to be positive! */
-static const real_t QPOASES_TOL = 1.0e-25;
-
-
-/** Maximum number of characters within a string.
- *	Note: this value should be at least 41! */
-#define QPOASES_MAX_STRING_LENGTH 160
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_CONSTANTS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/ConstraintProduct.h b/third_party/acados/include/qpOASES_e/ConstraintProduct.h
deleted file mode 100644
index eb5400c6cb..0000000000
--- a/third_party/acados/include/qpOASES_e/ConstraintProduct.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/ConstraintProduct.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *	Declaration of the ConstraintProduct interface which allows to specify a
- *	user-defined function for evaluating the constraint product at the 
- *	current iterate to speed-up QP solution in case of a specially structured
- *	constraint matrix.
- */
-
-
-
-#ifndef QPOASES_CONSTRAINT_PRODUCT_H
-#define QPOASES_CONSTRAINT_PRODUCT_H
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** 
- *	\brief Interface for specifying user-defined evaluations of constraint products.
- *
- *	An interface which allows to specify a user-defined function for evaluating the 
- *	constraint product at the current iterate to speed-up QP solution in case 
- *	of a specially structured constraint matrix.
- *
- *	\author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- */
-typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const );
-
-
-END_NAMESPACE_QPOASES
-
-#endif	/* QPOASES_CONSTRAINT_PRODUCT_H */
diff --git a/third_party/acados/include/qpOASES_e/Constraints.h b/third_party/acados/include/qpOASES_e/Constraints.h
deleted file mode 100644
index 8aca10d5d9..0000000000
--- a/third_party/acados/include/qpOASES_e/Constraints.h
+++ /dev/null
@@ -1,535 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Constraints.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Constraints class designed to manage working sets of
- *	constraints within a QProblem.
- */
-
-
-#ifndef QPOASES_CONSTRAINTS_H
-#define QPOASES_CONSTRAINTS_H
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages working sets of constraints.
- *
- *	This class manages working sets of constraints by storing
- *	index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Indexlist *active;					/**< Index list of active constraints. */
-	Indexlist *inactive;				/**< Index list of inactive constraints. */
-
-	Indexlist *shiftedActive;			/**< Memory for shifting active constraints. */
-	Indexlist *shiftedInactive;			/**< Memory for shifting inactive constraints. */
-
-	Indexlist *rotatedActive;			/**< Memory for rotating active constraints. */
-	Indexlist *rotatedInactive;			/**< Memory for rotating inactive constraints. */
-
-	SubjectToType   *type; 				/**< Type of constraints. */
-	SubjectToStatus *status;			/**< Status of constraints. */
-
-	SubjectToType   *typeTmp;			/**< Temp memory for type of constraints. */
-	SubjectToStatus *statusTmp;			/**< Temp memory for status of constraints. */
-
-	BooleanType noLower;			 	/**< This flag indicates if there is no lower bound on any variable. */
-	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
-
-	int n;								/**< Total number of constraints. */
-} Constraints;
-
-int Constraints_calculateMemorySize( int n);
-
-char *Constraints_assignMemory(int n, Constraints **mem, void *raw_memory);
-
-Constraints *Constraints_createMemory( int n );
-
-/** Constructor which takes the number of constraints. */
-void ConstraintsCON(	Constraints* _THIS,
-						int _n							/**< Number of constraints. */
-						);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void ConstraintsCPY(	Constraints* FROM,
-						Constraints* TO
-						);
-
-
-/** Initialises object with given number of constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Constraints_init(	Constraints* _THIS,
-								int _n					/**< Number of constraints. */
-								);
-
-
-/** Initially adds number of a new (i.e. not yet in the list) constraint to
- *  a given index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_setupConstraint(	Constraints* _THIS,
-											int number,				/**< Number of new constraint. */
-											SubjectToStatus _status	/**< Status of new constraint. */
-											);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of inactive constraints; the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllInactive(	Constraints* _THIS
-											);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of active constraints (on their lower bounds); the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllLower(	Constraints* _THIS
-										);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of active constraints (on their upper bounds); the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllUpper(	Constraints* _THIS
-										);
-
-
-/** Moves index of a constraint from index list of active to that of inactive constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED */
-returnValue Constraints_moveActiveToInactive(	Constraints* _THIS,
-												int number				/**< Number of constraint to become inactive. */
-												);
-
-/** Moves index of a constraint from index list of inactive to that of active constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED */
-returnValue Constraints_moveInactiveToActive(	Constraints* _THIS,
-												int number,				/**< Number of constraint to become active. */
-												SubjectToStatus _status	/**< Status of constraint to become active. */
-												);
-
-/** Flip fixed constraint.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Constraints_flipFixed(	Constraints* _THIS,
-									int number
-									);
-
-
-/** Returns the number of constraints.
- *	\return Number of constraints. */
-static inline int Constraints_getNC(	Constraints* _THIS
-										);
-
-/** Returns the number of implicit equality constraints.
- *	\return Number of implicit equality constraints. */
-static inline int Constraints_getNEC(	Constraints* _THIS
-										);
-
-/** Returns the number of "real" inequality constraints.
- *	\return Number of "real" inequality constraints. */
-static inline int Constraints_getNIC(	Constraints* _THIS
-										);
-
-/** Returns the number of unbounded constraints (i.e. without any bounds).
- *	\return Number of unbounded constraints (i.e. without any bounds). */
-static inline int Constraints_getNUC(	Constraints* _THIS
-										);
-
-/** Returns the number of active constraints.
- *	\return Number of active constraints. */
-static inline int Constraints_getNAC(	Constraints* _THIS
-										);
-
-/** Returns the number of inactive constraints.
- *	\return Number of inactive constraints. */
-static inline int Constraints_getNIAC(	Constraints* _THIS
-										);
-
-
-/** Returns a pointer to active constraints index list.
- *	\return Pointer to active constraints index list. */
-static inline Indexlist* Constraints_getActive(	Constraints* _THIS
-												);
-
-/** Returns a pointer to inactive constraints index list.
- *	\return Pointer to inactive constraints index list. */
-static inline Indexlist* Constraints_getInactive(	Constraints* _THIS
-													);
-
-
-/** Returns number of constraints with given SubjectTo type.
- *	\return Number of constraints with given type. */
-static inline int Constraints_getNumberOfType(	Constraints* _THIS,
-												SubjectToType _type	/**< Type of constraints' bound. */
-												);
-
-
-/** Returns type of constraints' bound.
- *	\return Type of constraints' bound \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline SubjectToType Constraints_getType(	Constraints* _THIS,
-													int i			/**< Number of constraints' bound. */
-													);
-
-/** Returns status of constraints' bound.
- *	\return Status of constraints' bound \n
- 			ST_UNDEFINED */
-static inline SubjectToStatus Constraints_getStatus(	Constraints* _THIS,
-														int i		/**< Number of constraints' bound. */
-														);
-
-
-/** Sets type of constraints' bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Constraints_setType(	Constraints* _THIS,
-												int i,				/**< Number of constraints' bound. */
-												SubjectToType value	/**< Type of constraints' bound. */
-												);
-
-/** Sets status of constraints' bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Constraints_setStatus(	Constraints* _THIS,
-													int i,					/**< Number of constraints' bound. */
-													SubjectToStatus value	/**< Status of constraints' bound. */
-													);
-
-
-/** Sets status of lower constraints' bounds. */
-static inline void Constraints_setNoLower(	Constraints* _THIS,
-											BooleanType _status		/**< Status of lower constraints' bounds. */
-											);
-
-/** Sets status of upper constraints' bounds. */
-static inline void Constraints_setNoUpper(	Constraints* _THIS,
-											BooleanType _status		/**< Status of upper constraints' bounds. */
-											);
-
-
-/** Returns status of lower constraints' bounds.
- *	\return BT_TRUE if there is no lower constraints' bound on any variable. */
-static inline BooleanType Constraints_hasNoLower(	Constraints* _THIS
-													);
-
-/** Returns status of upper bounds.
- *	\return BT_TRUE if there is no upper constraints' bound on any variable. */
-static inline BooleanType Constraints_hasNoUpper(	Constraints* _THIS
-													);
-
-
-/** Shifts forward type and status of all constraints by a given
- *  offset. This offset has to lie within the range [0,n/2] and has to
- *  be an integer divisor of the total number of constraints n.
- *  Type and status of the first \<offset\> constraints  is thrown away,
- *  type and status of the last \<offset\> constraints is doubled,
- *  e.g. for offset = 2: \n
- *  shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_INVALID_ARGUMENTS \n
- 			RET_SHIFTING_FAILED */
-returnValue Constraints_shift(	Constraints* _THIS,
-								int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
-								);
-
-/** Rotates forward type and status of all constraints by a given
- *  offset. This offset has to lie within the range [0,n].
- *  Example for offset = 2: \n
- *  rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_ROTATING_FAILED */
-returnValue Constraints_rotate(	Constraints* _THIS,
-								int offset		/**< Rotation offset within the range [0,n]. */
-								);
-
-
-/** Prints information on constraints object
- *  (in particular, lists of inactive and active constraints.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INDEXLIST_CORRUPTED */
-returnValue Constraints_print(	Constraints* _THIS
-								);
-
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set corresponding to the desired status;
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAll(	Constraints* _THIS,
-									SubjectToStatus _status	/**< Desired initial status for all bounds. */
-									);
-
-
-/** Adds the index of a new constraint to index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_addIndex(	Constraints* _THIS,
-									Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
-									int newnumber,				/**< Number of new constraint. */
-									SubjectToStatus newstatus	/**< Status of new constraint. */
-									);
-
-/** Removes the index of a constraint from index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_REMOVEINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_removeIndex(	Constraints* _THIS,
-										Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
-										int removenumber			/**< Number of constraint to be removed. */
-										);
-
-/** Swaps the indices of two constraints or bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_swapIndex(	Constraints* _THIS,
-									Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
-									int number1,				/**< Number of first constraint. */
-									int number2					/**< Number of second constraint. */
-									);
-
-
-
-/*
- *	g e t N u m b e r O f T y p e
- */
-static inline int Constraints_getNumberOfType( Constraints* _THIS, SubjectToType _type )
-{
-	int i;
-	int numberOfType = 0;
-
-	if ( _THIS->type != 0 )
-	{
-		for( i=0; i<_THIS->n; ++i )
-			if ( _THIS->type[i] == _type )
-				++numberOfType;
-	}
-
-	return numberOfType;
-}
-
-
-/*
- *	g e t T y p e
- */
-static inline SubjectToType Constraints_getType( Constraints* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->type[i];
-
-	return ST_UNKNOWN;
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->status[i];
-
-	return ST_UNDEFINED;
-}
-
-
-/*
- *	s e t T y p e
- */
-static inline returnValue Constraints_setType( Constraints* _THIS, int i, SubjectToType value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->type[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t S t a t u s
- */
-static inline returnValue Constraints_setStatus( Constraints* _THIS, int i, SubjectToStatus value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->status[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t N o L o w e r
- */
-static inline void Constraints_setNoLower( Constraints* _THIS, BooleanType _status )
-{
-	_THIS->noLower = _status;
-}
-
-
-/*
- *	s e t N o U p p e r
- */
-static inline void Constraints_setNoUpper( Constraints* _THIS, BooleanType _status )
-{
-	_THIS->noUpper = _status;
-}
-
-
-/*
- *	h a s N o L o w e r
- */
-static inline BooleanType Constraints_hasNoLower( Constraints* _THIS )
-{
-	return _THIS->noLower;
-}
-
-
-/*
- *	h a s N o U p p p e r
- */
-static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS )
-{
-	return _THIS->noUpper;
-}
-
-
-
-/*
- *	g e t N C
- */
-static inline int Constraints_getNC( Constraints* _THIS )
-{
- 	return _THIS->n;
-}
-
-
-/*
- *	g e t N E C
- */
-static inline int Constraints_getNEC( Constraints* _THIS )
-{
-	return Constraints_getNumberOfType( _THIS,ST_EQUALITY );
-}
-
-
-/*
- *	g e t N I C
- */
-static inline int Constraints_getNIC( Constraints* _THIS )
-{
- 	return Constraints_getNumberOfType( _THIS,ST_BOUNDED );
-}
-
-
-/*
- *	g e t N U C
- */
-static inline int Constraints_getNUC( Constraints* _THIS )
-{
- 	return Constraints_getNumberOfType( _THIS,ST_UNBOUNDED );
-}
-
-
-/*
- *	g e t N A C
- */
-static inline int Constraints_getNAC( Constraints* _THIS )
-{
- 	return Indexlist_getLength( _THIS->active );
-}
-
-
-/*
- *	g e t N I A C
- */
-static inline int Constraints_getNIAC( Constraints* _THIS )
-{
-	return Indexlist_getLength( _THIS->inactive );
-}
-
-
-
-/*
- *	g e t A c t i v e
- */
-static inline Indexlist* Constraints_getActive( Constraints* _THIS )
-{
-	return _THIS->active;
-}
-
-
-/*
- *	g e t I n a c t i v e
- */
-static inline Indexlist* Constraints_getInactive( Constraints* _THIS )
-{
-	return _THIS->inactive;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_CONSTRAINTS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Flipper.h b/third_party/acados/include/qpOASES_e/Flipper.h
deleted file mode 100644
index 63526a30f3..0000000000
--- a/third_party/acados/include/qpOASES_e/Flipper.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Flipper.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Options class designed to manage user-specified
- *	options for solving a QProblem.
- */
-
-
-#ifndef QPOASES_FLIPPER_H
-#define QPOASES_FLIPPER_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Constraints.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Auxiliary class for storing a copy of the current matrix factorisations.
- *
- *	This auxiliary class stores a copy of the current matrix factorisations. It
- *	is used by the classe QProblemB and QProblem in case flipping bounds are enabled.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Bounds      *bounds;			/**< Data structure for problem's bounds. */
-	Constraints *constraints;		/**< Data structure for problem's constraints. */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
-	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
-
-	unsigned int nV;				/**< Number of variables. */
-	unsigned int nC;				/**< Number of constraints. */
-} Flipper;
-
-int Flipper_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *Flipper_assignMemory( unsigned int nV, unsigned int nC, Flipper **mem, void *raw_memory );
-
-Flipper *Flipper_createMemory( unsigned int nV, unsigned int nC );
-
-/** Constructor which takes the number of bounds and constraints. */
-void FlipperCON(	Flipper* _THIS,
-					unsigned int _nV,		/**< Number of bounds. */
-					unsigned int _nC		/**< Number of constraints. */
-					);
-
-/** Copy constructor (deep copy). */
-void FlipperCPY(	Flipper* FROM,
-					Flipper* TO
-					);
-
-/** Initialises object with given number of bounds and constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Flipper_init(	Flipper* _THIS,
-							unsigned int _nV,	/**< Number of bounds. */
-							unsigned int _nC	/**< Number of constraints. */
-							);
-
-
-/** Copies current values to non-null arguments (assumed to be allocated with consistent size).
- *	\return SUCCESSFUL_RETURN */
-returnValue Flipper_get(	Flipper* _THIS,
-							Bounds* const _bounds,				/**< Pointer to new bounds. */
-							real_t* const R,					/**< New matrix R. */
-							Constraints* const _constraints,	/**< Pointer to new constraints. */
-							real_t* const _Q,					/**< New matrix Q. */
-							real_t* const _T					/**< New matrix T. */
-							);
-
-/** Assigns new values to non-null arguments.
- *	\return SUCCESSFUL_RETURN */
-returnValue Flipper_set(	Flipper* _THIS,
-							const Bounds* const _bounds,			/**< Pointer to new bounds. */
-							const real_t* const _R,					/**< New matrix R. */
-							const Constraints* const _constraints,	/**< Pointer to new constraints. */
-							const real_t* const _Q,					/**< New matrix Q. */
-							const real_t* const _T					/**< New matrix T. */
-							);
-
-/** Returns dimension of matrix T.
- *  \return Dimension of matrix T. */
-unsigned int Flipper_getDimT( Flipper* _THIS );
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_FLIPPER_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Indexlist.h b/third_party/acados/include/qpOASES_e/Indexlist.h
deleted file mode 100644
index 02d259d63d..0000000000
--- a/third_party/acados/include/qpOASES_e/Indexlist.h
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Indexlist.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Indexlist class designed to manage index lists of
- *	constraints and bounds within a SubjectTo object.
- */
-
-
-#ifndef QPOASES_INDEXLIST_H
-#define QPOASES_INDEXLIST_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Stores and manages index lists.
- *
- *	This class manages index lists of active/inactive bounds/constraints.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	int *number;		/**< Array to store numbers of constraints or bounds. */
-	int *iSort;			/**< Index list to sort vector \a number */
-
-	int	length;			/**< Length of index list. */
-	int	first;			/**< Physical index of first element. */
-	int	last;			/**< Physical index of last element. */
-	int	lastusedindex;	/**< Physical index of last entry in index list. */
-	int	physicallength;	/**< Physical length of index list. */
-} Indexlist;
-
-int Indexlist_calculateMemorySize( int n);
-
-char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory);
-
-Indexlist *Indexlist_createMemory( int n );
-
-/** Constructor which takes the desired physical length of the index list. */
-void IndexlistCON(	Indexlist* _THIS,
-					int n	/**< Physical length of index list. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void IndexlistCPY(	Indexlist* FROM,
-					Indexlist* TO
-					);
-
-/** Initialises index list of desired physical length.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Indexlist_init(	Indexlist* _THIS,
-							int n		/**< Physical length of index list. */
-							);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue Indexlist_getNumberArray(	Indexlist* _THIS,
-										int** const numberarray	/**< Output: Array of numbers (NULL on error). */
-										);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INDEXLIST_CORRUPTED */
-returnValue	Indexlist_getISortArray(	Indexlist* _THIS,
-										int** const iSortArray	/**< Output: iSort Array. */
-										);
-
-
-/** Determines the index within the index list at which a given number is stored.
- *	\return >= 0: Index of given number. \n
- 			-1: Number not found. */
-int Indexlist_getIndex(	Indexlist* _THIS,
-						int givennumber	/**< Number whose index shall be determined. */
-						);
-
-/** Returns the number stored at a given physical index.
- *	\return >= 0: Number stored at given physical index. \n
- 			-RET_INDEXLIST_OUTOFBOUNDS */
-static inline int Indexlist_getNumber(	Indexlist* _THIS,
-										int physicalindex	/**< Physical index of the number to be returned. */
-										);
-
-
-/** Returns the current length of the index list.
- *	\return Current length of the index list. */
-static inline int Indexlist_getLength(	Indexlist* _THIS
-										);
-
-/** Returns last number within the index list.
- *	\return Last number within the index list. */
-static inline int Indexlist_getLastNumber(	Indexlist* _THIS
-											);
-
-
-/** Adds number to index list.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_MUST_BE_REORDERD \n
- 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
-returnValue Indexlist_addNumber(	Indexlist* _THIS,
-									int addnumber			/**< Number to be added. */
-									);
-
-/** Removes number from index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_removeNumber(	Indexlist* _THIS,
-									int removenumber	/**< Number to be removed. */
-									);
-
-/** Swaps two numbers within index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_swapNumbers(	Indexlist* _THIS,
-									int number1,		/**< First number for swapping. */
-									int number2			/**< Second number for swapping. */
-									);
-
-/** Determines if a given number is contained in the index set.
- *	\return BT_TRUE iff number is contain in the index set */
-static inline BooleanType Indexlist_isMember(	Indexlist* _THIS,
-												int _number		/**< Number to be tested for membership. */
-												);
-
-
-/** Find first index j between -1 and length in sorted list of indices
- *  iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses
- *  bisection.
- *  \return j. */
-int Indexlist_findInsert(	Indexlist* _THIS,
-							int i
-							);
-
-
-
-/*
- *	g e t N u m b e r
- */
-static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
-{
-	/* consistency check */
-	if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
-		return -RET_INDEXLIST_OUTOFBOUNDS;
-
-	return _THIS->number[physicalindex];
-}
-
-
-/*
- *	g e t L e n g t h
- */
-static inline int Indexlist_getLength( Indexlist* _THIS )
-{
-	return _THIS->length;
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline int Indexlist_getLastNumber( Indexlist* _THIS )
-{
-	return _THIS->number[_THIS->length-1];
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
-{
-	if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_INDEXLIST_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Matrices.h b/third_party/acados/include/qpOASES_e/Matrices.h
deleted file mode 100644
index e2a46b3a9d..0000000000
--- a/third_party/acados/include/qpOASES_e/Matrices.h
+++ /dev/null
@@ -1,287 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Matrices.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *  Various matrix classes: Abstract base matrix class, dense and sparse matrices,
- *  including symmetry exploiting specializations.
- */
-
-
-
-#ifndef QPOASES_MATRICES_H
-#define QPOASES_MATRICES_H
-
-#ifdef __USE_SINGLE_PRECISION__
-
-	// single precision
-	#define GEMM sgemm_
-	#define GEMV sgemv_
-//	#define SYR ssyr_
-//	#define SYR2 ssyr2_
-	#define POTRF spotrf_
-
-#else
-
-	// double precision
-	#define GEMM dgemm_
-	#define GEMV dgemv_
-//	#define SYR  dsyr_
-//	#define SYR2 dsyr2_
-	#define POTRF dpotrf_
-
-#endif /* __USE_SINGLE_PRECISION__ */
-
-
-#ifdef EXTERNAL_BLAS
-	// double precision
-	void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc);
-	void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-	void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-	// single precision
-	void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc);
-	void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-	void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-#else
-	/** Performs one of the matrix-matrix operation in double precision. */
-	void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const double*, const double*, const unsigned long*, const double*, const unsigned long*,
-			const double*, double*, const unsigned long* );
-	/** Performs one of the matrix-matrix operation in single precision. */
-	void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const float*, const float*, const unsigned long*, const float*, const unsigned long*,
-			const float*, float*, const unsigned long* );
-
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */
-	void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * );
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */
-	void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * );
-
-#endif
-
-	/** Performs a symmetric rank 1 operation in double precision. */
-//	void dsyr_ ( const char *, const unsigned long *, const double *, const double *,
-//				 const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 1 operation in single precision. */
-//	void ssyr_ ( const char *, const unsigned long *, const float *, const float *,
-//				 const unsigned long *, float *, const unsigned long *);
-
-	/** Performs a symmetric rank 2 operation in double precision. */
-//	void dsyr2_ ( const char *, const unsigned long *, const double *, const double *,
-//				  const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 2 operation in single precision. */
-//	void ssyr2_ ( const char *, const unsigned long *, const float *, const float *,
-//				  const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *);
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Interfaces matrix-vector operations tailored to general dense matrices.
- *
- *	Dense matrix class (row major format).
- *
- *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2011-2015
- */
-typedef struct
-{
-	real_t *val;				/**< Vector of entries. */
-	int nRows;					/**< Number of rows. */
-	int nCols;					/**< Number of columns. */
-	int leaDim;					/**< Leading dimension. */
-} DenseMatrix;
-
-int DenseMatrix_calculateMemorySize( int m, int n );
-
-char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory );
-
-DenseMatrix *DenseMatrix_createMemory( int m, int n );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-void DenseMatrixCON(	DenseMatrix* _THIS,
-						int m,			/**< Number of rows. */
-						int n,			/**< Number of columns. */
-						int lD,			/**< Leading dimension. */
-						real_t *v		/**< Values. */
-						);
-
-void DenseMatrixCPY(	DenseMatrix* FROM,
-						DenseMatrix* TO
-						);
-
-
-/** Frees all internal memory. */
-void DenseMatrix_free( DenseMatrix* _THIS );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-returnValue DenseMatrix_init(	DenseMatrix* _THIS,
-								int m,			/**< Number of rows. */
-								int n,			/**< Number of columns. */
-								int lD,			/**< Leading dimension. */
-								real_t *v		/**< Values. */
-								);
-
-
-/** Returns i-th diagonal entry.
- *	\return i-th diagonal entry */
-real_t DenseMatrix_diag(	DenseMatrix* _THIS,
-							int i			/**< Index. */
-							);
-
-/** Checks whether matrix is square and diagonal.
- *	\return BT_TRUE  iff matrix is square and diagonal; \n
- *	        BT_FALSE otherwise. */
-BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS );
-
-/** Get the N-norm of the matrix
- *  \return N-norm of the matrix
- */
-real_t DenseMatrix_getNorm( DenseMatrix* _THIS,
-							int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-							);
-
-/** Get the N-norm of a row
- *  \return N-norm of row \a rNum
- */
-real_t DenseMatrix_getRowNorm(	DenseMatrix* _THIS,
-								int rNum,			/**< Row number. */
-								int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-								);
-
-/** Retrieve indexed entries of matrix row multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_getRow(	DenseMatrix* _THIS,
-								int rNum,						/**< Row number. */
-								const Indexlist* const icols,	/**< Index list specifying columns. */
-								real_t alpha,					/**< Scalar factor. */
-								real_t *row						/**< Output row vector. */
-								);
-
-/** Retrieve indexed entries of matrix column multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_getCol(	DenseMatrix* _THIS,
-									int cNum,						/**< Column number. */
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									real_t alpha,					/**< Scalar factor. */
-									real_t *col						/**< Output column vector. */
-									);
-
-/** Evaluate Y=alpha*A*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_times(	DenseMatrix* _THIS,
-								int xN,					/**< Number of vectors to multiply. */
-								real_t alpha,			/**< Scalar factor for matrix vector product. */
-								const real_t *x,		/**< Input vector to be multiplied. */
-								int xLD,				/**< Leading dimension of input x. */
-								real_t beta,			/**< Scalar factor for y. */
-								real_t *y,				/**< Output vector of results. */
-								int yLD					/**< Leading dimension of output y. */
-								);
-
-/** Evaluate Y=alpha*A'*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_transTimes(	DenseMatrix* _THIS,
-									int xN,				/**< Number of vectors to multiply. */
-									real_t alpha,		/**< Scalar factor for matrix vector product. */
-									const real_t *x,	/**< Input vector to be multiplied. */
-									int xLD,			/**< Leading dimension of input x. */
-									real_t beta,		/**< Scalar factor for y. */
-									real_t *y,			/**< Output vector of results. */
-									int yLD				/**< Leading dimension of output y. */
-									);
-
-/** Evaluate matrix vector product with submatrix given by Indexlist.
- *	\return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_subTimes(	DenseMatrix* _THIS,
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									const Indexlist* const icols,	/**< Index list specifying columns. */
-									int xN,							/**< Number of vectors to multiply. */
-									real_t alpha,					/**< Scalar factor for matrix vector product. */
-									const real_t *x,				/**< Input vector to be multiplied. */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t beta,					/**< Scalar factor for y. */
-									real_t *y,						/**< Output vector of results. */
-									int yLD,						/**< Leading dimension of output y. */
-									BooleanType yCompr 				/**< Compressed storage for y. */
-									);
-
-/** Evaluate matrix transpose vector product.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_subTransTimes(	DenseMatrix* _THIS,
-										const Indexlist* const irows,	/**< Index list specifying rows. */
-										const Indexlist* const icols,	/**< Index list specifying columns. */
-										int xN,							/**< Number of vectors to multiply. */
-										real_t alpha,					/**< Scalar factor for matrix vector product. */
-										const real_t *x,				/**< Input vector to be multiplied. */
-										int xLD,						/**< Leading dimension of input x. */
-										real_t beta,					/**< Scalar factor for y. */
-										real_t *y,						/**< Output vector of results. */
-										int yLD							/**< Leading dimension of output y. */
-										);
-
-/** Adds given offset to diagonal of matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_NO_DIAGONAL_AVAILABLE */
-returnValue DenseMatrix_addToDiag(	DenseMatrix* _THIS,
-									real_t alpha		/**< Diagonal offset. */
-									);
-
-/** Prints matrix to screen.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_print(	DenseMatrix* _THIS
-								);
-
-static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; }
-
-/** Compute bilinear form y = x'*H*x using submatrix given by index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_bilinear(	DenseMatrix* _THIS,
-									const Indexlist* const icols,	/**< Index list specifying columns of x. */
-									int xN,							/**< Number of vectors to multiply. */
-									const real_t *x,				/**< Input vector to be multiplied (uncompressed). */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t *y,						/**< Output vector of results (compressed). */
-									int yLD							/**< Leading dimension of output y. */
-									);
-
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_MATRICES_H */
diff --git a/third_party/acados/include/qpOASES_e/MessageHandling.h b/third_party/acados/include/qpOASES_e/MessageHandling.h
deleted file mode 100644
index fe5524948a..0000000000
--- a/third_party/acados/include/qpOASES_e/MessageHandling.h
+++ /dev/null
@@ -1,544 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/MessageHandling.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to Leonard Wirsching)
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the MessageHandling class including global return values.
- */
-
-
-#ifndef QPOASES_MESSAGEHANDLING_H
-#define QPOASES_MESSAGEHANDLING_H
-
-
-#include <stdio.h>
-#include <string.h>
-#include <math.h>
-#include <assert.h>
-
-#include <qpOASES_e/Constants.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Default file to display messages. */
-#define stdFile stderr
-
-
-/**
- *	\brief Defines all symbols for global return values.
- *	
- *  The enumeration returnValueType defines all symbols for global return values.
- *	Important: All return values are assumed to be nonnegative!
- *
- *	\author Hans Joachim Ferreau
- */
-typedef enum 
-{
-TERMINAL_LIST_ELEMENT = -1,						/**< Terminal list element, internal usage only! */
-/* miscellaneous */
-SUCCESSFUL_RETURN = 0,							/**< Successful return. */
-RET_DIV_BY_ZERO,		   						/**< Division by zero. */
-RET_INDEX_OUT_OF_BOUNDS,						/**< Index out of bounds. */
-RET_INVALID_ARGUMENTS,							/**< At least one of the arguments is invalid. */
-RET_ERROR_UNDEFINED,							/**< Error number undefined. */
-RET_WARNING_UNDEFINED,							/**< Warning number undefined. */
-RET_INFO_UNDEFINED,								/**< Info number undefined. */
-RET_EWI_UNDEFINED,								/**< Error/warning/info number undefined. */
-RET_AVAILABLE_WITH_LINUX_ONLY,					/**< This function is available under Linux only. */
-RET_UNKNOWN_BUG,								/**< The error occurred is not yet known. */
-RET_PRINTLEVEL_CHANGED,							/**< Print level changed. (10) */
-RET_NOT_YET_IMPLEMENTED,						/**< Requested function is not yet implemented in this version of qpOASES. */
-/* Indexlist */
-RET_INDEXLIST_MUST_BE_REORDERD,					/**< Index list has to be reordered. */
-RET_INDEXLIST_EXCEEDS_MAX_LENGTH,				/**< Index list exceeds its maximal physical length. */
-RET_INDEXLIST_CORRUPTED,						/**< Index list corrupted. */
-RET_INDEXLIST_OUTOFBOUNDS,						/**< Physical index is out of bounds. */
-RET_INDEXLIST_ADD_FAILED,						/**< Adding indices from another index set failed. */
-RET_INDEXLIST_INTERSECT_FAILED,					/**< Intersection with another index set failed. */
-/* SubjectTo / Bounds / Constraints */
-RET_INDEX_ALREADY_OF_DESIRED_STATUS,			/**< Index is already of desired status. (18) */
-RET_ADDINDEX_FAILED,							/**< Adding index to index set failed. */
-RET_REMOVEINDEX_FAILED,							/**< Removing index from index set failed. (20) */
-RET_SWAPINDEX_FAILED,							/**< Cannot swap between different indexsets. */
-RET_NOTHING_TO_DO,								/**< Nothing to do. */
-RET_SETUP_BOUND_FAILED,							/**< Setting up bound index failed. */
-RET_SETUP_CONSTRAINT_FAILED,					/**< Setting up constraint index failed. */
-RET_MOVING_BOUND_FAILED,						/**< Moving bound between index sets failed. */
-RET_MOVING_CONSTRAINT_FAILED,					/**< Moving constraint between index sets failed. */
-RET_SHIFTING_FAILED,							/**< Shifting of bounds/constraints failed. */
-RET_ROTATING_FAILED,							/**< Rotating of bounds/constraints failed. */
-/* QProblem */
-RET_QPOBJECT_NOT_SETUP,							/**< The QP object has not been setup correctly, use another constructor. */
-RET_QP_ALREADY_INITIALISED,						/**< QProblem has already been initialised. (30) */
-RET_NO_INIT_WITH_STANDARD_SOLVER,				/**< Initialisation via extern QP solver is not yet implemented. */
-RET_RESET_FAILED,								/**< Reset failed. */
-RET_INIT_FAILED,								/**< Initialisation failed. */
-RET_INIT_FAILED_TQ,								/**< Initialisation failed due to TQ factorisation. */
-RET_INIT_FAILED_CHOLESKY,						/**< Initialisation failed due to Cholesky decomposition. */
-RET_INIT_FAILED_HOTSTART,						/**< Initialisation failed! QP could not be solved! */
-RET_INIT_FAILED_INFEASIBILITY,					/**< Initial QP could not be solved due to infeasibility! */
-RET_INIT_FAILED_UNBOUNDEDNESS,					/**< Initial QP could not be solved due to unboundedness! */
-RET_INIT_FAILED_REGULARISATION,					/**< Initialisation failed as Hessian matrix could not be regularised. */
-RET_INIT_SUCCESSFUL,							/**< Initialisation done. (40) */
-RET_OBTAINING_WORKINGSET_FAILED,				/**< Failed to obtain working set for auxiliary QP. */
-RET_SETUP_WORKINGSET_FAILED,					/**< Failed to setup working set for auxiliary QP. */
-RET_SETUP_AUXILIARYQP_FAILED,					/**< Failed to setup auxiliary QP for initialised homotopy. */
-RET_NO_CHOLESKY_WITH_INITIAL_GUESS,				/**< Externally computed Cholesky factor cannot be combined with an initial guess. */
-RET_NO_EXTERN_SOLVER,							/**< No extern QP solver available. */
-RET_QP_UNBOUNDED,								/**< QP is unbounded. */
-RET_QP_INFEASIBLE,								/**< QP is infeasible. */
-RET_QP_NOT_SOLVED,								/**< Problems occurred while solving QP with standard solver. */
-RET_QP_SOLVED,									/**< QP successfully solved. */
-RET_UNABLE_TO_SOLVE_QP,							/**< Problems occurred while solving QP. (50) */
-RET_INITIALISATION_STARTED,						/**< Starting problem initialisation... */
-RET_HOTSTART_FAILED,							/**< Unable to perform homotopy due to internal error. */
-RET_HOTSTART_FAILED_TO_INIT,					/**< Unable to initialise problem. */
-RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,		/**< Unable to perform homotopy as previous QP is not solved. */
-RET_ITERATION_STARTED,							/**< Iteration... */
-RET_SHIFT_DETERMINATION_FAILED,					/**< Determination of shift of the QP data failed. */
-RET_STEPDIRECTION_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_STEPLENGTH_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_OPTIMAL_SOLUTION_FOUND,						/**< Optimal solution of neighbouring QP found. */
-RET_HOMOTOPY_STEP_FAILED,						/**< Unable to perform homotopy step. (60) */
-RET_HOTSTART_STOPPED_INFEASIBILITY,				/**< Premature homotopy termination because QP is infeasible. */
-RET_HOTSTART_STOPPED_UNBOUNDEDNESS,				/**< Premature homotopy termination because QP is unbounded. */
-RET_WORKINGSET_UPDATE_FAILED,					/**< Unable to update working sets according to initial guesses. */
-RET_MAX_NWSR_REACHED,							/**< Maximum number of working set recalculations performed. */
-RET_CONSTRAINTS_NOT_SPECIFIED,					/**< Problem does comprise constraints! You also have to specify new constraints' bounds. */
-RET_INVALID_FACTORISATION_FLAG,					/**< Invalid factorisation flag. */
-RET_UNABLE_TO_SAVE_QPDATA,						/**< Unable to save QP data. */
-RET_STEPDIRECTION_FAILED_TQ,					/**< Abnormal termination due to TQ factorisation. */
-RET_STEPDIRECTION_FAILED_CHOLESKY,				/**< Abnormal termination due to Cholesky factorisation. */
-RET_CYCLING_DETECTED,							/**< Cycling detected. (70) */
-RET_CYCLING_NOT_RESOLVED,						/**< Cycling cannot be resolved, QP probably infeasible. */
-RET_CYCLING_RESOLVED,							/**< Cycling probably resolved. */
-RET_STEPSIZE,									/**< For displaying performed stepsize. */
-RET_STEPSIZE_NONPOSITIVE,						/**< For displaying non-positive stepsize. */
-RET_SETUPSUBJECTTOTYPE_FAILED,					/**< Setup of SubjectToTypes failed. */
-RET_ADDCONSTRAINT_FAILED,						/**< Addition of constraint to working set failed. */
-RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,			/**< Addition of constraint to working set failed (due to QP infeasibility). */
-RET_ADDBOUND_FAILED,							/**< Addition of bound to working set failed. */
-RET_ADDBOUND_FAILED_INFEASIBILITY,				/**< Addition of bound to working set failed (due to QP infeasibility). */
-RET_REMOVECONSTRAINT_FAILED,					/**< Removal of constraint from working set failed. (80) */
-RET_REMOVEBOUND_FAILED,							/**< Removal of bound from working set failed. */
-RET_REMOVE_FROM_ACTIVESET,						/**< Removing from active set... */
-RET_ADD_TO_ACTIVESET,							/**< Adding to active set... */
-RET_REMOVE_FROM_ACTIVESET_FAILED,				/**< Removing from active set failed. */
-RET_ADD_TO_ACTIVESET_FAILED,					/**< Adding to active set failed. */
-RET_CONSTRAINT_ALREADY_ACTIVE,					/**< Constraint is already active. */
-RET_ALL_CONSTRAINTS_ACTIVE,						/**< All constraints are active, no further constraint can be added. */
-RET_LINEARLY_DEPENDENT,							/**< New bound/constraint is linearly dependent. */
-RET_LINEARLY_INDEPENDENT,						/**< New bound/constraint is linearly independent. */
-RET_LI_RESOLVED,								/**< Linear independence of active constraint matrix successfully resolved. (90) */
-RET_ENSURELI_FAILED,							/**< Failed to ensure linear independence of active constraint matrix. */
-RET_ENSURELI_FAILED_TQ,							/**< Abnormal termination due to TQ factorisation. */
-RET_ENSURELI_FAILED_NOINDEX,					/**< QP is infeasible. */
-RET_ENSURELI_FAILED_CYCLING,					/**< QP is infeasible. */
-RET_BOUND_ALREADY_ACTIVE,						/**< Bound is already active. */
-RET_ALL_BOUNDS_ACTIVE,							/**< All bounds are active, no further bound can be added. */
-RET_CONSTRAINT_NOT_ACTIVE,						/**< Constraint is not active. */
-RET_BOUND_NOT_ACTIVE,							/**< Bound is not active. */
-RET_HESSIAN_NOT_SPD,							/**< Projected Hessian matrix not positive definite. */
-RET_HESSIAN_INDEFINITE,							/**< Hessian matrix is indefinite. (100) */
-RET_MATRIX_SHIFT_FAILED,						/**< Unable to update matrices or to transform vectors. */
-RET_MATRIX_FACTORISATION_FAILED,				/**< Unable to calculate new matrix factorisations. */
-RET_PRINT_ITERATION_FAILED,						/**< Unable to print information on current iteration. */
-RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,				/**< No global message output file initialised. */
-RET_DISABLECONSTRAINTS_FAILED,					/**< Unable to disbable constraints. */
-RET_ENABLECONSTRAINTS_FAILED,					/**< Unable to enbable constraints. */
-RET_ALREADY_ENABLED,							/**< Bound or constraint is already enabled. */
-RET_ALREADY_DISABLED,							/**< Bound or constraint is already disabled. */
-RET_NO_HESSIAN_SPECIFIED, 						/**< No Hessian matrix has been specified. */
-RET_USING_REGULARISATION,						/**< Using regularisation as Hessian matrix is not positive definite. (110) */
-RET_EPS_MUST_BE_POSITVE,						/**< Eps for regularisation must be sufficiently positive. */
-RET_REGSTEPS_MUST_BE_POSITVE, 					/**< Maximum number of regularisation steps must be non-negative. */
-RET_HESSIAN_ALREADY_REGULARISED,				/**< Hessian has been already regularised. */
-RET_CANNOT_REGULARISE_IDENTITY,					/**< Identity Hessian matrix cannot be regularised. */
-RET_CANNOT_REGULARISE_SPARSE,					/**< Sparse matrix cannot be regularised as diagonal entry is missing. */
-RET_NO_REGSTEP_NWSR,							/**< No additional regularisation step could be performed due to limits. */
-RET_FEWER_REGSTEPS_NWSR,						/**< Fewer additional regularisation steps have been performed due to limits. */
-RET_CHOLESKY_OF_ZERO_HESSIAN, 					/**< Cholesky decomposition of (unregularised) zero Hessian matrix. */
-RET_ZERO_HESSIAN_ASSUMED,						/**< Zero Hessian matrix assumed as null pointer passed without specifying hessianType. */
-RET_CONSTRAINTS_ARE_NOT_SCALED, 				/**< (no longer in use) (120) */
-RET_INITIAL_BOUNDS_STATUS_NYI, 					/**< (no longer in use) */
-RET_ERROR_IN_CONSTRAINTPRODUCT,					/**< Error in user-defined constraint product function. */
-RET_FIX_BOUNDS_FOR_LP,							/**< All initial bounds must be fixed when solving an (unregularised) LP. */
-RET_USE_REGULARISATION_FOR_LP,					/**< Set options.enableRegularisation=BT_TRUE for solving LPs. */
-/* SQProblem */
-RET_UPDATEMATRICES_FAILED,						/**< Unable to update QP matrices. */
-RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED,		/**< Unable to update matrices as previous QP is not solved. */
-/* Utils */
-RET_UNABLE_TO_OPEN_FILE,						/**< Unable to open file. */
-RET_UNABLE_TO_WRITE_FILE,						/**< Unable to write into file. */
-RET_UNABLE_TO_READ_FILE,						/**< Unable to read from file. */
-RET_FILEDATA_INCONSISTENT,						/**< File contains inconsistent data. (130) */
-/* Options */
-RET_OPTIONS_ADJUSTED,							/**< Options needed to be adjusted for consistency reasons. */
-/* SolutionAnalysis */
-RET_UNABLE_TO_ANALYSE_QPROBLEM, 				/**< Unable to analyse (S)QProblem(B) object. */
-/* Benchmark */
-RET_NWSR_SET_TO_ONE,							/**< Maximum number of working set changes was set to 1. */
-RET_UNABLE_TO_READ_BENCHMARK,					/**< Unable to read benchmark data. */
-RET_BENCHMARK_ABORTED,							/**< Benchmark aborted. */
-RET_INITIAL_QP_SOLVED,							/**< Initial QP solved. */
-RET_QP_SOLUTION_STARTED,						/**< Solving QP... */
-RET_BENCHMARK_SUCCESSFUL,						/**< Benchmark terminated successfully. */
-/* Sparse matrices */
-RET_NO_DIAGONAL_AVAILABLE,						/**< Sparse matrix does not have entries on full diagonal. */
-RET_DIAGONAL_NOT_INITIALISED,					/**< Diagonal data of sparse matrix has not been initialised. (140) */
-/* Dropping of infeasible constraints */
-RET_ENSURELI_DROPPED,							/**< Linear independence resolved by dropping blocking constraint. */
-/* Simple exitflags */
-RET_SIMPLE_STATUS_P1,							/**< QP problem could not be solved within given number of iterations. */
-RET_SIMPLE_STATUS_P0,							/**< QP problem solved. */
-RET_SIMPLE_STATUS_M1,							/**< QP problem could not be solved due to an internal error. */
-RET_SIMPLE_STATUS_M2,							/**< QP problem is infeasible (and thus could not be solved). */
-RET_SIMPLE_STATUS_M3 							/**< QP problem is unbounded (and thus could not be solved). (146) */
-} returnValue;
-
-
-/**
- *	\brief Data structure for entries in global message list.
- *	
- *	Data structure for entries in global message list.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	returnValue key;							/**< Global return value. */
-	const char* data;							/**< Corresponding message. */
-	VisibilityStatus globalVisibilityStatus; 	/**< Determines if message can be printed.
-												* 	 If this value is set to VS_HIDDEN, no message is printed! */
-} ReturnValueList;
-
-
-
-/** 
- *	\brief Handles all kind of error messages, warnings and other information.
- *
- *	This class handles all kinds of messages (errors, warnings, infos) initiated
- *  by qpOASES modules and stores the corresponding global preferences.
- *
- *	\author Hans Joachim Ferreau (thanks to Leonard Wirsching)
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	VisibilityStatus errorVisibility;		/**< Error messages visible? */
-	VisibilityStatus warningVisibility;		/**< Warning messages visible? */
-	VisibilityStatus infoVisibility;		/**< Info messages visible? */
-
-	FILE* outputFile;						/**< Output file for messages. */
-
-	int errorCount; 						/**< Counts number of errors (for nicer output only). */
-} MessageHandling;
-
-
-
-/** Constructor which takes the desired output file and desired visibility states. */
-void MessageHandlingCON(	MessageHandling* _THIS,
-							FILE* _outputFile,					/**< Output file. */
-							VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
-							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
-							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
-							);
-
-void MessageHandlingCPY(	MessageHandling* FROM,
-							MessageHandling* TO
-							);
-
-
-/** Prints an error message(a simplified macro THROWERROR is also provided). \n
- *  Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
- *  Errors of a sub function should be commented by the calling function by means of a warning message
- *  (if this error does not cause an error of the calling function, either)!
- *  \return Error number returned by sub function call
- */
-returnValue MessageHandling_throwError(	MessageHandling* _THIS,
-										returnValue Enumber,					/**< Error number returned by sub function call. */
-										const char* additionaltext,				/**< Additional error text (0, if none). */
-										const char* functionname,				/**< Name of function which caused the error. */
-										const char* filename,					/**< Name of file which caused the error. */
-										const unsigned long linenumber,			/**< Number of line which caused the error.incompatible binary file */
-										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if error message can be printed to stderr.
-																			*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																			*   no message is printed, anyway! */
-										);
-
-/** Prints a warning message (a simplified macro THROWWARNING is also provided).
- *  Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
- *  \return Warning number returned by sub function call
- */
-returnValue MessageHandling_throwWarning(	MessageHandling* _THIS,
-											returnValue Wnumber,	 				/**< Warning number returned by sub function call. */
-											const char* additionaltext,				/**< Additional warning text (0, if none). */
-											const char* functionname,				/**< Name of function which caused the warning. */
-											const char* filename,   				/**< Name of file which caused the warning. */
-											const unsigned long linenumber,	 		/**< Number of line which caused the warning. */
-											VisibilityStatus localVisibilityStatus	/**< Determines (locally) if warning message can be printed to stderr.
-																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																					*   no message is printed, anyway! */
-											);
-
-/** Prints a info message (a simplified macro THROWINFO is also provided).
- *  \return Info number returned by sub function call
- */
-returnValue MessageHandling_throwInfo(	MessageHandling* _THIS,
-										returnValue Inumber,	 				/**< Info number returned by sub function call. */
-										const char* additionaltext,	 			/**< Additional warning text (0, if none). */
-										const char* functionname,				/**< Name of function which submitted the info. */
-										const char* filename,   				/**< Name of file which submitted the info. */
-										const unsigned long linenumber,			/**< Number of line which submitted the info. */
-										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if info message can be printed to stderr.
-																				*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																				*   no message is printed, anyway! */
-										);
-
-
-/** Resets all preferences to default values.
- *	\return SUCCESSFUL_RETURN */
-returnValue MessageHandling_reset( MessageHandling* _THIS );
-
-
-/** Prints a complete list of all messages to output file.
- *	\return SUCCESSFUL_RETURN */
-returnValue MessageHandling_listAllMessages( MessageHandling* _THIS );
-
-
-/** Returns visibility status for error messages.
- *	\return Visibility status for error messages. */
-static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns visibility status for warning messages.
- *	\return Visibility status for warning messages. */
-static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns visibility status for info messages.
- *	\return Visibility status for info messages. */
-static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns pointer to output file.
- *	\return Pointer to output file. */
-static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS );
-
-/** Returns error count value.
- *	\return Error count value. */
-static inline int MessageHandling_getErrorCount( MessageHandling* _THIS );
-
-
-/** Changes visibility status for error messages. */
-static inline void MessageHandling_setErrorVisibilityStatus(	MessageHandling* _THIS,
-														VisibilityStatus _errorVisibility	/**< New visibility status for error messages. */
-														);
-
-/** Changes visibility status for warning messages. */
-static inline void MessageHandling_setWarningVisibilityStatus(	MessageHandling* _THIS,
-																VisibilityStatus _warningVisibility	/**< New visibility status for warning messages. */
-																);
-
-/** Changes visibility status for info messages. */
-static inline void MessageHandling_setInfoVisibilityStatus(	MessageHandling* _THIS,
-															VisibilityStatus _infoVisibility	/**< New visibility status for info messages. */
-															);
-
-/** Changes output file for messages. */
-static inline void MessageHandling_setOutputFile(	MessageHandling* _THIS,
-													FILE* _outputFile	/**< New output file for messages. */
-													);
-
-/** Changes error count.
- * \return SUCCESSFUL_RETURN \n
- *		   RET_INVALID_ARGUMENT */
-static inline returnValue MessageHandling_setErrorCount(	MessageHandling* _THIS,
-															int _errorCount	/**< New error count value. */
-															);
-
-/** Provides message text corresponding to given \a returnValue.
- * \return String containing message text. */
-const char* MessageHandling_getErrorCodeMessage(	MessageHandling* _THIS,
-													const returnValue _returnValue
-													);
-
-
-returnValue MessageHandling_throwMessage(	MessageHandling* _THIS,
-											returnValue RETnumber,	 				/**< Error/warning/info number returned by sub function call. */
-											const char* additionaltext,				/**< Additional warning text (0, if none). */
-											const char* functionname,				/**< Name of function which caused the error/warning/info. */
-											const char* filename,   				/**< Name of file which caused the error/warning/info. */
-											const unsigned long linenumber,			/**< Number of line which caused the error/warning/info. */
-											VisibilityStatus localVisibilityStatus,	/**< Determines (locally) if info message can be printed to stderr.
-																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																					*   no message is printed, anyway! */
-											const char* RETstring					/**< Leading string of error/warning/info message. */
-											);
-
-
-#ifndef __FILE__
-  /** Ensures that __FILE__ macro is defined. */
-  #define __FILE__ 0
-#endif
-
-#ifndef __LINE__
-  /** Ensures that __LINE__ macro is defined. */
-  #define __LINE__ 0
-#endif
-
-/** Define __FUNC__ macro providing current function for debugging. */
-/*#define __FUNC__ 0*/
-#define __FUNC__ ("(no function name provided)")
-/*#define __FUNC__ __func__*/
-/*#define __FUNC__ __FUNCTION__*/
-
-
-/** Short version of throwError with default values, only returnValue is needed */
-#define THROWERROR(retval) ( MessageHandling_throwError( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwWarning with default values, only returnValue is needed */
-#define THROWWARNING(retval) ( MessageHandling_throwWarning( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwInfo with default values, only returnValue is needed */
-#define THROWINFO(retval) ( MessageHandling_throwInfo( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-
-/** Returns a pointer to global message handler.
- *  \return Pointer to global message handler.
- */
-MessageHandling* qpOASES_getGlobalMessageHandler( );
-
-
-/*
- *	g e t E r r o r V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->errorVisibility;
-}
-
-
-/*
- *	g e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->warningVisibility;
-}
-
-
-/*
- *	g e t I n f o V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->infoVisibility;
-}
-
-
-/*
- *	g e t O u t p u t F i l e
- */
-static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS )
-{
- 	return _THIS->outputFile;
-}
-
-
-/*
- *	g e t E r r o r C o u n t
- */
-static inline int MessageHandling_getErrorCount( MessageHandling* _THIS )
-{
- 	return _THIS->errorCount;
-}
-
-
-/*
- *	s e t E r r o r V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _errorVisibility )
-{
- 	_THIS->errorVisibility = _errorVisibility;
-}
-
-
-/*
- *	s e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _warningVisibility )
-{
- 	_THIS->warningVisibility = _warningVisibility;
-}
-
-
-/*
- *	s e t I n f o V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _infoVisibility )
-{
- 	_THIS->infoVisibility = _infoVisibility;
-}
-
-
-/*
- *	s e t O u t p u t F i l e
- */
-static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, FILE* _outputFile )
-{
- 	_THIS->outputFile = _outputFile;
-}
-
-
-/*
- *	s e t E r r o r C o u n t
- */
-static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, int _errorCount )
-{
-	if ( _errorCount >= 0 )
-	{
-		_THIS->errorCount = _errorCount;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return RET_INVALID_ARGUMENTS;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif /* QPOASES_MESSAGEHANDLING_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Options.h b/third_party/acados/include/qpOASES_e/Options.h
deleted file mode 100644
index ca8086d2cc..0000000000
--- a/third_party/acados/include/qpOASES_e/Options.h
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Options.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Options class designed to manage user-specified
- *	options for solving a QProblem.
- */
-
-
-#ifndef QPOASES_OPTIONS_H
-#define QPOASES_OPTIONS_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages all user-specified options for solving QPs.
- *
- *	This class manages all user-specified options used for solving
- *	quadratic programs.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	PrintLevel printLevel;					/**< Print level. */
-
-	BooleanType enableRamping;				/**< Specifies whether ramping shall be enabled or not. */
-	BooleanType enableFarBounds;			/**< Specifies whether far bounds shall be used or not. */
-	BooleanType enableFlippingBounds;		/**< Specifies whether flipping bounds shall be used or not. */
-	BooleanType enableRegularisation;		/**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
-	BooleanType enableFullLITests;			/**< Specifies whether condition-hardened LI test shall be used or not. */
-	BooleanType enableNZCTests;				/**< Specifies whether nonzero curvature tests shall be used. */
-	int enableDriftCorrection;				/**< Specifies the frequency of drift corrections (0 = off). */
-	int enableCholeskyRefactorisation;		/**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
-	BooleanType enableEqualities;			/**< Specifies whether equalities shall be always treated as active constraints. */
-
-	real_t terminationTolerance;			/**< Termination tolerance. */
-	real_t boundTolerance;					/**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
-	real_t boundRelaxation;					/**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
-	real_t epsNum;							/**< Numerator tolerance for ratio tests. */
-	real_t epsDen;							/**< Denominator tolerance for ratio tests. */
-	real_t maxPrimalJump;					/**< Maximum allowed jump in primal variables in nonzero curvature tests. */
-	real_t maxDualJump;						/**< Maximum allowed jump in dual variables in linear independence tests. */
-
-	real_t initialRamping;					/**< Start value for Ramping Strategy. */
-	real_t finalRamping;					/**< Final value for Ramping Strategy. */
-	real_t initialFarBounds;				/**< Initial size of Far Bounds. */
-	real_t growFarBounds;					/**< Factor to grow Far Bounds. */
-	SubjectToStatus initialStatusBounds;	/**< Initial status of bounds at first iteration. */
-	real_t epsFlipping;						/**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
-	int numRegularisationSteps;				/**< Maximum number of successive regularisation steps. */
-	real_t epsRegularisation;				/**< Scaling factor of identity matrix used for Hessian regularisation. */
-	int numRefinementSteps;					/**< Maximum number of iterative refinement steps. */
-	real_t epsIterRef;						/**< Early termination tolerance for iterative refinement. */
-	real_t epsLITests;						/**< Tolerance for linear independence tests. */
-	real_t epsNZCTests;						/**< Tolerance for nonzero curvature tests. */
-
-	BooleanType enableDropInfeasibles;		/**< ... */
-	int    dropBoundPriority;				/**< ... */
-	int    dropEqConPriority;				/**< ... */
-	int    dropIneqConPriority;				/**< ... */
-} Options;
-
-
-void OptionsCON(	Options* _THIS
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void OptionsCPY(	Options* FROM,
-					Options* TO
-					);
-
-
-/** Sets all options to default values.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToDefault(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in maximum reliabilty.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToReliable(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in minimum solution time.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToMPC(		Options* _THIS
-									);
-
-/** Same as setToMPC( ), for ensuring backwards compatibility.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToFast(		Options* _THIS
-									);
-
-
-/** Ensures that all options have consistent values by automatically
- *	adjusting inconsistent ones.
- *	Note: This routine cannot (and does not try to) ensure that values
- *	      are set to reasonable values that make the QP solution work!
- *	\return SUCCESSFUL_RETURN \n 
- *		    RET_OPTIONS_ADJUSTED */
-returnValue Options_ensureConsistency(	Options* _THIS
-										);
-
-
-/** Prints values of all options.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_print(	Options* _THIS
-							);
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_OPTIONS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/QProblem.h b/third_party/acados/include/qpOASES_e/QProblem.h
deleted file mode 100644
index 91a4a6f396..0000000000
--- a/third_party/acados/include/qpOASES_e/QProblem.h
+++ /dev/null
@@ -1,2369 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/QProblem.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the QProblem class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming.
- */
-
-
-
-#ifndef QPOASES_QPROBLEM_H
-#define QPOASES_QPROBLEM_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Options.h>
-#include <qpOASES_e/Matrices.h>
-#include <qpOASES_e/Constraints.h>
-#include <qpOASES_e/Flipper.h>
-#include <qpOASES_e/ConstraintProduct.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	Bounds *auxiliaryBounds;
-	Constraints *auxiliaryConstraints;
-
-	real_t *ub_new_far;
-	real_t *lb_new_far;
-	real_t *ubA_new_far;
-	real_t *lbA_new_far;
-
-	real_t *g_new;
-	real_t *lb_new;
-	real_t *ub_new;
-	real_t *lbA_new;
-	real_t *ubA_new;
-
-	real_t *g_new2;
-	real_t *lb_new2;
-	real_t *ub_new2;
-	real_t *lbA_new2;
-	real_t *ubA_new2;
-
-	real_t *delta_xFX5;
-	real_t *delta_xFR5;
-	real_t *delta_yAC5;
-	real_t *delta_yFX5;
-
-	real_t *Hx;
-
-	real_t *_H;
-
-	real_t *g_original;
-	real_t *lb_original;
-	real_t *ub_original;
-	real_t *lbA_original;
-	real_t *ubA_original;
-
-	real_t *delta_xFR;
-	real_t *delta_xFX;
-	real_t *delta_yAC;
-	real_t *delta_yFX;
-	real_t *delta_g;
-	real_t *delta_lb;
-	real_t *delta_ub;
-	real_t *delta_lbA;
-	real_t *delta_ubA;
-
-	real_t *gMod;
-
-	real_t *aFR;
-	real_t *wZ;
-
-	real_t *delta_g2;
-	real_t *delta_xFX2;
-	real_t *delta_xFR2;
-	real_t *delta_yAC2;
-	real_t *delta_yFX2;
-	real_t *nul;
-	real_t *Arow;
-
-	real_t *xiC;
-	real_t *xiC_TMP;
-	real_t *xiB;
-	real_t *Arow2;
-	real_t *num;
-
-	real_t *w;
-	real_t *tmp;
-
-	real_t *delta_g3;
-	real_t *delta_xFX3;
-	real_t *delta_xFR3;
-	real_t *delta_yAC3;
-	real_t *delta_yFX3;
-	real_t *nul2;
-
-	real_t *xiC2;
-	real_t *xiC_TMP2;
-	real_t *xiB2;
-	real_t *num2;
-
-	real_t *Hz;
-	real_t *z;
-	real_t *ZHz;
-	real_t *r;
-
-	real_t *tmp2;
-	real_t *Hz2;
-	real_t *z2;
-	real_t *r2;
-	real_t *rhs;
-
-	real_t *delta_xFX4;
-	real_t *delta_xFR4;
-	real_t *delta_yAC4;
-	real_t *delta_yFX4;
-	real_t *nul3;
-	real_t *ek;
-	real_t *x_W;
-	real_t *As;
-	real_t *Ax_W;
-
-	real_t *num3;
-	real_t *den;
-	real_t *delta_Ax_l;
-	real_t *delta_Ax_u;
-	real_t *delta_Ax;
-	real_t *delta_x;
-
-	real_t *_A;
-
-	real_t *grad;
-	real_t *AX;
-} QProblem_ws;
-
-int QProblem_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *QProblem_ws_assignMemory( unsigned int nV, unsigned int nC, QProblem_ws **mem, void *raw_memory );
-
-QProblem_ws *QProblem_ws_createMemory( unsigned int nV, unsigned int nC );
-
-/**
- *	\brief Implements the online active set strategy for QPs with general constraints.
- *
- *	A class for setting up and solving quadratic programs. The main feature is
- *	the possibily to use the newly developed online active set strategy for
- * 	parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	QProblem_ws *ws;				/**< Workspace */
-	Bounds *bounds;					/**< Data structure for problem's bounds. */
-	Constraints *constraints;		/**< Data structure for problem's constraints. */
-	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
-
-	DenseMatrix* H;					/**< Hessian matrix pointer. */
-	DenseMatrix* A;					/**< Constraint matrix pointer. */
-
-	Options options;				/**< Struct containing all user-defined options for solving QPs. */
-	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
-
-	real_t *g;						/**< Gradient. */
-
-	real_t *lb;						/**< Lower bound vector (on variables). */
-	real_t *ub;						/**< Upper bound vector (on variables). */
-	real_t *lbA;					/**< Lower constraints' bound vector. */
-	real_t *ubA;					/**< Upper constraints' bound vector. */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-
-	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
-	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
-
-	real_t *Ax;						/**< Stores the current A*x \n
-									 *	 (for increased efficiency only). */
-	real_t *Ax_l;					/**< Stores the current distance to lower constraints' bounds A*x-lbA \n
-									 *	 (for increased efficiency only). */
-	real_t *Ax_u;					/**< Stores the current distance to lower constraints' bounds ubA-A*x \n
-									 *	 (for increased efficiency only). */
-
-	real_t *x;						/**< Primal solution vector. */
-	real_t *y;						/**< Dual solution vector. */
-
-	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
-	real_t *tempA;					/**< Temporary for determineStepDirection. */
-	real_t *tempB;					/**< Temporary for determineStepDirection. */
-	real_t *ZFR_delta_xFRz;			/**< Temporary for determineStepDirection. */
-	real_t *delta_xFRy;				/**< Temporary for determineStepDirection. */
-	real_t *delta_xFRz;				/**< Temporary for determineStepDirection. */
-	real_t *delta_yAC_TMP;			/**< Temporary for determineStepDirection. */
-
-	ConstraintProduct constraintProduct;	/**< Pointer to user-defined constraint product function. */
-
-	real_t tau;						/**< Last homotopy step length. */
-	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
-
-	real_t ramp0;					/**< Start value for Ramping Strategy. */
-	real_t ramp1;					/**< Final value for Ramping Strategy. */
-
-	QProblemStatus status;			/**< Current status of the solution process. */
-	HessianType hessianType;		/**< Type of Hessian matrix. */
-
-	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
-	BooleanType infeasible;			/**< QP infeasible? */
-	BooleanType unbounded;			/**< QP unbounded? */
-
-	int rampOffset;					/**< Offset index for Ramping. */
-	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
-
-	int sizeT;						/**< Matrix T is stored in a (sizeT x sizeT) array. */
-} QProblem;
-
-int QProblem_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *QProblem_assignMemory( unsigned int nV, unsigned int nC, QProblem **mem, void *raw_memory );
-
-QProblem *QProblem_createMemory( unsigned int nV, unsigned int nC );
-
-
-/** Constructor which takes the QP dimension and Hessian type
- *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
- *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
- *  is allocated for it and a NULL pointer can be passed for it
- *  to the init() functions. */
-void QProblemCON(	QProblem* _THIS,
-					int _nV,	  					/**< Number of variables. */
-					int _nC,		  				/**< Number of constraints. */
-					HessianType _hessianType 		/**< Type of Hessian matrix. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void QProblemCPY(	QProblem* FROM,
-					QProblem* TO
-					);
-
-
-/** Clears all data structures of QProblem except for QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_RESET_FAILED */
-returnValue QProblem_reset( QProblem* _THIS );
-
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initM(	QProblem* _THIS,
-							DenseMatrix *_H,			/**< Hessian matrix. */
-							const real_t* const _g, 	/**< Gradient vector. */
-							DenseMatrix *_A,  			/**< Constraint matrix. */
-							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_init(	QProblem* _THIS,
-							real_t* const _H, 			/**< Hessian matrix. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g, 	/**< Gradient vector. */
-							real_t* const _A,  			/**< Constraint matrix. */
-							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a QP problem with given QP data to be read from files and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblem_initF(	QProblem* _THIS,
-							const char* const H_file,	/**< Name of file where Hessian matrix is stored. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const char* const g_file,	/**< Name of file where gradient vector is stored. */
-							const char* const A_file,	/**< Name of file where constraint matrix is stored. */
-							const char* const lb_file,	/**< Name of file where lower bound vector. \n
-															If no lower bounds exist, a NULL pointer can be passed. */
-							const char* const ub_file,	/**< Name of file where upper bound vector. \n
-															If no upper bounds exist, a NULL pointer can be passed. */
-							const char* const lbA_file,	/**< Name of file where lower constraints' bound vector. \n
-															If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const char* const ubA_file,	/**< Name of file where upper constraints' bound vector. \n
-															 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime	 	/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initMW(	QProblem* _THIS,
-								DenseMatrix *_H, 						/**< Hessian matrix. \n
-														    				 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const real_t* const _g, 				/**< Gradient vector. */
-								DenseMatrix *_A, 			 			/**< Constraint matrix. */
-								const real_t* const _lb,				/**< Lower bound vector (on variables). \n
-																			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,				/**< Upper bound vector (on variables). \n
-																			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input: Maximum number of working set recalculations when using initial homotopy.
-																		 *	 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																			 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																			 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																			 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-								const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																	 		 The Cholesky factor must be stored in a real_t array of size nV*nV
-																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initW(	QProblem* _THIS,
-							real_t* const _H, 						/**< Hessian matrix. \n
-														    			 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g, 				/**< Gradient vector. */
-							real_t* const _A,  						/**< Constraint matrix. */
-							const real_t* const _lb,				/**< Lower bound vector (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,				/**< Upper bound vector (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
-																		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
-																	 *	 Output: Number of performed working set recalculations. */
-							real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
-																		 Output: CPU time spent for QP initialisation. */
-							const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																		 (If a null pointer is passed, the old primal solution is kept!) */
-							const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																		 (If a null pointer is passed, the old dual solution is kept!) */
-							Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-							Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-							const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																	 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																		 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																		 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-							);
-
-/** Initialises a QP problem with given QP data to be ream from files and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblem_initFW(	QProblem* _THIS,
-								const char* const H_file,				/**< Name of file where Hessian matrix is stored. \n
-														     				 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,				/**< Name of file where gradient vector is stored. */
-								const char* const A_file,				/**< Name of file where constraint matrix is stored. */
-								const char* const lb_file,				/**< Name of file where lower bound vector. \n
-																			 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file,				/**< Name of file where upper bound vector. \n
-																			 If no upper bounds exist, a NULL pointer can be passed. */
-								const char* const lbA_file,				/**< Name of file where lower constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const char* const ubA_file,				/**< Name of file where upper constraints' bound vector. \n
-																			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
-																			 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
-																			 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																			 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																			 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-								const char* const R_file				/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																		 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_hotstart(	QProblem* _THIS,
-								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,						/**< Input:  Maximum number of working set recalculations; \n
-													 				 Output: Number of performed working set recalculations. */
-								real_t* const cputime 			/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *	where QP data is read from files. QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_hotstartF(	QProblem* _THIS,
-								const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-								const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input:  Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime 		/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblem_hotstartW(	QProblem* _THIS,
-								const real_t* const g_new,				/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,				/**< Lower bounds of neighbouring QP to be solved. \n
-											 						 		 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,				/**< Upper bounds of neighbouring QP to be solved. \n
-											 						 		 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,			/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 						 		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,			/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 								 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
-																			 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																			 (If a null pointer is passed, the previous working set of bounds is kept!) */
-								Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
-																			 (If a null pointer is passed, the previous working set of constraints is kept!) */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_hotstartFW(	QProblem* _THIS,
-									const char* const g_file, 				/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file, 				/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 				/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no upper bounds exist, a NULL pointer can be passed. */
-									const char* const lbA_file, 			/**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const char* const ubA_file, 			/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-									int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
-																 				 Output: Number of performed working set recalculations. */
-									real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																				 (If a null pointer is passed, the previous working set of bounds is kept!) */
-									Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
-																				 (If a null pointer is passed, the previous working set of constraints is kept!) */
-									);
-
-
-/** Solves using the current working set
- *	\return SUCCESSFUL_RETURN \n
- *			RET_STEPDIRECTION_FAILED_TQ \n
- *			RET_STEPDIRECTION_FAILED_CHOLESKY \n
- *			RET_INVALID_ARGUMENTS */
-returnValue QProblem_solveCurrentEQP (	QProblem* _THIS,
-										const int n_rhs,		/**< Number of consecutive right hand sides */
-										const real_t* g_in,		/**< Gradient of neighbouring QP to be solved. */
-										const real_t* lb_in,	/**< Lower bounds of neighbouring QP to be solved. \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* ub_in,	/**< Upper bounds of neighbouring QP to be solved. \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-										const real_t* lbA_in,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-										const real_t* ubA_in,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n */
-										real_t* x_out,			/**< Output: Primal solution */
-										real_t* y_out			/**< Output: Dual solution */
-										);
-
-
-
-/** Returns current constraints object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_getConstraints(	QProblem* _THIS,
-													Constraints* _constraints	/** Output: Constraints object. */
-													);
-
-
-/** Returns the number of constraints.
- *	\return Number of constraints. */
-static inline int QProblem_getNC( QProblem* _THIS );
-
-/** Returns the number of (implicitly defined) equality constraints.
- *	\return Number of (implicitly defined) equality constraints. */
-static inline int QProblem_getNEC( QProblem* _THIS );
-
-/** Returns the number of active constraints.
- *	\return Number of active constraints. */
-static inline int QProblem_getNAC( QProblem* _THIS );
-
-/** Returns the number of inactive constraints.
- *	\return Number of inactive constraints. */
-static inline int QProblem_getNIAC( QProblem* _THIS );
-
-/** Returns the dimension of null space.
- *	\return Dimension of null space. */
-int QProblem_getNZ( QProblem* _THIS );
-
-
-/** Returns the dual solution vector (deep copy).
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblem_getDualSolution(	QProblem* _THIS,
-										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										);
-
-
-/** Defines user-defined routine for calculating the constraint product A*x
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_setConstraintProduct(	QProblem* _THIS,
-											ConstraintProduct _constraintProduct
-											);
-
-
-/** Prints concise list of properties of the current QP.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printProperties( QProblem* _THIS );
-
-
-
-/** Writes a vector with the state of the working set
-*	\return SUCCESSFUL_RETURN */
-returnValue QProblem_getWorkingSet(	QProblem* _THIS,
-									real_t* workingSet	/** Output: array containing state of the working set. */
-									);
-
-/** Writes a vector with the state of the working set of bounds
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblem_getWorkingSetBounds(	QProblem* _THIS,
-											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
-											);
-
-/** Writes a vector with the state of the working set of constraints
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblem_getWorkingSetConstraints(	QProblem* _THIS,
-												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
-												);
-
-
-/** Returns current bounds object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_getBounds(	QProblem* _THIS,
-												Bounds* _bounds		/** Output: Bounds object. */
-												);
-
-
-/** Returns the number of variables.
- *	\return Number of variables. */
-static inline int QProblem_getNV( QProblem* _THIS );
-
-/** Returns the number of free variables.
- *	\return Number of free variables. */
-static inline int QProblem_getNFR( QProblem* _THIS );
-
-/** Returns the number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int QProblem_getNFX( QProblem* _THIS );
-
-/** Returns the number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int QProblem_getNFV( QProblem* _THIS );
-
-
-/** Returns the optimal objective function value.
- *	\return finite value: Optimal objective function value (QP was solved) \n
- 			+infinity:	  QP was not yet solved */
-real_t QProblem_getObjVal( QProblem* _THIS );
-
-/** Returns the objective function value at an arbitrary point x.
- *	\return Objective function value at point x */
-real_t QProblem_getObjValX(	QProblem* _THIS,
-							const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
-							);
-
-/** Returns the primal solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblem_getPrimalSolution(	QProblem* _THIS,
-										real_t* const xOpt	/**< Output: Primal solution vector (if QP has been solved). */
-										);
-
-
-/** Returns status of the solution process.
- *	\return Status of solution process. */
-static inline QProblemStatus QProblem_getStatus( QProblem* _THIS );
-
-
-/** Returns if the QProblem object is initialised.
- *	\return BT_TRUE:  QProblem initialised \n
- 			BT_FALSE: QProblem not initialised */
-static inline BooleanType QProblem_isInitialised( QProblem* _THIS );
-
-/** Returns if the QP has been solved.
- *	\return BT_TRUE:  QProblem solved \n
- 			BT_FALSE: QProblem not solved */
-static inline BooleanType QProblem_isSolved( QProblem* _THIS );
-
-/** Returns if the QP is infeasible.
- *	\return BT_TRUE:  QP infeasible \n
- 			BT_FALSE: QP feasible (or not known to be infeasible!) */
-static inline BooleanType QProblem_isInfeasible( QProblem* _THIS );
-
-/** Returns if the QP is unbounded.
- *	\return BT_TRUE:  QP unbounded \n
- 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
-static inline BooleanType QProblem_isUnbounded( QProblem* _THIS );
-
-
-/** Returns Hessian type flag (type is not determined due to _THIS call!).
- *	\return Hessian type. */
-static inline HessianType QProblem_getHessianType( QProblem* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setHessianType(	QProblem* _THIS,
-													HessianType _hessianType /**< New Hessian type. */
-													);
-
-/** Returns if the QP has been internally regularised.
- *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
- 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
-static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS );
-
-/** Returns current options struct.
- *	\return Current options struct. */
-static inline Options QProblem_getOptions( QProblem* _THIS );
-
-/** Overrides current options with given ones.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setOptions(	QProblem* _THIS,
-												Options _options	/**< New options. */
-												);
-
-/** Returns the print level.
- *	\return Print level. */
-static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setPrintLevel(	QProblem* _THIS,
-									PrintLevel _printlevel	/**< New print level. */
-									);
-
-
-/** Returns the current number of QP problems solved.
- *	\return Number of QP problems solved. */
-static inline unsigned int QProblem_getCount( QProblem* _THIS );
-
-/** Resets QP problem counter (to zero).
- *	\return SUCCESSFUL_RETURN. */
-static inline returnValue QProblem_resetCounter( QProblem* _THIS );
-
-
-/** Prints a list of all options and their current values.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printOptions( QProblem* _THIS );
-
-
-/** Solves a QProblem whose QP data is assumed to be stored in the member variables.
- *  A guess for its primal/dual optimal solution vectors and the corresponding
- *  working sets of bounds and constraints can be provided.
- *  Note: This function is internally called by all init functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED */
-returnValue QProblem_solveInitialQP(	QProblem* _THIS,
-										const real_t* const xOpt,				/**< Optimal primal solution vector.*/
-										const real_t* const yOpt,				/**< Optimal dual solution vector. */
-										Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-										Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-										const real_t* const _R,					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
-										int* nWSR, 								/**< Input:  Maximum number of working set recalculations; \n
-														 						 *	 Output: Number of performed working set recalculations. */
-										real_t* const cputime					/**< Input:  Maximum CPU time allowed for QP solution. \n
-																	 			 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-										);
-
-/** Solves QProblem using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_solveQP(	QProblem* _THIS,
-								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
-													 				 Output: Number of performed working set recalculations. */
-								real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
-																	 this QP within previous solveQP() calls. This number is
-																	 always zero, except for successive calls from solveRegularisedQP()
-																	 or when using the far bound strategy. */
-								BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
-								);
-
-
-/** Solves QProblem using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_solveRegularisedQP(	QProblem* _THIS,
-											const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-											const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-													 			 				 If no lower bounds exist, a NULL pointer can be passed. */
-											const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-													 			 				 If no upper bounds exist, a NULL pointer can be passed. */
-											const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-													 			 				 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-													 			 				 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
-															 					 Output: Number of performed working set recalculations. */
-											real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
-																 				 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-											int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
-																				 this QP within previous solveRegularisedQP() calls. This number is
-																				 always zero, except for successive calls when using the far bound strategy. */
-											BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
-											);
-
-
-/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblem_setupSubjectToType( QProblem* _THIS );
-
-/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblem_setupSubjectToTypeNew(	QProblem* _THIS,
-											const real_t* const lb_new,		/**< New lower bounds. */
-											const real_t* const ub_new,		/**< New upper bounds. */
-											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
-											const real_t* const ubA_new		/**< New upper constraints' bounds. */
-											);
-
-/** Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z).
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_computeProjectedCholesky( QProblem* _THIS );
-
-/** Computes initial Cholesky decomposition of the projected Hessian making
- *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_setupInitialCholesky( QProblem* _THIS );
-
-/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_setupTQfactorisation( QProblem* _THIS );
-
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *  (assumes that member AX has already been initialised!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
-												const real_t* const xOpt,					/**< Optimal primal solution vector.
-																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												const real_t* const yOpt,					/**< Optimal dual solution vector.
-																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												Bounds* const guessedBounds,				/**< Guessed working set of bounds for solution (xOpt,yOpt). */
-												Constraints* const guessedConstraints,		/**< Guessed working set for solution (xOpt,yOpt). */
-												Bounds* auxiliaryBounds,					/**< Input: Allocated bound object. \n
-																							 *	 Ouput: Working set of constraints for auxiliary QP. */
-												Constraints* auxiliaryConstraints			/**< Input: Allocated bound object. \n
-																							 *	 Ouput: Working set for auxiliary QP. */
-												);
-
-/** Sets up bound and constraints data structures according to auxiliaryBounds/Constraints.
- *  (If the working set shall be setup afresh, make sure that
- *  bounds and constraints data structure have been resetted
- *  and the TQ factorisation has been initialised!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUP_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNOWN_BUG */
-returnValue QProblem_setupAuxiliaryWorkingSet(	QProblem* _THIS,
-												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
-												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType setupAfresh						/**< Flag indicating if given working set shall be
-																							 *    setup afresh or by updating the current one. */
-												);
-
-/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setupAuxiliaryQPsolution(	QProblem* _THIS,
-												const real_t* const xOpt,	/**< Optimal primal solution vector.
-																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt	/**< Optimal dual solution vector.
-																			 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-/** Sets up gradient of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setupAuxiliaryQPgradient( QProblem* _THIS );
-
-/** Sets up (constraints') bounds of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNKNOWN_BUG */
-returnValue QProblem_setupAuxiliaryQPbounds(	QProblem* _THIS,
-												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
-												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType useRelaxation					/**< Flag indicating if inactive (constraints') bounds shall be relaxed. */
-												);
-
-
-/** Adds a constraint to active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDCONSTRAINT_FAILED \n
-			RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED */
-returnValue QProblem_addConstraint(	QProblem* _THIS,
-									int number,					/**< Number of constraint to be added to active set. */
-									SubjectToStatus C_status,	/**< Status of new active constraint. */
-									BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									BooleanType ensureLI		/**< Ensure linear independence by exchange rules by default. */
-									);
-
-/** Checks if new active constraint to be added is linearly dependent from
- *	from row of the active constraints matrix.
- *	\return	 RET_LINEARLY_DEPENDENT \n
- 			 RET_LINEARLY_INDEPENDENT \n
-			 RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_addConstraint_checkLI(	QProblem* _THIS,
-											int number			/**< Number of constraint to be added to active set. */
-											);
-
-/** Ensures linear independence of constraint matrix when a new constraint is added.
- * 	To _THIS end a bound or constraint is removed simultaneously if necessary.
- *	\return	 SUCCESSFUL_RETURN \n
- 			 RET_LI_RESOLVED \n
-			 RET_ENSURELI_FAILED \n
-			 RET_ENSURELI_FAILED_TQ \n
-			 RET_ENSURELI_FAILED_NOINDEX \n
-			 RET_REMOVE_FROM_ACTIVESET */
-returnValue QProblem_addConstraint_ensureLI(	QProblem* _THIS,
-												int number,					/**< Number of constraint to be added to active set. */
-												SubjectToStatus C_status	/**< Status of new active bound. */
-												);
-
-/** Adds a bound to active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDBOUND_FAILED \n
-			RET_ADDBOUND_FAILED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED */
-returnValue QProblem_addBound(	QProblem* _THIS,
-								int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								BooleanType ensureLI 		/**< Ensure linear independence by exchange rules by default. */
-								);
-
-/** Checks if new active bound to be added is linearly dependent from
- *	from row of the active constraints matrix.
- *	\return	 RET_LINEARLY_DEPENDENT \n
- 			 RET_LINEARLY_INDEPENDENT */
-returnValue QProblem_addBound_checkLI(	QProblem* _THIS,
-										int number			/**< Number of bound to be added to active set. */
-										);
-
-/** Ensures linear independence of constraint matrix when a new bound is added.
- *	To _THIS end a bound or constraint is removed simultaneously if necessary.
- *	\return	 SUCCESSFUL_RETURN \n
- 			 RET_LI_RESOLVED \n
-			 RET_ENSURELI_FAILED \n
-			 RET_ENSURELI_FAILED_TQ \n
-			 RET_ENSURELI_FAILED_NOINDEX \n
-			 RET_REMOVE_FROM_ACTIVESET */
-returnValue QProblem_addBound_ensureLI(	QProblem* _THIS,
-										int number,					/**< Number of bound to be added to active set. */
-										SubjectToStatus B_status	/**< Status of new active bound. */
-										);
-
-/** Removes a constraint from active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_CONSTRAINT_NOT_ACTIVE \n
-			RET_REMOVECONSTRAINT_FAILED \n
-			RET_HESSIAN_NOT_SPD */
-returnValue QProblem_removeConstraint(	QProblem* _THIS,
-										int number,						/**< Number of constraint to be removed from active set. */
-										BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
-										BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
-										BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
-										);
-
-/** Removes a bounds from active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_BOUND_NOT_ACTIVE \n
-			RET_HESSIAN_NOT_SPD \n
-			RET_REMOVEBOUND_FAILED */
-returnValue QProblem_removeBound(	QProblem* _THIS,
-									int number,						/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
-									BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
-									BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
-									);
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performPlainRatioTest(	QProblem* _THIS,
-											int nIdx, 					/**< Number of ratios to be checked. */
-											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-											real_t epsNum,				/**< Numerator tolerance. */
-											real_t epsDen,				/**< Denominator tolerance. */
-											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-											int* BC_idx 				/**< Output: Index of blocking constraint. */
-											);
-
-
-/** Ensure non-zero curvature by primal jump.
- *  \return SUCCESSFUL_RETURN \n
- *          RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_ensureNonzeroCurvature(	QProblem* _THIS,
-												BooleanType removeBoundNotConstraint,	/**< SubjectTo to be removed is a bound. */
-												int remIdx,								/**< Index of bound/constraint to be removed. */
-												BooleanType* exchangeHappened,			/**< Output: Exchange was necessary to ensure. */
-												BooleanType* addBoundNotConstraint,		/**< SubjectTo to be added is a bound. */
-												int* addIdx,							/**< Index of bound/constraint to be added. */
-												SubjectToStatus* addStatus				/**< Status of bound/constraint to be added. */
-												);
-
-
-/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveT(	QProblem* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_determineDataShift(	QProblem* _THIS,
-											const real_t* const g_new,		/**< New gradient vector. */
-											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
-											const real_t* const ubA_new,	/**< New upper constraints' bounds. */
-											const real_t* const lb_new,		/**< New lower bounds. */
-											const real_t* const ub_new,		/**< New upper bounds. */
-											real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
-											real_t* const delta_lbA,		/**< Output: Step direction of lower constraints' bounds. */
-											real_t* const delta_ubA,		/**< Output: Step direction of upper constraints' bounds. */
-											real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
-											real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
-											BooleanType* Delta_bC_isZero,	/**< Output: Indicates if active constraints' bounds are to be shifted. */
-											BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
-											);
-
-/** Determines step direction of the homotopy path.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_STEPDIRECTION_FAILED_TQ \n
-			RET_STEPDIRECTION_FAILED_CHOLESKY */
-returnValue QProblem_determineStepDirection(	QProblem* _THIS,
-												const real_t* const delta_g,	/**< Step direction of gradient vector. */
-												const real_t* const delta_lbA,	/**< Step direction of lower constraints' bounds. */
-												const real_t* const delta_ubA,	/**< Step direction of upper constraints' bounds. */
-												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-												BooleanType Delta_bC_isZero, 	/**< Indicates if active constraints' bounds are to be shifted. */
-												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-												real_t* const delta_yAC, 		/**< Output: Dual homotopy step direction of active constraints' multiplier. */
-												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-												);
-
-/** Determines the maximum possible step length along the homotopy path
- *  and performs _THIS step (without changing working set).
- *	\return SUCCESSFUL_RETURN \n
- * 			RET_ERROR_IN_CONSTRAINTPRODUCT \n
- * 			RET_QP_INFEASIBLE */
-returnValue QProblem_performStep(	QProblem* _THIS,
-									const real_t* const delta_g,		/**< Step direction of gradient. */
-									const real_t* const delta_lbA,		/**< Step direction of lower constraints' bounds. */
-									const real_t* const delta_ubA,		/**< Step direction of upper constraints' bounds. */
-									const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
-									const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
-									const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
-									const real_t* const delta_xFR,		/**< Primal homotopy step direction of free variables. */
-									const real_t* const delta_yAC,		/**< Dual homotopy step direction of active constraints' multiplier. */
-									const real_t* const delta_yFX,		/**< Dual homotopy step direction of fixed variables' multiplier. */
-									int* BC_idx, 						/**< Output: Index of blocking constraint. */
-									SubjectToStatus* BC_status,			/**< Output: Status of blocking constraint. */
-									BooleanType* BC_isBound 			/**< Output: Indicates if blocking constraint is a bound. */
-									);
-
-/** Updates the active set.
- *	\return  SUCCESSFUL_RETURN \n
- 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-			 RET_ADD_TO_ACTIVESET_FAILED */
-returnValue QProblem_changeActiveSet(	QProblem* _THIS,
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-										BooleanType BC_isBound 		/**< Indicates if blocking constraint is a bound. */
-										);
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblem_getRelativeHomotopyLength(	QProblem* _THIS,
-											const real_t* const g_new,		/**< Final gradient. */
-											const real_t* const lb_new,		/**< Final lower variable bounds. */
-											const real_t* const ub_new,		/**< Final upper variable bounds. */
-											const real_t* const lbA_new,	/**< Final lower constraint bounds. */
-											const real_t* const ubA_new		/**< Final upper constraint bounds. */
-											);
-
-
-/** Ramping Strategy to avoid ties. Modifies homotopy start without
- *  changing current active set.
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblem_performRamping( QProblem* _THIS );
-
-
-/** ... */
-returnValue QProblem_updateFarBounds(	QProblem* _THIS,
-										real_t curFarBound,				/**< ... */
-										int nRamp,						/**< ... */
-										const real_t* const lb_new,		/**< ... */
-										real_t* const lb_new_far,		/**< ... */
-										const real_t* const ub_new,		/**< ... */
-										real_t* const ub_new_far,		/**< ... */
-										const real_t* const lbA_new,	/**< ... */
-										real_t* const lbA_new_far,		/**< ... */
-										const real_t* const ubA_new,	/**< ... */
-										real_t* const ubA_new_far		/**< ... */
-										);
-
-/** ... */
-returnValue QProblemBCPY_updateFarBounds(	QProblem* _THIS,
-											real_t curFarBound,				/**< ... */
-											int nRamp,						/**< ... */
-											const real_t* const lb_new,		/**< ... */
-											real_t* const lb_new_far,		/**< ... */
-											const real_t* const ub_new,		/**< ... */
-											real_t* const ub_new_far		/**< ... */
-											);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performRatioTestC(	QProblem* _THIS,
-										int nIdx, 						/**< Number of ratios to be checked. */
-										const int* const idxList, 		/**< Array containing the indices of all ratios to be checked. */
-										Constraints* const subjectTo,	/**< Constraint object corresponding to ratios to be checked. */
-										const real_t* const num,	 	/**< Array containing all numerators for performing the ratio test. */
-										const real_t* const den,		/**< Array containing all denominators for performing the ratio test. */
-										real_t epsNum,					/**< Numerator tolerance. */
-										real_t epsDen,					/**< Denominator tolerance. */
-										real_t* t,						/**< Output: Maximum possible step length along the homotopy path. */
-										int* BC_idx 					/**< Output: Index of blocking constraint. */
-										);
-
-
-/** Drift correction at end of each active set iteration
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblem_performDriftCorrection( QProblem* _THIS );
-
-
-/** Updates QP vectors, working sets and internal data structures in order to
-	start from an optimal solution corresponding to initial guesses of the working
-	set for bounds and constraints.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_SETUP_AUXILIARYQP_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_setupAuxiliaryQP(	QProblem* _THIS,
-										Bounds* const guessedBounds,			/**< Initial guess for working set of bounds. */
-										Constraints* const guessedConstraints	/**< Initial guess for working set of constraints. */
-										);
-
-/** Determines if it is more efficient to refactorise the matrices when
- *  hotstarting or not (i.e. better to update the existing factorisations).
- *	\return BT_TRUE iff matrices shall be refactorised afresh
- */
-BooleanType QProblem_shallRefactorise(	QProblem* _THIS,
-										Bounds* const guessedBounds,			/**< Guessed new working set of bounds. */
-										Constraints* const guessedConstraints	/**< Guessed new working set of constraints. */
-										);
-
-/** Setups internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdataM(	QProblem* _THIS,
-									DenseMatrix *_H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									DenseMatrix *_A, 			 /**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-
-/** Sets up dense internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdata(	QProblem* _THIS,
-									real_t* const _H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									real_t* const _A,  			/**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdataFromFile(	QProblem* _THIS,
-											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const A_file,	/**< Name of file where constraint matrix, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const char* const ubA_file	/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_loadQPvectorsFromFile(	QProblem* _THIS,
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-											real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-											real_t* const ub_new,		/**< Output: Upper bounds of neighbouring QP to be solved */
-											real_t* const lbA_new,		/**< Output: Lower constraints' bounds of neighbouring QP to be solved */
-											real_t* const ubA_new		/**< Output: Upper constraints' bounds of neighbouring QP to be solved */
-											);
-
-
-/** Prints concise information on the current iteration.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printIteration(	QProblem* _THIS,
-										int iter,					/**< Number of current iteration. */
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-										BooleanType BC_isBound,		/**< Indicates if blocking constraint is a bound. */
-										real_t homotopyLength,		/**< Current homotopy distance. */
-										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
- 										);
-
-
-/** Sets constraint matrix of the QP. \n
-	Note: Also internal vector Ax is recomputed!
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setAM(	QProblem* _THIS,
-											DenseMatrix *A_new	/**< New constraint matrix. */
-											);
-
-/** Sets dense constraint matrix of the QP. \n
-	Note: Also internal vector Ax is recomputed!
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setA(	QProblem* _THIS,
-											real_t* const A_new	/**< New dense constraint matrix (with correct dimension!). */
-											);
-
-
-/** Sets constraints' lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_setLBA(	QProblem* _THIS,
-											const real_t* const lbA_new	/**< New constraints' lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower constraints' bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setLBAn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower constraints' bound vector (with correct dimension!). */
-											);
-
-/** Sets constraints' upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_setUBA(	QProblem* _THIS,
-											const real_t* const ubA_new	/**< New constraints' upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper constraints' bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setUBAn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper constraints' bound vector (with correct dimension!). */
-											);
-
-
-/** Decides if lower bounds are smaller than upper bounds
- *
- * \return SUCCESSFUL_RETURN \n
- * 		   RET_QP_INFEASIBLE */
-returnValue QProblem_areBoundsConsistent(	QProblem* _THIS,
-											const real_t* const lb,		/**< Vector of lower bounds*/
-											const real_t* const ub,		/**< Vector of upper bounds*/
-											const real_t* const lbA,	/**< Vector of lower constraints*/
-											const real_t* const ubA		/**< Vector of upper constraints*/
-											);
-
-
-/** Drops the blocking bound/constraint that led to infeasibility, or finds another
- *  bound/constraint to drop according to drop priorities.
- *  \return SUCCESSFUL_RETURN \n
- */
-returnValue QProblem_dropInfeasibles ( 	QProblem* _THIS,
-										int BC_number,				/**< Number of the bound or constraint to be added */
-										SubjectToStatus BC_status, 	/**< New status of the bound or constraint to be added */
-										BooleanType BC_isBound,		/**< Whether a bound or a constraint is to be added */
-										real_t *xiB,
-										real_t *xiC
-										);
-
-
-/** If Hessian type has been set by the user, nothing is done.
- *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
- *  HST_POSDEF (default), respectively.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_INDEFINITE */
-returnValue QProblem_determineHessianType( QProblem* _THIS );
-
-/** Computes the Cholesky decomposition of the (simply projected) Hessian
- *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
- *  projection matrix!
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemBCPY_computeCholesky( QProblem* _THIS );
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
-													const real_t* const xOpt,		/**< Optimal primal solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													const real_t* const yOpt,		/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
-													Bounds* auxiliaryBounds			/**< Input:  Allocated bound object. \n
-																					 *	 Output: Working set for auxiliary QP. */
-													);
-
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveR(	QProblem* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
- *  Special variant for the case that _THIS function is called from within "removeBound()".
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveRrem(	QProblem* _THIS,
-									const real_t* const b,		/**< Right hand side vector. */
-									BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-									BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-									real_t* const a 			/**< Output: Solution vector */
-									);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemBCPY_determineDataShift(	QProblem* _THIS,
-												const real_t* const g_new,		/**< New gradient vector. */
-												const real_t* const lb_new,		/**< New lower bounds. */
-												const real_t* const ub_new,		/**< New upper bounds. */
-												real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
-												real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
-												real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
-												BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
-												);
-
-
-/** Sets up internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_setupQPdataM(	QProblem* _THIS,
-										DenseMatrix *_H,	 		/**< Hessian matrix.*/
-										const real_t* const _g,		/**< Gradient vector. */
-										const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* const _ub		/**< Upper bounds (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-										);
-
-/** Sets up internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemBCPY_setupQPdata(	QProblem* _THIS,
-										real_t* const _H, 			/**< Hessian matrix. \n
-																		 If Hessian matrix is trivial,a NULL pointer can be passed. */
-										const real_t* const _g,		/**< Gradient vector. */
-										const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* const _ub		/**< Upper bounds (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-										);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemBCPY_setupQPdataFromFile(	QProblem* _THIS,
-												const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     					 If Hessian matrix is trivial,a NULL pointer can be passed. */
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_loadQPvectorsFromFile(	QProblem* _THIS,
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
-												);
-
-
-/** Sets internal infeasibility flag and throws given error in case the far bound
- *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
- *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED_CYCLING \n
-			RET_ENSURELI_FAILED_NOINDEX */
-returnValue QProblem_setInfeasibilityFlag(	QProblem* _THIS,
-											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
-											BooleanType doThrowError	/**< Flag forcing to throw an error. */
-											);
-
-
-/** Determines if next QP iteration can be performed within given CPU time limit.
- *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
-			BT_FALSE: Sufficient CPU time for next QP iteration. */
-BooleanType QProblem_isCPUtimeLimitExceeded(	QProblem* _THIS,
-												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
-												real_t starttime,				/**< Start time of current QP solution. */
-												int nWSR						/**< Number of working set recalculations performed so far. */
-												);
-
-
-/** Regularise Hessian matrix by adding a scaled identity matrix to it.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_ALREADY_REGULARISED */
-returnValue QProblem_regulariseHessian( QProblem* _THIS );
-
-
-/** Sets Hessian matrix of the QP.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setHM(	QProblem* _THIS,
-											DenseMatrix* H_new	/**< New Hessian matrix. */
-											);
-
-/** Sets dense Hessian matrix of the QP.
- *  If a null pointer is passed and
- *  a) hessianType is HST_IDENTITY, nothing is done,
- *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setH(	QProblem* _THIS,
-											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
-											);
-
-/** Changes gradient vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setG(	QProblem* _THIS,
-											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
-											);
-
-/** Changes lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setLB(	QProblem* _THIS,
-											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
-			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setLBn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower bound vector. */
-											);
-
-/** Changes upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setUB(	QProblem* _THIS,
-											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
-			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setUBn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper bound vector. */
-											);
-
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblemBCPY_getRelativeHomotopyLength(	QProblem* _THIS,
-												const real_t* const g_new,	/**< Final gradient. */
-												const real_t* const lb_new,	/**< Final lower variable bounds. */
-												const real_t* const ub_new	/**< Final upper variable bounds. */
-												);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performRatioTestB(	QProblem* _THIS,
-										int nIdx, 					/**< Number of ratios to be checked. */
-										const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-										Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
-										const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-										const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-										real_t epsNum,				/**< Numerator tolerance. */
-										real_t epsDen,				/**< Denominator tolerance. */
-										real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-										int* BC_idx 				/**< Output: Index of blocking constraint. */
-										);
-
-/** Checks whether given ratio is blocking, i.e. limits the maximum step length
- *  along the homotopy path to a value lower than given one.
- *	\return  SUCCESSFUL_RETURN */
-static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
-												real_t num,			/**< Numerator for performing the ratio test. */
-												real_t den,			/**< Denominator for performing the ratio test. */
-												real_t epsNum,		/**< Numerator tolerance. */
-												real_t epsDen,		/**< Denominator tolerance. */
-												real_t* t			/**< Input:  Current maximum step length along the homotopy path,
-																	 *   Output: Updated maximum possible step length along the homotopy path. */
-												);
-
-
-/** ...
- *	\return SUCCESSFUL_RETURN  \n
-			RET_UNABLE_TO_OPEN_FILE */
-returnValue QProblem_writeQpDataIntoMatFile(	QProblem* _THIS,
-												const char* const filename	/**< Mat file name. */
-												);
-
-/** ...
-*	\return SUCCESSFUL_RETURN  \n
-			RET_UNABLE_TO_OPEN_FILE */
-returnValue QProblem_writeQpWorkspaceIntoMatFile(	QProblem* _THIS,
-													const char* const filename	/**< Mat file name. */
-													);
-
-
-/*
- *	g e t B o u n d s
- */
-static inline returnValue QProblem_getBounds( QProblem* _THIS, Bounds* _bounds )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	_bounds = _THIS->bounds;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-static inline int QProblem_getNV( QProblem* _THIS )
-{
-	return Bounds_getNV( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int QProblem_getNFR( QProblem* _THIS )
-{
-	return Bounds_getNFR( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int QProblem_getNFX( QProblem* _THIS )
-{
-	return Bounds_getNFX( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int QProblem_getNFV( QProblem* _THIS )
-{
-	return Bounds_getNFV( _THIS->bounds );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline QProblemStatus QProblem_getStatus( QProblem* _THIS )
-{
-	return _THIS->status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-static inline BooleanType QProblem_isInitialised( QProblem* _THIS )
-{
-	if ( _THIS->status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-static inline BooleanType QProblem_isSolved( QProblem* _THIS )
-{
-	if ( _THIS->status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-static inline BooleanType QProblem_isInfeasible( QProblem* _THIS )
-{
-	return _THIS->infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-static inline BooleanType QProblem_isUnbounded( QProblem* _THIS )
-{
-	return _THIS->unbounded;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-static inline HessianType QProblem_getHessianType( QProblem* _THIS )
-{
-	return _THIS->hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-static inline returnValue QProblem_setHessianType( QProblem* _THIS, HessianType _hessianType )
-{
-	_THIS->hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	u s i n g R e g u l a r i s a t i o n
- */
-static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS )
-{
-	if ( _THIS->regVal > QPOASES_ZERO )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	g e t O p t i o n s
- */
-static inline Options QProblem_getOptions( QProblem* _THIS )
-{
-	return _THIS->options;
-}
-
-
-/*
- *	s e t O p t i o n s
- */
-static inline returnValue QProblem_setOptions(	QProblem* _THIS,
-												Options _options
-												)
-{
-	OptionsCPY( &_options,&(_THIS->options) );
-	Options_ensureConsistency( &(_THIS->options) );
-
-	QProblem_setPrintLevel( _THIS,_THIS->options.printLevel );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS )
-{
-	return _THIS->options.printLevel;
-}
-
-
-/*
- *	g e t C o u n t
- */
-static inline unsigned int QProblem_getCount( QProblem* _THIS )
-{
-	return _THIS->count;
-}
-
-
-/*
- *	r e s e t C o u n t e r
- */
-static inline returnValue QProblem_resetCounter( QProblem* _THIS )
-{
-	_THIS->count = 0;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblem_setHM( QProblem* _THIS, DenseMatrix* H_new )
-{
-	if ( H_new == 0 )
-		return QProblem_setH( _THIS,(real_t*)0 );
-	else
-		return QProblem_setH( _THIS,DenseMatrix_getVal(H_new) );
-}
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblem_setH( QProblem* _THIS, real_t* const H_new )
-{
-	/* if null pointer is passed, Hessian is set to zero matrix
-	 *                            (or stays identity matrix) */
-	if ( H_new == 0 )
-	{
-		if ( _THIS->hessianType == HST_IDENTITY )
-			return SUCCESSFUL_RETURN;
-
-		_THIS->hessianType = HST_ZERO;
-
-		_THIS->H = 0;
-	}
-	else
-	{
-		DenseMatrixCON( _THIS->H,QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),H_new );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-static inline returnValue QProblem_setG( QProblem* _THIS, const real_t* const g_new )
-{
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( g_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblem_setLB( QProblem* _THIS, const real_t* const lb_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lb_new != 0 )
-	{
-		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower bounds are specified, set them to -infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->lb[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblem_setLBn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblem_setUB( QProblem* _THIS, const real_t* const ub_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ub_new != 0 )
-	{
-		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper bounds are specified, set them to infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->ub[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblem_setUBn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-
-/*
- * i s B l o c k i n g
- */
-static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
-												real_t num,
-												real_t den,
-												real_t epsNum,
-												real_t epsDen,
-												real_t* t
-												)
-{
-	if ( ( den >= epsDen ) && ( num >= epsNum ) )
-	{
-		if ( num < (*t)*den )
-			return BT_TRUE;
-	}
-
-	return BT_FALSE;
-}
-
-
-
-/*
- *	g e t C o n s t r a i n t s
- */
-static inline returnValue QProblem_getConstraints( QProblem* _THIS, Constraints* _constraints )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	ConstraintsCPY( _THIS->constraints,_constraints );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	g e t N C
- */
-static inline int QProblem_getNC( QProblem* _THIS )
-{
-	return Constraints_getNC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N E C
- */
-static inline int QProblem_getNEC( QProblem* _THIS )
-{
-	return Constraints_getNEC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N A C
- */
-static inline int QProblem_getNAC( QProblem* _THIS )
-{
-	return Constraints_getNAC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N I A C
- */
-static inline int QProblem_getNIAC( QProblem* _THIS )
-{
-	return Constraints_getNIAC( _THIS->constraints );
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t A
- */
-static inline returnValue QProblem_setAM( QProblem* _THIS, DenseMatrix *A_new )
-{
-	if ( A_new == 0 )
-		return QProblem_setA( _THIS,(real_t*)0 );
-	else
-		return QProblem_setA( _THIS,DenseMatrix_getVal(A_new) );
-}
-
-
-/*
- *	s e t A
- */
-static inline returnValue QProblem_setA( QProblem* _THIS, real_t* const A_new )
-{
-	int j;
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( A_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	DenseMatrixCON( _THIS->A,QProblem_getNC( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),A_new );
-
-	DenseMatrix_times( _THIS->A,1, 1.0, _THIS->x, nV, 0.0, _THIS->Ax, nC);
-
-	for( j=0; j<nC; ++j )
-	{
-		_THIS->Ax_u[j] = _THIS->ubA[j] - _THIS->Ax[j];
-		_THIS->Ax_l[j] = _THIS->Ax[j] - _THIS->lbA[j];
-
-		/* (ckirches) disable constraints with empty rows */
-		if ( qpOASES_isZero( DenseMatrix_getRowNorm( _THIS->A,j,2 ),QPOASES_ZERO ) == BT_TRUE )
-			Constraints_setType( _THIS->constraints,j,ST_DISABLED );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-static inline returnValue QProblem_setLBA( QProblem* _THIS, const real_t* const lbA_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lbA_new != 0 )
-	{
-		memcpy( _THIS->lbA,lbA_new,nC*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower constraints' bounds are specified, set them to -infinity */
-		for( i=0; i<nC; ++i )
-			_THIS->lbA[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-static inline returnValue QProblem_setLBAn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nC ) )
-	{
-		_THIS->lbA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t U B A
- */
-static inline returnValue QProblem_setUBA( QProblem* _THIS, const real_t* const ubA_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ubA_new != 0 )
-	{
-		memcpy( _THIS->ubA,ubA_new,nC*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper constraints' bounds are specified, set them to infinity */
-		for( i=0; i<nC; ++i )
-			_THIS->ubA[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B A
- */
-static inline returnValue QProblem_setUBAn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nC ) )
-	{
-		_THIS->ubA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_QPROBLEM_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/QProblemB.h b/third_party/acados/include/qpOASES_e/QProblemB.h
deleted file mode 100644
index ee5157dda7..0000000000
--- a/third_party/acados/include/qpOASES_e/QProblemB.h
+++ /dev/null
@@ -1,1641 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/QProblemB.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the QProblemB class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming
- *	for problems with (simple) bounds only.
- */
-
-
-
-#ifndef QPOASES_QPROBLEMB_H
-#define QPOASES_QPROBLEMB_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Options.h>
-#include <qpOASES_e/Matrices.h>
-#include <qpOASES_e/Flipper.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	Bounds *emptyBounds;
-	Bounds *auxiliaryBounds;
-
-	real_t *ub_new_far;
-	real_t *lb_new_far;
-
-	real_t *g_new;
-	real_t *lb_new;
-	real_t *ub_new;
-
-	real_t *g_new2;
-	real_t *lb_new2;
-	real_t *ub_new2;
-
-	real_t *Hx;
-
-	real_t *_H;
-
-	real_t *g_original;
-	real_t *lb_original;
-	real_t *ub_original;
-
-	real_t *delta_xFR;
-	real_t *delta_xFX;
-	real_t *delta_yFX;
-	real_t *delta_g;
-	real_t *delta_lb;
-	real_t *delta_ub;
-
-	real_t *gMod;
-
-	real_t *num;
-	real_t *den;
-
-	real_t *rhs;
-	real_t *r;
-} QProblemB_ws;
-
-int QProblemB_ws_calculateMemorySize( unsigned int nV );
-
-char *QProblemB_ws_assignMemory( unsigned int nV, QProblemB_ws **mem, void *raw_memory );
-
-QProblemB_ws *QProblemB_ws_createMemory( unsigned int nV );
-
-
-/**
- *	\brief Implements the online active set strategy for box-constrained QPs.
- *
- *	Class for setting up and solving quadratic programs with bounds (= box constraints) only.
- *	The main feature is the possibility to use the newly developed online active set strategy
- *	for parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	QProblemB_ws *ws;
-	Bounds *bounds;					/**< Data structure for problem's bounds. */
-	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
-
-	DenseMatrix* H;					/**< Hessian matrix pointer. */
-
-	Options options;				/**< Struct containing all user-defined options for solving QPs. */
-	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
-
-	real_t *g;						/**< Gradient. */
-	real_t *lb;						/**< Lower bound vector (on variables). */
-	real_t *ub;						/**< Upper bound vector (on variables). */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-
-	real_t *x;						/**< Primal solution vector. */
-	real_t *y;						/**< Dual solution vector. */
-
-	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
-
-	real_t tau;						/**< Last homotopy step length. */
-	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
-
-	real_t ramp0;					/**< Start value for Ramping Strategy. */
-	real_t ramp1;					/**< Final value for Ramping Strategy. */
-
-	QProblemStatus status;			/**< Current status of the solution process. */
-	HessianType hessianType;		/**< Type of Hessian matrix. */
-
-	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
-	BooleanType infeasible;			/**< QP infeasible? */
-	BooleanType unbounded;			/**< QP unbounded? */
-
-	int rampOffset;					/**< Offset index for Ramping. */
-	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
-} QProblemB;
-
-int QProblemB_calculateMemorySize( unsigned int nV );
-
-char *QProblemB_assignMemory( unsigned int nV, QProblemB **mem, void *raw_memory );
-
-QProblemB *QProblemB_createMemory( unsigned int nV );
-
-
-/** Constructor which takes the QP dimension and Hessian type
- *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
- *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
- *  is allocated for it and a NULL pointer can be passed for it
- *  to the init() functions. */
-void QProblemBCON(	QProblemB* _THIS,
-					int _nV,						/**< Number of variables. */
-					HessianType _hessianType		/**< Type of Hessian matrix. */
-					);
-
-void QProblemBCPY(	QProblemB* FROM,
-					QProblemB* TO
-					);
-
-
-/** Clears all data structures of QProblemB except for QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_RESET_FAILED */
-returnValue QProblemB_reset( QProblemB* _THIS );
-
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initM(	QProblemB* _THIS,
-								DenseMatrix *_H,	 		/**< Hessian matrix. */
-								const real_t* const _g,		/**< Gradient vector. */
-								const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,	/**< Upper bounds (on variables). \n
-																 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																 Output: CPU time spent for QP initialisation (if pointer passed). */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_init(	QProblemB* _THIS,
-							real_t* const _H, 			/**< Hessian matrix. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g,		/**< Gradient vector. */
-							const real_t* const _lb,	/**< Lower bounds (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bounds (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-															 Output: Number of performed working set recalculations. */
-		 					real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblemB_initF(	QProblemB* _THIS,
-								const char* const H_file, 	/**< Name of file where Hessian matrix is stored. \n
-																 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,  	/**< Name of file where gradient vector is stored. */
-								const char* const lb_file, 	/**< Name of file where lower bound vector. \n
-																 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 	/**< Name of file where upper bound vector. \n
-																 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																 Output: CPU time spent for QP initialisation (if pointer passed). */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initMW(	QProblemB* _THIS,
-								DenseMatrix *_H,				/**< Hessian matrix. */
-								const real_t* const _g,			/**< Gradient vector. */
-								const real_t* const _lb,		/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initW(	QProblemB* _THIS,
-								real_t* const _H, 				/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const real_t* const _g,			/**< Gradient vector. */
-								const real_t* const _lb,		/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblemB_initFW(	QProblemB* _THIS,
-								const char* const H_file, 		/**< Name of file where Hessian matrix is stored. \n
-																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,  		/**< Name of file where gradient vector is stored. */
-								const char* const lb_file, 		/**< Name of file where lower bound vector. \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 		/**< Name of file where upper bound vector. \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const char* const R_file		/**< Name of the file where a pre-computed (upper triangular) Cholesky factor
-																	 of the Hessian matrix is stored. \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_hotstart(	QProblemB* _THIS,
-								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP solution. \n
-																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files. QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_hotstartF(	QProblemB* _THIS,
-									const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR, 					/**< Input: Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime 	 	/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_hotstartW(	QProblemB* _THIS,
-									const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-									const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, the previous working set is kept!) */
-									);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_hotstartFW(	QProblemB* _THIS,
-									const char* const g_file,	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file,	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR,					/**< Input:  Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime,		/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, the previous working set is kept!) */
-									);
-
-
-/** Writes a vector with the state of the working set
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSet(	QProblemB* _THIS,
-										real_t* workingSet		/** Output: array containing state of the working set. */
-										);
-
-/** Writes a vector with the state of the working set of bounds
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSetBounds(	QProblemB* _THIS,
-											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
-											);
-
-/** Writes a vector with the state of the working set of constraints
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSetConstraints(	QProblemB* _THIS,
-												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
-												);
-
-
-/** Returns current bounds object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_getBounds(	QProblemB* _THIS,
-												Bounds* _bounds	/** Output: Bounds object. */
-												);
-
-
-/** Returns the number of variables.
- *	\return Number of variables. */
-static inline int QProblemB_getNV( QProblemB* _THIS );
-
-/** Returns the number of free variables.
- *	\return Number of free variables. */
-static inline int QProblemB_getNFR( QProblemB* _THIS );
-
-/** Returns the number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int QProblemB_getNFX( QProblemB* _THIS );
-
-/** Returns the number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int QProblemB_getNFV( QProblemB* _THIS );
-
-/** Returns the dimension of null space.
- *	\return Dimension of null space. */
-int QProblemB_getNZ( QProblemB* _THIS );
-
-
-/** Returns the optimal objective function value.
- *	\return finite value: Optimal objective function value (QP was solved) \n
- 			+infinity:	  QP was not yet solved */
-real_t QProblemB_getObjVal( QProblemB* _THIS );
-
-/** Returns the objective function value at an arbitrary point x.
- *	\return Objective function value at point x */
-real_t QProblemB_getObjValX(	QProblemB* _THIS,
-								const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
-								);
-
-/** Returns the primal solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblemB_getPrimalSolution(	QProblemB* _THIS,
-											real_t* const xOpt			/**< Output: Primal solution vector (if QP has been solved). */
-											);
-
-/** Returns the dual solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblemB_getDualSolution(	QProblemB* _THIS,
-										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										);
-
-
-/** Returns status of the solution process.
- *	\return Status of solution process. */
-static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS );
-
-
-/** Returns if the QProblem object is initialised.
- *	\return BT_TRUE:  QProblemB initialised \n
- 			BT_FALSE: QProblemB not initialised */
-static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS );
-
-/** Returns if the QP has been solved.
- *	\return BT_TRUE:  QProblemB solved \n
- 			BT_FALSE: QProblemB not solved */
-static inline BooleanType QProblemB_isSolved( QProblemB* _THIS );
-
-/** Returns if the QP is infeasible.
- *	\return BT_TRUE:  QP infeasible \n
- 			BT_FALSE: QP feasible (or not known to be infeasible!) */
-static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS );
-
-/** Returns if the QP is unbounded.
- *	\return BT_TRUE:  QP unbounded \n
- 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
-static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS );
-
-
-/** Returns Hessian type flag (type is not determined due to _THIS call!).
- *	\return Hessian type. */
-static inline HessianType QProblemB_getHessianType( QProblemB* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setHessianType(	QProblemB* _THIS,
-													HessianType _hessianType /**< New Hessian type. */
-													);
-
-/** Returns if the QP has been internally regularised.
- *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
- 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
-static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS );
-
-/** Returns current options struct.
- *	\return Current options struct. */
-static inline Options QProblemB_getOptions( QProblemB* _THIS );
-
-/** Overrides current options with given ones.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
-												Options _options	/**< New options. */
-												);
-
-/** Returns the print level.
- *	\return Print level. */
-static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setPrintLevel(	QProblemB* _THIS,
-										PrintLevel _printlevel	/**< New print level. */
-										);
-
-/** Returns the current number of QP problems solved.
- *	\return Number of QP problems solved. */
-static inline unsigned int QProblemB_getCount( QProblemB* _THIS );
-
-/** Resets QP problem counter (to zero).
- *	\return SUCCESSFUL_RETURN. */
-static inline returnValue QProblemB_resetCounter( QProblemB* _THIS );
-
-
-/** Prints concise list of properties of the current QP.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printProperties( QProblemB* _THIS );
-
-/** Prints a list of all options and their current values.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printOptions( QProblemB* _THIS );
-
-
-/** If Hessian type has been set by the user, nothing is done.
- *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
- *  HST_POSDEF (default), respectively.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_INDEFINITE */
-returnValue QProblemB_determineHessianType( QProblemB* _THIS );
-
-/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblemB_setupSubjectToType( QProblemB* _THIS );
-
-/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblemB_setupSubjectToTypeNew(	QProblemB* _THIS,
-												const real_t* const lb_new,	/**< New lower bounds. */
-												const real_t* const ub_new	/**< New upper bounds. */
-												);
-
-/** Computes the Cholesky decomposition of the (simply projected) Hessian
- *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
- *  projection matrix!
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemB_computeCholesky( QProblemB* _THIS );
-
-/** Computes initial Cholesky decomposition of the projected Hessian making
- *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemB_setupInitialCholesky( QProblemB* _THIS );
-
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_obtainAuxiliaryWorkingSet(	QProblemB* _THIS,
-													const real_t* const xOpt,		/**< Optimal primal solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													const real_t* const yOpt,		/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
-													Bounds* auxiliaryBounds			/**< Input: Allocated bound object. \n
-																					 *	 Ouput: Working set for auxiliary QP. */
-													);
-
-/** Decides if lower bounds are smaller than upper bounds
- *
- * \return SUCCESSFUL_RETURN \n
- * 		   RET_QP_INFEASIBLE */
-returnValue QProblemB_areBoundsConsistent(	QProblemB* _THIS,
-											const real_t* const lb, /**< Vector of lower bounds*/
-											const real_t* const ub  /**< Vector of upper bounds*/
-											);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblemB_backsolveR(	QProblemB* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
- *  Special variant for the case that _THIS function is called from within "removeBound()".
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblemB_backsolveRrem(	QProblemB* _THIS,
-										const real_t* const b,		/**< Right hand side vector. */
-										BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-										BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-										real_t* const a 			/**< Output: Solution vector */
-										);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_determineDataShift(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< New gradient vector. */
-											const real_t* const lb_new,	/**< New lower bounds. */
-											const real_t* const ub_new,	/**< New upper bounds. */
-											real_t* const delta_g,	 	/**< Output: Step direction of gradient vector. */
-											real_t* const delta_lb,	 	/**< Output: Step direction of lower bounds. */
-											real_t* const delta_ub,	 	/**< Output: Step direction of upper bounds. */
-											BooleanType* Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */
-											);
-
-
-/** Sets up internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_setupQPdataM(	QProblemB* _THIS,
-									DenseMatrix *_H,	 		/**< Hessian matrix.*/
-									const real_t* const _g,		/**< Gradient vector. */
-									const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemB_setupQPdata(	QProblemB* _THIS,
-									real_t* const _H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g,		/**< Gradient vector. */
-									const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemB_setupQPdataFromFile(	QProblemB* _THIS,
-											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_loadQPvectorsFromFile(	QProblemB* _THIS,
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
-												);
-
-
-/** Sets internal infeasibility flag and throws given error in case the far bound
- *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
- *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED_CYCLING \n
-			RET_ENSURELI_FAILED_NOINDEX */
-returnValue QProblemB_setInfeasibilityFlag(	QProblemB* _THIS,
-											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
-											BooleanType doThrowError	/**< Flag forcing to throw an error. */
-											);
-
-
-/** Determines if next QP iteration can be performed within given CPU time limit.
- *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
-			BT_FALSE: Sufficient CPU time for next QP iteration. */
-BooleanType QProblemB_isCPUtimeLimitExceeded(	QProblemB* _THIS,
-												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
-												real_t starttime,				/**< Start time of current QP solution. */
-												int nWSR						/**< Number of working set recalculations performed so far. */
-												);
-
-
-/** Regularise Hessian matrix by adding a scaled identity matrix to it.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_ALREADY_REGULARISED */
-returnValue QProblemB_regulariseHessian( QProblemB* _THIS );
-
-
-/** Sets Hessian matrix of the QP.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setHM(	QProblemB* _THIS,
-											DenseMatrix* H_new	/**< New Hessian matrix. */
-											);
-
-/** Sets dense Hessian matrix of the QP.
- *  If a null pointer is passed and
- *  a) hessianType is HST_IDENTITY, nothing is done,
- *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setH(	QProblemB* _THIS,
-											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
-											);
-
-/** Changes gradient vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblemB_setG(	QProblemB* _THIS,
-											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
-											);
-
-/** Changes lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_setLB(	QProblemB* _THIS,
-											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblemB_setLBn(	QProblemB* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower bound vector. */
-											);
-
-/** Changes upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_setUB(	QProblemB* _THIS,
-											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblemB_setUBn(	QProblemB* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper bound vector. */
-											);
-
-
-/** Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
- *	\return SUCCESSFUL_RETURN */
-static inline void QProblemB_computeGivens(	real_t xold,	/**< Matrix entry to be normalised. */
-											real_t yold,	/**< Matrix entry to be annihilated. */
-											real_t* xnew,	/**< Output: Normalised matrix entry. */
-											real_t* ynew,	/**< Output: Annihilated matrix entry. */
-											real_t* c,		/**< Output: Cosine entry of Givens matrix. */
-											real_t* s 		/**< Output: Sine entry of Givens matrix. */
-											);
-
-/** Applies Givens matrix determined by c and s (cf. computeGivens).
- *	\return SUCCESSFUL_RETURN */
-static inline void QProblemB_applyGivens(	real_t c,		/**< Cosine entry of Givens matrix. */
-											real_t s,		/**< Sine entry of Givens matrix. */
-											real_t nu, 		/**< Further factor: s/(1+c). */
-											real_t xold,	/**< Matrix entry to be transformed corresponding to
-															 *	 the normalised entry of the original matrix. */
-											real_t yold, 	/**< Matrix entry to be transformed corresponding to
-															 *	 the annihilated entry of the original matrix. */
-											real_t* xnew,	/**< Output: Transformed matrix entry corresponding to
-															 *	 the normalised entry of the original matrix. */
-											real_t* ynew	/**< Output: Transformed matrix entry corresponding to
-															 *	 the annihilated entry of the original matrix. */
-											);
-
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblemB_getRelativeHomotopyLength(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< Final gradient. */
-											const real_t* const lb_new,	/**< Final lower variable bounds. */
-											const real_t* const ub_new	/**< Final upper variable bounds. */
-											);
-
-/** Ramping Strategy to avoid ties. Modifies homotopy start without
- *  changing current active set.
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblemB_performRamping( QProblemB* _THIS );
-
-
-/** ... */
-returnValue QProblemB_updateFarBounds(	QProblemB* _THIS,
-										real_t curFarBound,				/**< ... */
-										int nRamp,						/**< ... */
-										const real_t* const lb_new,		/**< ... */
-										real_t* const lb_new_far,		/**< ... */
-										const real_t* const ub_new,		/**< ... */
-										real_t* const ub_new_far		/**< ... */
-										);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblemB_performRatioTestB(	QProblemB* _THIS,
-											int nIdx, 					/**< Number of ratios to be checked. */
-											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-											Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
-											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-											real_t epsNum,				/**< Numerator tolerance. */
-											real_t epsDen,				/**< Denominator tolerance. */
-											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-											int* BC_idx 				/**< Output: Index of blocking constraint. */
-											);
-
-/** Checks whether given ratio is blocking, i.e. limits the maximum step length
- *  along the homotopy path to a value lower than given one.
- *	\return  SUCCESSFUL_RETURN */
-static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
-												real_t num,		/**< Numerator for performing the ratio test. */
-												real_t den,		/**< Denominator for performing the ratio test. */
-												real_t epsNum,	/**< Numerator tolerance. */
-												real_t epsDen,	/**< Denominator tolerance. */
-												real_t* t		/**< Input:  Current maximum step length along the homotopy path,
-																 *   Output: Updated maximum possible step length along the homotopy path. */
-												);
-
-
-/** Solves a QProblemB whose QP data is assumed to be stored in the member variables.
- *  A guess for its primal/dual optimal solution vectors and the corresponding
- *  optimal working set can be provided.
- *  Note: This function is internally called by all init functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED */
-returnValue QProblemB_solveInitialQP(	QProblemB* _THIS,
-										const real_t* const xOpt,		/**< Optimal primal solution vector.*/
-										const real_t* const yOpt,		/**< Optimal dual solution vector. */
-										Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-										const real_t* const _R,			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
-										int* nWSR, 						/**< Input:  Maximum number of working set recalculations; \n
-														 				 *	 Output: Number of performed working set recalculations. */
-										real_t* const cputime			/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 				 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-										);
-
-/** Solves an initialised QProblemB using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_solveQP(	QProblemB* _THIS,
-								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
-																 this QP within previous solveQP() calls. This number is
-																 always zero, except for successive calls from solveRegularisedQP()
-																 or when using the far bound strategy. */
-								BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-								);
-
-
-/** Solves an initialised QProblemB using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_solveRegularisedQP(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-											const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-													 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-													 						 If no upper bounds exist, a NULL pointer can be passed. */
-											int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																			 Output: Number of performed working set recalculations. */
-											real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-																			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-											int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
-																			 this QP within previous solveRegularisedQP() calls. This number is
-																			 always zero, except for successive calls when using the far bound strategy. */
-											BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-											);
-
-
-/** Sets up bound data structure according to auxiliaryBounds.
- *  (If the working set shall be setup afresh, make sure that
- *  bounds data structure has been resetted!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUP_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNOWN_BUG */
-returnValue QProblemB_setupAuxiliaryWorkingSet(	QProblemB* _THIS,
-												Bounds* const auxiliaryBounds,	/**< Working set for auxiliary QP. */
-												BooleanType setupAfresh			/**< Flag indicating if given working set shall be
-																				 *    setup afresh or by updating the current one. */
-												);
-
-/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setupAuxiliaryQPsolution(	QProblemB* _THIS,
-												const real_t* const xOpt,	/**< Optimal primal solution vector.
-																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt	/**< Optimal dual solution vector.
-																			 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-/** Sets up gradient of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS have already been (ialised!).
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setupAuxiliaryQPgradient( QProblemB* _THIS );
-
-/** Sets up bounds of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS have already been initialised!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNKNOWN_BUG */
-returnValue QProblemB_setupAuxiliaryQPbounds(	QProblemB* _THIS,
-												BooleanType useRelaxation	/**< Flag indicating if inactive bounds shall be relaxed. */
-												);
-
-
-/** Updates QP vectors, working sets and internal data structures in order to
-	start from an optimal solution corresponding to initial guesses of the working
-	set for bounds
- *	\return SUCCESSFUL_RETURN \n
- *			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_setupAuxiliaryQP(	QProblemB* _THIS,
-										Bounds* const guessedBounds	/**< Initial guess for working set of bounds. */
-										);
-
-/** Determines step direction of the homotopy path.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_STEPDIRECTION_FAILED_CHOLESKY */
-returnValue QProblemB_determineStepDirection(	QProblemB* _THIS,
-												const real_t* const delta_g,	/**< Step direction of gradient vector. */
-												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-												);
-
-/** Determines the maximum possible step length along the homotopy path
- *  and performs _THIS step (without changing working set).
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QP_INFEASIBLE \n
- */
-returnValue QProblemB_performStep(	QProblemB* _THIS,
-									const real_t* const delta_g,	/**< Step direction of gradient. */
-									const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-									const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-									const real_t* const delta_xFX, 	/**< Primal homotopy step direction of fixed variables. */
-									const real_t* const delta_xFR,	/**< Primal homotopy step direction of free variables. */
-									const real_t* const delta_yFX,	/**< Dual homotopy step direction of fixed variables' multiplier. */
-									int* BC_idx, 					/**< Output: Index of blocking constraint. */
-									SubjectToStatus* BC_status		/**< Output: Status of blocking constraint. */
-									);
-
-/** Updates active set.
- *	\return  SUCCESSFUL_RETURN \n
- 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-			 RET_ADD_TO_ACTIVESET_FAILED */
-returnValue QProblemB_changeActiveSet(	QProblemB* _THIS,
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status 	/**< Status of blocking constraint. */
-										);
-
-/** Drift correction at end of each active set iteration
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblemB_performDriftCorrection( QProblemB* _THIS );
-
-/** Determines if it is more efficient to refactorise the matrices when
- *  hotstarting or not (i.e. better to update the existing factorisations).
- *	\return BT_TRUE iff matrices shall be refactorised afresh
- */
-BooleanType QProblemB_shallRefactorise(	QProblemB* _THIS,
-										Bounds* const guessedBounds	/**< Guessed new working set. */
-										);
-
-
-/** Adds a bound to active set (specialised version for the case where no constraints exist).
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDBOUND_FAILED */
-returnValue QProblemB_addBound(	QProblemB* _THIS,
-								int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								);
-
-/** Removes a bounds from active set (specialised version for the case where no constraints exist).
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_NOT_SPD \n
-			RET_REMOVEBOUND_FAILED */
-returnValue QProblemB_removeBound(	QProblemB* _THIS,
-									int number,					/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									);
-
-
-/** Prints concise information on the current iteration.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printIteration(	QProblemB* _THIS,
-										int iter,					/**< Number of current iteration. */
-										int BC_idx, 				/**< Index of blocking bound. */
-										SubjectToStatus BC_status,	/**< Status of blocking bound. */
-										real_t homotopyLength,		/**< Current homotopy distance. */
-										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-										);
-
-
-
-/*
- *	g e t B o u n d s
- */
-static inline returnValue QProblemB_getBounds( QProblemB* _THIS, Bounds* _bounds )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	_bounds = _THIS->bounds;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-static inline int QProblemB_getNV( QProblemB* _THIS )
-{
-	return Bounds_getNV( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int QProblemB_getNFR( QProblemB* _THIS )
-{
-	return Bounds_getNFR( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int QProblemB_getNFX( QProblemB* _THIS )
-{
-	return Bounds_getNFX( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int QProblemB_getNFV( QProblemB* _THIS )
-{
-	return Bounds_getNFV( _THIS->bounds );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS )
-{
-	return _THIS->status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS )
-{
-	if ( _THIS->status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-static inline BooleanType QProblemB_isSolved( QProblemB* _THIS )
-{
-	if ( _THIS->status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS )
-{
-	return _THIS->infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS )
-{
-	return _THIS->unbounded;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-static inline HessianType QProblemB_getHessianType( QProblemB* _THIS )
-{
-	return _THIS->hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-static inline returnValue QProblemB_setHessianType( QProblemB* _THIS, HessianType _hessianType )
-{
-	_THIS->hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	u s i n g R e g u l a r i s a t i o n
- */
-static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS )
-{
-	if ( _THIS->regVal > QPOASES_ZERO )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	g e t O p t i o n s
- */
-static inline Options QProblemB_getOptions( QProblemB* _THIS )
-{
-	return _THIS->options;
-}
-
-
-/*
- *	s e t O p t i o n s
- */
-static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
-												Options _options
-												)
-{
-	OptionsCPY( &_options,&(_THIS->options) );
-	Options_ensureConsistency( &(_THIS->options) );
-
-	QProblemB_setPrintLevel( _THIS,_THIS->options.printLevel );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS )
-{
-	return _THIS->options.printLevel;
-}
-
-
-
-/*
- *	g e t C o u n t
- */
-static inline unsigned int QProblemB_getCount( QProblemB* _THIS )
-{
-	return _THIS->count;
-}
-
-
-/*
- *	r e s e t C o u n t e r
- */
-static inline returnValue QProblemB_resetCounter( QProblemB* _THIS )
-{
-	_THIS->count = 0;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblemB_setHM( QProblemB* _THIS, DenseMatrix* H_new )
-{
-	if ( H_new == 0 )
-		return QProblemB_setH( _THIS,(real_t*)0 );
-	else
-		return QProblemB_setH( _THIS,DenseMatrix_getVal(H_new) );
-}
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblemB_setH( QProblemB* _THIS, real_t* const H_new )
-{
-	/* if null pointer is passed, Hessian is set to zero matrix
-	 *                            (or stays identity matrix) */
-	if ( H_new == 0 )
-	{
-		if ( _THIS->hessianType == HST_IDENTITY )
-			return SUCCESSFUL_RETURN;
-
-		_THIS->hessianType = HST_ZERO;
-
-		_THIS->H = 0;
-	}
-	else
-	{
-		DenseMatrixCON( _THIS->H,QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),H_new );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-static inline returnValue QProblemB_setG( QProblemB* _THIS, const real_t* const g_new )
-{
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( g_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblemB_setLB( QProblemB* _THIS, const real_t* const lb_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lb_new != 0 )
-	{
-		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower bounds are specified, set them to -infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->lb[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblemB_setLBn( QProblemB* _THIS, int number, real_t value )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblemB_setUB( QProblemB* _THIS, const real_t* const ub_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ub_new != 0 )
-	{
-		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper bounds are specified, set them to infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->ub[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblemB_setUBn( QProblemB* _THIS, int number, real_t value )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	c o m p u t e G i v e n s
- */
-static inline void QProblemB_computeGivens(	real_t xold, real_t yold,
-											real_t* xnew, real_t* ynew, real_t* c, real_t* s
-											)
-{
-	real_t t, mu;
-
-	if ( fabs( yold ) <= QPOASES_ZERO )
-	{
-		*c = 1.0;
-		*s = 0.0;
-
-		*xnew = xold;
-		*ynew = yold;
-	}
-	else
-	{
-		mu = fabs( xold );
-		if ( fabs( yold ) > mu )
-			mu = fabs( yold );
-
-		t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
-
-		if ( xold < 0.0 )
-		t = -t;
-
-		*c = xold/t;
-		*s = yold/t;
-		*xnew = t;
-		*ynew = 0.0;
-	}
-
-	return;
-}
-
-
-/*
- *	a p p l y G i v e n s
- */
-static inline void QProblemB_applyGivens(	real_t c, real_t s, real_t nu, real_t xold, real_t yold,
-											real_t* xnew, real_t* ynew
-											)
-{
-	#ifdef __USE_THREE_MULTS_GIVENS__
-
-	/* Givens plane rotation requiring only three multiplications,
-	 * cf. Hammarling, S.: A note on modifications to the givens plane rotation.
-	 * J. Inst. Maths Applics, 13:215-218, 1974. */
-	*xnew = xold*c + yold*s;
-	*ynew = (*xnew+xold)*nu - yold;
-
-	#else
-
-	/* Usual Givens plane rotation requiring four multiplications. */
-	*xnew =  c*xold + s*yold;
-	*ynew = -s*xold + c*yold;
-
-	#endif
-
-	return;
-}
-
-
-/*
- * i s B l o c k i n g
- */
-static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
-												real_t num,
-												real_t den,
-												real_t epsNum,
-												real_t epsDen,
-												real_t* t
-												)
-{
-	if ( ( den >= epsDen ) && ( num >= epsNum ) )
-	{
-		if ( num < (*t)*den )
-			return BT_TRUE;
-	}
-
-	return BT_FALSE;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_QPROBLEMB_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Types.h b/third_party/acados/include/qpOASES_e/Types.h
deleted file mode 100644
index fc042aed82..0000000000
--- a/third_party/acados/include/qpOASES_e/Types.h
+++ /dev/null
@@ -1,310 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Types.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of all non-built-in types (except for classes).
- */
-
-
-#ifndef QPOASES_TYPES_H
-#define QPOASES_TYPES_H
-
-#ifdef USE_ACADOS_TYPES
-#include "acados/utils/types.h"
-#endif
-
-/* If your compiler does not support the snprintf() function,
- * uncomment the following line and try to compile again. */
-/* #define __NO_SNPRINTF__ */
-
-
-/* Uncomment the following line for setting the __DSPACE__ flag. */
-/* #define __DSPACE__ */
-
-/* Uncomment the following line for setting the __XPCTARGET__ flag. */
-/* #define __XPCTARGET__ */
-
-
-/* Uncomment the following line for setting the __NO_FMATH__ flag. */
-/* #define __NO_FMATH__ */
-
-/* Uncomment the following line to enable debug information. */
-/* #define __DEBUG__ */
-
-/* Uncomment the following line to enable suppress any kind of console output. */
-/* #define __SUPPRESSANYOUTPUT__ */
-
-
-/** Forces to always include all implicitly fixed bounds and all equality constraints
- *  into the initial working set when setting up an auxiliary QP. */
-#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
-
-/* Uncomment the following line to activate the use of an alternative Givens
- * plane rotation requiring only three multiplications. */
-/* #define __USE_THREE_MULTS_GIVENS__ */
-
-/* Uncomment the following line to activate the use of single precision arithmetic. */
-/* #define __USE_SINGLE_PRECISION__ */
-
-/* The inline keyword is skipped by default as it is not part of the C90 standard.
- * However, by uncommenting the following line, use of the inline keyword can be enforced. */
-/* #define __USE_INLINE__ */
-
-
-/* Work-around for Borland BCC 5.5 compiler. */
-#ifdef __BORLANDC__
-#if __BORLANDC__ < 0x0561
-  #define __STDC__ 1
-#endif
-#endif
-
-
-/* Work-around for Microsoft compilers. */
-#ifdef _MSC_VER
-  #define __NO_SNPRINTF__
-  #pragma warning( disable : 4061 4100 4250 4514 4996 )
-#endif
-
-
-/* Apply pre-processor settings when using qpOASES within auto-generated code. */
-#ifdef __CODE_GENERATION__
-  #define __NO_COPYRIGHT__
-  #define __EXTERNAL_DIMENSIONS__
-#endif /* __CODE_GENERATION__ */
-
-
-/* Avoid using static variables declaration within functions. */
-#ifdef __NO_STATIC__
-  #define myStatic
-#else
-  #define myStatic static
-#endif /* __NO_STATIC__ */
-
-
-/* Skip inline keyword if not specified otherwise. */
-#ifndef __USE_INLINE__
-  #define inline
-#endif
-
-
-/* Avoid any printing on embedded platforms. */
-#if defined(__DSPACE__) || defined(__XPCTARGET__)
-  #define __SUPPRESSANYOUTPUT__
-  #define __NO_SNPRINTF__
-#endif
-
-
-#ifdef __NO_SNPRINTF__
-  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__)
-    /* If snprintf is not available, provide an empty implementation... */
-    int snprintf( char* s, size_t n, const char* format, ... );
-  #else
-	/* ... or substitute snprintf by _snprintf for Microsoft compilers. */
-    #define snprintf _snprintf
-  #endif
-#endif /* __NO_SNPRINTF__ */
-
-
-/** Macro for switching on/off the beginning of the qpOASES namespace definition. */
-#define BEGIN_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the end of the qpOASES namespace definition. */
-#define END_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the use of the qpOASES namespace. */
-#define USING_NAMESPACE_QPOASES
-
-/** Macro for switching on/off references to the qpOASES namespace. */
-#define REFER_NAMESPACE_QPOASES /*::*/
-
-
-/** Macro for accessing the Cholesky factor R. */
-#define RR( I,J )  _THIS->R[(I)+nV*(J)]
-
-/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */
-#define QQ( I,J )  _THIS->Q[(I)+nV*(J)]
-
-/** Macro for accessing the triangular matrix T of the QT factorisation. */
-#define TT( I,J )  _THIS->T[(I)*nVC_min+(J)]
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Defines real_t for facilitating switching between double and float. */
-
-#ifndef USE_ACADOS_TYPES
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  typedef float real_t;
-  #else
-  typedef double real_t;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-#endif /* USE_ACADOS_TYPES */
-
-/** Summarises all possible logical values. */
-typedef enum
-{
-	BT_FALSE = 0,				/**< Logical value for "false". */
-	BT_TRUE						/**< Logical value for "true". */
-} BooleanType;
-
-
-/** Summarises all possible print levels. Print levels are used to describe
- *	the desired amount of output during runtime of qpOASES. */
-typedef enum
-{
-	PL_DEBUG_ITER = -2,			/**< Full tabular debugging output. */
-	PL_TABULAR,					/**< Tabular output. */
-	PL_NONE,					/**< No output. */
-	PL_LOW,						/**< Print error messages only. */
-	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
-	PL_HIGH						/**< Print all messages with full details. */
-} PrintLevel;
-
-
-/** Defines visibility status of a message. */
-typedef enum
-{
-	VS_HIDDEN,					/**< Message not visible. */
-	VS_VISIBLE					/**< Message visible. */
-} VisibilityStatus;
-
-
-/** Summarises all possible states of the (S)QProblem(B) object during the
-solution process of a QP sequence. */
-typedef enum
-{
-	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
-	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
-								 *   set strategy is performed. */
-	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
-	QPS_SOLVED					/**< The solution of the actual QP was found. */
-} QProblemStatus;
-
-
-/** Summarises all possible types of the QP's Hessian matrix. */
-typedef enum
-{
-	HST_ZERO,				/**< Hessian is zero matrix (i.e. LP formulation). */
-	HST_IDENTITY,			/**< Hessian is identity matrix. */
-	HST_POSDEF,				/**< Hessian is (strictly) positive definite. */
-	HST_POSDEF_NULLSPACE,	/**< Hessian is positive definite on null space of active bounds/constraints. */
-	HST_SEMIDEF,			/**< Hessian is positive semi-definite. */
-	HST_INDEF,				/**< Hessian is indefinite. */
-	HST_UNKNOWN				/**< Hessian type is unknown. */
-} HessianType;
-
-
-/** Summarises all possible types of bounds and constraints. */
-typedef enum
-{
-	ST_UNBOUNDED,		/**< Bound/constraint is unbounded. */
-	ST_BOUNDED,			/**< Bound/constraint is bounded but not fixed. */
-	ST_EQUALITY,		/**< Bound/constraint is fixed (implicit equality bound/constraint). */
-	ST_DISABLED,		/**< Bound/constraint is disabled (i.e. ignored when solving QP). */
-	ST_UNKNOWN			/**< Type of bound/constraint unknown. */
-} SubjectToType;
-
-
-/** Summarises all possible states of bounds and constraints. */
-typedef enum
-{
-	ST_LOWER = -1,			/**< Bound/constraint is at its lower bound. */
-	ST_INACTIVE,			/**< Bound/constraint is inactive. */
-	ST_UPPER,				/**< Bound/constraint is at its upper bound. */
-	ST_INFEASIBLE_LOWER,	/**< (to be documented) */
-	ST_INFEASIBLE_UPPER,	/**< (to be documented) */
-	ST_UNDEFINED			/**< Status of bound/constraint undefined. */
-} SubjectToStatus;
-
-
-/**
- *	\brief Stores internal information for tabular (debugging) output.
- *
- *	Struct storing internal information for tabular (debugging) output
- *	when using the (S)QProblem(B) objects.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	int idxAddB;		/**< Index of bound that has been added to working set. */
-	int idxRemB;		/**< Index of bound that has been removed from working set. */
-	int idxAddC;		/**< Index of constraint that has been added to working set. */
-	int idxRemC;		/**< Index of constraint that has been removed from working set. */
-	int excAddB;		/**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */
-	int excRemB;		/**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */
-	int excAddC;		/**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */
-	int excRemC;		/**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */
-} TabularOutput;
-
-/**
- *	\brief Struct containing the variable header for mat file.
- *
- *	Struct storing the header of a variable to be stored in
- *	Matlab's binary format (using the outdated Level 4 variant
- *  for simplictiy).
- *
- *  Note, this code snippet has been inspired from the document
- *  "Matlab(R) MAT-file Format, R2013b" by MathWorks
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	long numericFormat;		/**< Flag indicating numerical format. */
-	long nRows;				/**< Number of rows. */
-	long nCols;				/**< Number of rows. */
-	long imaginaryPart;		/**< (to be documented) */
-	long nCharName;			/**< Number of character in name. */
-} MatMatrixHeader;
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_TYPES_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/UnitTesting.h b/third_party/acados/include/qpOASES_e/UnitTesting.h
deleted file mode 100644
index dbff201039..0000000000
--- a/third_party/acados/include/qpOASES_e/UnitTesting.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/UnitTesting.h
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2014-2015
- *
- *	Definition of auxiliary functions/macros for unit testing.
- */
-
-
-#ifndef QPOASES_UNIT_TESTING_H
-#define QPOASES_UNIT_TESTING_H
-
-
-#ifndef TEST_TOL_FACTOR
-#define TEST_TOL_FACTOR 1
-#endif
-
-
-/** Return value for tests that passed. */
-#define TEST_PASSED 0
-
-/** Return value for tests that failed. */
-#define TEST_FAILED 1
-
-/** Return value for tests that could not run due to missing external data. */
-#define TEST_DATA_NOT_FOUND 99
-
-
-/** Macro verifying that two numerical values are equal in order to pass unit test. */
-#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
-
-/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
-#define QPOASES_TEST_FOR_NEAR( x,y )  if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
-
-/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
-#define QPOASES_TEST_FOR_TOL( x,tol )  if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
-
-/** Macro verifying that a logical expression holds in order to pass unit test. */
-#define QPOASES_TEST_FOR_TRUE( x )  if ( (x) == 0 ) { return TEST_FAILED; }
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_UNIT_TESTING_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Utils.h b/third_party/acados/include/qpOASES_e/Utils.h
deleted file mode 100644
index 75e45a56a0..0000000000
--- a/third_party/acados/include/qpOASES_e/Utils.h
+++ /dev/null
@@ -1,500 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Utils.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of some utilities for working with the different QProblem classes.
- */
-
-
-#ifndef QPOASES_UTILS_H
-#define QPOASES_UTILS_H
-
-#include <qpOASES_e/MessageHandling.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Prints a vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printV(	const real_t* const v,	/**< Vector to be printed. */
-							int n					/**< Length of vector. */
-							);
-
-/** Prints a permuted vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printPV(	const real_t* const v,		/**< Vector to be printed. */
-								int n,						/**< Length of vector. */
-								const int* const V_idx		/**< Pemutation vector. */
-								);
-
-/** Prints a named vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNV(	const real_t* const v,	/**< Vector to be printed. */
-								int n,					/**< Length of vector. */
-								const char* name		/** Name of vector. */
-								);
-
-/** Prints a matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printM(	const real_t* const M,	/**< Matrix to be printed. */
-							int nrow,				/**< Row number of matrix. */
-							int ncol				/**< Column number of matrix. */
-							);
-
-/** Prints a permuted matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printPM(	const real_t* const M,		/**< Matrix to be printed. */
-								int nrow,					/**< Row number of matrix. */
-								int ncol	,				/**< Column number of matrix. */
-								const int* const ROW_idx,	/**< Row pemutation vector. */
-								const int* const COL_idx	/**< Column pemutation vector. */
-								);
-
-/** Prints a named matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNM(	const real_t* const M,	/**< Matrix to be printed. */
-								int nrow,				/**< Row number of matrix. */
-								int ncol,				/**< Column number of matrix. */
-								const char* name		/** Name of matrix. */
-								);
-
-/** Prints an index array.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printI(	const int* const _index,	/**< Index array to be printed. */
-							int n						/**< Length of index array. */
-							);
-
-/** Prints a named index array.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNI(	const int* const _index,	/**< Index array to be printed. */
-								int n,						/**< Length of index array. */
-								const char* name			/**< Name of index array. */
-								);
-
-
-/** Prints a string to desired output target (useful also for MATLAB output!).
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_myPrintf(	const char* s	/**< String to be written. */
-								);
-
-
-/** Prints qpOASES copyright notice.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printCopyrightNotice( );
-
-
-/** Reads a real_t matrix from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileM(	real_t* data,				/**< Matrix to be read from file. */
-									int nrow,					/**< Row number of matrix. */
-									int ncol,					/**< Column number of matrix. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-/** Reads a real_t vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileV(	real_t* data,				/**< Vector to be read from file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-/** Reads an integer (column) vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileI(	int* data,					/**< Vector to be read from file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-
-/** Writes a real_t matrix into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue qpOASES_writeIntoFileM(	const real_t* const data,	/**< Matrix to be written into file. */
-									int nrow,					/**< Row number of matrix. */
-									int ncol,					/**< Column number of matrix. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes a real_t vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue qpOASES_writeIntoFileV(	const real_t* const data,	/**< Vector to be written into file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes an integer (column) vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE */
-returnValue qpOASES_writeIntoFileI(	const int* const integer,	/**< Integer vector to be written into file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes a real_t matrix/vector into a Matlab binary file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS
- 		   RET_UNABLE_TO_WRITE_FILE */
-returnValue qpOASES_writeIntoMatFile(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
-										const real_t* const data,	/**< Data to be written into file. */
-										int nRows,					/**< Row number of matrix. */
-										int nCols, 					/**< Column number of matrix. */
-										const char* name			/**< Matlab name of matrix/vector to be stored. */
- 										);
-
-/** Writes in integer matrix/vector into a Matlab binary file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS
- 		   RET_UNABLE_TO_WRITE_FILE */
-returnValue qpOASES_writeIntoMatFileI(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
-										const int* const data,		/**< Data to be written into file. */
-										int nRows,					/**< Row number of matrix. */
-										int nCols,					/**< Column number of matrix. */
-										const char* name			/**< Matlab name of matrix/vector to be stored. */
- 										);
-
-
-/** Returns the current system time.
- * \return current system time */
-real_t qpOASES_getCPUtime( );
-
-
-/** Returns the N-norm of a vector.
- * \return >= 0.0: successful */
-real_t qpOASES_getNorm(	const real_t* const v,	/**< Vector. */
-						int n,					/**< Vector's dimension. */
-						int type				/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-						);
-
-/** Tests whether two real-valued arguments are (numerically) equal.
- * \return	BT_TRUE:  arguments differ not more than TOL \n
-		 	BT_FALSE: arguments differ more than TOL */
-static inline BooleanType qpOASES_isEqual(	real_t x,	/**< First real number. */
-											real_t y,	/**< Second real number. */
-											real_t TOL	/**< Tolerance for comparison. */
-											);
-
-
-/** Tests whether a real-valued argument is (numerically) zero.
- * \return	BT_TRUE:  argument differs from 0.0 not more than TOL \n
-		 	BT_FALSE: argument differs from 0.0 more than TOL */
-static inline BooleanType qpOASES_isZero(	real_t x,			/**< Real number. */
-											real_t TOL			/**< Tolerance for comparison. */
-											);
-
-
-/** Returns sign of a real-valued argument.
- * \return	 1.0: argument is non-negative \n
-		 	-1.0: argument is negative */
-static inline real_t qpOASES_getSign(	real_t arg	/**< real-valued argument whose sign is to be determined. */
-										);
-
-
-/** Returns maximum of two integers.
- * \return	Maximum of two integers */
-static inline int qpOASES_getMaxI(	int x,	/**< First integer. */
-									int y	/**< Second integer. */
-									);
-
-
-/** Returns minimum of two integers.
- * \return	Minimum of two integers */
-static inline int qpOASES_getMinI(	int x,	/**< First integer. */
-									int y	/**< Second integer. */
-									);
-
-
-/** Returns maximum of two reals.
- * \return	Maximum of two reals */
-static inline real_t qpOASES_getMax(	real_t x,	/**< First real number. */
-										real_t y	/**< Second real number. */
-										);
-
-
-/** Returns minimum of two reals.
- * \return	Minimum of two reals */
-static inline real_t qpOASES_getMin(	real_t x,	/**< First real number. */
-										real_t y	/**< Second real number. */
-										);
-
-
-/** Returns the absolute value of a real_t-valued argument.
- * \return	Absolute value of a real_t-valued argument */
-static inline real_t qpOASES_getAbs(	real_t x	/**< real_t-valued argument. */
-										);
-
-/** Returns the square-root of a real number.
- * \return	Square-root of a real number */
-static inline real_t qpOASES_getSqrt(	real_t x	/**< Non-negative real number. */
-										);
-
-
-/** Computes the maximum violation of the KKT optimality conditions
- *	of given iterate for given QP data. */
-returnValue qpOASES_getKktViolation(	int nV,						/**< Number of variables. */
-										int nC,						/**< Number of constraints. */
-										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
-										const real_t* const g,		/**< Gradient vector. */
-										const real_t* const A,		/**< Constraint matrix. */
-										const real_t* const lb,		/**< Lower bound vector (on variables). */
-										const real_t* const ub,		/**< Upper bound vector (on variables). */
-										const real_t* const lbA,	/**< Lower constraints' bound vector. */
-										const real_t* const ubA,	/**< Upper constraints' bound vector. */
-										const real_t* const x,		/**< Primal trial vector. */
-										const real_t* const y,		/**< Dual trial vector. */
-										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
-										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
-										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
-										);
-
-/** Computes the maximum violation of the KKT optimality conditions
- *	of given iterate for given QP data. */
-returnValue qpOASES_getKktViolationSB(	int nV,						/**< Number of variables. */
-										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
-										const real_t* const g,		/**< Gradient vector. */
-										const real_t* const lb,		/**< Lower bound vector (on variables). */
-										const real_t* const ub,		/**< Upper bound vector (on variables). */
-										const real_t* const x,		/**< Primal trial vector. */
-										const real_t* const y,		/**< Dual trial vector. */
-										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
-										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
-										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
-										);
-
-
-/** Writes a value of BooleanType into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertBooleanTypeToString(	BooleanType value, 		/**< Value to be written. */
-												char* const string		/**< Input: String of sufficient size, \n
-																			Output: String containing value. */
-												);
-
-/** Writes a value of SubjectToStatus into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertSubjectToStatusToString(	SubjectToStatus value,	/**< Value to be written. */
-													char* const string		/**< Input: String of sufficient size, \n
-																				Output: String containing value. */
-													);
-
-/** Writes a value of PrintLevel into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertPrintLevelToString(	PrintLevel value, 		/**< Value to be written. */
-												char* const string		/**< Input: String of sufficient size, \n
-																			Output: String containing value. */
-												);
-
-
-/** Converts a returnValue from an QProblem(B) object into a more 
- *	simple status flag.
- *
- * \return  0: QP problem solved
- *          1: QP could not be solved within given number of iterations
- *         -1: QP could not be solved due to an internal error
- *         -2: QP is infeasible (and thus could not be solved)
- *         -3: QP is unbounded (and thus could not be solved)
- */
-int qpOASES_getSimpleStatus(	returnValue returnvalue, 	/**< ReturnValue to be analysed. */
-								BooleanType doPrintStatus	/**< Flag indicating whether simple status shall be printed to screen. */
-								);
-
-/** Normalises QP constraints.
- * \return SUCCESSFUL_RETURN \n
- *		   RET_INVALID_ARGUMENTS */
-returnValue qpOASES_normaliseConstraints(	int nV,			/**< Number of variables. */
-											int nC, 		/**< Number of constraints. */
-											real_t* A,		/**< Input:  Constraint matrix, \n
-																 Output: Normalised constraint matrix. */
-											real_t* lbA,	/**< Input:  Constraints' lower bound vector, \n
-																 Output: Normalised constraints' lower bound vector. */
-											real_t* ubA,	/**< Input:  Constraints' upper bound vector, \n
-																 Output: Normalised constraints' upper bound vector. */
-											int type		/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-											);
-
-
-#ifdef __DEBUG__
-/** Writes matrix with given dimension into specified file. */
-void gdb_printmat(	const char *fname,			/**< File name. */
-					real_t *M,					/**< Matrix to be written. */
-					int n,						/**< Number of rows. */
-					int m,						/**< Number of columns. */
-					int ldim					/**< Leading dimension. */
-					);
-#endif /* __DEBUG__ */
-
-
-#if defined(__DSPACE__) || defined(__XPCTARGET__) 
-void __cxa_pure_virtual( void );
-#endif /* __DSPACE__ || __XPCTARGET__*/ 
-
-
-
-/*
- *   i s E q u a l
- */
-static inline BooleanType qpOASES_isEqual(	real_t x,
-											real_t y,
-											real_t TOL
-											)
-{
-    if ( qpOASES_getAbs(x-y) <= TOL )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *   i s Z e r o
- */
-static inline BooleanType qpOASES_isZero(	real_t x,
-											real_t TOL
-											)
-{
-    if ( qpOASES_getAbs(x) <= TOL )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *   g e t S i g n
- */
-static inline real_t qpOASES_getSign(	real_t arg
-										)
-{
-	if ( arg >= 0.0 )
-		return 1.0;
-	else
-		return -1.0;
-}
-
-
-
-/*
- *   g e t M a x
- */
-static inline int qpOASES_getMaxI(	int x,
-									int y
-									)
-{
-    return (y<x) ? x : y;
-}
-
-
-/*
- *   g e t M i n
- */
-static inline int qpOASES_getMinI(	int x,
-									int y
-									)
-{
-    return (y>x) ? x : y;
-}
-
-
-/*
- *   g e t M a x
- */
-static inline real_t qpOASES_getMax(	real_t x,
-										real_t y
-										)
-{
-	#ifdef __NO_FMATH__
-    return (y<x) ? x : y;
-	#else
-	return (y<x) ? x : y;
-	/*return fmax(x,y); seems to be slower */
-	#endif
-}
-
-
-/*
- *   g e t M i n
- */
-static inline real_t qpOASES_getMin(	real_t x,
-										real_t y
-										)
-{
-	#ifdef __NO_FMATH__
-    return (y>x) ? x : y;
-	#else
-	return (y>x) ? x : y;
-	/*return fmin(x,y); seems to be slower */
-	#endif
-}
-
-
-/*
- *   g e t A b s
- */
-static inline real_t qpOASES_getAbs(	real_t x
-										)
-{
-	#ifdef __NO_FMATH__
-	return (x>=0.0) ? x : -x;
-	#else
-	return fabs(x);
-	#endif
-}
-
-/*
- *   g e t S q r t
- */
-static inline real_t qpOASES_getSqrt(	real_t x
-										)
-{
-    #ifdef __NO_FMATH__
-	return sqrt(x); /* put your custom sqrt-replacement here */
-	#else
-	return sqrt(x);
-	#endif
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_UTILS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
deleted file mode 100644
index da59ea9db6..0000000000
--- a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
+++ /dev/null
@@ -1,227 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES 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.
- *
- *	qpOASES 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 qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/extras/OQPinterface.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of an interface comprising several utility functions
- *	for solving test problems from the Online QP Benchmark Collection
- *	(This collection is no longer maintained, see
- *	http://www.qpOASES.org/onlineQP for a backup).
- */
-
-
-#ifndef QPOASES_OQPINTERFACE_H
-#define QPOASES_OQPINTERFACE_H
-
-
-#include <qpOASES_e/Utils.h>
-#include <qpOASES_e/Options.h>
-
-#include <qpOASES_e/QProblemB.h>
-#include <qpOASES_e/QProblem.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	QProblem *qp;
-
-	DenseMatrix *H;
-	DenseMatrix *A;
-
-	real_t *x;
-	real_t *y;
-} OQPbenchmark_ws;
-
-int OQPbenchmark_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *OQPbenchmark_ws_assignMemory( unsigned int nV, unsigned int nC, OQPbenchmark_ws **mem, void *raw_memory );
-
-OQPbenchmark_ws *OQPbenchmark_ws_createMemory( unsigned int nV, unsigned int nC );
-
-typedef struct {
-	QProblemB *qp;
-
-	DenseMatrix *H;
-
-	real_t *x;
-	real_t *y;
-} OQPbenchmarkB_ws;
-
-int OQPbenchmarkB_ws_calculateMemorySize( unsigned int nV );
-
-char *OQPbenchmarkB_ws_assignMemory( unsigned int nV, OQPbenchmarkB_ws **mem, void *raw_memory );
-
-OQPbenchmarkB_ws *OQPbenchmarkB_ws_createMemory( unsigned int nV );
-
-typedef struct {
-	OQPbenchmark_ws *qp_ws;
-	OQPbenchmarkB_ws *qpB_ws;
-
-	real_t *H;
-	real_t *g;
-	real_t *A;
-	real_t *lb;
-	real_t *ub;
-	real_t *lbA;
-	real_t *ubA;
-} OQPinterface_ws;
-
-int OQPinterface_ws_calculateMemorySize( unsigned int nV, unsigned int nC, unsigned int nQP  );
-
-char *OQPinterface_ws_assignMemory( unsigned int nV, unsigned int nC, unsigned int nQP, OQPinterface_ws **mem, void *raw_memory );
-
-OQPinterface_ws *OQPinterface_ws_createMemory( unsigned int nV, unsigned int nC, unsigned int nQP );
-
-/** Reads dimensions of an Online QP Benchmark problem from file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_UNABLE_TO_READ_FILE \n
-		   RET_FILEDATA_INCONSISTENT */
-returnValue readOQPdimensions(	const char* path,	/**< Full path of the data files (without trailing slash!). */
-								int* nQP,			/**< Output: Number of QPs. */
-								int* nV,			/**< Output: Number of variables. */
-								int* nC,			/**< Output: Number of constraints. */
-								int* nEC			/**< Output: Number of equality constraints. */
-								);
-
-/** Reads data of an Online QP Benchmark problem from file.
- *  This function allocates the required memory for all data; after successfully calling it,
- *  you have to free this memory yourself!
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS \n
-		   RET_UNABLE_TO_READ_FILE \n
-		   RET_FILEDATA_INCONSISTENT */
-returnValue readOQPdata(	const char* path,	/**< Full path of the data files (without trailing slash!). */
-							int* nQP,			/**< Output: Number of QPs. */
-							int* nV,			/**< Output: Number of variables. */
-							int* nC,			/**< Output: Number of constraints. */
-							int* nEC,			/**< Output: Number of equality constraints. */
-							real_t* H,		 	/**< Output: Hessian matrix. */
-							real_t* g,		 	/**< Output: Sequence of gradient vectors. */
-							real_t* A,		 	/**< Output: Constraint matrix. */
-							real_t* lb,			/**< Output: Sequence of lower bound vectors (on variables). */
-							real_t* ub,			/**< Output: Sequence of upper bound vectors (on variables). */
-							real_t* lbA,		/**< Output: Sequence of lower constraints' bound vectors. */
-							real_t* ubA,		/**< Output: Sequence of upper constraints' bound vectors. */
-							real_t* xOpt,		/**< Output: Sequence of primal solution vectors
-												 *           (not read if a null pointer is passed). */
-							real_t* yOpt,		/**< Output: Sequence of dual solution vectors
-												 *           (not read if a null pointer is passed). */
-							real_t* objOpt		/**< Output: Sequence of optimal objective function values
-												 *           (not read if a null pointer is passed). */
-							);
-
-
-/** Solves an Online QP Benchmark problem as specified by the arguments.
- *  The maximum deviations from the given optimal solution as well as the
- *  maximum CPU time to solve each QP are determined.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue solveOQPbenchmark(	int nQP,					/**< Number of QPs. */
-								int nV,						/**< Number of variables. */
-								int nC,						/**< Number of constraints. */
-								int nEC,					/**< Number of equality constraints. */
-								real_t* _H,					/**< Hessian matrix. */
-								const real_t* const g,		/**< Sequence of gradient vectors. */
-								real_t* _A,					/**< Constraint matrix. */
-								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
-								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
-								const real_t* const lbA,	/**< Sequence of lower constraints' bound vectors. */
-								const real_t* const ubA,	/**< Sequence of upper constraints' bound vectors. */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPbenchmark_ws *work	    /**< Workspace. */
-								);
-
-/** Solves an Online QP Benchmark problem (without constraints) as specified
- *  by the arguments. The maximum deviations from the given optimal solution
- *  as well as the maximum CPU time to solve each QP are determined.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue solveOQPbenchmarkB(	int nQP,					/**< Number of QPs. */
-								int nV,						/**< Number of variables. */
-								real_t* _H,					/**< Hessian matrix. */
-								const real_t* const g,		/**< Sequence of gradient vectors. */
-								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
-								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPbenchmarkB_ws *work	    /**< Workspace. */
-								);
-
-
-/** Runs an Online QP Benchmark problem and determines the maximum
- *  violation of the KKT optimality conditions as well as the
- *  maximum and average number of iterations and CPU time to solve
- *	each QP.
- *
- * \return SUCCESSFUL_RETURN \n
-		   RET_UNABLE_TO_READ_BENCHMARK \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue runOQPbenchmark(	const char* path,			/**< Full path of the benchmark files (without trailing slash!). */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPinterface_ws* work       /**< Workspace. */
-								);
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_OQPINTERFACE_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/larch64/lib/libacados.so b/third_party/acados/larch64/lib/libacados.so
deleted file mode 100644
index a081e31ab1..0000000000
--- a/third_party/acados/larch64/lib/libacados.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:091ed10ea2b52866b826ef6867b3413d6fd61af66fcedf3d932c9adf3fb329de
-size 512912
diff --git a/third_party/acados/larch64/lib/libblasfeo.so b/third_party/acados/larch64/lib/libblasfeo.so
deleted file mode 100644
index e2191897a1..0000000000
--- a/third_party/acados/larch64/lib/libblasfeo.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d40b25de85318c8349c9894a3cbeaa713efae4158d8cc2c5c77af9f1bfbbb28e
-size 1150320
diff --git a/third_party/acados/larch64/lib/libhpipm.so b/third_party/acados/larch64/lib/libhpipm.so
deleted file mode 100644
index 002eda375a..0000000000
--- a/third_party/acados/larch64/lib/libhpipm.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:91b9276e74c7d7750288d76087d586ed27932939bc7bca2ad1494b6558fc43e3
-size 1367352
diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so b/third_party/acados/larch64/lib/libqpOASES_e.so
deleted file mode 120000
index 14048625a1..0000000000
--- a/third_party/acados/larch64/lib/libqpOASES_e.so
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1
deleted file mode 100644
index d64e40ec60..0000000000
--- a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c0a84042e5315af18e6e33b9b9c5e96573248e41ff165657eb9d83da4da2889f
-size 223152
diff --git a/third_party/acados/larch64/t_renderer b/third_party/acados/larch64/t_renderer
deleted file mode 100755
index f9e7d16601..0000000000
--- a/third_party/acados/larch64/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4660fe00e03e29d90459ac2fd46a6e10982577d0ba558b9f05e5712df66814b4
-size 17915048
diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so
deleted file mode 100644
index 50d647a862..0000000000
--- a/third_party/acados/x86_64/lib/libacados.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:05a1ba3cf37fa929cdd56f892608b2f89c35a05ef1b07fedb86b2f0d76607263
-size 540488
diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so
deleted file mode 100644
index a98f45abd2..0000000000
--- a/third_party/acados/x86_64/lib/libblasfeo.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c0bf22898d9c59b672d3d0961f5f4c804b9957478125d99eb297de3091bedd15
-size 2416112
diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so
deleted file mode 100644
index f40cb487cd..0000000000
--- a/third_party/acados/x86_64/lib/libhpipm.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5b6875fb47940764d4ebb916c2373cb0e04929229feb654b290676c28d48fa9d
-size 1531024
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so b/third_party/acados/x86_64/lib/libqpOASES_e.so
deleted file mode 120000
index 14048625a1..0000000000
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
deleted file mode 100644
index 81afd059f7..0000000000
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:04be908c3f707e5c968022b9cdd79ab75ae7af46e7fa019ceee98f854ddd3f64
-size 262464
diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer
deleted file mode 100755
index d41f6c3725..0000000000
--- a/third_party/acados/x86_64/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a53ae46650c4df5b0ddb87a658f59a0422e41743e8bc2d822da0aefd1d280791
-size 5088536
diff --git a/third_party/bootstrap/.gitignore b/third_party/bootstrap/.gitignore
deleted file mode 100644
index ac06c0cf85..0000000000
--- a/third_party/bootstrap/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/icons/
diff --git a/third_party/bootstrap/bootstrap-icons.svg b/third_party/bootstrap/bootstrap-icons.svg
deleted file mode 100644
index 692a27ea55..0000000000
--- a/third_party/bootstrap/bootstrap-icons.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d7ecfaac355e51c9b95319fdf4681cf4c423109fd477e961af588b92607a76da
-size 1087239
diff --git a/third_party/bootstrap/bootstrap-icons.ttf b/third_party/bootstrap/bootstrap-icons.ttf
deleted file mode 100644
index 49c8ea699a..0000000000
--- a/third_party/bootstrap/bootstrap-icons.ttf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:57e798d421bb56bb058ed9b0c83dd97fe1e411cde3a2bd6eb4a8705234f69027
-size 453096
diff --git a/third_party/bootstrap/pull.sh b/third_party/bootstrap/pull.sh
deleted file mode 100755
index 5c4c955c04..0000000000
--- a/third_party/bootstrap/pull.sh
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/bin/bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
-
-if [ ! -d icons/ ]; then
-  git clone https://github.com/twbs/icons/
-fi
-
-cd icons
-git fetch --all
-git checkout d5aa187483a1b0b186f87adcfa8576350d970d98
-cp bootstrap-icons.svg ../
-
-# Convert WOFF → TTF for imgui (imgui only reads TTF/OTF)
-python3 -c "
-from fontTools.ttLib import TTFont
-import io
-f = TTFont('font/fonts/bootstrap-icons.woff')
-f.flavor = None
-f.save('../bootstrap-icons.ttf')
-print('bootstrap-icons.ttf written')
-"
diff --git a/third_party/build.sh b/third_party/build.sh
deleted file mode 100755
index d3a9c6579c..0000000000
--- a/third_party/build.sh
+++ /dev/null
@@ -1,53 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-# Reproducible builds: pin timestamps to epoch
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-pids=()
-names=()
-logs=()
-
-for script in "$DIR"/*/build.sh; do
-  [ -f "$script" ] || continue
-  name=$(basename "$(dirname "$script")")
-  log=$(mktemp)
-  names+=("$name")
-  logs+=("$log")
-  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
-  pids+=($!)
-done
-
-failed=0
-for i in "${!pids[@]}"; do
-  echo "--- ${names[$i]} ---"
-  if wait "${pids[$i]}"; then
-    echo "OK"
-  else
-    echo "FAILED (exit $?)"
-    failed=1
-  fi
-  cat "${logs[$i]}"
-  rm -f "${logs[$i]}"
-  echo
-done
-
-[ $failed -ne 0 ] && exit $failed
-
-# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
-# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
-while IFS= read -r -d '' lib; do
-  tmpdir=$(mktemp -d)
-  lib=$(realpath "$lib")
-  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
-    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
-  fi
-  rm -rf "$tmpdir"
-done < <(find "$DIR" -name '*.a' \
-  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
-  -print0)
-
-echo -e "\033[32mAll third_party builds succeeded.\033[0m"
diff --git a/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp
deleted file mode 100644
index 6a31e5b0ca..0000000000
--- a/third_party/catch2/include/catch2/catch.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:27da57c7a06d09be8dd81fab7246b79e7892b6ae7e4e49ba8631f1d5a955e3fc
-size 657276
diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
deleted file mode 100644
index dbebe97516..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_automake.hpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *  Created by Justin R. Wilson on 2/19/2017.
- *  Copyright 2017 Justin R. Wilson. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-namespace Catch {
-
-    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
-        AutomakeReporter( ReporterConfig const& _config )
-          :   StreamingReporterBase( _config )
-        {}
-
-        ~AutomakeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the format of Automake .trs files";
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
-
-        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
-            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
-            stream << ":test-result: ";
-            if (_testCaseStats.totals.assertions.allPassed()) {
-                stream << "PASS";
-            } else if (_testCaseStats.totals.assertions.allOk()) {
-                stream << "XFAIL";
-            } else {
-                stream << "FAIL";
-            }
-            stream << ' ' << _testCaseStats.testInfo.name << '\n';
-            StreamingReporterBase::testCaseEnded( _testCaseStats );
-        }
-
-        void skipTest( TestCaseInfo const& testInfo ) override {
-            stream << ":test-result: SKIP " << testInfo.name << '\n';
-        }
-
-    };
-
-#ifdef CATCH_IMPL
-    AutomakeReporter::~AutomakeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
deleted file mode 100644
index bf7d9299a5..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- *  Created by Daniel Garcia on 2018-12-04.
- *  Copyright Social Point SL. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <map>
-
-namespace Catch {
-
-    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
-
-        SonarQubeReporter(ReporterConfig const& config)
-        : CumulativeReporterBase(config)
-        , xml(config.stream()) {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~SonarQubeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the Generic Test Data SonarQube XML format";
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void noMatchingTestCases(std::string const& /*spec*/) override {}
-
-        void testRunStarting(TestRunInfo const& testRunInfo) override {
-            CumulativeReporterBase::testRunStarting(testRunInfo);
-            xml.startElement("testExecutions");
-            xml.writeAttribute("version", "1");
-        }
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            CumulativeReporterBase::testGroupEnded(testGroupStats);
-            writeGroup(*m_testGroups.back());
-        }
-
-        void testRunEndedCumulative() override {
-            xml.endElement();
-        }
-
-        void writeGroup(TestGroupNode const& groupNode) {
-            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
-            for(auto const& child : groupNode.children)
-                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
-
-            for(auto const& kv : testsPerFile)
-                writeTestFile(kv.first.c_str(), kv.second);
-        }
-
-        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
-            XmlWriter::ScopedElement e = xml.scopedElement("file");
-            xml.writeAttribute("path", filename);
-
-            for(auto const& child : testCaseNodes)
-                writeTestCase(*child);
-        }
-
-        void writeTestCase(TestCaseNode const& testCaseNode) {
-            // All test cases have exactly one section - which represents the
-            // test case itself. That section may have 0-n nested sections
-            assert(testCaseNode.children.size() == 1);
-            SectionNode const& rootSection = *testCaseNode.children.front();
-            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
-        }
-
-        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
-            std::string name = trim(sectionNode.stats.sectionInfo.name);
-            if(!rootName.empty())
-                name = rootName + '/' + name;
-
-            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
-                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
-                xml.writeAttribute("name", name);
-                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
-
-                writeAssertions(sectionNode, okToFail);
-            }
-
-            for(auto const& childNode : sectionNode.childSections)
-                writeSection(name, *childNode, okToFail);
-        }
-
-        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
-            for(auto const& assertion : sectionNode.assertions)
-                writeAssertion( assertion, okToFail);
-        }
-
-        void writeAssertion(AssertionStats const& stats, bool okToFail) {
-            AssertionResult const& result = stats.assertionResult;
-            if(!result.isOk()) {
-                std::string elementName;
-                if(okToFail) {
-                    elementName = "skipped";
-                }
-                else {
-                    switch(result.getResultType()) {
-                        case ResultWas::ThrewException:
-                        case ResultWas::FatalErrorCondition:
-                            elementName = "error";
-                            break;
-                        case ResultWas::ExplicitFailure:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::ExpressionFailed:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::DidntThrowException:
-                            elementName = "failure";
-                            break;
-
-                            // We should never see these here:
-                        case ResultWas::Info:
-                        case ResultWas::Warning:
-                        case ResultWas::Ok:
-                        case ResultWas::Unknown:
-                        case ResultWas::FailureBit:
-                        case ResultWas::Exception:
-                            elementName = "internalError";
-                            break;
-                    }
-                }
-
-                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
-
-                ReusableStringStream messageRss;
-                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
-                xml.writeAttribute("message", messageRss.str());
-
-                ReusableStringStream textRss;
-                if (stats.totals.assertions.total() > 0) {
-                    textRss << "FAILED:\n";
-                    if (result.hasExpression()) {
-                        textRss << "\t" << result.getExpressionInMacro() << "\n";
-                    }
-                    if (result.hasExpandedExpression()) {
-                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
-                    }
-                }
-
-                if(!result.getMessage().empty())
-                    textRss << result.getMessage() << "\n";
-
-                for(auto const& msg : stats.infoMessages)
-                    if(msg.type == ResultWas::Info)
-                        textRss << msg.message << "\n";
-
-                textRss << "at " << result.getSourceInfo();
-                xml.writeText(textRss.str(), XmlFormatting::Newline);
-            }
-        }
-
-    private:
-        XmlWriter xml;
-    };
-
-#ifdef CATCH_IMPL
-    SonarQubeReporter::~SonarQubeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
-
-} // end namespace Catch
-
-#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
deleted file mode 100644
index 5ac8524ce7..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_tap.hpp
+++ /dev/null
@@ -1,254 +0,0 @@
-/*
- *  Created by Colton Wolkins on 2015-08-15.
- *  Copyright 2015 Martin Moene. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <algorithm>
-
-namespace Catch {
-
-    struct TAPReporter : StreamingReporterBase<TAPReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        TAPReporter( ReporterConfig const& config ):
-            StreamingReporterBase( config ) {
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~TAPReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in TAP format, suitable for test harnesses";
-        }
-
-        void noMatchingTestCases( std::string const& spec ) override {
-            stream << "# No test cases matched '" << spec << "'" << std::endl;
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& _assertionStats ) override {
-            ++counter;
-
-            stream << "# " << currentTestCaseInfo->name << std::endl;
-            AssertionPrinter printer( stream, _assertionStats, counter );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void testRunEnded( TestRunStats const& _testRunStats ) override {
-            printTotals( _testRunStats.totals );
-            stream << "\n" << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-    private:
-        std::size_t counter = 0;
-        class AssertionPrinter {
-        public:
-            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
-            AssertionPrinter( AssertionPrinter const& ) = delete;
-            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
-            : stream( _stream )
-            , result( _stats.assertionResult )
-            , messages( _stats.infoMessages )
-            , itMessage( _stats.infoMessages.begin() )
-            , printInfoMessages( true )
-            , counter(_counter)
-            {}
-
-            void print() {
-                itMessage = messages.begin();
-
-                switch( result.getResultType() ) {
-                    case ResultWas::Ok:
-                        printResultType( passedString() );
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if ( ! result.hasExpression() )
-                            printRemainingMessages( Colour::None );
-                        else
-                            printRemainingMessages();
-                        break;
-                    case ResultWas::ExpressionFailed:
-                        if (result.isOk()) {
-                            printResultType(passedString());
-                        } else {
-                            printResultType(failedString());
-                        }
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if (result.isOk()) {
-                            printIssue(" # TODO");
-                        }
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ThrewException:
-                        printResultType( failedString() );
-                        printIssue( "unexpected exception with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        printResultType( failedString() );
-                        printIssue( "fatal error condition with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::DidntThrowException:
-                        printResultType( failedString() );
-                        printIssue( "expected exception, got none" );
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Info:
-                        printResultType( "info" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Warning:
-                        printResultType( "warning" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        printResultType( failedString() );
-                        printIssue( "explicitly" );
-                        printRemainingMessages( Colour::None );
-                        break;
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        printResultType( "** internal error **" );
-                        break;
-                }
-            }
-
-        private:
-            static Colour::Code dimColour() { return Colour::FileName; }
-
-            static const char* failedString() { return "not ok"; }
-            static const char* passedString() { return "ok"; }
-
-            void printSourceInfo() const {
-                Colour colourGuard( dimColour() );
-                stream << result.getSourceInfo() << ":";
-            }
-
-            void printResultType( std::string const& passOrFail ) const {
-                if( !passOrFail.empty() ) {
-                    stream << passOrFail << ' ' << counter << " -";
-                }
-            }
-
-            void printIssue( std::string const& issue ) const {
-                stream << " " << issue;
-            }
-
-            void printExpressionWas() {
-                if( result.hasExpression() ) {
-                    stream << ";";
-                    {
-                        Colour colour( dimColour() );
-                        stream << " expression was:";
-                    }
-                    printOriginalExpression();
-                }
-            }
-
-            void printOriginalExpression() const {
-                if( result.hasExpression() ) {
-                    stream << " " << result.getExpression();
-                }
-            }
-
-            void printReconstructedExpression() const {
-                if( result.hasExpandedExpression() ) {
-                    {
-                        Colour colour( dimColour() );
-                        stream << " for: ";
-                    }
-                    std::string expr = result.getExpandedExpression();
-                    std::replace( expr.begin(), expr.end(), '\n', ' ');
-                    stream << expr;
-                }
-            }
-
-            void printMessage() {
-                if ( itMessage != messages.end() ) {
-                    stream << " '" << itMessage->message << "'";
-                    ++itMessage;
-                }
-            }
-
-            void printRemainingMessages( Colour::Code colour = dimColour() ) {
-                if (itMessage == messages.end()) {
-                    return;
-                }
-
-                const auto itEnd = messages.cend();
-                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
-
-                {
-                    Colour colourGuard( colour );
-                    stream << " with " << pluralise( N, "message" ) << ":";
-                }
-
-                while( itMessage != itEnd ) {
-                    // If this assertion is a warning ignore any INFO messages
-                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
-                        stream << " '" << itMessage->message << "'";
-                        if ( ++itMessage != itEnd ) {
-                            Colour colourGuard( dimColour() );
-                            stream << " and";
-                        }
-                        continue;
-                    }
-                    ++itMessage;
-                }
-            }
-
-        private:
-            std::ostream& stream;
-            AssertionResult const& result;
-            std::vector<MessageInfo> messages;
-            std::vector<MessageInfo>::const_iterator itMessage;
-            bool printInfoMessages;
-            std::size_t counter;
-        };
-
-        void printTotals( const Totals& totals ) const {
-            stream << "1.." << totals.assertions.total();
-            if( totals.testCases.total() == 0 ) {
-                stream << " # Skipped: No tests ran.";
-            }
-        }
-    };
-
-#ifdef CATCH_IMPL
-    TAPReporter::~TAPReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
deleted file mode 100644
index 47b7e4aac3..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
+++ /dev/null
@@ -1,219 +0,0 @@
-/*
- *  Created by Phil Nash on 19th December 2014
- *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <cstring>
-
-#ifdef __clang__
-#   pragma clang diagnostic push
-#   pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
-        TeamCityReporter( ReporterConfig const& _config )
-        :   StreamingReporterBase( _config )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-        }
-
-        static std::string escape( std::string const& str ) {
-            std::string escaped = str;
-            replaceInPlace( escaped, "|", "||" );
-            replaceInPlace( escaped, "'", "|'" );
-            replaceInPlace( escaped, "\n", "|n" );
-            replaceInPlace( escaped, "\r", "|r" );
-            replaceInPlace( escaped, "[", "|[" );
-            replaceInPlace( escaped, "]", "|]" );
-            return escaped;
-        }
-        ~TeamCityReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results as TeamCity service messages";
-        }
-
-        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
-        }
-
-        void noMatchingTestCases( std::string const& /* spec */ ) override {}
-
-        void testGroupStarting( GroupInfo const& groupInfo ) override {
-            StreamingReporterBase::testGroupStarting( groupInfo );
-            stream << "##teamcity[testSuiteStarted name='"
-                << escape( groupInfo.name ) << "']\n";
-        }
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
-            StreamingReporterBase::testGroupEnded( testGroupStats );
-            stream << "##teamcity[testSuiteFinished name='"
-                << escape( testGroupStats.groupInfo.name ) << "']\n";
-        }
-
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& assertionStats ) override {
-            AssertionResult const& result = assertionStats.assertionResult;
-            if( !result.isOk() ) {
-
-                ReusableStringStream msg;
-                if( !m_headerPrintedForThisSection )
-                    printSectionHeader( msg.get() );
-                m_headerPrintedForThisSection = true;
-
-                msg << result.getSourceInfo() << "\n";
-
-                switch( result.getResultType() ) {
-                    case ResultWas::ExpressionFailed:
-                        msg << "expression failed";
-                        break;
-                    case ResultWas::ThrewException:
-                        msg << "unexpected exception";
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        msg << "fatal error condition";
-                        break;
-                    case ResultWas::DidntThrowException:
-                        msg << "no exception was thrown where one was expected";
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        msg << "explicit failure";
-                        break;
-
-                    // We shouldn't get here because of the isOk() test
-                    case ResultWas::Ok:
-                    case ResultWas::Info:
-                    case ResultWas::Warning:
-                        CATCH_ERROR( "Internal error in TeamCity reporter" );
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        CATCH_ERROR( "Not implemented" );
-                }
-                if( assertionStats.infoMessages.size() == 1 )
-                    msg << " with message:";
-                if( assertionStats.infoMessages.size() > 1 )
-                    msg << " with messages:";
-                for( auto const& messageInfo : assertionStats.infoMessages )
-                    msg << "\n  \"" << messageInfo.message << "\"";
-
-
-                if( result.hasExpression() ) {
-                    msg <<
-                        "\n  " << result.getExpressionInMacro() << "\n"
-                        "with expansion:\n" <<
-                        "  " << result.getExpandedExpression() << "\n";
-                }
-
-                if( currentTestCaseInfo->okToFail() ) {
-                    msg << "- failure ignore as test marked as 'ok to fail'\n";
-                    stream << "##teamcity[testIgnored"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-                else {
-                    stream << "##teamcity[testFailed"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-            }
-            stream.flush();
-            return true;
-        }
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            m_headerPrintedForThisSection = false;
-            StreamingReporterBase::sectionStarting( sectionInfo );
-        }
-
-        void testCaseStarting( TestCaseInfo const& testInfo ) override {
-            m_testTimer.start();
-            StreamingReporterBase::testCaseStarting( testInfo );
-            stream << "##teamcity[testStarted name='"
-                << escape( testInfo.name ) << "']\n";
-            stream.flush();
-        }
-
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
-            StreamingReporterBase::testCaseEnded( testCaseStats );
-            if( !testCaseStats.stdOut.empty() )
-                stream << "##teamcity[testStdOut name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
-            if( !testCaseStats.stdErr.empty() )
-                stream << "##teamcity[testStdErr name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
-            stream << "##teamcity[testFinished name='"
-                    << escape( testCaseStats.testInfo.name ) << "' duration='"
-                    << m_testTimer.getElapsedMilliseconds() << "']\n";
-            stream.flush();
-        }
-
-    private:
-        void printSectionHeader( std::ostream& os ) {
-            assert( !m_sectionStack.empty() );
-
-            if( m_sectionStack.size() > 1 ) {
-                os << getLineOfChars<'-'>() << "\n";
-
-                std::vector<SectionInfo>::const_iterator
-                it = m_sectionStack.begin()+1, // Skip first section (test case)
-                itEnd = m_sectionStack.end();
-                for( ; it != itEnd; ++it )
-                    printHeaderString( os, it->name );
-                os << getLineOfChars<'-'>() << "\n";
-            }
-
-            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
-
-            os << lineInfo << "\n";
-            os << getLineOfChars<'.'>() << "\n\n";
-        }
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
-            std::size_t i = _string.find( ": " );
-            if( i != std::string::npos )
-                i+=2;
-            else
-                i = 0;
-            os << Column( _string )
-                           .indent( indent+i)
-                           .initialIndent( indent ) << "\n";
-        }
-    private:
-        bool m_headerPrintedForThisSection = false;
-        Timer m_testTimer;
-    };
-
-#ifdef CATCH_IMPL
-    TeamCityReporter::~TeamCityReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
-
-} // end namespace Catch
-
-#ifdef __clang__
-#   pragma clang diagnostic pop
-#endif
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp
deleted file mode 100644
index 3bd4fde2f2..0000000000
--- a/third_party/json11/json11.cpp
+++ /dev/null
@@ -1,785 +0,0 @@
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * 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.
- */
-
-#include "json11.hpp"
-#include <cassert>
-#include <cmath>
-#include <cstdlib>
-#include <cstdio>
-#include <limits>
-#include <cstdint>
-
-namespace json11 {
-
-static const int max_depth = 200;
-
-using std::string;
-using std::vector;
-using std::map;
-using std::make_shared;
-using std::initializer_list;
-using std::move;
-
-/* Helper for representing null - just a do-nothing struct, plus comparison
- * operators so the helpers in JsonValue work. We can't use nullptr_t because
- * it may not be orderable.
- */
-struct NullStruct {
-    bool operator==(NullStruct) const { return true; }
-    bool operator<(NullStruct) const { return false; }
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Serialization
- */
-
-static void dump(NullStruct, string &out) {
-    out += "null";
-}
-
-static void dump(double value, string &out) {
-    if (std::isfinite(value)) {
-        char buf[32];
-        snprintf(buf, sizeof buf, "%.17g", value);
-        out += buf;
-    } else {
-        out += "null";
-    }
-}
-
-static void dump(int value, string &out) {
-    char buf[32];
-    snprintf(buf, sizeof buf, "%d", value);
-    out += buf;
-}
-
-static void dump(bool value, string &out) {
-    out += value ? "true" : "false";
-}
-
-static void dump(const string &value, string &out) {
-    out += '"';
-    for (size_t i = 0; i < value.length(); i++) {
-        const char ch = value[i];
-        if (ch == '\\') {
-            out += "\\\\";
-        } else if (ch == '"') {
-            out += "\\\"";
-        } else if (ch == '\b') {
-            out += "\\b";
-        } else if (ch == '\f') {
-            out += "\\f";
-        } else if (ch == '\n') {
-            out += "\\n";
-        } else if (ch == '\r') {
-            out += "\\r";
-        } else if (ch == '\t') {
-            out += "\\t";
-        } else if (static_cast<uint8_t>(ch) <= 0x1f) {
-            char buf[8];
-            snprintf(buf, sizeof buf, "\\u%04x", ch);
-            out += buf;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa8) {
-            out += "\\u2028";
-            i += 2;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa9) {
-            out += "\\u2029";
-            i += 2;
-        } else {
-            out += ch;
-        }
-    }
-    out += '"';
-}
-
-static void dump(const Json::array &values, string &out) {
-    bool first = true;
-    out += "[";
-    for (const auto &value : values) {
-        if (!first)
-            out += ", ";
-        value.dump(out);
-        first = false;
-    }
-    out += "]";
-}
-
-static void dump(const Json::object &values, string &out) {
-    bool first = true;
-    out += "{";
-    for (const auto &kv : values) {
-        if (!first)
-            out += ", ";
-        dump(kv.first, out);
-        out += ": ";
-        kv.second.dump(out);
-        first = false;
-    }
-    out += "}";
-}
-
-void Json::dump(string &out) const {
-    m_ptr->dump(out);
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Value wrappers
- */
-
-template <Json::Type tag, typename T>
-class Value : public JsonValue {
-protected:
-
-    // Constructors
-    explicit Value(const T &value) : m_value(value) {}
-    explicit Value(T &&value)      : m_value(move(value)) {}
-
-    // Get type tag
-    Json::Type type() const override {
-        return tag;
-    }
-
-    // Comparisons
-    bool equals(const JsonValue * other) const override {
-        return m_value == static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-    bool less(const JsonValue * other) const override {
-        return m_value < static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-
-    const T m_value;
-    void dump(string &out) const override { json11::dump(m_value, out); }
-};
-
-class JsonDouble final : public Value<Json::NUMBER, double> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return static_cast<int>(m_value); }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonDouble(double value) : Value(value) {}
-};
-
-class JsonInt final : public Value<Json::NUMBER, int> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return m_value; }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonInt(int value) : Value(value) {}
-};
-
-class JsonBoolean final : public Value<Json::BOOL, bool> {
-    bool bool_value() const override { return m_value; }
-public:
-    explicit JsonBoolean(bool value) : Value(value) {}
-};
-
-class JsonString final : public Value<Json::STRING, string> {
-    const string &string_value() const override { return m_value; }
-public:
-    explicit JsonString(const string &value) : Value(value) {}
-    explicit JsonString(string &&value)      : Value(move(value)) {}
-};
-
-class JsonArray final : public Value<Json::ARRAY, Json::array> {
-    const Json::array &array_items() const override { return m_value; }
-    const Json & operator[](size_t i) const override;
-public:
-    explicit JsonArray(const Json::array &value) : Value(value) {}
-    explicit JsonArray(Json::array &&value)      : Value(move(value)) {}
-};
-
-class JsonObject final : public Value<Json::OBJECT, Json::object> {
-    const Json::object &object_items() const override { return m_value; }
-    const Json & operator[](const string &key) const override;
-public:
-    explicit JsonObject(const Json::object &value) : Value(value) {}
-    explicit JsonObject(Json::object &&value)      : Value(move(value)) {}
-};
-
-class JsonNull final : public Value<Json::NUL, NullStruct> {
-public:
-    JsonNull() : Value({}) {}
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Static globals - static-init-safe
- */
-struct Statics {
-    const std::shared_ptr<JsonValue> null = make_shared<JsonNull>();
-    const std::shared_ptr<JsonValue> t = make_shared<JsonBoolean>(true);
-    const std::shared_ptr<JsonValue> f = make_shared<JsonBoolean>(false);
-    const string empty_string;
-    const vector<Json> empty_vector;
-    const map<string, Json> empty_map;
-    Statics() {}
-};
-
-static const Statics & statics() {
-    static const Statics s {};
-    return s;
-}
-
-static const Json & static_null() {
-    // This has to be separate, not in Statics, because Json() accesses statics().null.
-    static const Json json_null;
-    return json_null;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Constructors
- */
-
-Json::Json() noexcept                  : m_ptr(statics().null) {}
-Json::Json(std::nullptr_t) noexcept    : m_ptr(statics().null) {}
-Json::Json(double value)               : m_ptr(make_shared<JsonDouble>(value)) {}
-Json::Json(int value)                  : m_ptr(make_shared<JsonInt>(value)) {}
-Json::Json(bool value)                 : m_ptr(value ? statics().t : statics().f) {}
-Json::Json(const string &value)        : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(string &&value)             : m_ptr(make_shared<JsonString>(move(value))) {}
-Json::Json(const char * value)         : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(const Json::array &values)  : m_ptr(make_shared<JsonArray>(values)) {}
-Json::Json(Json::array &&values)       : m_ptr(make_shared<JsonArray>(move(values))) {}
-Json::Json(const Json::object &values) : m_ptr(make_shared<JsonObject>(values)) {}
-Json::Json(Json::object &&values)      : m_ptr(make_shared<JsonObject>(move(values))) {}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Accessors
- */
-
-Json::Type Json::type()                           const { return m_ptr->type();         }
-double Json::number_value()                       const { return m_ptr->number_value(); }
-int Json::int_value()                             const { return m_ptr->int_value();    }
-bool Json::bool_value()                           const { return m_ptr->bool_value();   }
-const string & Json::string_value()               const { return m_ptr->string_value(); }
-const vector<Json> & Json::array_items()          const { return m_ptr->array_items();  }
-const map<string, Json> & Json::object_items()    const { return m_ptr->object_items(); }
-const Json & Json::operator[] (size_t i)          const { return (*m_ptr)[i];           }
-const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key];         }
-
-double                    JsonValue::number_value()              const { return 0; }
-int                       JsonValue::int_value()                 const { return 0; }
-bool                      JsonValue::bool_value()                const { return false; }
-const string &            JsonValue::string_value()              const { return statics().empty_string; }
-const vector<Json> &      JsonValue::array_items()               const { return statics().empty_vector; }
-const map<string, Json> & JsonValue::object_items()              const { return statics().empty_map; }
-const Json &              JsonValue::operator[] (size_t)         const { return static_null(); }
-const Json &              JsonValue::operator[] (const string &) const { return static_null(); }
-
-const Json & JsonObject::operator[] (const string &key) const {
-    auto iter = m_value.find(key);
-    return (iter == m_value.end()) ? static_null() : iter->second;
-}
-const Json & JsonArray::operator[] (size_t i) const {
-    if (i >= m_value.size()) return static_null();
-    else return m_value[i];
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Comparison
- */
-
-bool Json::operator== (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return false;
-
-    return m_ptr->equals(other.m_ptr.get());
-}
-
-bool Json::operator< (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return m_ptr->type() < other.m_ptr->type();
-
-    return m_ptr->less(other.m_ptr.get());
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Parsing
- */
-
-/* esc(c)
- *
- * Format char c suitable for printing in an error message.
- */
-static inline string esc(char c) {
-    char buf[12];
-    if (static_cast<uint8_t>(c) >= 0x20 && static_cast<uint8_t>(c) <= 0x7f) {
-        snprintf(buf, sizeof buf, "'%c' (%d)", c, c);
-    } else {
-        snprintf(buf, sizeof buf, "(%d)", c);
-    }
-    return string(buf);
-}
-
-static inline bool in_range(long x, long lower, long upper) {
-    return (x >= lower && x <= upper);
-}
-
-namespace {
-/* JsonParser
- *
- * Object that tracks all state of an in-progress parse.
- */
-struct JsonParser final {
-
-    /* State
-     */
-    const string &str;
-    size_t i;
-    string &err;
-    bool failed;
-    const JsonParse strategy;
-
-    /* fail(msg, err_ret = Json())
-     *
-     * Mark this parse as failed.
-     */
-    Json fail(string &&msg) {
-        return fail(move(msg), Json());
-    }
-
-    template <typename T>
-    T fail(string &&msg, const T err_ret) {
-        if (!failed)
-            err = std::move(msg);
-        failed = true;
-        return err_ret;
-    }
-
-    /* consume_whitespace()
-     *
-     * Advance until the current character is non-whitespace.
-     */
-    void consume_whitespace() {
-        while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t')
-            i++;
-    }
-
-    /* consume_comment()
-     *
-     * Advance comments (c-style inline and multiline).
-     */
-    bool consume_comment() {
-      bool comment_found = false;
-      if (str[i] == '/') {
-        i++;
-        if (i == str.size())
-          return fail("unexpected end of input after start of comment", false);
-        if (str[i] == '/') { // inline comment
-          i++;
-          // advance until next line, or end of input
-          while (i < str.size() && str[i] != '\n') {
-            i++;
-          }
-          comment_found = true;
-        }
-        else if (str[i] == '*') { // multiline comment
-          i++;
-          if (i > str.size()-2)
-            return fail("unexpected end of input inside multi-line comment", false);
-          // advance until closing tokens
-          while (!(str[i] == '*' && str[i+1] == '/')) {
-            i++;
-            if (i > str.size()-2)
-              return fail(
-                "unexpected end of input inside multi-line comment", false);
-          }
-          i += 2;
-          comment_found = true;
-        }
-        else
-          return fail("malformed comment", false);
-      }
-      return comment_found;
-    }
-
-    /* consume_garbage()
-     *
-     * Advance until the current character is non-whitespace and non-comment.
-     */
-    void consume_garbage() {
-      consume_whitespace();
-      if(strategy == JsonParse::COMMENTS) {
-        bool comment_found = false;
-        do {
-          comment_found = consume_comment();
-          if (failed) return;
-          consume_whitespace();
-        }
-        while(comment_found);
-      }
-    }
-
-    /* get_next_token()
-     *
-     * Return the next non-whitespace character. If the end of the input is reached,
-     * flag an error and return 0.
-     */
-    char get_next_token() {
-        consume_garbage();
-        if (failed) return (char)0;
-        if (i == str.size())
-            return fail("unexpected end of input", (char)0);
-
-        return str[i++];
-    }
-
-    /* encode_utf8(pt, out)
-     *
-     * Encode pt as UTF-8 and add it to out.
-     */
-    void encode_utf8(long pt, string & out) {
-        if (pt < 0)
-            return;
-
-        if (pt < 0x80) {
-            out += static_cast<char>(pt);
-        } else if (pt < 0x800) {
-            out += static_cast<char>((pt >> 6) | 0xC0);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else if (pt < 0x10000) {
-            out += static_cast<char>((pt >> 12) | 0xE0);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else {
-            out += static_cast<char>((pt >> 18) | 0xF0);
-            out += static_cast<char>(((pt >> 12) & 0x3F) | 0x80);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        }
-    }
-
-    /* parse_string()
-     *
-     * Parse a string, starting at the current position.
-     */
-    string parse_string() {
-        string out;
-        long last_escaped_codepoint = -1;
-        while (true) {
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            char ch = str[i++];
-
-            if (ch == '"') {
-                encode_utf8(last_escaped_codepoint, out);
-                return out;
-            }
-
-            if (in_range(ch, 0, 0x1f))
-                return fail("unescaped " + esc(ch) + " in string", "");
-
-            // The usual case: non-escaped characters
-            if (ch != '\\') {
-                encode_utf8(last_escaped_codepoint, out);
-                last_escaped_codepoint = -1;
-                out += ch;
-                continue;
-            }
-
-            // Handle escapes
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            ch = str[i++];
-
-            if (ch == 'u') {
-                // Extract 4-byte escape sequence
-                string esc = str.substr(i, 4);
-                // Explicitly check length of the substring. The following loop
-                // relies on std::string returning the terminating NUL when
-                // accessing str[length]. Checking here reduces brittleness.
-                if (esc.length() < 4) {
-                    return fail("bad \\u escape: " + esc, "");
-                }
-                for (size_t j = 0; j < 4; j++) {
-                    if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F')
-                            && !in_range(esc[j], '0', '9'))
-                        return fail("bad \\u escape: " + esc, "");
-                }
-
-                long codepoint = strtol(esc.data(), nullptr, 16);
-
-                // JSON specifies that characters outside the BMP shall be encoded as a pair
-                // of 4-hex-digit \u escapes encoding their surrogate pair components. Check
-                // whether we're in the middle of such a beast: the previous codepoint was an
-                // escaped lead (high) surrogate, and this is a trail (low) surrogate.
-                if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF)
-                        && in_range(codepoint, 0xDC00, 0xDFFF)) {
-                    // Reassemble the two surrogate pairs into one astral-plane character, per
-                    // the UTF-16 algorithm.
-                    encode_utf8((((last_escaped_codepoint - 0xD800) << 10)
-                                 | (codepoint - 0xDC00)) + 0x10000, out);
-                    last_escaped_codepoint = -1;
-                } else {
-                    encode_utf8(last_escaped_codepoint, out);
-                    last_escaped_codepoint = codepoint;
-                }
-
-                i += 4;
-                continue;
-            }
-
-            encode_utf8(last_escaped_codepoint, out);
-            last_escaped_codepoint = -1;
-
-            if (ch == 'b') {
-                out += '\b';
-            } else if (ch == 'f') {
-                out += '\f';
-            } else if (ch == 'n') {
-                out += '\n';
-            } else if (ch == 'r') {
-                out += '\r';
-            } else if (ch == 't') {
-                out += '\t';
-            } else if (ch == '"' || ch == '\\' || ch == '/') {
-                out += ch;
-            } else {
-                return fail("invalid escape character " + esc(ch), "");
-            }
-        }
-    }
-
-    /* parse_number()
-     *
-     * Parse a double.
-     */
-    Json parse_number() {
-        size_t start_pos = i;
-
-        if (str[i] == '-')
-            i++;
-
-        // Integer part
-        if (str[i] == '0') {
-            i++;
-            if (in_range(str[i], '0', '9'))
-                return fail("leading 0s not permitted in numbers");
-        } else if (in_range(str[i], '1', '9')) {
-            i++;
-            while (in_range(str[i], '0', '9'))
-                i++;
-        } else {
-            return fail("invalid " + esc(str[i]) + " in number");
-        }
-
-        if (str[i] != '.' && str[i] != 'e' && str[i] != 'E'
-                && (i - start_pos) <= static_cast<size_t>(std::numeric_limits<int>::digits10)) {
-            return std::atoi(str.c_str() + start_pos);
-        }
-
-        // Decimal part
-        if (str[i] == '.') {
-            i++;
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in fractional part");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        // Exponent part
-        if (str[i] == 'e' || str[i] == 'E') {
-            i++;
-
-            if (str[i] == '+' || str[i] == '-')
-                i++;
-
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in exponent");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        return std::strtod(str.c_str() + start_pos, nullptr);
-    }
-
-    /* expect(str, res)
-     *
-     * Expect that 'str' starts at the character that was just read. If it does, advance
-     * the input and return res. If not, flag an error.
-     */
-    Json expect(const string &expected, Json res) {
-        assert(i != 0);
-        i--;
-        if (str.compare(i, expected.length(), expected) == 0) {
-            i += expected.length();
-            return res;
-        } else {
-            return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length()));
-        }
-    }
-
-    /* parse_json()
-     *
-     * Parse a JSON object.
-     */
-    Json parse_json(int depth) {
-        if (depth > max_depth) {
-            return fail("exceeded maximum nesting depth");
-        }
-
-        char ch = get_next_token();
-        if (failed)
-            return Json();
-
-        if (ch == '-' || (ch >= '0' && ch <= '9')) {
-            i--;
-            return parse_number();
-        }
-
-        if (ch == 't')
-            return expect("true", true);
-
-        if (ch == 'f')
-            return expect("false", false);
-
-        if (ch == 'n')
-            return expect("null", Json());
-
-        if (ch == '"')
-            return parse_string();
-
-        if (ch == '{') {
-            map<string, Json> data;
-            ch = get_next_token();
-            if (ch == '}')
-                return data;
-
-            while (1) {
-                if (ch != '"')
-                    return fail("expected '\"' in object, got " + esc(ch));
-
-                string key = parse_string();
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch != ':')
-                    return fail("expected ':' in object, got " + esc(ch));
-
-                data[std::move(key)] = parse_json(depth + 1);
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == '}')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in object, got " + esc(ch));
-
-                ch = get_next_token();
-            }
-            return data;
-        }
-
-        if (ch == '[') {
-            vector<Json> data;
-            ch = get_next_token();
-            if (ch == ']')
-                return data;
-
-            while (1) {
-                i--;
-                data.push_back(parse_json(depth + 1));
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == ']')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in list, got " + esc(ch));
-
-                ch = get_next_token();
-                (void)ch;
-            }
-            return data;
-        }
-
-        return fail("expected value, got " + esc(ch));
-    }
-};
-}//namespace {
-
-Json Json::parse(const string &in, string &err, JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    Json result = parser.parse_json(0);
-
-    // Check for any trailing garbage
-    parser.consume_garbage();
-    if (parser.failed)
-        return Json();
-    if (parser.i != in.size())
-        return parser.fail("unexpected trailing " + esc(in[parser.i]));
-
-    return result;
-}
-
-// Documented in json11.hpp
-vector<Json> Json::parse_multi(const string &in,
-                               std::string::size_type &parser_stop_pos,
-                               string &err,
-                               JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    parser_stop_pos = 0;
-    vector<Json> json_vec;
-    while (parser.i != in.size() && !parser.failed) {
-        json_vec.push_back(parser.parse_json(0));
-        if (parser.failed)
-            break;
-
-        // Check for another object
-        parser.consume_garbage();
-        if (parser.failed)
-            break;
-        parser_stop_pos = parser.i;
-    }
-    return json_vec;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Shape-checking
- */
-
-bool Json::has_shape(const shape & types, string & err) const {
-    if (!is_object()) {
-        err = "expected JSON object, got " + dump();
-        return false;
-    }
-
-    for (auto & item : types) {
-        if ((*this)[item.first].type() != item.second) {
-            err = "bad type for " + item.first + " in " + dump();
-            return false;
-        }
-    }
-
-    return true;
-}
-
-} // namespace json11
diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp
deleted file mode 100644
index 5202ef9323..0000000000
--- a/third_party/json11/json11.hpp
+++ /dev/null
@@ -1,232 +0,0 @@
-/* json11
- *
- * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization.
- *
- * The core object provided by the library is json11::Json. A Json object represents any JSON
- * value: null, bool, number (int or double), string (std::string), array (std::vector), or
- * object (std::map).
- *
- * Json objects act like values: they can be assigned, copied, moved, compared for equality or
- * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and
- * Json::parse (static) to parse a std::string as a Json object.
- *
- * Internally, the various types of Json object are represented by the JsonValue class
- * hierarchy.
- *
- * A note on numbers - JSON specifies the syntax of number formatting but not its semantics,
- * so some JSON implementations distinguish between integers and floating-point numbers, while
- * some don't. In json11, we choose the latter. Because some JSON implementations (namely
- * Javascript itself) treat all numbers as the same type, distinguishing the two leads
- * to JSON that will be *silently* changed by a round-trip through those implementations.
- * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also
- * provides integer helpers.
- *
- * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the
- * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64
- * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch
- * will be exact for +/- 275 years.)
- */
-
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * 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.
- */
-
-#pragma once
-
-#include <string>
-#include <vector>
-#include <map>
-#include <memory>
-#include <initializer_list>
-
-#ifdef _MSC_VER
-    #if _MSC_VER <= 1800 // VS 2013
-        #ifndef noexcept
-            #define noexcept throw()
-        #endif
-
-        #ifndef snprintf
-            #define snprintf _snprintf_s
-        #endif
-    #endif
-#endif
-
-namespace json11 {
-
-enum JsonParse {
-    STANDARD, COMMENTS
-};
-
-class JsonValue;
-
-class Json final {
-public:
-    // Types
-    enum Type {
-        NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT
-    };
-
-    // Array and object typedefs
-    typedef std::vector<Json> array;
-    typedef std::map<std::string, Json> object;
-
-    // Constructors for the various types of JSON value.
-    Json() noexcept;                // NUL
-    Json(std::nullptr_t) noexcept;  // NUL
-    Json(double value);             // NUMBER
-    Json(int value);                // NUMBER
-    Json(bool value);               // BOOL
-    Json(const std::string &value); // STRING
-    Json(std::string &&value);      // STRING
-    Json(const char * value);       // STRING
-    Json(const array &values);      // ARRAY
-    Json(array &&values);           // ARRAY
-    Json(const object &values);     // OBJECT
-    Json(object &&values);          // OBJECT
-
-    // Implicit constructor: anything with a to_json() function.
-    template <class T, class = decltype(&T::to_json)>
-    Json(const T & t) : Json(t.to_json()) {}
-
-    // Implicit constructor: map-like objects (std::map, std::unordered_map, etc)
-    template <class M, typename std::enable_if<
-        std::is_constructible<std::string, typename M::key_type>::value
-        && std::is_constructible<Json, typename M::mapped_type>::value,
-            int>::type = 0>
-    Json(const M & m) : Json(object(m.begin(), m.end())) {}
-
-    // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc)
-    template <class V, typename std::enable_if<
-        std::is_constructible<Json, typename V::value_type>::value,
-            int>::type = 0>
-    Json(const V & v) : Json(array(v.begin(), v.end())) {}
-
-    // This prevents Json(some_pointer) from accidentally producing a bool. Use
-    // Json(bool(some_pointer)) if that behavior is desired.
-    Json(void *) = delete;
-
-    // Accessors
-    Type type() const;
-
-    bool is_null()   const { return type() == NUL; }
-    bool is_number() const { return type() == NUMBER; }
-    bool is_bool()   const { return type() == BOOL; }
-    bool is_string() const { return type() == STRING; }
-    bool is_array()  const { return type() == ARRAY; }
-    bool is_object() const { return type() == OBJECT; }
-
-    // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not
-    // distinguish between integer and non-integer numbers - number_value() and int_value()
-    // can both be applied to a NUMBER-typed object.
-    double number_value() const;
-    int int_value() const;
-
-    // Return the enclosed value if this is a boolean, false otherwise.
-    bool bool_value() const;
-    // Return the enclosed string if this is a string, "" otherwise.
-    const std::string &string_value() const;
-    // Return the enclosed std::vector if this is an array, or an empty vector otherwise.
-    const array &array_items() const;
-    // Return the enclosed std::map if this is an object, or an empty map otherwise.
-    const object &object_items() const;
-
-    // Return a reference to arr[i] if this is an array, Json() otherwise.
-    const Json & operator[](size_t i) const;
-    // Return a reference to obj[key] if this is an object, Json() otherwise.
-    const Json & operator[](const std::string &key) const;
-
-    // Serialize.
-    void dump(std::string &out) const;
-    std::string dump() const {
-        std::string out;
-        dump(out);
-        return out;
-    }
-
-    // Parse. If parse fails, return Json() and assign an error message to err.
-    static Json parse(const std::string & in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD);
-    static Json parse(const char * in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD) {
-        if (in) {
-            return parse(std::string(in), err, strategy);
-        } else {
-            err = "null input";
-            return nullptr;
-        }
-    }
-    // Parse multiple objects, concatenated or separated by whitespace
-    static std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string::size_type & parser_stop_pos,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD);
-
-    static inline std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD) {
-        std::string::size_type parser_stop_pos;
-        return parse_multi(in, parser_stop_pos, err, strategy);
-    }
-
-    bool operator== (const Json &rhs) const;
-    bool operator<  (const Json &rhs) const;
-    bool operator!= (const Json &rhs) const { return !(*this == rhs); }
-    bool operator<= (const Json &rhs) const { return !(rhs < *this); }
-    bool operator>  (const Json &rhs) const { return  (rhs < *this); }
-    bool operator>= (const Json &rhs) const { return !(*this < rhs); }
-
-    /* has_shape(types, err)
-     *
-     * Return true if this is a JSON object and, for each item in types, has a field of
-     * the given type. If not, return false and set err to a descriptive message.
-     */
-    typedef std::initializer_list<std::pair<std::string, Type>> shape;
-    bool has_shape(const shape & types, std::string & err) const;
-
-private:
-    std::shared_ptr<JsonValue> m_ptr;
-};
-
-// Internal class hierarchy - JsonValue objects are not exposed to users of this API.
-class JsonValue {
-protected:
-    friend class Json;
-    friend class JsonInt;
-    friend class JsonDouble;
-    virtual Json::Type type() const = 0;
-    virtual bool equals(const JsonValue * other) const = 0;
-    virtual bool less(const JsonValue * other) const = 0;
-    virtual void dump(std::string &out) const = 0;
-    virtual double number_value() const;
-    virtual int int_value() const;
-    virtual bool bool_value() const;
-    virtual const std::string &string_value() const;
-    virtual const Json::array &array_items() const;
-    virtual const Json &operator[](size_t i) const;
-    virtual const Json::object &object_items() const;
-    virtual const Json &operator[](const std::string &key) const;
-    virtual ~JsonValue() {}
-};
-
-} // namespace json11
diff --git a/third_party/linux/include/linux/ion.h b/third_party/linux/include/linux/ion.h
deleted file mode 100644
index 7b5b031f57..0000000000
--- a/third_party/linux/include/linux/ion.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- ****************************************************************************
- ***
- ***   This header was automatically generated from a Linux kernel header
- ***   of the same name, to make information necessary for userspace to
- ***   call into the kernel available to libc.  It contains only constants,
- ***   structures, and macros generated from the original header, and thus,
- ***   contains no copyrightable information.
- ***
- ***   To edit the content of this header, modify the corresponding
- ***   source file (e.g. under external/kernel-headers/original/) then
- ***   run bionic/libc/kernel/tools/update_all.py
- ***
- ***   Any manual change here will be lost the next time this script will
- ***   be run. You've been warned!
- ***
- ****************************************************************************
- ****************************************************************************/
-#ifndef _UAPI_LINUX_ION_H
-#define _UAPI_LINUX_ION_H
-#include <linux/ioctl.h>
-#include <linux/types.h>
-typedef int ion_user_handle_t;
-enum ion_heap_type {
-  ION_HEAP_TYPE_SYSTEM,
-  ION_HEAP_TYPE_SYSTEM_CONTIG,
-  ION_HEAP_TYPE_CARVEOUT,
-  ION_HEAP_TYPE_CHUNK,
-  ION_HEAP_TYPE_DMA,
-  ION_HEAP_TYPE_CUSTOM,
-};
-#define ION_NUM_HEAP_IDS (sizeof(unsigned int) * 8)
-#define ION_FLAG_CACHED 1
-#define ION_FLAG_CACHED_NEEDS_SYNC 2
-struct ion_allocation_data {
-  size_t len;
-  size_t align;
-  unsigned int heap_id_mask;
-  unsigned int flags;
-  ion_user_handle_t handle;
-};
-struct ion_fd_data {
-  ion_user_handle_t handle;
-  int fd;
-};
-struct ion_handle_data {
-  ion_user_handle_t handle;
-};
-struct ion_custom_data {
-  unsigned int cmd;
-  unsigned long arg;
-};
-#define MAX_HEAP_NAME 32
-struct ion_heap_data {
-  char name[MAX_HEAP_NAME];
-  __u32 type;
-  __u32 heap_id;
-  __u32 reserved0;
-  __u32 reserved1;
-  __u32 reserved2;
-};
-struct ion_heap_query {
-  __u32 cnt;
-  __u32 reserved0;
-  __u64 heaps;
-  __u32 reserved1;
-  __u32 reserved2;
-};
-#define ION_IOC_MAGIC 'I'
-#define ION_IOC_ALLOC _IOWR(ION_IOC_MAGIC, 0, struct ion_allocation_data)
-#define ION_IOC_FREE _IOWR(ION_IOC_MAGIC, 1, struct ion_handle_data)
-#define ION_IOC_MAP _IOWR(ION_IOC_MAGIC, 2, struct ion_fd_data)
-#define ION_IOC_SHARE _IOWR(ION_IOC_MAGIC, 4, struct ion_fd_data)
-#define ION_IOC_IMPORT _IOWR(ION_IOC_MAGIC, 5, struct ion_fd_data)
-#define ION_IOC_SYNC _IOWR(ION_IOC_MAGIC, 7, struct ion_fd_data)
-#define ION_IOC_CUSTOM _IOWR(ION_IOC_MAGIC, 6, struct ion_custom_data)
-#define ION_IOC_HEAP_QUERY _IOWR(ION_IOC_MAGIC, 8, struct ion_heap_query)
-#endif
diff --git a/third_party/linux/include/media/cam_cpas.h b/third_party/linux/include/media/cam_cpas.h
deleted file mode 100644
index c5cbac82e7..0000000000
--- a/third_party/linux/include/media/cam_cpas.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef __UAPI_CAM_CPAS_H__
-#define __UAPI_CAM_CPAS_H__
-
-#include "cam_defs.h"
-
-#define CAM_FAMILY_CAMERA_SS     1
-#define CAM_FAMILY_CPAS_SS       2
-
-/**
- * struct cam_cpas_query_cap - CPAS query device capability payload
- *
- * @camera_family     : Camera family type
- * @reserved          : Reserved field for alignment
- * @camera_version    : Camera platform version
- * @cpas_version      : Camera CPAS version within camera platform
- *
- */
-struct cam_cpas_query_cap {
-	uint32_t                 camera_family;
-	uint32_t                 reserved;
-	struct cam_hw_version    camera_version;
-	struct cam_hw_version    cpas_version;
-};
-
-#endif /* __UAPI_CAM_CPAS_H__ */
diff --git a/third_party/linux/include/media/cam_defs.h b/third_party/linux/include/media/cam_defs.h
deleted file mode 100644
index e006463d2a..0000000000
--- a/third_party/linux/include/media/cam_defs.h
+++ /dev/null
@@ -1,477 +0,0 @@
-#ifndef __UAPI_CAM_DEFS_H__
-#define __UAPI_CAM_DEFS_H__
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-
-/* camera op codes */
-#define CAM_COMMON_OPCODE_BASE                  0x100
-#define CAM_QUERY_CAP                           (CAM_COMMON_OPCODE_BASE + 0x1)
-#define CAM_ACQUIRE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x2)
-#define CAM_START_DEV                           (CAM_COMMON_OPCODE_BASE + 0x3)
-#define CAM_STOP_DEV                            (CAM_COMMON_OPCODE_BASE + 0x4)
-#define CAM_CONFIG_DEV                          (CAM_COMMON_OPCODE_BASE + 0x5)
-#define CAM_RELEASE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x6)
-#define CAM_SD_SHUTDOWN                         (CAM_COMMON_OPCODE_BASE + 0x7)
-#define CAM_FLUSH_REQ                           (CAM_COMMON_OPCODE_BASE + 0x8)
-#define CAM_COMMON_OPCODE_MAX                   (CAM_COMMON_OPCODE_BASE + 0x9)
-
-#define CAM_EXT_OPCODE_BASE                     0x200
-#define CAM_CONFIG_DEV_EXTERNAL                 (CAM_EXT_OPCODE_BASE + 0x1)
-
-/* camera handle type */
-#define CAM_HANDLE_USER_POINTER                 1
-#define CAM_HANDLE_MEM_HANDLE                   2
-
-/* Generic Blob CmdBuffer header properties */
-#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_MASK    0xFFFFFF00
-#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_SHIFT   8
-#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_MASK    0xFF
-#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_SHIFT   0
-
-/* Command Buffer Types */
-#define CAM_CMD_BUF_DMI                     0x1
-#define CAM_CMD_BUF_DMI16                   0x2
-#define CAM_CMD_BUF_DMI32                   0x3
-#define CAM_CMD_BUF_DMI64                   0x4
-#define CAM_CMD_BUF_DIRECT                  0x5
-#define CAM_CMD_BUF_INDIRECT                0x6
-#define CAM_CMD_BUF_I2C                     0x7
-#define CAM_CMD_BUF_FW                      0x8
-#define CAM_CMD_BUF_GENERIC                 0x9
-#define CAM_CMD_BUF_LEGACY                  0xA
-
-/**
- * enum flush_type_t - Identifies the various flush types
- *
- * @CAM_FLUSH_TYPE_REQ:    Flush specific request
- * @CAM_FLUSH_TYPE_ALL:    Flush all requests belonging to a context
- * @CAM_FLUSH_TYPE_MAX:    Max enum to validate flush type
- *
- */
-enum flush_type_t {
-	CAM_FLUSH_TYPE_REQ,
-	CAM_FLUSH_TYPE_ALL,
-	CAM_FLUSH_TYPE_MAX
-};
-
-/**
- * struct cam_control - Structure used by ioctl control for camera
- *
- * @op_code:            This is the op code for camera control
- * @size:               Control command size
- * @handle_type:        User pointer or shared memory handle
- * @reserved:           Reserved field for 64 bit alignment
- * @handle:             Control command payload
- */
-struct cam_control {
-	uint32_t        op_code;
-	uint32_t        size;
-	uint32_t        handle_type;
-	uint32_t        reserved;
-	uint64_t        handle;
-};
-
-/* camera IOCTL */
-#define VIDIOC_CAM_CONTROL \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_control)
-
-/**
- * struct cam_hw_version - Structure for HW version of camera devices
- *
- * @major    : Hardware version major
- * @minor    : Hardware version minor
- * @incr     : Hardware version increment
- * @reserved : Reserved for 64 bit aligngment
- */
-struct cam_hw_version {
-	uint32_t major;
-	uint32_t minor;
-	uint32_t incr;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_iommu_handle - Structure for IOMMU handles of camera hw devices
- *
- * @non_secure: Device Non Secure IOMMU handle
- * @secure:     Device Secure IOMMU handle
- *
- */
-struct cam_iommu_handle {
-	int32_t non_secure;
-	int32_t secure;
-};
-
-/* camera secure mode */
-#define CAM_SECURE_MODE_NON_SECURE             0
-#define CAM_SECURE_MODE_SECURE                 1
-
-/* Camera Format Type */
-#define CAM_FORMAT_BASE                         0
-#define CAM_FORMAT_MIPI_RAW_6                   1
-#define CAM_FORMAT_MIPI_RAW_8                   2
-#define CAM_FORMAT_MIPI_RAW_10                  3
-#define CAM_FORMAT_MIPI_RAW_12                  4
-#define CAM_FORMAT_MIPI_RAW_14                  5
-#define CAM_FORMAT_MIPI_RAW_16                  6
-#define CAM_FORMAT_MIPI_RAW_20                  7
-#define CAM_FORMAT_QTI_RAW_8                    8
-#define CAM_FORMAT_QTI_RAW_10                   9
-#define CAM_FORMAT_QTI_RAW_12                   10
-#define CAM_FORMAT_QTI_RAW_14                   11
-#define CAM_FORMAT_PLAIN8                       12
-#define CAM_FORMAT_PLAIN16_8                    13
-#define CAM_FORMAT_PLAIN16_10                   14
-#define CAM_FORMAT_PLAIN16_12                   15
-#define CAM_FORMAT_PLAIN16_14                   16
-#define CAM_FORMAT_PLAIN16_16                   17
-#define CAM_FORMAT_PLAIN32_20                   18
-#define CAM_FORMAT_PLAIN64                      19
-#define CAM_FORMAT_PLAIN128                     20
-#define CAM_FORMAT_ARGB                         21
-#define CAM_FORMAT_ARGB_10                      22
-#define CAM_FORMAT_ARGB_12                      23
-#define CAM_FORMAT_ARGB_14                      24
-#define CAM_FORMAT_DPCM_10_6_10                 25
-#define CAM_FORMAT_DPCM_10_8_10                 26
-#define CAM_FORMAT_DPCM_12_6_12                 27
-#define CAM_FORMAT_DPCM_12_8_12                 28
-#define CAM_FORMAT_DPCM_14_8_14                 29
-#define CAM_FORMAT_DPCM_14_10_14                30
-#define CAM_FORMAT_NV21                         31
-#define CAM_FORMAT_NV12                         32
-#define CAM_FORMAT_TP10                         33
-#define CAM_FORMAT_YUV422                       34
-#define CAM_FORMAT_PD8                          35
-#define CAM_FORMAT_PD10                         36
-#define CAM_FORMAT_UBWC_NV12                    37
-#define CAM_FORMAT_UBWC_NV12_4R                 38
-#define CAM_FORMAT_UBWC_TP10                    39
-#define CAM_FORMAT_UBWC_P010                    40
-#define CAM_FORMAT_PLAIN8_SWAP                  41
-#define CAM_FORMAT_PLAIN8_10                    42
-#define CAM_FORMAT_PLAIN8_10_SWAP               43
-#define CAM_FORMAT_YV12                         44
-#define CAM_FORMAT_Y_ONLY                       45
-#define CAM_FORMAT_MAX                          46
-
-/* camera rotaion */
-#define CAM_ROTATE_CW_0_DEGREE                  0
-#define CAM_ROTATE_CW_90_DEGREE                 1
-#define CAM_RORATE_CW_180_DEGREE                2
-#define CAM_ROTATE_CW_270_DEGREE                3
-
-/* camera Color Space */
-#define CAM_COLOR_SPACE_BASE                    0
-#define CAM_COLOR_SPACE_BT601_FULL              1
-#define CAM_COLOR_SPACE_BT601625                2
-#define CAM_COLOR_SPACE_BT601525                3
-#define CAM_COLOR_SPACE_BT709                   4
-#define CAM_COLOR_SPACE_DEPTH                   5
-#define CAM_COLOR_SPACE_MAX                     6
-
-/* camera buffer direction */
-#define CAM_BUF_INPUT                           1
-#define CAM_BUF_OUTPUT                          2
-#define CAM_BUF_IN_OUT                          3
-
-/* camera packet device Type */
-#define CAM_PACKET_DEV_BASE                     0
-#define CAM_PACKET_DEV_IMG_SENSOR               1
-#define CAM_PACKET_DEV_ACTUATOR                 2
-#define CAM_PACKET_DEV_COMPANION                3
-#define CAM_PACKET_DEV_EEPOM                    4
-#define CAM_PACKET_DEV_CSIPHY                   5
-#define CAM_PACKET_DEV_OIS                      6
-#define CAM_PACKET_DEV_FLASH                    7
-#define CAM_PACKET_DEV_FD                       8
-#define CAM_PACKET_DEV_JPEG_ENC                 9
-#define CAM_PACKET_DEV_JPEG_DEC                 10
-#define CAM_PACKET_DEV_VFE                      11
-#define CAM_PACKET_DEV_CPP                      12
-#define CAM_PACKET_DEV_CSID                     13
-#define CAM_PACKET_DEV_ISPIF                    14
-#define CAM_PACKET_DEV_IFE                      15
-#define CAM_PACKET_DEV_ICP                      16
-#define CAM_PACKET_DEV_LRME                     17
-#define CAM_PACKET_DEV_MAX                      18
-
-
-/* constants */
-#define CAM_PACKET_MAX_PLANES                   3
-
-/**
- * struct cam_plane_cfg - Plane configuration info
- *
- * @width:                      Plane width in pixels
- * @height:                     Plane height in lines
- * @plane_stride:               Plane stride in pixel
- * @slice_height:               Slice height in line (not used by ISP)
- * @meta_stride:                UBWC metadata stride
- * @meta_size:                  UBWC metadata plane size
- * @meta_offset:                UBWC metadata offset
- * @packer_config:              UBWC packer config
- * @mode_config:                UBWC mode config
- * @tile_config:                UBWC tile config
- * @h_init:                     UBWC horizontal initial coordinate in pixels
- * @v_init:                     UBWC vertical initial coordinate in lines
- *
- */
-struct cam_plane_cfg {
-	uint32_t                width;
-	uint32_t                height;
-	uint32_t                plane_stride;
-	uint32_t                slice_height;
-	uint32_t                meta_stride;
-	uint32_t                meta_size;
-	uint32_t                meta_offset;
-	uint32_t                packer_config;
-	uint32_t                mode_config;
-	uint32_t                tile_config;
-	uint32_t                h_init;
-	uint32_t                v_init;
-};
-
-/**
- * struct cam_cmd_buf_desc - Command buffer descriptor
- *
- * @mem_handle:                 Command buffer handle
- * @offset:                     Command start offset
- * @size:                       Size of the command buffer in bytes
- * @length:                     Used memory in command buffer in bytes
- * @type:                       Type of the command buffer
- * @meta_data:                  Data type for private command buffer
- *                              Between UMD and KMD
- *
- */
-struct cam_cmd_buf_desc {
-	int32_t                 mem_handle;
-	uint32_t                offset;
-	uint32_t                size;
-	uint32_t                length;
-	uint32_t                type;
-	uint32_t                meta_data;
-};
-
-/**
- * struct cam_buf_io_cfg - Buffer io configuration for buffers
- *
- * @mem_handle:                 Mem_handle array for the buffers.
- * @offsets:                    Offsets for each planes in the buffer
- * @planes:                     Per plane information
- * @width:                      Main plane width in pixel
- * @height:                     Main plane height in lines
- * @format:                     Format of the buffer
- * @color_space:                Color space for the buffer
- * @color_pattern:              Color pattern in the buffer
- * @bpp:                        Bit per pixel
- * @rotation:                   Rotation information for the buffer
- * @resource_type:              Resource type associated with the buffer
- * @fence:                      Fence handle
- * @early_fence:                Fence handle for early signal
- * @aux_cmd_buf:                An auxiliary command buffer that may be
- *                              used for programming the IO
- * @direction:                  Direction of the config
- * @batch_size:                 Batch size in HFR mode
- * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @subsample_period:           Subsample period. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @framedrop_pattern:          Framedrop pattern
- * @framedrop_period:           Framedrop period
- * @flag:                       Flags for extra information
- * @direction:                  Buffer direction: input or output
- * @padding:                    Padding for the structure
- *
- */
-struct cam_buf_io_cfg {
-	int32_t                         mem_handle[CAM_PACKET_MAX_PLANES];
-	uint32_t                        offsets[CAM_PACKET_MAX_PLANES];
-	struct cam_plane_cfg            planes[CAM_PACKET_MAX_PLANES];
-	uint32_t                        format;
-	uint32_t                        color_space;
-	uint32_t                        color_pattern;
-	uint32_t                        bpp;
-	uint32_t                        rotation;
-	uint32_t                        resource_type;
-	int32_t                         fence;
-	int32_t                         early_fence;
-	struct cam_cmd_buf_desc         aux_cmd_buf;
-	uint32_t                        direction;
-	uint32_t                        batch_size;
-	uint32_t                        subsample_pattern;
-	uint32_t                        subsample_period;
-	uint32_t                        framedrop_pattern;
-	uint32_t                        framedrop_period;
-	uint32_t                        flag;
-	uint32_t                        padding;
-};
-
-/**
- * struct cam_packet_header - Camera packet header
- *
- * @op_code:                    Camera packet opcode
- * @size:                       Size of the camera packet in bytes
- * @request_id:                 Request id for this camera packet
- * @flags:                      Flags for the camera packet
- * @padding:                    Padding
- *
- */
-struct cam_packet_header {
-	uint32_t                op_code;
-	uint32_t                size;
-	uint64_t                request_id;
-	uint32_t                flags;
-	uint32_t                padding;
-};
-
-/**
- * struct cam_patch_desc - Patch structure
- *
- * @dst_buf_hdl:                Memory handle for the dest buffer
- * @dst_offset:                 Offset byte in the dest buffer
- * @src_buf_hdl:                Memory handle for the source buffer
- * @src_offset:                 Offset byte in the source buffer
- *
- */
-struct cam_patch_desc {
-	int32_t                 dst_buf_hdl;
-	uint32_t                dst_offset;
-	int32_t                 src_buf_hdl;
-	uint32_t                src_offset;
-};
-
-/**
- * struct cam_packet - Camera packet structure
- *
- * @header:                     Camera packet header
- * @cmd_buf_offset:             Command buffer start offset
- * @num_cmd_buf:                Number of the command buffer in the packet
- * @io_config_offset:           Buffer io configuration start offset
- * @num_io_configs:             Number of the buffer io configurations
- * @patch_offset:               Patch offset for the patch structure
- * @num_patches:                Number of the patch structure
- * @kmd_cmd_buf_index:          Command buffer index which contains extra
- *                              space for the KMD buffer
- * @kmd_cmd_buf_offset:         Offset from the beginning of the command
- *                              buffer for KMD usage.
- * @payload:                    Camera packet payload
- *
- */
-struct cam_packet {
-	struct cam_packet_header        header;
-	uint32_t                        cmd_buf_offset;
-	uint32_t                        num_cmd_buf;
-	uint32_t                        io_configs_offset;
-	uint32_t                        num_io_configs;
-	uint32_t                        patch_offset;
-	uint32_t                        num_patches;
-	uint32_t                        kmd_cmd_buf_index;
-	uint32_t                        kmd_cmd_buf_offset;
-	uint64_t                        payload[1];
-
-};
-
-/**
- * struct cam_release_dev_cmd - Control payload for release devices
- *
- * @session_handle:             Session handle for the release
- * @dev_handle:                 Device handle for the release
- */
-struct cam_release_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-};
-
-/**
- * struct cam_start_stop_dev_cmd - Control payload for start/stop device
- *
- * @session_handle:             Session handle for the start/stop command
- * @dev_handle:                 Device handle for the start/stop command
- *
- */
-struct cam_start_stop_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-};
-
-/**
- * struct cam_config_dev_cmd - Command payload for configure device
- *
- * @session_handle:             Session handle for the command
- * @dev_handle:                 Device handle for the command
- * @offset:                     Offset byte in the packet handle.
- * @packet_handle:              Packet memory handle for the actual packet:
- *                              struct cam_packet.
- *
- */
-struct cam_config_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-	uint64_t                offset;
-	uint64_t                packet_handle;
-};
-
-/**
- * struct cam_query_cap_cmd - Payload for query device capability
- *
- * @size:               Handle size
- * @handle_type:        User pointer or shared memory handle
- * @caps_handle:        Device specific query command payload
- *
- */
-struct cam_query_cap_cmd {
-	uint32_t        size;
-	uint32_t        handle_type;
-	uint64_t        caps_handle;
-};
-
-/**
- * struct cam_acquire_dev_cmd - Control payload for acquire devices
- *
- * @session_handle:     Session handle for the acquire command
- * @dev_handle:         Device handle to be returned
- * @handle_type:        Resource handle type:
- *                      1 = user pointer, 2 = mem handle
- * @num_resources:      Number of the resources to be acquired
- * @resources_hdl:      Resource handle that refers to the actual
- *                      resource array. Each item in this
- *                      array is device specific resource structure
- *
- */
-struct cam_acquire_dev_cmd {
-	int32_t         session_handle;
-	int32_t         dev_handle;
-	uint32_t        handle_type;
-	uint32_t        num_resources;
-	uint64_t        resource_hdl;
-};
-
-/**
- * struct cam_flush_dev_cmd - Control payload for flush devices
- *
- * @version:           Version
- * @session_handle:    Session handle for the acquire command
- * @dev_handle:        Device handle to be returned
- * @flush_type:        Flush type:
- *                     0 = flush specific request
- *                     1 = flush all
- * @reserved:          Reserved for 64 bit aligngment
- * @req_id:            Request id that needs to cancel
- *
- */
-struct cam_flush_dev_cmd {
-	uint64_t       version;
-	int32_t        session_handle;
-	int32_t        dev_handle;
-	uint32_t       flush_type;
-	uint32_t       reserved;
-	int64_t        req_id;
-};
-
-#endif /* __UAPI_CAM_DEFS_H__ */
diff --git a/third_party/linux/include/media/cam_fd.h b/third_party/linux/include/media/cam_fd.h
deleted file mode 100644
index 8feb6e4da8..0000000000
--- a/third_party/linux/include/media/cam_fd.h
+++ /dev/null
@@ -1,127 +0,0 @@
-#ifndef __UAPI_CAM_FD_H__
-#define __UAPI_CAM_FD_H__
-
-#include "cam_defs.h"
-
-#define CAM_FD_MAX_FACES                       35
-#define CAM_FD_RAW_RESULT_ENTRIES              512
-
-/* FD Op Codes */
-#define CAM_PACKET_OPCODES_FD_FRAME_UPDATE     0x0
-
-/* FD Command Buffer identifiers */
-#define CAM_FD_CMD_BUFFER_ID_GENERIC           0x0
-#define CAM_FD_CMD_BUFFER_ID_CDM               0x1
-#define CAM_FD_CMD_BUFFER_ID_MAX               0x2
-
-/* FD Blob types */
-#define CAM_FD_BLOB_TYPE_SOC_CLOCK_BW_REQUEST  0x0
-#define CAM_FD_BLOB_TYPE_RAW_RESULTS_REQUIRED  0x1
-
-/* FD Resource IDs */
-#define CAM_FD_INPUT_PORT_ID_IMAGE             0x0
-#define CAM_FD_INPUT_PORT_ID_MAX               0x1
-
-#define CAM_FD_OUTPUT_PORT_ID_RESULTS          0x0
-#define CAM_FD_OUTPUT_PORT_ID_RAW_RESULTS      0x1
-#define CAM_FD_OUTPUT_PORT_ID_WORK_BUFFER      0x2
-#define CAM_FD_OUTPUT_PORT_ID_MAX              0x3
-
-/**
- * struct cam_fd_soc_clock_bw_request - SOC clock, bandwidth request info
- *
- * @clock_rate : Clock rate required while processing frame
- * @bandwidth  : Bandwidth required while processing frame
- * @reserved   : Reserved for future use
- */
-struct cam_fd_soc_clock_bw_request {
-	uint64_t    clock_rate;
-	uint64_t    bandwidth;
-	uint64_t    reserved[4];
-};
-
-/**
- * struct cam_fd_face - Face properties
- *
- * @prop1 : Property 1 of face
- * @prop2 : Property 2 of face
- * @prop3 : Property 3 of face
- * @prop4 : Property 4 of face
- *
- * Do not change this layout, this is inline with how HW writes
- * these values directly when the buffer is programmed to HW
- */
-struct cam_fd_face {
-	uint32_t    prop1;
-	uint32_t    prop2;
-	uint32_t    prop3;
-	uint32_t    prop4;
-};
-
-/**
- * struct cam_fd_results - FD results layout
- *
- * @faces      : Array of faces with face properties
- * @face_count : Number of faces detected
- * @reserved   : Reserved for alignment
- *
- * Do not change this layout, this is inline with how HW writes
- * these values directly when the buffer is programmed to HW
- */
-struct cam_fd_results {
-	struct cam_fd_face    faces[CAM_FD_MAX_FACES];
-	uint32_t              face_count;
-	uint32_t              reserved[3];
-};
-
-/**
- * struct cam_fd_hw_caps - Face properties
- *
- * @core_version          : FD core version
- * @wrapper_version       : FD wrapper version
- * @raw_results_available : Whether raw results are available on this HW
- * @supported_modes       : Modes supported by this HW.
- * @reserved              : Reserved for future use
- */
-struct cam_fd_hw_caps {
-	struct cam_hw_version    core_version;
-	struct cam_hw_version    wrapper_version;
-	uint32_t                 raw_results_available;
-	uint32_t                 supported_modes;
-	uint64_t                 reserved;
-};
-
-/**
- * struct cam_fd_query_cap_cmd - FD Query capabilities information
- *
- * @device_iommu : FD IOMMU handles
- * @cdm_iommu    : CDM iommu handles
- * @hw_caps      : FD HW capabilities
- * @reserved     : Reserved for alignment
- */
-struct cam_fd_query_cap_cmd {
-	struct cam_iommu_handle    device_iommu;
-	struct cam_iommu_handle    cdm_iommu;
-	struct cam_fd_hw_caps      hw_caps;
-	uint64_t                   reserved;
-};
-
-/**
- * struct cam_fd_acquire_dev_info - FD acquire device information
- *
- * @clk_bw_request  : SOC clock, bandwidth request
- * @priority        : Priority for this acquire
- * @mode            : Mode in which to run FD HW.
- * @get_raw_results : Whether this acquire needs face raw results
- *                    while frame processing
- * @reserved        : Reserved field for 64 bit alignment
- */
-struct cam_fd_acquire_dev_info {
-	struct cam_fd_soc_clock_bw_request clk_bw_request;
-	uint32_t                           priority;
-	uint32_t                           mode;
-	uint32_t                           get_raw_results;
-	uint32_t                           reserved[13];
-};
-
-#endif /* __UAPI_CAM_FD_H__ */
diff --git a/third_party/linux/include/media/cam_icp.h b/third_party/linux/include/media/cam_icp.h
deleted file mode 100644
index 680d05b630..0000000000
--- a/third_party/linux/include/media/cam_icp.h
+++ /dev/null
@@ -1,179 +0,0 @@
-#ifndef __UAPI_CAM_ICP_H__
-#define __UAPI_CAM_ICP_H__
-
-#include "cam_defs.h"
-
-/* icp, ipe, bps, cdm(ipe/bps) are used in querycap */
-#define CAM_ICP_DEV_TYPE_A5      1
-#define CAM_ICP_DEV_TYPE_IPE     2
-#define CAM_ICP_DEV_TYPE_BPS     3
-#define CAM_ICP_DEV_TYPE_IPE_CDM 4
-#define CAM_ICP_DEV_TYPE_BPS_CDM 5
-#define CAM_ICP_DEV_TYPE_MAX     5
-
-/* definitions needed for icp aquire device */
-#define CAM_ICP_RES_TYPE_BPS        1
-#define CAM_ICP_RES_TYPE_IPE_RT     2
-#define CAM_ICP_RES_TYPE_IPE        3
-#define CAM_ICP_RES_TYPE_MAX        4
-
-/* packet opcode types */
-#define CAM_ICP_OPCODE_IPE_UPDATE 0
-#define CAM_ICP_OPCODE_BPS_UPDATE 1
-
-/* IPE input port resource type */
-#define CAM_ICP_IPE_INPUT_IMAGE_FULL            0x0
-#define CAM_ICP_IPE_INPUT_IMAGE_DS4             0x1
-#define CAM_ICP_IPE_INPUT_IMAGE_DS16            0x2
-#define CAM_ICP_IPE_INPUT_IMAGE_DS64            0x3
-#define CAM_ICP_IPE_INPUT_IMAGE_FULL_REF        0x4
-#define CAM_ICP_IPE_INPUT_IMAGE_DS4_REF         0x5
-#define CAM_ICP_IPE_INPUT_IMAGE_DS16_REF        0x6
-#define CAM_ICP_IPE_INPUT_IMAGE_DS64_REF        0x7
-
-/* IPE output port resource type */
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DISPLAY        0x8
-#define CAM_ICP_IPE_OUTPUT_IMAGE_VIDEO          0x9
-#define CAM_ICP_IPE_OUTPUT_IMAGE_FULL_REF       0xA
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS4_REF        0xB
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS16_REF       0xC
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS64_REF       0xD
-
-#define CAM_ICP_IPE_IMAGE_MAX                   0xE
-
-/* BPS input port resource type */
-#define CAM_ICP_BPS_INPUT_IMAGE                 0x0
-
-/* BPS output port resource type */
-#define CAM_ICP_BPS_OUTPUT_IMAGE_FULL           0x1
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS4            0x2
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS16           0x3
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS64           0x4
-#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BG       0x5
-#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BHIST    0x6
-#define CAM_ICP_BPS_OUTPUT_IMAGE_REG1           0x7
-#define CAM_ICP_BPS_OUTPUT_IMAGE_REG2           0x8
-
-#define CAM_ICP_BPS_IO_IMAGES_MAX               0x9
-
-/* Command meta types */
-#define CAM_ICP_CMD_META_GENERIC_BLOB           0x1
-
-/* Generic blob types */
-#define CAM_ICP_CMD_GENERIC_BLOB_CLK            0x1
-#define CAM_ICP_CMD_GENERIC_BLOB_CFG_IO         0x2
-
-/**
- * struct cam_icp_clk_bw_request
- *
- * @budget_ns: Time required to process frame
- * @frame_cycles: Frame cycles needed to process the frame
- * @rt_flag: Flag to indicate real time stream
- * @uncompressed_bw: Bandwidth required to process frame
- * @compressed_bw: Compressed bandwidth to process frame
- */
-struct cam_icp_clk_bw_request {
-	uint64_t budget_ns;
-	uint32_t frame_cycles;
-	uint32_t rt_flag;
-	uint64_t uncompressed_bw;
-	uint64_t compressed_bw;
-};
-
-/**
- * struct cam_icp_dev_ver - Device information for particular hw type
- *
- * This is used to get device version info of
- * ICP, IPE, BPS and CDM related IPE and BPS from firmware
- * and use this info in CAM_QUERY_CAP IOCTL
- *
- * @dev_type: hardware type for the cap info(icp, ipe, bps, cdm(ipe/bps))
- * @reserved: reserved field
- * @hw_ver: major, minor and incr values of a device version
- */
-struct cam_icp_dev_ver {
-	uint32_t dev_type;
-	uint32_t reserved;
-	struct cam_hw_version hw_ver;
-};
-
-/**
- * struct cam_icp_ver - ICP version info
- *
- * This strcuture is used for fw and api version
- * this is used to get firmware version and api version from firmware
- * and use this info in CAM_QUERY_CAP IOCTL
- *
- * @major: FW version major
- * @minor: FW version minor
- * @revision: FW version increment
- */
-struct cam_icp_ver {
-	uint32_t major;
-	uint32_t minor;
-	uint32_t revision;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_icp_query_cap_cmd - ICP query device capability payload
- *
- * @dev_iommu_handle: icp iommu handles for secure/non secure modes
- * @cdm_iommu_handle: iommu handles for secure/non secure modes
- * @fw_version: firmware version info
- * @api_version: api version info
- * @num_ipe: number of ipes
- * @num_bps: number of bps
- * @dev_ver: returned device capability array
- */
-struct cam_icp_query_cap_cmd {
-	struct cam_iommu_handle dev_iommu_handle;
-	struct cam_iommu_handle cdm_iommu_handle;
-	struct cam_icp_ver fw_version;
-	struct cam_icp_ver api_version;
-	uint32_t num_ipe;
-	uint32_t num_bps;
-	struct cam_icp_dev_ver dev_ver[CAM_ICP_DEV_TYPE_MAX];
-};
-
-/**
- * struct cam_icp_res_info - ICP output resource info
- *
- * @format: format of the resource
- * @width:  width in pixels
- * @height: height in lines
- * @fps:  fps
- */
-struct cam_icp_res_info {
-	uint32_t format;
-	uint32_t width;
-	uint32_t height;
-	uint32_t fps;
-};
-
-/**
- * struct cam_icp_acquire_dev_info - An ICP device info
- *
- * @scratch_mem_size: Output param - size of scratch memory
- * @dev_type: device type (IPE_RT/IPE_NON_RT/BPS)
- * @io_config_cmd_size: size of IO config command
- * @io_config_cmd_handle: IO config command for each acquire
- * @secure_mode: camera mode (secure/non secure)
- * @chain_info: chaining info of FW device handles
- * @in_res: resource info used for clock and bandwidth calculation
- * @num_out_res: number of output resources
- * @out_res: output resource
- */
-struct cam_icp_acquire_dev_info {
-	uint32_t scratch_mem_size;
-	uint32_t dev_type;
-	uint32_t io_config_cmd_size;
-	int32_t  io_config_cmd_handle;
-	uint32_t secure_mode;
-	int32_t chain_info;
-	struct cam_icp_res_info in_res;
-	uint32_t num_out_res;
-	struct cam_icp_res_info out_res[1];
-} __attribute__((__packed__));
-
-#endif /* __UAPI_CAM_ICP_H__ */
diff --git a/third_party/linux/include/media/cam_isp.h b/third_party/linux/include/media/cam_isp.h
deleted file mode 100644
index 266840d38c..0000000000
--- a/third_party/linux/include/media/cam_isp.h
+++ /dev/null
@@ -1,379 +0,0 @@
-#ifndef __UAPI_CAM_ISP_H__
-#define __UAPI_CAM_ISP_H__
-
-#include "cam_defs.h"
-#include "cam_isp_vfe.h"
-#include "cam_isp_ife.h"
-
-
-/* ISP driver name */
-#define CAM_ISP_DEV_NAME                        "cam-isp"
-
-/* HW type */
-#define CAM_ISP_HW_BASE                         0
-#define CAM_ISP_HW_CSID                         1
-#define CAM_ISP_HW_VFE                          2
-#define CAM_ISP_HW_IFE                          3
-#define CAM_ISP_HW_ISPIF                        4
-#define CAM_ISP_HW_MAX                          5
-
-/* Color Pattern */
-#define CAM_ISP_PATTERN_BAYER_RGRGRG            0
-#define CAM_ISP_PATTERN_BAYER_GRGRGR            1
-#define CAM_ISP_PATTERN_BAYER_BGBGBG            2
-#define CAM_ISP_PATTERN_BAYER_GBGBGB            3
-#define CAM_ISP_PATTERN_YUV_YCBYCR              4
-#define CAM_ISP_PATTERN_YUV_YCRYCB              5
-#define CAM_ISP_PATTERN_YUV_CBYCRY              6
-#define CAM_ISP_PATTERN_YUV_CRYCBY              7
-#define CAM_ISP_PATTERN_MAX                     8
-
-/* Usage Type */
-#define CAM_ISP_RES_USAGE_SINGLE                0
-#define CAM_ISP_RES_USAGE_DUAL                  1
-#define CAM_ISP_RES_USAGE_MAX                   2
-
-/* Resource ID */
-#define CAM_ISP_RES_ID_PORT                     0
-#define CAM_ISP_RES_ID_CLK                      1
-#define CAM_ISP_RES_ID_MAX                      2
-
-/* Resource Type - Type of resource for the resource id
- * defined in cam_isp_vfe.h, cam_isp_ife.h
- */
-
-/* Lane Type in input resource for Port */
-#define CAM_ISP_LANE_TYPE_DPHY                  0
-#define CAM_ISP_LANE_TYPE_CPHY                  1
-#define CAM_ISP_LANE_TYPE_MAX                   2
-
-/* ISP Resurce Composite Group ID */
-#define CAM_ISP_RES_COMP_GROUP_NONE             0
-#define CAM_ISP_RES_COMP_GROUP_ID_0             1
-#define CAM_ISP_RES_COMP_GROUP_ID_1             2
-#define CAM_ISP_RES_COMP_GROUP_ID_2             3
-#define CAM_ISP_RES_COMP_GROUP_ID_3             4
-#define CAM_ISP_RES_COMP_GROUP_ID_4             5
-#define CAM_ISP_RES_COMP_GROUP_ID_5             6
-#define CAM_ISP_RES_COMP_GROUP_ID_MAX           6
-
-/* ISP packet opcode for ISP */
-#define CAM_ISP_PACKET_OP_BASE                  0
-#define CAM_ISP_PACKET_INIT_DEV                 1
-#define CAM_ISP_PACKET_UPDATE_DEV               2
-#define CAM_ISP_PACKET_OP_MAX                   3
-
-/* ISP packet meta_data type for command buffer */
-#define CAM_ISP_PACKET_META_BASE                0
-#define CAM_ISP_PACKET_META_LEFT                1
-#define CAM_ISP_PACKET_META_RIGHT               2
-#define CAM_ISP_PACKET_META_COMMON              3
-#define CAM_ISP_PACKET_META_DMI_LEFT            4
-#define CAM_ISP_PACKET_META_DMI_RIGHT           5
-#define CAM_ISP_PACKET_META_DMI_COMMON          6
-#define CAM_ISP_PACKET_META_CLOCK               7
-#define CAM_ISP_PACKET_META_CSID                8
-#define CAM_ISP_PACKET_META_DUAL_CONFIG         9
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_LEFT   10
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_RIGHT  11
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON 12
-
-/* DSP mode */
-#define CAM_ISP_DSP_MODE_NONE                   0
-#define CAM_ISP_DSP_MODE_ONE_WAY                1
-#define CAM_ISP_DSP_MODE_ROUND                  2
-
-/* ISP Generic Cmd Buffer Blob types */
-#define CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG      0
-#define CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG    1
-#define CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG       2
-
-/* Query devices */
-/**
- * struct cam_isp_dev_cap_info - A cap info for particular hw type
- *
- * @hw_type:            Hardware type for the cap info
- * @reserved:           reserved field for alignment
- * @hw_version:         Hardware version
- *
- */
-struct cam_isp_dev_cap_info {
-	uint32_t              hw_type;
-	uint32_t              reserved;
-	struct cam_hw_version hw_version;
-};
-
-/**
- * struct cam_isp_query_cap_cmd - ISP query device capability payload
- *
- * @device_iommu:               returned iommu handles for device
- * @cdm_iommu:                  returned iommu handles for cdm
- * @num_dev:                    returned number of device capabilities
- * @reserved:                   reserved field for alignment
- * @dev_caps:                   returned device capability array
- *
- */
-struct cam_isp_query_cap_cmd {
-	struct cam_iommu_handle       device_iommu;
-	struct cam_iommu_handle       cdm_iommu;
-	int32_t                       num_dev;
-	uint32_t                      reserved;
-	struct cam_isp_dev_cap_info   dev_caps[CAM_ISP_HW_MAX];
-};
-
-/* Acquire Device */
-/**
- * struct cam_isp_out_port_info - An output port resource info
- *
- * @res_type:                   output resource type defined in file
- *                              cam_isp_vfe.h or cam_isp_ife.h
- * @format:                     output format of the resource
- * @wdith:                      output width in pixels
- * @height:                     output height in lines
- * @comp_grp_id:                composite group id for the resource.
- * @split_point:                split point in pixels for the dual VFE.
- * @secure_mode:                flag to tell if output should be run in secure
- *                              mode or not. See cam_defs.h for definition
- * @reserved:                   reserved field for alignment
- *
- */
-struct cam_isp_out_port_info {
-	uint32_t                res_type;
-	uint32_t                format;
-	uint32_t                width;
-	uint32_t                height;
-	uint32_t                comp_grp_id;
-	uint32_t                split_point;
-	uint32_t                secure_mode;
-	uint32_t                reserved;
-};
-
-/**
- * struct cam_isp_in_port_info - An input port resource info
- *
- * @res_type:                   input resource type define in file
- *                              cam_isp_vfe.h or cam_isp_ife.h
- * @lane_type:                  lane type: c-phy or d-phy.
- * @lane_num:                   active lane number
- * @lane_cfg:                   lane configurations: 4 bits per lane
- * @vc:                         input virtual channel number
- * @dt:                         input data type number
- * @format:                     input format
- * @test_pattern:               test pattern for the testgen
- * @usage_type:                 whether dual vfe is required
- * @left_start:                 left input start offset in pixels
- * @left_stop:                  left input stop offset in pixels
- * @left_width:                 left input width in pixels
- * @right_start:                right input start offset in pixels.
- *                              Only for Dual VFE
- * @right_stop:                 right input stop offset in pixels.
- *                              Only for Dual VFE
- * @right_width:                right input width in pixels.
- *                              Only for dual VFE
- * @line_start:                 top of the line number
- * @line_stop:                  bottome of the line number
- * @height:                     input height in lines
- * @pixel_clk;                  sensor output clock
- * @batch_size:                 batch size for HFR mode
- * @dsp_mode:                   DSP stream mode (Defines as CAM_ISP_DSP_MODE_*)
- * @hbi_cnt:                    HBI count for the camif input
- * @reserved:                   Reserved field for alignment
- * @num_out_res:                number of the output resource associated
- * @data:                       payload that contains the output resources
- *
- */
-struct cam_isp_in_port_info {
-	uint32_t                        res_type;
-	uint32_t                        lane_type;
-	uint32_t                        lane_num;
-	uint32_t                        lane_cfg;
-	uint32_t                        vc;
-	uint32_t                        dt;
-	uint32_t                        format;
-	uint32_t                        test_pattern;
-	uint32_t                        usage_type;
-	uint32_t                        left_start;
-	uint32_t                        left_stop;
-	uint32_t                        left_width;
-	uint32_t                        right_start;
-	uint32_t                        right_stop;
-	uint32_t                        right_width;
-	uint32_t                        line_start;
-	uint32_t                        line_stop;
-	uint32_t                        height;
-	uint32_t                        pixel_clk;
-	uint32_t                        batch_size;
-	uint32_t                        dsp_mode;
-	uint32_t                        hbi_cnt;
-        uint32_t                        custom_csid;
-	uint32_t                        reserved;
-	uint32_t                        num_out_res;
-	struct cam_isp_out_port_info    data[1];
-};
-
-/**
- * struct cam_isp_resource - A resource bundle
- *
- * @resoruce_id:                resource id for the resource bundle
- * @length:                     length of the while resource blob
- * @handle_type:                type of the resource handle
- * @reserved:                   reserved field for alignment
- * @res_hdl:                    resource handle that points to the
- *                                     resource array;
- *
- */
-struct cam_isp_resource {
-	uint32_t                       resource_id;
-	uint32_t                       length;
-	uint32_t                       handle_type;
-	uint32_t                       reserved;
-	uint64_t                       res_hdl;
-};
-
-/**
- * struct cam_isp_port_hfr_config - HFR configuration for this port
- *
- * @resource_type:              Resource type
- * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @subsample_period:           Subsample period. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @framedrop_pattern:          Framedrop pattern
- * @framedrop_period:           Framedrop period
- * @reserved:                   Reserved for alignment
- */
-struct cam_isp_port_hfr_config {
-	uint32_t                       resource_type;
-	uint32_t                       subsample_pattern;
-	uint32_t                       subsample_period;
-	uint32_t                       framedrop_pattern;
-	uint32_t                       framedrop_period;
-	uint32_t                       reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_isp_resource_hfr_config - Resource HFR configuration
- *
- * @num_ports:                  Number of ports
- * @reserved:                   Reserved for alignment
- * @port_hfr_config:            HFR configuration for each IO port
- */
-struct cam_isp_resource_hfr_config {
-	uint32_t                       num_ports;
-	uint32_t                       reserved;
-	struct cam_isp_port_hfr_config port_hfr_config[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_dual_split_params - dual isp spilt parameters
- *
- * @split_point:                Split point information x, where (0 < x < width)
- *                              left ISP's input ends at x + righ padding and
- *                              Right ISP's input starts at x - left padding
- * @right_padding:              Padding added past the split point for left
- *                              ISP's input
- * @left_padding:               Padding added before split point for right
- *                              ISP's input
- * @reserved:                   Reserved filed for alignment
- *
- */
-struct cam_isp_dual_split_params {
-	uint32_t                       split_point;
-	uint32_t                       right_padding;
-	uint32_t                       left_padding;
-	uint32_t                       reserved;
-};
-
-/**
- * struct cam_isp_dual_stripe_config - stripe config per bus client
- *
- * @offset:                     Start horizontal offset relative to
- *                              output buffer
- *                              In UBWC mode, this value indicates the H_INIT
- *                              value in pixel
- * @width:                      Width of the stripe in bytes
- * @tileconfig                  Ubwc meta tile config. Contain the partial
- *                              tile info
- * @port_id:                    port id of ISP output
- *
- */
-struct cam_isp_dual_stripe_config {
-	uint32_t                       offset;
-	uint32_t                       width;
-	uint32_t                       tileconfig;
-	uint32_t                       port_id;
-};
-
-/**
- * struct cam_isp_dual_config - dual isp configuration
- *
- * @num_ports                   Number of isp output ports
- * @reserved                    Reserved field for alignment
- * @split_params:               Inpput split parameters
- * @stripes:                    Stripe information
- *
- */
-struct cam_isp_dual_config {
-	uint32_t                           num_ports;
-	uint32_t                           reserved;
-	struct cam_isp_dual_split_params   split_params;
-	struct cam_isp_dual_stripe_config  stripes[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_clock_config - Clock configuration
- *
- * @usage_type:                 Usage type (Single/Dual)
- * @num_rdi:                    Number of RDI votes
- * @left_pix_hz:                Pixel Clock for Left ISP
- * @right_pix_hz:               Pixel Clock for Right ISP, valid only if Dual
- * @rdi_hz:                     RDI Clock. ISP clock will be max of RDI and
- *                              PIX clocks. For a particular context which ISP
- *                              HW the RDI is allocated to is not known to UMD.
- *                              Hence pass the clock and let KMD decide.
- */
-struct cam_isp_clock_config {
-	uint32_t                       usage_type;
-	uint32_t                       num_rdi;
-	uint64_t                       left_pix_hz;
-	uint64_t                       right_pix_hz;
-	uint64_t                       rdi_hz[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_bw_vote - Bandwidth vote information
- *
- * @resource_id:                Resource ID
- * @reserved:                   Reserved field for alignment
- * @cam_bw_bps:                 Bandwidth vote for CAMNOC
- * @ext_bw_bps:                 Bandwidth vote for path-to-DDR after CAMNOC
- */
-
-struct cam_isp_bw_vote {
-	uint32_t                       resource_id;
-	uint32_t                       reserved;
-	uint64_t                       cam_bw_bps;
-	uint64_t                       ext_bw_bps;
-} __attribute__((packed));
-
-/**
- * struct cam_isp_bw_config - Bandwidth configuration
- *
- * @usage_type:                 Usage type (Single/Dual)
- * @num_rdi:                    Number of RDI votes
- * @left_pix_vote:              Bandwidth vote for left ISP
- * @right_pix_vote:             Bandwidth vote for right ISP
- * @rdi_vote:                   RDI bandwidth requirements
- */
-
-struct cam_isp_bw_config {
-	uint32_t                       usage_type;
-	uint32_t                       num_rdi;
-	struct cam_isp_bw_vote         left_pix_vote;
-	struct cam_isp_bw_vote         right_pix_vote;
-	struct cam_isp_bw_vote         rdi_vote[1];
-} __attribute__((packed));
-
-#endif /* __UAPI_CAM_ISP_H__ */
diff --git a/third_party/linux/include/media/cam_isp_ife.h b/third_party/linux/include/media/cam_isp_ife.h
deleted file mode 100644
index f5e72813fc..0000000000
--- a/third_party/linux/include/media/cam_isp_ife.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#ifndef __UAPI_CAM_ISP_IFE_H__
-#define __UAPI_CAM_ISP_IFE_H__
-
-/* IFE output port resource type (global unique)*/
-#define CAM_ISP_IFE_OUT_RES_BASE               0x3000
-
-#define CAM_ISP_IFE_OUT_RES_FULL               (CAM_ISP_IFE_OUT_RES_BASE + 0)
-#define CAM_ISP_IFE_OUT_RES_DS4                (CAM_ISP_IFE_OUT_RES_BASE + 1)
-#define CAM_ISP_IFE_OUT_RES_DS16               (CAM_ISP_IFE_OUT_RES_BASE + 2)
-#define CAM_ISP_IFE_OUT_RES_RAW_DUMP           (CAM_ISP_IFE_OUT_RES_BASE + 3)
-#define CAM_ISP_IFE_OUT_RES_FD                 (CAM_ISP_IFE_OUT_RES_BASE + 4)
-#define CAM_ISP_IFE_OUT_RES_PDAF               (CAM_ISP_IFE_OUT_RES_BASE + 5)
-#define CAM_ISP_IFE_OUT_RES_RDI_0              (CAM_ISP_IFE_OUT_RES_BASE + 6)
-#define CAM_ISP_IFE_OUT_RES_RDI_1              (CAM_ISP_IFE_OUT_RES_BASE + 7)
-#define CAM_ISP_IFE_OUT_RES_RDI_2              (CAM_ISP_IFE_OUT_RES_BASE + 8)
-#define CAM_ISP_IFE_OUT_RES_RDI_3              (CAM_ISP_IFE_OUT_RES_BASE + 9)
-#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_IFE_OUT_RES_BASE + 10)
-#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_IFE_OUT_RES_BASE + 11)
-#define CAM_ISP_IFE_OUT_RES_STATS_TL_BG        (CAM_ISP_IFE_OUT_RES_BASE + 12)
-#define CAM_ISP_IFE_OUT_RES_STATS_BF           (CAM_ISP_IFE_OUT_RES_BASE + 13)
-#define CAM_ISP_IFE_OUT_RES_STATS_AWB_BG       (CAM_ISP_IFE_OUT_RES_BASE + 14)
-#define CAM_ISP_IFE_OUT_RES_STATS_BHIST        (CAM_ISP_IFE_OUT_RES_BASE + 15)
-#define CAM_ISP_IFE_OUT_RES_STATS_RS           (CAM_ISP_IFE_OUT_RES_BASE + 16)
-#define CAM_ISP_IFE_OUT_RES_STATS_CS           (CAM_ISP_IFE_OUT_RES_BASE + 17)
-#define CAM_ISP_IFE_OUT_RES_STATS_IHIST        (CAM_ISP_IFE_OUT_RES_BASE + 18)
-#define CAM_ISP_IFE_OUT_RES_MAX                (CAM_ISP_IFE_OUT_RES_BASE + 19)
-
-
-/* IFE input port resource type (global unique) */
-#define CAM_ISP_IFE_IN_RES_BASE                 0x4000
-
-#define CAM_ISP_IFE_IN_RES_TPG                 (CAM_ISP_IFE_IN_RES_BASE + 0)
-#define CAM_ISP_IFE_IN_RES_PHY_0               (CAM_ISP_IFE_IN_RES_BASE + 1)
-#define CAM_ISP_IFE_IN_RES_PHY_1               (CAM_ISP_IFE_IN_RES_BASE + 2)
-#define CAM_ISP_IFE_IN_RES_PHY_2               (CAM_ISP_IFE_IN_RES_BASE + 3)
-#define CAM_ISP_IFE_IN_RES_PHY_3               (CAM_ISP_IFE_IN_RES_BASE + 4)
-#define CAM_ISP_IFE_IN_RES_MAX                 (CAM_ISP_IFE_IN_RES_BASE + 5)
-
-#endif /* __UAPI_CAM_ISP_IFE_H__ */
diff --git a/third_party/linux/include/media/cam_isp_vfe.h b/third_party/linux/include/media/cam_isp_vfe.h
deleted file mode 100644
index e48db2f98d..0000000000
--- a/third_party/linux/include/media/cam_isp_vfe.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#ifndef __UAPI_CAM_ISP_VFE_H__
-#define __UAPI_CAM_ISP_VFE_H__
-
-/* VFE output port resource type  (global unique)  */
-#define CAM_ISP_VFE_OUT_RES_BASE               0x1000
-
-#define CAM_ISP_VFE_OUT_RES_ENC                (CAM_ISP_VFE_OUT_RES_BASE + 0)
-#define CAM_ISP_VFE_OUT_RES_VIEW               (CAM_ISP_VFE_OUT_RES_BASE + 1)
-#define CAM_ISP_VFE_OUT_RES_VID                (CAM_ISP_VFE_OUT_RES_BASE + 2)
-#define CAM_ISP_VFE_OUT_RES_RDI_0              (CAM_ISP_VFE_OUT_RES_BASE + 3)
-#define CAM_ISP_VFE_OUT_RES_RDI_1              (CAM_ISP_VFE_OUT_RES_BASE + 4)
-#define CAM_ISP_VFE_OUT_RES_RDI_2              (CAM_ISP_VFE_OUT_RES_BASE + 5)
-#define CAM_ISP_VFE_OUT_RES_RDI_3              (CAM_ISP_VFE_OUT_RES_BASE + 6)
-#define CAM_ISP_VFE_OUT_RES_STATS_AEC          (CAM_ISP_VFE_OUT_RES_BASE + 7)
-#define CAM_ISP_VFE_OUT_RES_STATS_AF           (CAM_ISP_VFE_OUT_RES_BASE + 8)
-#define CAM_ISP_VFE_OUT_RES_STATS_AWB          (CAM_ISP_VFE_OUT_RES_BASE + 9)
-#define CAM_ISP_VFE_OUT_RES_STATS_RS           (CAM_ISP_VFE_OUT_RES_BASE + 10)
-#define CAM_ISP_VFE_OUT_RES_STATS_CS           (CAM_ISP_VFE_OUT_RES_BASE + 11)
-#define CAM_ISP_VFE_OUT_RES_STATS_IHIST        (CAM_ISP_VFE_OUT_RES_BASE + 12)
-#define CAM_ISP_VFE_OUT_RES_STATS_SKIN         (CAM_ISP_VFE_OUT_RES_BASE + 13)
-#define CAM_ISP_VFE_OUT_RES_STATS_BG           (CAM_ISP_VFE_OUT_RES_BASE + 14)
-#define CAM_ISP_VFE_OUT_RES_STATS_BF           (CAM_ISP_VFE_OUT_RES_BASE + 15)
-#define CAM_ISP_VFE_OUT_RES_STATS_BE           (CAM_ISP_VFE_OUT_RES_BASE + 16)
-#define CAM_ISP_VFE_OUT_RES_STATS_BHIST        (CAM_ISP_VFE_OUT_RES_BASE + 17)
-#define CAM_ISP_VFE_OUT_RES_STATS_BF_SCALE     (CAM_ISP_VFE_OUT_RES_BASE + 18)
-#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_VFE_OUT_RES_BASE + 19)
-#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_VFE_OUT_RES_BASE + 20)
-#define CAM_ISP_VFE_OUT_RES_STATS_AEC_BG       (CAM_ISP_VFE_OUT_RES_BASE + 21)
-#define CAM_ISP_VFE_OUT_RES_CAMIF_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 22)
-#define CAM_ISP_VFE_OUT_RES_IDEAL_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 23)
-#define CAM_ISP_VFE_OUT_RES_MAX                (CAM_ISP_VFE_OUT_RES_BASE + 24)
-
-/* VFE input port_ resource type (global unique) */
-#define CAM_ISP_VFE_IN_RES_BASE                0x2000
-
-#define CAM_ISP_VFE_IN_RES_TPG                 (CAM_ISP_VFE_IN_RES_BASE + 0)
-#define CAM_ISP_VFE_IN_RES_PHY_0               (CAM_ISP_VFE_IN_RES_BASE + 1)
-#define CAM_ISP_VFE_IN_RES_PHY_1               (CAM_ISP_VFE_IN_RES_BASE + 2)
-#define CAM_ISP_VFE_IN_RES_PHY_2               (CAM_ISP_VFE_IN_RES_BASE + 3)
-#define CAM_ISP_VFE_IN_RES_PHY_3               (CAM_ISP_VFE_IN_RES_BASE + 4)
-#define CAM_ISP_VFE_IN_RES_FE                  (CAM_ISP_VFE_IN_RES_BASE + 5)
-#define CAM_ISP_VFE_IN_RES_MAX                 (CAM_ISP_VFE_IN_RES_BASE + 6)
-
-#endif /* __UAPI_CAM_ISP_VFE_H__ */
diff --git a/third_party/linux/include/media/cam_jpeg.h b/third_party/linux/include/media/cam_jpeg.h
deleted file mode 100644
index f3082f3bfe..0000000000
--- a/third_party/linux/include/media/cam_jpeg.h
+++ /dev/null
@@ -1,117 +0,0 @@
-#ifndef __UAPI_CAM_JPEG_H__
-#define __UAPI_CAM_JPEG_H__
-
-#include "cam_defs.h"
-
-/* enc, dma, cdm(enc/dma) are used in querycap */
-#define CAM_JPEG_DEV_TYPE_ENC      0
-#define CAM_JPEG_DEV_TYPE_DMA      1
-#define CAM_JPEG_DEV_TYPE_MAX      2
-
-#define CAM_JPEG_NUM_DEV_PER_RES_MAX      1
-
-/* definitions needed for jpeg aquire device */
-#define CAM_JPEG_RES_TYPE_ENC        0
-#define CAM_JPEG_RES_TYPE_DMA        1
-#define CAM_JPEG_RES_TYPE_MAX        2
-
-/* packet opcode types */
-#define CAM_JPEG_OPCODE_ENC_UPDATE 0
-#define CAM_JPEG_OPCODE_DMA_UPDATE 1
-
-/* ENC input port resource type */
-#define CAM_JPEG_ENC_INPUT_IMAGE                 0x0
-
-/* ENC output port resource type */
-#define CAM_JPEG_ENC_OUTPUT_IMAGE                0x1
-
-#define CAM_JPEG_ENC_IO_IMAGES_MAX               0x2
-
-/* DMA input port resource type */
-#define CAM_JPEG_DMA_INPUT_IMAGE                 0x0
-
-/* DMA output port resource type */
-#define CAM_JPEG_DMA_OUTPUT_IMAGE                0x1
-
-#define CAM_JPEG_DMA_IO_IMAGES_MAX               0x2
-
-#define CAM_JPEG_IMAGE_MAX                       0x2
-
-/**
- * struct cam_jpeg_dev_ver - Device information for particular hw type
- *
- * This is used to get device version info of JPEG ENC, JPEG DMA
- * from hardware and use this info in CAM_QUERY_CAP IOCTL
- *
- * @size : Size of struct passed
- * @dev_type: Hardware type for the cap info(jpeg enc, jpeg dma)
- * @hw_ver: Major, minor and incr values of a device version
- */
-struct cam_jpeg_dev_ver {
-	uint32_t size;
-	uint32_t dev_type;
-	struct cam_hw_version hw_ver;
-};
-
-/**
- * struct cam_jpeg_query_cap_cmd - JPEG query device capability payload
- *
- * @dev_iommu_handle: Jpeg iommu handles for secure/non secure
- *      modes
- * @cdm_iommu_handle: Iommu handles for secure/non secure modes
- * @num_enc: Number of encoder
- * @num_dma: Number of dma
- * @dev_ver: Returned device capability array
- */
-struct cam_jpeg_query_cap_cmd {
-	struct cam_iommu_handle dev_iommu_handle;
-	struct cam_iommu_handle cdm_iommu_handle;
-	uint32_t num_enc;
-	uint32_t num_dma;
-	struct cam_jpeg_dev_ver dev_ver[CAM_JPEG_DEV_TYPE_MAX];
-};
-
-/**
- * struct cam_jpeg_res_info - JPEG output resource info
- *
- * @format: Format of the resource
- * @width:  Width in pixels
- * @height: Height in lines
- * @fps:  Fps
- */
-struct cam_jpeg_res_info {
-	uint32_t format;
-	uint32_t width;
-	uint32_t height;
-	uint32_t fps;
-};
-
-/**
- * struct cam_jpeg_acquire_dev_info - An JPEG device info
- *
- * @dev_type: Device type (ENC/DMA)
- * @reserved: Reserved Bytes
- * @in_res: In resource info
- * @in_res: Iut resource info
- */
-struct cam_jpeg_acquire_dev_info {
-	uint32_t dev_type;
-	uint32_t reserved;
-	struct cam_jpeg_res_info in_res;
-	struct cam_jpeg_res_info out_res;
-};
-
-/**
- * struct cam_jpeg_config_inout_param_info - JPEG Config time
- *     input output params
- *
- * @clk_index: Input Param- clock selection index.(-1 default)
- * @output_size: Output Param - jpeg encode/dma output size in
- *     bytes
- */
-struct cam_jpeg_config_inout_param_info {
-	int32_t clk_index;
-	int32_t output_size;
-};
-
-#endif /* __UAPI_CAM_JPEG_H__ */
diff --git a/third_party/linux/include/media/cam_lrme.h b/third_party/linux/include/media/cam_lrme.h
deleted file mode 100644
index 97d957835e..0000000000
--- a/third_party/linux/include/media/cam_lrme.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#ifndef __UAPI_CAM_LRME_H__
-#define __UAPI_CAM_LRME_H__
-
-#include "cam_defs.h"
-
-/* LRME Resource Types */
-
-enum CAM_LRME_IO_TYPE {
-	CAM_LRME_IO_TYPE_TAR,
-	CAM_LRME_IO_TYPE_REF,
-	CAM_LRME_IO_TYPE_RES,
-	CAM_LRME_IO_TYPE_DS2,
-};
-
-#define CAM_LRME_INPUT_PORT_TYPE_TAR (1 << 0)
-#define CAM_LRME_INPUT_PORT_TYPE_REF (1 << 1)
-
-#define CAM_LRME_OUTPUT_PORT_TYPE_DS2 (1 << 0)
-#define CAM_LRME_OUTPUT_PORT_TYPE_RES (1 << 1)
-
-#define CAM_LRME_DEV_MAX 1
-
-
-struct cam_lrme_hw_version {
-	uint32_t gen;
-	uint32_t rev;
-	uint32_t step;
-};
-
-struct cam_lrme_dev_cap {
-	struct cam_lrme_hw_version clc_hw_version;
-	struct cam_lrme_hw_version bus_rd_hw_version;
-	struct cam_lrme_hw_version bus_wr_hw_version;
-	struct cam_lrme_hw_version top_hw_version;
-	struct cam_lrme_hw_version top_titan_version;
-};
-
-/**
- * struct cam_lrme_query_cap_cmd - LRME query device capability payload
- *
- * @dev_iommu_handle: LRME iommu handles for secure/non secure
- *      modes
- * @cdm_iommu_handle: Iommu handles for secure/non secure modes
- * @num_devices: number of hardware devices
- * @dev_caps: Returned device capability array
- */
-struct cam_lrme_query_cap_cmd {
-	struct cam_iommu_handle device_iommu;
-	struct cam_iommu_handle cdm_iommu;
-	uint32_t num_devices;
-	struct cam_lrme_dev_cap dev_caps[CAM_LRME_DEV_MAX];
-};
-
-struct cam_lrme_soc_info {
-	uint64_t clock_rate;
-	uint64_t bandwidth;
-	uint64_t reserved[4];
-};
-
-struct cam_lrme_acquire_args {
-	struct cam_lrme_soc_info lrme_soc_info;
-};
-
-#endif /* __UAPI_CAM_LRME_H__ */
-
diff --git a/third_party/linux/include/media/cam_req_mgr.h b/third_party/linux/include/media/cam_req_mgr.h
deleted file mode 100644
index ae65649964..0000000000
--- a/third_party/linux/include/media/cam_req_mgr.h
+++ /dev/null
@@ -1,436 +0,0 @@
-#ifndef __UAPI_LINUX_CAM_REQ_MGR_H
-#define __UAPI_LINUX_CAM_REQ_MGR_H
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <linux/media.h>
-#include <media/cam_defs.h>
-
-#define CAM_REQ_MGR_VNODE_NAME "cam-req-mgr-devnode"
-
-#define CAM_DEVICE_TYPE_BASE      (MEDIA_ENT_F_OLD_BASE)
-#define CAM_VNODE_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE)
-#define CAM_SENSOR_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 1)
-#define CAM_IFE_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 2)
-#define CAM_ICP_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 3)
-#define CAM_LRME_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 4)
-#define CAM_JPEG_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 5)
-#define CAM_FD_DEVICE_TYPE        (CAM_DEVICE_TYPE_BASE + 6)
-#define CAM_CPAS_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 7)
-#define CAM_CSIPHY_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 8)
-#define CAM_ACTUATOR_DEVICE_TYPE  (CAM_DEVICE_TYPE_BASE + 9)
-#define CAM_CCI_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 10)
-#define CAM_FLASH_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE + 11)
-#define CAM_EEPROM_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 12)
-#define CAM_OIS_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 13)
-
-/* cam_req_mgr hdl info */
-#define CAM_REQ_MGR_HDL_IDX_POS           8
-#define CAM_REQ_MGR_HDL_IDX_MASK          ((1 << CAM_REQ_MGR_HDL_IDX_POS) - 1)
-#define CAM_REQ_MGR_GET_HDL_IDX(hdl)      (hdl & CAM_REQ_MGR_HDL_IDX_MASK)
-
-/**
- * Max handles supported by cam_req_mgr
- * It includes both session and device handles
- */
-#define CAM_REQ_MGR_MAX_HANDLES           64
-#define MAX_LINKS_PER_SESSION             2
-
-/* V4L event type which user space will subscribe to */
-#define V4L_EVENT_CAM_REQ_MGR_EVENT       (V4L2_EVENT_PRIVATE_START + 0)
-
-/* Specific event ids to get notified in user space */
-#define V4L_EVENT_CAM_REQ_MGR_SOF            0
-#define V4L_EVENT_CAM_REQ_MGR_ERROR          1
-#define V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS    2
-
-/* SOF Event status */
-#define CAM_REQ_MGR_SOF_EVENT_SUCCESS           0
-#define CAM_REQ_MGR_SOF_EVENT_ERROR             1
-
-/* Link control operations */
-#define CAM_REQ_MGR_LINK_ACTIVATE               0
-#define CAM_REQ_MGR_LINK_DEACTIVATE             1
-
-/**
- * Request Manager : flush_type
- * @CAM_REQ_MGR_FLUSH_TYPE_ALL: Req mgr will remove all the pending
- * requests from input/processing queue.
- * @CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ: Req mgr will remove only particular
- * request id from input/processing queue.
- * @CAM_REQ_MGR_FLUSH_TYPE_MAX: Max number of the flush type
- * @opcode: CAM_REQ_MGR_FLUSH_REQ
- */
-#define CAM_REQ_MGR_FLUSH_TYPE_ALL          0
-#define CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ   1
-#define CAM_REQ_MGR_FLUSH_TYPE_MAX          2
-
-/**
- * Request Manager : Sync Mode type
- * @CAM_REQ_MGR_SYNC_MODE_NO_SYNC: Req mgr will apply non-sync mode for this
- * request.
- * @CAM_REQ_MGR_SYNC_MODE_SYNC: Req mgr will apply sync mode for this request.
- */
-#define CAM_REQ_MGR_SYNC_MODE_NO_SYNC   0
-#define CAM_REQ_MGR_SYNC_MODE_SYNC      1
-
-/**
- * struct cam_req_mgr_event_data
- * @session_hdl: session handle
- * @link_hdl: link handle
- * @frame_id: frame id
- * @reserved: reserved for 64 bit aligngment
- * @req_id: request id
- * @tv_sec: timestamp in seconds
- * @tv_usec: timestamp in micro seconds
- */
-struct cam_req_mgr_event_data {
-	int32_t   session_hdl;
-	int32_t   link_hdl;
-	int32_t   frame_id;
-	int32_t   reserved;
-	int64_t   req_id;
-	uint64_t  tv_sec;
-	uint64_t  tv_usec;
-};
-
-/**
- * struct cam_req_mgr_session_info
- * @session_hdl: In/Output param - session_handle
- * @opcode1: CAM_REQ_MGR_CREATE_SESSION
- * @opcode2: CAM_REQ_MGR_DESTROY_SESSION
- */
-struct cam_req_mgr_session_info {
-	int32_t session_hdl;
-	int32_t reserved;
-};
-
-/**
- * struct cam_req_mgr_link_info
- * @session_hdl: Input param - Identifier for CSL session
- * @num_devices: Input Param - Num of devices to be linked
- * @dev_hdls: Input param - List of device handles to be linked
- * @link_hdl: Output Param -Identifier for link
- * @opcode: CAM_REQ_MGR_LINK
- */
-struct cam_req_mgr_link_info {
-	int32_t session_hdl;
-	uint32_t num_devices;
-	int32_t dev_hdls[CAM_REQ_MGR_MAX_HANDLES];
-	int32_t link_hdl;
-};
-
-/**
- * struct cam_req_mgr_unlink_info
- * @session_hdl: input param - session handle
- * @link_hdl: input param - link handle
- * @opcode: CAM_REQ_MGR_UNLINK
- */
-struct cam_req_mgr_unlink_info {
-	int32_t session_hdl;
-	int32_t link_hdl;
-};
-
-/**
- * struct cam_req_mgr_flush_info
- * @brief: User can tell drivers to flush a particular request id or
- * flush all requests from its pending processing queue. Flush is a
- * blocking call and driver shall ensure all requests are flushed
- * before returning.
- * @session_hdl: Input param - Identifier for CSL session
- * @link_hdl: Input Param -Identifier for link
- * @flush_type: User can cancel a particular req id or can flush
- * all requests in queue
- * @reserved: reserved for 64 bit aligngment
- * @req_id: field is valid only if flush type is cancel request
- * for flush all this field value is not considered.
- * @opcode: CAM_REQ_MGR_FLUSH_REQ
- */
-struct cam_req_mgr_flush_info {
-	int32_t session_hdl;
-	int32_t link_hdl;
-	uint32_t flush_type;
-	uint32_t reserved;
-	int64_t req_id;
-};
-
-/** struct cam_req_mgr_sched_info
- * @session_hdl: Input param - Identifier for CSL session
- * @link_hdl: Input Param -Identifier for link
- * inluding itself.
- * @bubble_enable: Input Param - Cam req mgr will do bubble recovery if this
- * flag is set.
- * @sync_mode: Type of Sync mode for this request
- * @req_id: Input Param - Request Id from which all requests will be flushed
- */
-struct cam_req_mgr_sched_request {
-	int32_t session_hdl;
-	int32_t link_hdl;
-	int32_t bubble_enable;
-	int32_t sync_mode;
-	int64_t req_id;
-};
-
-/**
- * struct cam_req_mgr_sync_mode
- * @session_hdl:         Input param - Identifier for CSL session
- * @sync_mode:           Input Param - Type of sync mode
- * @num_links:           Input Param - Num of links in sync mode (Valid only
- *                             when sync_mode is one of SYNC enabled modes)
- * @link_hdls:           Input Param - Array of link handles to be in sync mode
- *                             (Valid only when sync_mode is one of SYNC
- *                             enabled modes)
- * @master_link_hdl:     Input Param - To dictate which link's SOF drives system
- *                             (Valid only when sync_mode is one of SYNC
- *                             enabled modes)
- *
- * @opcode: CAM_REQ_MGR_SYNC_MODE
- */
-struct cam_req_mgr_sync_mode {
-	int32_t session_hdl;
-	int32_t sync_mode;
-	int32_t num_links;
-	int32_t link_hdls[MAX_LINKS_PER_SESSION];
-	int32_t master_link_hdl;
-	int32_t reserved;
-};
-
-/**
- * struct cam_req_mgr_link_control
- * @ops:                 Link operations: activate/deactive
- * @session_hdl:         Input param - Identifier for CSL session
- * @num_links:           Input Param - Num of links
- * @reserved:            reserved field
- * @link_hdls:           Input Param - Links to be activated/deactivated
- *
- * @opcode: CAM_REQ_MGR_LINK_CONTROL
- */
-struct cam_req_mgr_link_control {
-	int32_t ops;
-	int32_t session_hdl;
-	int32_t num_links;
-	int32_t reserved;
-	int32_t link_hdls[MAX_LINKS_PER_SESSION];
-};
-
-/**
- * cam_req_mgr specific opcode ids
- */
-#define CAM_REQ_MGR_CREATE_DEV_NODES            (CAM_COMMON_OPCODE_MAX + 1)
-#define CAM_REQ_MGR_CREATE_SESSION              (CAM_COMMON_OPCODE_MAX + 2)
-#define CAM_REQ_MGR_DESTROY_SESSION             (CAM_COMMON_OPCODE_MAX + 3)
-#define CAM_REQ_MGR_LINK                        (CAM_COMMON_OPCODE_MAX + 4)
-#define CAM_REQ_MGR_UNLINK                      (CAM_COMMON_OPCODE_MAX + 5)
-#define CAM_REQ_MGR_SCHED_REQ                   (CAM_COMMON_OPCODE_MAX + 6)
-#define CAM_REQ_MGR_FLUSH_REQ                   (CAM_COMMON_OPCODE_MAX + 7)
-#define CAM_REQ_MGR_SYNC_MODE                   (CAM_COMMON_OPCODE_MAX + 8)
-#define CAM_REQ_MGR_ALLOC_BUF                   (CAM_COMMON_OPCODE_MAX + 9)
-#define CAM_REQ_MGR_MAP_BUF                     (CAM_COMMON_OPCODE_MAX + 10)
-#define CAM_REQ_MGR_RELEASE_BUF                 (CAM_COMMON_OPCODE_MAX + 11)
-#define CAM_REQ_MGR_CACHE_OPS                   (CAM_COMMON_OPCODE_MAX + 12)
-#define CAM_REQ_MGR_LINK_CONTROL                (CAM_COMMON_OPCODE_MAX + 13)
-/* end of cam_req_mgr opcodes */
-
-#define CAM_MEM_FLAG_HW_READ_WRITE              (1<<0)
-#define CAM_MEM_FLAG_HW_READ_ONLY               (1<<1)
-#define CAM_MEM_FLAG_HW_WRITE_ONLY              (1<<2)
-#define CAM_MEM_FLAG_KMD_ACCESS                 (1<<3)
-#define CAM_MEM_FLAG_UMD_ACCESS                 (1<<4)
-#define CAM_MEM_FLAG_PROTECTED_MODE             (1<<5)
-#define CAM_MEM_FLAG_CMD_BUF_TYPE               (1<<6)
-#define CAM_MEM_FLAG_PIXEL_BUF_TYPE             (1<<7)
-#define CAM_MEM_FLAG_STATS_BUF_TYPE             (1<<8)
-#define CAM_MEM_FLAG_PACKET_BUF_TYPE            (1<<9)
-#define CAM_MEM_FLAG_CACHE                      (1<<10)
-#define CAM_MEM_FLAG_HW_SHARED_ACCESS           (1<<11)
-
-#define CAM_MEM_MMU_MAX_HANDLE                  16
-
-/* Maximum allowed buffers in existence */
-#define CAM_MEM_BUFQ_MAX                        1024
-
-#define CAM_MEM_MGR_SECURE_BIT_POS              15
-#define CAM_MEM_MGR_HDL_IDX_SIZE                15
-#define CAM_MEM_MGR_HDL_FD_SIZE                 16
-#define CAM_MEM_MGR_HDL_IDX_END_POS             16
-#define CAM_MEM_MGR_HDL_FD_END_POS              32
-
-#define CAM_MEM_MGR_HDL_IDX_MASK      ((1 << CAM_MEM_MGR_HDL_IDX_SIZE) - 1)
-
-#define GET_MEM_HANDLE(idx, fd) \
-	((idx & CAM_MEM_MGR_HDL_IDX_MASK) | \
-	(fd << (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE))) \
-
-#define GET_FD_FROM_HANDLE(hdl) \
-	(hdl >> (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE)) \
-
-#define CAM_MEM_MGR_GET_HDL_IDX(hdl) (hdl & CAM_MEM_MGR_HDL_IDX_MASK)
-
-#define CAM_MEM_MGR_SET_SECURE_HDL(hdl, flag) \
-	((flag) ? (hdl |= (1 << CAM_MEM_MGR_SECURE_BIT_POS)) : \
-	((hdl) &= ~(1 << CAM_MEM_MGR_SECURE_BIT_POS)))
-
-#define CAM_MEM_MGR_IS_SECURE_HDL(hdl) \
-	(((hdl) & \
-	(1<<CAM_MEM_MGR_SECURE_BIT_POS)) >> CAM_MEM_MGR_SECURE_BIT_POS)
-
-/**
- * memory allocation type
- */
-#define CAM_MEM_DMA_NONE                        0
-#define CAM_MEM_DMA_BIDIRECTIONAL               1
-#define CAM_MEM_DMA_TO_DEVICE                   2
-#define CAM_MEM_DMA_FROM_DEVICE                 3
-
-
-/**
- * memory cache operation
- */
-#define CAM_MEM_CLEAN_CACHE                     1
-#define CAM_MEM_INV_CACHE                       2
-#define CAM_MEM_CLEAN_INV_CACHE                 3
-
-
-/**
- * struct cam_mem_alloc_out_params
- * @buf_handle: buffer handle
- * @fd: output buffer file descriptor
- * @vaddr: virtual address pointer
- */
-struct cam_mem_alloc_out_params {
-	uint32_t buf_handle;
-	int32_t fd;
-	uint64_t vaddr;
-};
-
-/**
- * struct cam_mem_map_out_params
- * @buf_handle: buffer handle
- * @reserved: reserved for future
- * @vaddr: virtual address pointer
- */
-struct cam_mem_map_out_params {
-	uint32_t buf_handle;
-	uint32_t reserved;
-	uint64_t vaddr;
-};
-
-/**
- * struct cam_mem_mgr_alloc_cmd
- * @len: size of buffer to allocate
- * @align: alignment of the buffer
- * @mmu_hdls: array of mmu handles
- * @num_hdl: number of handles
- * @flags: flags of the buffer
- * @out: out params
- */
-/* CAM_REQ_MGR_ALLOC_BUF */
-struct cam_mem_mgr_alloc_cmd {
-	uint64_t len;
-	uint64_t align;
-	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
-	uint32_t num_hdl;
-	uint32_t flags;
-	struct cam_mem_alloc_out_params out;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @mmu_hdls: array of mmu handles
- * @num_hdl: number of handles
- * @flags: flags of the buffer
- * @fd: output buffer file descriptor
- * @reserved: reserved field
- * @out: out params
- */
-
-/* CAM_REQ_MGR_MAP_BUF */
-struct cam_mem_mgr_map_cmd {
-	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
-	uint32_t num_hdl;
-	uint32_t flags;
-	int32_t fd;
-	uint32_t reserved;
-	struct cam_mem_map_out_params out;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @buf_handle: buffer handle
- * @reserved: reserved field
- */
-/* CAM_REQ_MGR_RELEASE_BUF */
-struct cam_mem_mgr_release_cmd {
-	int32_t buf_handle;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @buf_handle: buffer handle
- * @ops: cache operations
- */
-/* CAM_REQ_MGR_CACHE_OPS */
-struct cam_mem_cache_ops_cmd {
-	int32_t buf_handle;
-	uint32_t mem_cache_ops;
-};
-
-/**
- * Request Manager : error message type
- * @CAM_REQ_MGR_ERROR_TYPE_DEVICE: Device error message, fatal to session
- * @CAM_REQ_MGR_ERROR_TYPE_REQUEST: Error on a single request, not fatal
- * @CAM_REQ_MGR_ERROR_TYPE_BUFFER: Buffer was not filled, not fatal
- */
-#define CAM_REQ_MGR_ERROR_TYPE_DEVICE           0
-#define CAM_REQ_MGR_ERROR_TYPE_REQUEST          1
-#define CAM_REQ_MGR_ERROR_TYPE_BUFFER           2
-
-/**
- * struct cam_req_mgr_error_msg
- * @error_type: type of error
- * @request_id: request id of frame
- * @device_hdl: device handle
- * @linke_hdl: link_hdl
- * @resource_size: size of the resource
- */
-struct cam_req_mgr_error_msg {
-	uint32_t error_type;
-	uint32_t request_id;
-	int32_t device_hdl;
-	int32_t link_hdl;
-	uint64_t resource_size;
-};
-
-/**
- * struct cam_req_mgr_frame_msg
- * @request_id: request id of the frame
- * @frame_id: frame id of the frame
- * @timestamp: timestamp of the frame
- * @link_hdl: link handle associated with this message
- * @sof_status: sof status success or fail
- */
-struct cam_req_mgr_frame_msg {
-	uint64_t request_id;
-	uint64_t frame_id;
-	uint64_t timestamp;
-	int32_t  link_hdl;
-	uint32_t sof_status;
-};
-
-/**
- * struct cam_req_mgr_message
- * @session_hdl: session to which the frame belongs to
- * @reserved: reserved field
- * @u: union which can either be error or frame message
- */
-struct cam_req_mgr_message {
-	int32_t session_hdl;
-	int32_t reserved;
-	union {
-		struct cam_req_mgr_error_msg err_msg;
-		struct cam_req_mgr_frame_msg frame_msg;
-	} u;
-};
-#endif /* __UAPI_LINUX_CAM_REQ_MGR_H */
diff --git a/third_party/linux/include/media/cam_sensor.h b/third_party/linux/include/media/cam_sensor.h
deleted file mode 100644
index f5af6047f5..0000000000
--- a/third_party/linux/include/media/cam_sensor.h
+++ /dev/null
@@ -1,477 +0,0 @@
-#ifndef __UAPI_CAM_SENSOR_H__
-#define __UAPI_CAM_SENSOR_H__
-
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <media/cam_defs.h>
-
-#define CAM_SENSOR_PROBE_CMD   (CAM_COMMON_OPCODE_MAX + 1)
-#define CAM_FLASH_MAX_LED_TRIGGERS 3
-#define MAX_OIS_NAME_SIZE 32
-#define CAM_CSIPHY_SECURE_MODE_ENABLED 1
-/**
- * struct cam_sensor_query_cap - capabilities info for sensor
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @secure_camera    :  Camera is in secure/Non-secure mode
- * @pos_pitch        :  Sensor position pitch
- * @pos_roll         :  Sensor position roll
- * @pos_yaw          :  Sensor position yaw
- * @actuator_slot_id :  Actuator slot id which connected to sensor
- * @eeprom_slot_id   :  EEPROM slot id which connected to sensor
- * @ois_slot_id      :  OIS slot id which connected to sensor
- * @flash_slot_id    :  Flash slot id which connected to sensor
- * @csiphy_slot_id   :  CSIphy slot id which connected to sensor
- *
- */
-struct  cam_sensor_query_cap {
-	uint32_t        slot_info;
-	uint32_t        secure_camera;
-	uint32_t        pos_pitch;
-	uint32_t        pos_roll;
-	uint32_t        pos_yaw;
-	uint32_t        actuator_slot_id;
-	uint32_t        eeprom_slot_id;
-	uint32_t        ois_slot_id;
-	uint32_t        flash_slot_id;
-	uint32_t        csiphy_slot_id;
-} __attribute__((packed));
-
-/**
- * struct cam_csiphy_query_cap - capabilities info for csiphy
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @version          :  CSIphy version
- * @clk lane         :  Of the 5 lanes, informs lane configured
- *                      as clock lane
- * @reserved
- */
-struct cam_csiphy_query_cap {
-	uint32_t            slot_info;
-	uint32_t            version;
-	uint32_t            clk_lane;
-	uint32_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_actuator_query_cap - capabilities info for actuator
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @reserved
- */
-struct cam_actuator_query_cap {
-	uint32_t            slot_info;
-	uint32_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_eeprom_query_cap_t - capabilities info for eeprom
- *
- * @slot_info                  :  Indicates about the slotId or cell Index
- * @eeprom_kernel_probe        :  Indicates about the kernel or userspace probe
- */
-struct cam_eeprom_query_cap_t {
-	uint32_t            slot_info;
-	uint16_t            eeprom_kernel_probe;
-	uint16_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_ois_query_cap_t - capabilities info for ois
- *
- * @slot_info                  :  Indicates about the slotId or cell Index
- */
-struct cam_ois_query_cap_t {
-	uint32_t            slot_info;
-	uint16_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_info - Contains slave I2C related info
- *
- * @slave_addr      :    Slave address
- * @i2c_freq_mode   :    4 bits are used for I2c freq mode
- * @cmd_type        :    Explains type of command
- */
-struct cam_cmd_i2c_info {
-	uint16_t    slave_addr;
-	uint8_t     i2c_freq_mode;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * struct cam_ois_opcode - Contains OIS opcode
- *
- * @prog            :    OIS FW prog register address
- * @coeff           :    OIS FW coeff register address
- * @pheripheral     :    OIS pheripheral
- * @memory          :    OIS memory
- */
-struct cam_ois_opcode {
-	uint32_t prog;
-	uint32_t coeff;
-	uint32_t pheripheral;
-	uint32_t memory;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_ois_info - Contains OIS slave info
- *
- * @slave_addr            :    OIS i2c slave address
- * @i2c_freq_mode         :    i2c frequency mode
- * @cmd_type              :    Explains type of command
- * @ois_fw_flag           :    indicates if fw is present or not
- * @is_ois_calib          :    indicates the calibration data is available
- * @ois_name              :    OIS name
- * @opcode                :    opcode
- */
-struct cam_cmd_ois_info {
-	uint16_t              slave_addr;
-	uint8_t               i2c_freq_mode;
-	uint8_t               cmd_type;
-	uint8_t               ois_fw_flag;
-	uint8_t               is_ois_calib;
-	char                  ois_name[MAX_OIS_NAME_SIZE];
-	struct cam_ois_opcode opcode;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_probe - Contains sensor slave info
- *
- * @data_type       :   Slave register data type
- * @addr_type       :   Slave register address type
- * @op_code         :   Don't Care
- * @cmd_type        :   Explains type of command
- * @reg_addr        :   Slave register address
- * @expected_data   :   Data expected at slave register address
- * @data_mask       :   Data mask if only few bits are valid
- * @camera_id       :   Indicates the slot to which camera
- *                      needs to be probed
- * @reserved
- */
-struct cam_cmd_probe {
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint32_t    reg_addr;
-	uint32_t    expected_data;
-	uint32_t    data_mask;
-	uint16_t    camera_id;
-	uint16_t    reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_power_settings - Contains sensor power setting info
- *
- * @power_seq_type  :   Type of power sequence
- * @reserved
- * @config_val_low  :   Lower 32 bit value configuration value
- * @config_val_high :   Higher 32 bit value configuration value
- *
- */
-struct cam_power_settings {
-	uint16_t    power_seq_type;
-	uint16_t    reserved;
-	uint32_t    config_val_low;
-	uint32_t    config_val_high;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_power - Explains about the power settings
- *
- * @count           :    Number of power settings follows
- * @reserved
- * @cmd_type        :    Explains type of command
- * @power_settings  :    Contains power setting info
- */
-struct cam_cmd_power {
-	uint16_t                    count;
-	uint8_t                     reserved;
-	uint8_t                     cmd_type;
-	struct cam_power_settings   power_settings[1];
-} __attribute__((packed));
-
-/**
- * struct i2c_rdwr_header - header of READ/WRITE I2C command
- *
- * @ count           :   Number of registers / data / reg-data pairs
- * @ op_code         :   Operation code
- * @ cmd_type        :   Command buffer type
- * @ data_type       :   I2C data type
- * @ addr_type       :   I2C address type
- * @ reserved
- */
-struct i2c_rdwr_header {
-	uint16_t    count;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint16_t    reserved;
-} __attribute__((packed));
-
-/**
- * struct i2c_random_wr_payload - payload for I2C random write
- *
- * @ reg_addr        :   Register address
- * @ reg_data        :   Register data
- *
- */
-struct i2c_random_wr_payload {
-	uint32_t     reg_addr;
-	uint32_t     reg_data;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_random_wr - I2C random write command
- * @ header            :   header of READ/WRITE I2C command
- * @ random_wr_payload :   payload for I2C random write
- */
-struct cam_cmd_i2c_random_wr {
-	struct i2c_rdwr_header       header;
-	struct i2c_random_wr_payload random_wr_payload[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_read - I2C read command
- * @ reg_data        :   Register data
- * @ reserved
- */
-struct cam_cmd_read {
-	uint32_t                reg_data;
-	uint32_t                reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_continuous_wr - I2C continuous write command
- * @ header          :   header of READ/WRITE I2C command
- * @ reg_addr        :   Register address
- * @ data_read       :   I2C read command
- */
-struct cam_cmd_i2c_continuous_wr {
-	struct i2c_rdwr_header  header;
-	uint32_t                reg_addr;
-	struct cam_cmd_read     data_read[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_random_rd - I2C random read command
- * @ header          :   header of READ/WRITE I2C command
- * @ data_read       :   I2C read command
- */
-struct cam_cmd_i2c_random_rd {
-	struct i2c_rdwr_header  header;
-	struct cam_cmd_read     data_read[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_continuous_rd - I2C continuous continuous read command
- * @ header          :   header of READ/WRITE I2C command
- * @ reg_addr        :   Register address
- *
- */
-struct cam_cmd_i2c_continuous_rd {
-	struct i2c_rdwr_header  header;
-	uint32_t                reg_addr;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_conditional_wait - Conditional wait command
- * @data_type       :   Data type
- * @addr_type       :   Address type
- * @op_code         :   Opcode
- * @cmd_type        :   Explains type of command
- * @timeout         :   Timeout for retries
- * @reserved
- * @reg_addr        :   Register Address
- * @reg_data        :   Register data
- * @data_mask       :   Data mask if only few bits are valid
- * @camera_id       :   Indicates the slot to which camera
- *                      needs to be probed
- *
- */
-struct cam_cmd_conditional_wait {
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint16_t    timeout;
-	uint16_t    reserved;
-	uint32_t    reg_addr;
-	uint32_t    reg_data;
-	uint32_t    data_mask;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_unconditional_wait - Un-conditional wait command
- * @delay           :   Delay
- * @op_code         :   Opcode
- * @cmd_type        :   Explains type of command
- */
-struct cam_cmd_unconditional_wait {
-	int16_t     delay;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * cam_csiphy_info: Provides cmdbuffer structre
- * @lane_mask     : Lane mask details
- * @lane_assign   : Lane sensor will be using
- * @csiphy_3phase : Total number of lanes
- * @combo_mode    : Info regarding combo_mode is enable / disable
- * @lane_cnt      : Total number of lanes
- * @secure_mode   : Secure mode flag to enable / disable
- * @3phase        : Details whether 3Phase / 2Phase operation
- * @settle_time   : Settling time in ms
- * @data_rate     : Data rate
- *
- */
-struct cam_csiphy_info {
-	uint16_t    lane_mask;
-	uint16_t    lane_assign;
-	uint8_t     csiphy_3phase;
-	uint8_t     combo_mode;
-	uint8_t     lane_cnt;
-	uint8_t     secure_mode;
-	uint64_t    settle_time;
-	uint64_t    data_rate;
-} __attribute__((packed));
-
-/**
- * cam_csiphy_acquire_dev_info : Information needed for
- *                        csiphy at the time of acquire
- * @combo_mode     :    Indicates the device mode of operation
- * @reserved
- *
- */
-struct cam_csiphy_acquire_dev_info {
-	uint32_t    combo_mode;
-	uint32_t    reserved;
-} __attribute__((packed));
-
-/**
- * cam_sensor_acquire_dev : Updates sensor acuire cmd
- * @device_handle  :    Updates device handle
- * @session_handle :    Session handle for acquiring device
- * @handle_type    :    Resource handle type
- * @reserved
- * @info_handle    :    Handle to additional info
- *                      needed for sensor sub modules
- *
- */
-struct cam_sensor_acquire_dev {
-	uint32_t    session_handle;
-	uint32_t    device_handle;
-	uint32_t    handle_type;
-	uint32_t    reserved;
-	uint64_t    info_handle;
-} __attribute__((packed));
-
-/**
- * cam_sensor_streamon_dev : StreamOn command for the sensor
- * @session_handle :    Session handle for acquiring device
- * @device_handle  :    Updates device handle
- * @handle_type    :    Resource handle type
- * @reserved
- * @info_handle    :    Information Needed at the time of streamOn
- *
- */
-struct cam_sensor_streamon_dev {
-	uint32_t    session_handle;
-	uint32_t    device_handle;
-	uint32_t    handle_type;
-	uint32_t    reserved;
-	uint64_t    info_handle;
-} __attribute__((packed));
-
-/**
- * struct cam_flash_init : Init command for the flash
- * @flash_type  :    flash hw type
- * @reserved
- * @cmd_type    :    command buffer type
- */
-struct cam_flash_init {
-	uint8_t     flash_type;
-	uint16_t    reserved;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * struct cam_flash_set_rer : RedEyeReduction command buffer
- *
- * @count             :   Number of flash leds
- * @opcode            :   Command buffer opcode
- *			CAM_FLASH_FIRE_RER
- * @cmd_type          :   command buffer operation type
- * @num_iteration     :   Number of led turn on/off sequence
- * @reserved
- * @led_on_delay_ms   :   flash led turn on time in ms
- * @led_off_delay_ms  :   flash led turn off time in ms
- * @led_current_ma    :   flash led current in ma
- *
- */
-struct cam_flash_set_rer {
-	uint16_t    count;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint16_t    num_iteration;
-	uint16_t    reserved;
-	uint32_t    led_on_delay_ms;
-	uint32_t    led_off_delay_ms;
-	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__((packed));
-
-/**
- * struct cam_flash_set_on_off : led turn on/off command buffer
- *
- * @count              :   Number of Flash leds
- * @opcode             :   command buffer opcodes
- *			CAM_FLASH_FIRE_LOW
- *			CAM_FLASH_FIRE_HIGH
- *			CAM_FLASH_OFF
- * @cmd_type           :   command buffer operation type
- * @led_current_ma     :   flash led current in ma
- *
- */
-struct cam_flash_set_on_off {
-	uint16_t    count;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__((packed));
-
-/**
- * struct cam_flash_query_curr : query current command buffer
- *
- * @reserved
- * @opcode            :   command buffer opcode
- * @cmd_type          :   command buffer operation type
- * @query_current_ma  :   battery current in ma
- *
- */
-struct cam_flash_query_curr {
-	uint16_t    reserved;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint32_t    query_current_ma;
-} __attribute__ ((packed));
-
-/**
- * struct cam_flash_query_cap  :  capabilities info for flash
- *
- * @slot_info           :  Indicates about the slotId or cell Index
- * @max_current_flash   :  max supported current for flash
- * @max_duration_flash  :  max flash turn on duration
- * @max_current_torch   :  max supported current for torch
- *
- */
-struct cam_flash_query_cap_info {
-	uint32_t    slot_info;
-	uint32_t    max_current_flash[CAM_FLASH_MAX_LED_TRIGGERS];
-	uint32_t    max_duration_flash[CAM_FLASH_MAX_LED_TRIGGERS];
-	uint32_t    max_current_torch[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__ ((packed));
-
-#endif
diff --git a/third_party/linux/include/media/cam_sensor_cmn_header.h b/third_party/linux/include/media/cam_sensor_cmn_header.h
deleted file mode 100644
index 24617b39bd..0000000000
--- a/third_party/linux/include/media/cam_sensor_cmn_header.h
+++ /dev/null
@@ -1,391 +0,0 @@
-/* Copyright (c) 2017-2018, The Linux Foundation. All rights reserved.
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 and
- * only version 2 as published by the Free Software Foundation.
- *
- * This program 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 General Public License for more details.
- */
-
-#ifndef _CAM_SENSOR_CMN_HEADER_
-#define _CAM_SENSOR_CMN_HEADER_
-
-#include <stdbool.h>
-#include <media/cam_sensor.h>
-#include <media/cam_req_mgr.h>
-
-#define MAX_REGULATOR 5
-#define MAX_POWER_CONFIG 12
-
-#define MAX_PER_FRAME_ARRAY 32
-#define BATCH_SIZE_MAX      16
-
-#define CAM_SENSOR_NAME    "cam-sensor"
-#define CAM_ACTUATOR_NAME  "cam-actuator"
-#define CAM_CSIPHY_NAME    "cam-csiphy"
-#define CAM_FLASH_NAME     "cam-flash"
-#define CAM_EEPROM_NAME    "cam-eeprom"
-#define CAM_OIS_NAME       "cam-ois"
-
-#define MAX_SYSTEM_PIPELINE_DELAY 2
-
-#define CAM_PKT_NOP_OPCODE 127
-
-enum camera_sensor_cmd_type {
-	CAMERA_SENSOR_CMD_TYPE_INVALID,
-	CAMERA_SENSOR_CMD_TYPE_PROBE,
-	CAMERA_SENSOR_CMD_TYPE_PWR_UP,
-	CAMERA_SENSOR_CMD_TYPE_PWR_DOWN,
-	CAMERA_SENSOR_CMD_TYPE_I2C_INFO,
-	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR,
-	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_RD,
-	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_WR,
-	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_RD,
-	CAMERA_SENSOR_CMD_TYPE_WAIT,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_INFO,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_FIRE,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_RER,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_QUERYCURR,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_WIDGET,
-	CAMERA_SENSOR_CMD_TYPE_RD_DATA,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_FIRE,
-	CAMERA_SENSOR_CMD_TYPE_MAX,
-};
-
-enum camera_sensor_i2c_op_code {
-	CAMERA_SENSOR_I2C_OP_INVALID,
-	CAMERA_SENSOR_I2C_OP_RNDM_WR,
-	CAMERA_SENSOR_I2C_OP_RNDM_WR_VERF,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST_VERF,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN_VERF,
-	CAMERA_SENSOR_I2C_OP_MAX,
-};
-
-enum camera_sensor_wait_op_code {
-	CAMERA_SENSOR_WAIT_OP_INVALID,
-	CAMERA_SENSOR_WAIT_OP_COND,
-	CAMERA_SENSOR_WAIT_OP_HW_UCND,
-	CAMERA_SENSOR_WAIT_OP_SW_UCND,
-	CAMERA_SENSOR_WAIT_OP_MAX,
-};
-
-enum camera_flash_opcode {
-	CAMERA_SENSOR_FLASH_OP_INVALID,
-	CAMERA_SENSOR_FLASH_OP_OFF,
-	CAMERA_SENSOR_FLASH_OP_FIRELOW,
-	CAMERA_SENSOR_FLASH_OP_FIREHIGH,
-	CAMERA_SENSOR_FLASH_OP_MAX,
-};
-
-enum camera_sensor_i2c_type {
-	CAMERA_SENSOR_I2C_TYPE_INVALID,
-	CAMERA_SENSOR_I2C_TYPE_BYTE,
-	CAMERA_SENSOR_I2C_TYPE_WORD,
-	CAMERA_SENSOR_I2C_TYPE_3B,
-	CAMERA_SENSOR_I2C_TYPE_DWORD,
-	CAMERA_SENSOR_I2C_TYPE_MAX,
-};
-
-enum i2c_freq_mode {
-	I2C_STANDARD_MODE,
-	I2C_FAST_MODE,
-	I2C_CUSTOM_MODE,
-	I2C_FAST_PLUS_MODE,
-	I2C_MAX_MODES,
-};
-
-enum position_roll {
-	ROLL_0       = 0,
-	ROLL_90      = 90,
-	ROLL_180     = 180,
-	ROLL_270     = 270,
-	ROLL_INVALID = 360,
-};
-
-enum position_yaw {
-	FRONT_CAMERA_YAW = 0,
-	REAR_CAMERA_YAW  = 180,
-	INVALID_YAW      = 360,
-};
-
-enum position_pitch {
-	LEVEL_PITCH    = 0,
-	INVALID_PITCH  = 360,
-};
-
-enum sensor_sub_module {
-	SUB_MODULE_SENSOR,
-	SUB_MODULE_ACTUATOR,
-	SUB_MODULE_EEPROM,
-	SUB_MODULE_LED_FLASH,
-	SUB_MODULE_CSID,
-	SUB_MODULE_CSIPHY,
-	SUB_MODULE_OIS,
-	SUB_MODULE_EXT,
-	SUB_MODULE_MAX,
-};
-
-enum msm_camera_power_seq_type {
-	SENSOR_MCLK,
-	SENSOR_VANA,
-	SENSOR_VDIG,
-	SENSOR_VIO,
-	SENSOR_VAF,
-	SENSOR_VAF_PWDM,
-	SENSOR_CUSTOM_REG1,
-	SENSOR_CUSTOM_REG2,
-	SENSOR_RESET,
-	SENSOR_STANDBY,
-	SENSOR_CUSTOM_GPIO1,
-	SENSOR_CUSTOM_GPIO2,
-	SENSOR_SEQ_TYPE_MAX,
-};
-
-enum cam_sensor_packet_opcodes {
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_UPDATE,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_INITIAL_CONFIG,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127
-};
-
-enum cam_actuator_packet_opcodes {
-	CAM_ACTUATOR_PACKET_OPCODE_INIT,
-	CAM_ACTUATOR_PACKET_AUTO_MOVE_LENS,
-	CAM_ACTUATOR_PACKET_MANUAL_MOVE_LENS
-};
-
-enum cam_eeprom_packet_opcodes {
-	CAM_EEPROM_PACKET_OPCODE_INIT
-};
-
-enum cam_ois_packet_opcodes {
-	CAM_OIS_PACKET_OPCODE_INIT,
-	CAM_OIS_PACKET_OPCODE_OIS_CONTROL
-};
-
-enum msm_bus_perf_setting {
-	S_INIT,
-	S_PREVIEW,
-	S_VIDEO,
-	S_CAPTURE,
-	S_ZSL,
-	S_STEREO_VIDEO,
-	S_STEREO_CAPTURE,
-	S_DEFAULT,
-	S_LIVESHOT,
-	S_DUAL,
-	S_EXIT
-};
-
-enum msm_camera_device_type_t {
-	MSM_CAMERA_I2C_DEVICE,
-	MSM_CAMERA_PLATFORM_DEVICE,
-	MSM_CAMERA_SPI_DEVICE,
-};
-
-enum cam_flash_device_type {
-	CAMERA_FLASH_DEVICE_TYPE_PMIC = 0,
-	CAMERA_FLASH_DEVICE_TYPE_I2C,
-	CAMERA_FLASH_DEVICE_TYPE_GPIO,
-};
-
-enum cci_i2c_master_t {
-	MASTER_0,
-	MASTER_1,
-	MASTER_MAX,
-};
-
-enum camera_vreg_type {
-	VREG_TYPE_DEFAULT,
-	VREG_TYPE_CUSTOM,
-};
-
-enum cam_sensor_i2c_cmd_type {
-	CAM_SENSOR_I2C_WRITE_RANDOM,
-	CAM_SENSOR_I2C_WRITE_BURST,
-	CAM_SENSOR_I2C_WRITE_SEQ,
-	CAM_SENSOR_I2C_READ,
-	CAM_SENSOR_I2C_POLL
-};
-
-struct common_header {
-	uint16_t    first_word;
-	uint8_t     third_byte;
-	uint8_t     cmd_type;
-};
-
-struct camera_vreg_t {
-	const char *reg_name;
-	int min_voltage;
-	int max_voltage;
-	int op_mode;
-	uint32_t delay;
-	const char *custom_vreg_name;
-	enum camera_vreg_type type;
-};
-
-struct msm_camera_gpio_num_info {
-	uint16_t gpio_num[SENSOR_SEQ_TYPE_MAX];
-	uint8_t valid[SENSOR_SEQ_TYPE_MAX];
-};
-
-struct msm_cam_clk_info {
-	const char *clk_name;
-	long clk_rate;
-	uint32_t delay;
-};
-
-struct msm_pinctrl_info {
-	struct pinctrl *pinctrl;
-	struct pinctrl_state *gpio_state_active;
-	struct pinctrl_state *gpio_state_suspend;
-	bool use_pinctrl;
-};
-
-struct cam_sensor_i2c_reg_array {
-	uint32_t reg_addr;
-	uint32_t reg_data;
-	uint32_t delay;
-	uint32_t data_mask;
-};
-
-struct cam_sensor_i2c_reg_setting {
-	struct cam_sensor_i2c_reg_array *reg_setting;
-	unsigned short size;
-	enum camera_sensor_i2c_type addr_type;
-	enum camera_sensor_i2c_type data_type;
-	unsigned short delay;
-};
-
-/*struct i2c_settings_list {
-	struct cam_sensor_i2c_reg_setting i2c_settings;
-	enum cam_sensor_i2c_cmd_type op_code;
-	struct list_head list;
-};
-
-struct i2c_settings_array {
-	struct list_head list_head;
-	int32_t is_settings_valid;
-	int64_t request_id;
-};
-
-struct i2c_data_settings {
-	struct i2c_settings_array init_settings;
-	struct i2c_settings_array config_settings;
-	struct i2c_settings_array streamon_settings;
-	struct i2c_settings_array streamoff_settings;
-	struct i2c_settings_array *per_frame;
-};*/
-
-struct cam_sensor_power_ctrl_t {
-	struct device *dev;
-	struct cam_sensor_power_setting *power_setting;
-	uint16_t power_setting_size;
-	struct cam_sensor_power_setting *power_down_setting;
-	uint16_t power_down_setting_size;
-	struct msm_camera_gpio_num_info *gpio_num_info;
-	struct msm_pinctrl_info pinctrl_info;
-	uint8_t cam_pinctrl_status;
-};
-
-struct cam_camera_slave_info {
-	uint16_t sensor_slave_addr;
-	uint16_t sensor_id_reg_addr;
-	uint16_t sensor_id;
-	uint16_t sensor_id_mask;
-};
-
-struct msm_sensor_init_params {
-	int modes_supported;
-	unsigned int sensor_mount_angle;
-};
-
-enum msm_sensor_camera_id_t {
-	CAMERA_0,
-	CAMERA_1,
-	CAMERA_2,
-	CAMERA_3,
-	CAMERA_4,
-	CAMERA_5,
-	CAMERA_6,
-	MAX_CAMERAS,
-};
-
-struct msm_sensor_id_info_t {
-	unsigned short sensor_id_reg_addr;
-	unsigned short sensor_id;
-	unsigned short sensor_id_mask;
-};
-
-enum msm_sensor_output_format_t {
-	MSM_SENSOR_BAYER,
-	MSM_SENSOR_YCBCR,
-	MSM_SENSOR_META,
-};
-
-struct cam_sensor_power_setting {
-	enum msm_camera_power_seq_type seq_type;
-	unsigned short seq_val;
-	long config_val;
-	unsigned short delay;
-	void *data[10];
-};
-
-struct cam_sensor_board_info {
-	struct cam_camera_slave_info slave_info;
-	int32_t sensor_mount_angle;
-	int32_t secure_mode;
-	int modes_supported;
-	int32_t pos_roll;
-	int32_t pos_yaw;
-	int32_t pos_pitch;
-	int32_t  subdev_id[SUB_MODULE_MAX];
-	int32_t  subdev_intf[SUB_MODULE_MAX];
-	const char *misc_regulator;
-	struct cam_sensor_power_ctrl_t power_info;
-};
-
-enum msm_camera_vreg_name_t {
-	CAM_VDIG,
-	CAM_VIO,
-	CAM_VANA,
-	CAM_VAF,
-	CAM_V_CUSTOM1,
-	CAM_V_CUSTOM2,
-	CAM_VREG_MAX,
-};
-
-struct msm_camera_gpio_conf {
-	void *cam_gpiomux_conf_tbl;
-	uint8_t cam_gpiomux_conf_tbl_size;
-	struct gpio *cam_gpio_common_tbl;
-	uint8_t cam_gpio_common_tbl_size;
-	struct gpio *cam_gpio_req_tbl;
-	uint8_t cam_gpio_req_tbl_size;
-	uint32_t gpio_no_mux;
-	uint32_t *camera_off_table;
-	uint8_t camera_off_table_size;
-	uint32_t *camera_on_table;
-	uint8_t camera_on_table_size;
-	struct msm_camera_gpio_num_info *gpio_num_info;
-};
-
-/*for tof camera  Begin*/
-enum EEPROM_DATA_OP_T{
-	EEPROM_DEFAULT_DATA = 0,
-	EEPROM_INIT_DATA,
-	EEPROM_CONFIG_DATA,
-	EEPROM_STREAMON_DATA,
-	EEPROM_STREAMOFF_DATA,
-	EEPROM_OTHER_DATA,
-};
-/*for tof camera  End*/
-#endif /* _CAM_SENSOR_CMN_HEADER_ */
diff --git a/third_party/linux/include/media/cam_sync.h b/third_party/linux/include/media/cam_sync.h
deleted file mode 100644
index 4a8781fc82..0000000000
--- a/third_party/linux/include/media/cam_sync.h
+++ /dev/null
@@ -1,134 +0,0 @@
-#ifndef __UAPI_CAM_SYNC_H__
-#define __UAPI_CAM_SYNC_H__
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <linux/media.h>
-
-#define CAM_SYNC_DEVICE_NAME                     "cam_sync_device"
-
-/* V4L event which user space will subscribe to */
-#define CAM_SYNC_V4L_EVENT                       (V4L2_EVENT_PRIVATE_START + 0)
-
-/* Specific event ids to get notified in user space */
-#define CAM_SYNC_V4L_EVENT_ID_CB_TRIG            0
-
-/* Size of opaque payload sent to kernel for safekeeping until signal time */
-#define CAM_SYNC_USER_PAYLOAD_SIZE               2
-
-/* Device type for sync device needed for device discovery */
-#define CAM_SYNC_DEVICE_TYPE                     (MEDIA_ENT_F_OLD_BASE)
-
-#define CAM_SYNC_GET_PAYLOAD_PTR(ev, type)       \
-	(type *)((char *)ev.u.data + sizeof(struct cam_sync_ev_header))
-
-#define CAM_SYNC_GET_HEADER_PTR(ev)              \
-	((struct cam_sync_ev_header *)ev.u.data)
-
-#define CAM_SYNC_STATE_INVALID                   0
-#define CAM_SYNC_STATE_ACTIVE                    1
-#define CAM_SYNC_STATE_SIGNALED_SUCCESS          2
-#define CAM_SYNC_STATE_SIGNALED_ERROR            3
-
-/**
- * struct cam_sync_ev_header - Event header for sync event notification
- *
- * @sync_obj: Sync object
- * @status:   Status of the object
- */
-struct cam_sync_ev_header {
-	int32_t sync_obj;
-	int32_t status;
-};
-
-/**
- * struct cam_sync_info - Sync object creation information
- *
- * @name:       Optional string representation of the sync object
- * @sync_obj:   Sync object returned after creation in kernel
- */
-struct cam_sync_info {
-	char name[64];
-	int32_t sync_obj;
-};
-
-/**
- * struct cam_sync_signal - Sync object signaling struct
- *
- * @sync_obj:   Sync object to be signaled
- * @sync_state: State of the sync object to which it should be signaled
- */
-struct cam_sync_signal {
-	int32_t sync_obj;
-	uint32_t sync_state;
-};
-
-/**
- * struct cam_sync_merge - Merge information for sync objects
- *
- * @sync_objs:  Pointer to sync objects
- * @num_objs:   Number of objects in the array
- * @merged:     Merged sync object
- */
-struct cam_sync_merge {
-	__u64 sync_objs;
-	uint32_t num_objs;
-	int32_t merged;
-};
-
-/**
- * struct cam_sync_userpayload_info - Payload info from user space
- *
- * @sync_obj:   Sync object for which payload has to be registered for
- * @reserved:   Reserved
- * @payload:    Pointer to user payload
- */
-struct cam_sync_userpayload_info {
-	int32_t sync_obj;
-	uint32_t reserved;
-	__u64 payload[CAM_SYNC_USER_PAYLOAD_SIZE];
-};
-
-/**
- * struct cam_sync_wait - Sync object wait information
- *
- * @sync_obj:   Sync object to wait on
- * @reserved:   Reserved
- * @timeout_ms: Timeout in milliseconds
- */
-struct cam_sync_wait {
-	int32_t sync_obj;
-	uint32_t reserved;
-	uint64_t timeout_ms;
-};
-
-/**
- * struct cam_private_ioctl_arg - Sync driver ioctl argument
- *
- * @id:         IOCTL command id
- * @size:       Size of command payload
- * @result:     Result of command execution
- * @reserved:   Reserved
- * @ioctl_ptr:  Pointer to user data
- */
-struct cam_private_ioctl_arg {
-	__u32 id;
-	__u32 size;
-	__u32 result;
-	__u32 reserved;
-	__u64 ioctl_ptr;
-};
-
-#define CAM_PRIVATE_IOCTL_CMD \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_private_ioctl_arg)
-
-#define CAM_SYNC_CREATE                          0
-#define CAM_SYNC_DESTROY                         1
-#define CAM_SYNC_SIGNAL                          2
-#define CAM_SYNC_MERGE                           3
-#define CAM_SYNC_REGISTER_PAYLOAD                4
-#define CAM_SYNC_DEREGISTER_PAYLOAD              5
-#define CAM_SYNC_WAIT                            6
-
-#endif /* __UAPI_CAM_SYNC_H__ */
diff --git a/third_party/linux/include/msm_cam_sensor.h b/third_party/linux/include/msm_cam_sensor.h
deleted file mode 100644
index c75d1fd527..0000000000
--- a/third_party/linux/include/msm_cam_sensor.h
+++ /dev/null
@@ -1,829 +0,0 @@
-#ifndef __LINUX_MSM_CAM_SENSOR_H
-#define __LINUX_MSM_CAM_SENSOR_H
-
-#ifdef MSM_CAMERA_BIONIC
-#include <sys/types.h>
-#endif
-
-//#include <linux/v4l2-mediabus.h>
-#include "msm_camsensor_sdk.h"
-
-#include <linux/types.h>
-#include <linux/i2c.h>
-#ifdef CONFIG_COMPAT
-#include <linux/compat.h>
-#endif
-
-#define I2C_SEQ_REG_SETTING_MAX   5
-
-#define MSM_SENSOR_MCLK_8HZ   8000000
-#define MSM_SENSOR_MCLK_16HZ  16000000
-#define MSM_SENSOR_MCLK_24HZ  24000000
-
-#define MAX_SENSOR_NAME 32
-#define MAX_ACTUATOR_AF_TOTAL_STEPS 1024
-
-#define MAX_OIS_MOD_NAME_SIZE 32
-#define MAX_OIS_NAME_SIZE 32
-#define MAX_OIS_REG_SETTINGS 800
-
-#define MOVE_NEAR 0
-#define MOVE_FAR  1
-
-#define MSM_ACTUATOR_MOVE_SIGNED_FAR -1
-#define MSM_ACTUATOR_MOVE_SIGNED_NEAR  1
-
-#define MAX_ACTUATOR_REGION  5
-
-#define MAX_EEPROM_NAME 32
-
-#define MAX_AF_ITERATIONS 3
-#define MAX_NUMBER_OF_STEPS 47
-#define MAX_REGULATOR 5
-
-#define MSM_V4L2_PIX_FMT_META v4l2_fourcc('M', 'E', 'T', 'A') /* META */
-#define MSM_V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4')
-	/* 14  BGBG.. GRGR.. */
-#define MSM_V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4')
-	/* 14  GBGB.. RGRG.. */
-#define MSM_V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4')
-	/* 14  GRGR.. BGBG.. */
-#define MSM_V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4')
-	/* 14  RGRG.. GBGB.. */
-
-enum flash_type {
-	LED_FLASH = 1,
-	STROBE_FLASH,
-	GPIO_FLASH
-};
-
-enum msm_sensor_resolution_t {
-	MSM_SENSOR_RES_FULL,
-	MSM_SENSOR_RES_QTR,
-	MSM_SENSOR_RES_2,
-	MSM_SENSOR_RES_3,
-	MSM_SENSOR_RES_4,
-	MSM_SENSOR_RES_5,
-	MSM_SENSOR_RES_6,
-	MSM_SENSOR_RES_7,
-	MSM_SENSOR_INVALID_RES,
-};
-
-enum msm_camera_stream_type_t {
-	MSM_CAMERA_STREAM_PREVIEW,
-	MSM_CAMERA_STREAM_SNAPSHOT,
-	MSM_CAMERA_STREAM_VIDEO,
-	MSM_CAMERA_STREAM_INVALID,
-};
-
-enum sensor_sub_module_t {
-	SUB_MODULE_SENSOR,
-	SUB_MODULE_CHROMATIX,
-	SUB_MODULE_ACTUATOR,
-	SUB_MODULE_EEPROM,
-	SUB_MODULE_LED_FLASH,
-	SUB_MODULE_STROBE_FLASH,
-	SUB_MODULE_CSID,
-	SUB_MODULE_CSID_3D,
-	SUB_MODULE_CSIPHY,
-	SUB_MODULE_CSIPHY_3D,
-	SUB_MODULE_OIS,
-	SUB_MODULE_EXT,
-	SUB_MODULE_MAX,
-};
-
-enum {
-	MSM_CAMERA_EFFECT_MODE_OFF,
-	MSM_CAMERA_EFFECT_MODE_MONO,
-	MSM_CAMERA_EFFECT_MODE_NEGATIVE,
-	MSM_CAMERA_EFFECT_MODE_SOLARIZE,
-	MSM_CAMERA_EFFECT_MODE_SEPIA,
-	MSM_CAMERA_EFFECT_MODE_POSTERIZE,
-	MSM_CAMERA_EFFECT_MODE_WHITEBOARD,
-	MSM_CAMERA_EFFECT_MODE_BLACKBOARD,
-	MSM_CAMERA_EFFECT_MODE_AQUA,
-	MSM_CAMERA_EFFECT_MODE_EMBOSS,
-	MSM_CAMERA_EFFECT_MODE_SKETCH,
-	MSM_CAMERA_EFFECT_MODE_NEON,
-	MSM_CAMERA_EFFECT_MODE_MAX
-};
-
-enum {
-	MSM_CAMERA_WB_MODE_AUTO,
-	MSM_CAMERA_WB_MODE_CUSTOM,
-	MSM_CAMERA_WB_MODE_INCANDESCENT,
-	MSM_CAMERA_WB_MODE_FLUORESCENT,
-	MSM_CAMERA_WB_MODE_WARM_FLUORESCENT,
-	MSM_CAMERA_WB_MODE_DAYLIGHT,
-	MSM_CAMERA_WB_MODE_CLOUDY_DAYLIGHT,
-	MSM_CAMERA_WB_MODE_TWILIGHT,
-	MSM_CAMERA_WB_MODE_SHADE,
-	MSM_CAMERA_WB_MODE_OFF,
-	MSM_CAMERA_WB_MODE_MAX
-};
-
-enum {
-	MSM_CAMERA_SCENE_MODE_OFF,
-	MSM_CAMERA_SCENE_MODE_AUTO,
-	MSM_CAMERA_SCENE_MODE_LANDSCAPE,
-	MSM_CAMERA_SCENE_MODE_SNOW,
-	MSM_CAMERA_SCENE_MODE_BEACH,
-	MSM_CAMERA_SCENE_MODE_SUNSET,
-	MSM_CAMERA_SCENE_MODE_NIGHT,
-	MSM_CAMERA_SCENE_MODE_PORTRAIT,
-	MSM_CAMERA_SCENE_MODE_BACKLIGHT,
-	MSM_CAMERA_SCENE_MODE_SPORTS,
-	MSM_CAMERA_SCENE_MODE_ANTISHAKE,
-	MSM_CAMERA_SCENE_MODE_FLOWERS,
-	MSM_CAMERA_SCENE_MODE_CANDLELIGHT,
-	MSM_CAMERA_SCENE_MODE_FIREWORKS,
-	MSM_CAMERA_SCENE_MODE_PARTY,
-	MSM_CAMERA_SCENE_MODE_NIGHT_PORTRAIT,
-	MSM_CAMERA_SCENE_MODE_THEATRE,
-	MSM_CAMERA_SCENE_MODE_ACTION,
-	MSM_CAMERA_SCENE_MODE_AR,
-	MSM_CAMERA_SCENE_MODE_FACE_PRIORITY,
-	MSM_CAMERA_SCENE_MODE_BARCODE,
-	MSM_CAMERA_SCENE_MODE_HDR,
-	MSM_CAMERA_SCENE_MODE_MAX
-};
-
-enum csid_cfg_type_t {
-	CSID_INIT,
-	CSID_CFG,
-	CSID_TESTMODE_CFG,
-	CSID_RELEASE,
-};
-
-enum csiphy_cfg_type_t {
-	CSIPHY_INIT,
-	CSIPHY_CFG,
-	CSIPHY_RELEASE,
-};
-
-enum camera_vreg_type {
-	VREG_TYPE_DEFAULT,
-	VREG_TYPE_CUSTOM,
-};
-
-enum sensor_af_t {
-	SENSOR_AF_FOCUSSED,
-	SENSOR_AF_NOT_FOCUSSED,
-};
-
-enum cci_i2c_master_t {
-	MASTER_0,
-	MASTER_1,
-	MASTER_MAX,
-};
-
-struct msm_camera_i2c_array_write_config {
-	struct msm_camera_i2c_reg_setting conf_array;
-	uint16_t slave_addr;
-};
-
-struct msm_camera_i2c_read_config {
-	uint16_t slave_addr;
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	uint16_t data;
-};
-
-struct msm_camera_csi2_params {
-	struct msm_camera_csid_params csid_params;
-	struct msm_camera_csiphy_params csiphy_params;
-	uint8_t csi_clk_scale_enable;
-};
-
-struct msm_camera_csi_lane_params {
-	uint16_t csi_lane_assign;
-	uint16_t csi_lane_mask;
-};
-
-struct csi_lane_params_t {
-	uint16_t csi_lane_assign;
-	uint8_t csi_lane_mask;
-	uint8_t csi_if;
-	int8_t csid_core[2];
-	uint8_t csi_phy_sel;
-};
-
-struct msm_sensor_info_t {
-	char     sensor_name[MAX_SENSOR_NAME];
-	uint32_t session_id;
-	int32_t  subdev_id[SUB_MODULE_MAX];
-	int32_t  subdev_intf[SUB_MODULE_MAX];
-	uint8_t  is_mount_angle_valid;
-	uint32_t sensor_mount_angle;
-	int modes_supported;
-	enum camb_position_t position;
-};
-
-struct camera_vreg_t {
-	const char *reg_name;
-	int min_voltage;
-	int max_voltage;
-	int op_mode;
-	uint32_t delay;
-	const char *custom_vreg_name;
-	enum camera_vreg_type type;
-};
-
-struct sensorb_cfg_data {
-	int cfgtype;
-	union {
-		struct msm_sensor_info_t      sensor_info;
-		struct msm_sensor_init_params sensor_init_params;
-		void                         *setting;
-		struct msm_sensor_i2c_sync_params sensor_i2c_sync_params;
-	} cfg;
-};
-
-struct csid_cfg_data {
-	enum csid_cfg_type_t cfgtype;
-	union {
-		uint32_t csid_version;
-		struct msm_camera_csid_params *csid_params;
-		struct msm_camera_csid_testmode_parms *csid_testmode_params;
-	} cfg;
-};
-
-struct csiphy_cfg_data {
-	enum csiphy_cfg_type_t cfgtype;
-	union {
-		struct msm_camera_csiphy_params *csiphy_params;
-		struct msm_camera_csi_lane_params *csi_lane_params;
-	} cfg;
-};
-
-enum eeprom_cfg_type_t {
-	CFG_EEPROM_GET_INFO,
-	CFG_EEPROM_GET_CAL_DATA,
-	CFG_EEPROM_READ_CAL_DATA,
-	CFG_EEPROM_WRITE_DATA,
-	CFG_EEPROM_GET_MM_INFO,
-	CFG_EEPROM_INIT,
-};
-
-struct eeprom_get_t {
-	uint32_t num_bytes;
-};
-
-struct eeprom_read_t {
-	uint8_t *dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_write_t {
-	uint8_t *dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_get_cmm_t {
-	uint32_t cmm_support;
-	uint32_t cmm_compression;
-	uint32_t cmm_size;
-};
-
-struct msm_eeprom_info_t {
-	struct msm_sensor_power_setting_array *power_setting_array;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	struct msm_eeprom_memory_map_array *mem_map_array;
-};
-
-struct msm_eeprom_cfg_data {
-	enum eeprom_cfg_type_t cfgtype;
-	uint8_t is_supported;
-	union {
-		char eeprom_name[MAX_SENSOR_NAME];
-		struct eeprom_get_t get_data;
-		struct eeprom_read_t read_data;
-		struct eeprom_write_t write_data;
-		struct eeprom_get_cmm_t get_cmm_data;
-		struct msm_eeprom_info_t eeprom_info;
-	} cfg;
-};
-
-#ifdef CONFIG_COMPAT
-struct msm_sensor_power_setting32 {
-	enum msm_sensor_power_seq_type_t seq_type;
-	uint16_t seq_val;
-	compat_uint_t config_val;
-	uint16_t delay;
-	compat_uptr_t data[10];
-};
-
-struct msm_sensor_power_setting_array32 {
-	struct msm_sensor_power_setting32 power_setting_a[MAX_POWER_CONFIG];
-	compat_uptr_t power_setting;
-	uint16_t size;
-	struct msm_sensor_power_setting32
-		power_down_setting_a[MAX_POWER_CONFIG];
-	compat_uptr_t power_down_setting;
-	uint16_t size_down;
-};
-
-struct msm_camera_sensor_slave_info32 {
-	char sensor_name[32];
-	char eeprom_name[32];
-	char actuator_name[32];
-	char ois_name[32];
-	char flash_name[32];
-	enum msm_sensor_camera_id_t camera_id;
-	uint16_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	struct msm_sensor_id_info_t sensor_id_info;
-	struct msm_sensor_power_setting_array32 power_setting_array;
-	uint8_t  is_init_params_valid;
-	struct msm_sensor_init_params sensor_init_params;
-	enum msm_sensor_output_format_t output_format;
-};
-
-struct msm_camera_csid_lut_params32 {
-	uint8_t num_cid;
-	struct msm_camera_csid_vc_cfg vc_cfg_a[MAX_CID];
-	compat_uptr_t vc_cfg[MAX_CID];
-};
-
-struct msm_camera_csid_params32 {
-	uint8_t lane_cnt;
-	uint16_t lane_assign;
-	uint8_t phy_sel;
-	uint32_t csi_clk;
-	struct msm_camera_csid_lut_params32 lut_params;
-	uint8_t csi_3p_sel;
-};
-
-struct msm_camera_csi2_params32 {
-	struct msm_camera_csid_params32 csid_params;
-	struct msm_camera_csiphy_params csiphy_params;
-	uint8_t csi_clk_scale_enable;
-};
-
-struct csid_cfg_data32 {
-	enum csid_cfg_type_t cfgtype;
-	union {
-		uint32_t csid_version;
-		compat_uptr_t csid_params;
-		compat_uptr_t csid_testmode_params;
-	} cfg;
-};
-
-struct eeprom_read_t32 {
-	compat_uptr_t dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_write_t32 {
-	compat_uptr_t dbuffer;
-	uint32_t num_bytes;
-};
-
-struct msm_eeprom_info_t32 {
-	compat_uptr_t power_setting_array;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	compat_uptr_t mem_map_array;
-};
-
-struct msm_eeprom_cfg_data32 {
-	enum eeprom_cfg_type_t cfgtype;
-	uint8_t is_supported;
-	union {
-		char eeprom_name[MAX_SENSOR_NAME];
-		struct eeprom_get_t get_data;
-		struct eeprom_read_t32 read_data;
-		struct eeprom_write_t32 write_data;
-		struct msm_eeprom_info_t32 eeprom_info;
-	} cfg;
-};
-
-struct msm_camera_i2c_seq_reg_setting32 {
-	compat_uptr_t reg_setting;
-	uint16_t size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint16_t delay;
-};
-#endif
-
-enum msm_sensor_cfg_type_t {
-	CFG_SET_SLAVE_INFO,
-	CFG_SLAVE_READ_I2C,
-	CFG_WRITE_I2C_ARRAY,
-	CFG_SLAVE_WRITE_I2C_ARRAY,
-	CFG_WRITE_I2C_SEQ_ARRAY,
-	CFG_POWER_UP,
-	CFG_POWER_DOWN,
-	CFG_SET_STOP_STREAM_SETTING,
-	CFG_GET_SENSOR_INFO,
-	CFG_GET_SENSOR_INIT_PARAMS,
-	CFG_SET_INIT_SETTING,
-	CFG_SET_RESOLUTION,
-	CFG_SET_STOP_STREAM,
-	CFG_SET_START_STREAM,
-	CFG_SET_SATURATION,
-	CFG_SET_CONTRAST,
-	CFG_SET_SHARPNESS,
-	CFG_SET_ISO,
-	CFG_SET_EXPOSURE_COMPENSATION,
-	CFG_SET_ANTIBANDING,
-	CFG_SET_BESTSHOT_MODE,
-	CFG_SET_EFFECT,
-	CFG_SET_WHITE_BALANCE,
-	CFG_SET_AUTOFOCUS,
-	CFG_CANCEL_AUTOFOCUS,
-	CFG_SET_STREAM_TYPE,
-	CFG_SET_I2C_SYNC_PARAM,
-	CFG_WRITE_I2C_ARRAY_ASYNC,
-	CFG_WRITE_I2C_ARRAY_SYNC,
-	CFG_WRITE_I2C_ARRAY_SYNC_BLOCK,
-};
-
-enum msm_actuator_cfg_type_t {
-	CFG_GET_ACTUATOR_INFO,
-	CFG_SET_ACTUATOR_INFO,
-	CFG_SET_DEFAULT_FOCUS,
-	CFG_MOVE_FOCUS,
-	CFG_SET_POSITION,
-	CFG_ACTUATOR_POWERDOWN,
-	CFG_ACTUATOR_POWERUP,
-	CFG_ACTUATOR_INIT,
-};
-
-enum msm_ois_cfg_type_t {
-	CFG_OIS_INIT,
-	CFG_OIS_POWERDOWN,
-	CFG_OIS_POWERUP,
-	CFG_OIS_CONTROL,
-	CFG_OIS_I2C_WRITE_SEQ_TABLE,
-};
-
-enum msm_ois_i2c_operation {
-	MSM_OIS_WRITE = 0,
-	MSM_OIS_POLL,
-};
-
-struct reg_settings_ois_t {
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint32_t reg_data;
-	enum msm_camera_i2c_data_type data_type;
-	enum msm_ois_i2c_operation i2c_operation;
-	uint32_t delay;
-#define OIS_REG_DATA_SEQ_MAX 128
-    unsigned char reg_data_seq[OIS_REG_DATA_SEQ_MAX];
-    uint32_t reg_data_seq_size;
-};
-
-struct msm_ois_params_t {
-	uint16_t data_size;
-	uint16_t setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type i2c_addr_type;
-	enum msm_camera_i2c_data_type i2c_data_type;
-	struct reg_settings_ois_t *settings;
-};
-
-struct msm_ois_set_info_t {
-	struct msm_ois_params_t ois_params;
-};
-
-struct msm_actuator_move_params_t {
-	int8_t dir;
-	int8_t sign_dir;
-	int16_t dest_step_pos;
-	int32_t num_steps;
-	uint16_t curr_lens_pos;
-	struct damping_params_t *ringing_params;
-};
-
-struct msm_actuator_tuning_params_t {
-	int16_t initial_code;
-	uint16_t pwd_step;
-	uint16_t region_size;
-	uint32_t total_steps;
-	struct region_params_t *region_params;
-};
-
-struct park_lens_data_t {
-	uint32_t damping_step;
-	uint32_t damping_delay;
-	uint32_t hw_params;
-	uint32_t max_step;
-};
-
-struct msm_actuator_params_t {
-	enum actuator_type act_type;
-	uint8_t reg_tbl_size;
-	uint16_t data_size;
-	uint16_t init_setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_actuator_addr_type i2c_addr_type;
-	enum msm_actuator_data_type i2c_data_type;
-	struct msm_actuator_reg_params_t *reg_tbl_params;
-	struct reg_settings_t *init_settings;
-	struct park_lens_data_t park_lens;
-};
-
-struct msm_actuator_set_info_t {
-	struct msm_actuator_params_t actuator_params;
-	struct msm_actuator_tuning_params_t af_tuning_params;
-};
-
-struct msm_actuator_get_info_t {
-	uint32_t focal_length_num;
-	uint32_t focal_length_den;
-	uint32_t f_number_num;
-	uint32_t f_number_den;
-	uint32_t f_pix_num;
-	uint32_t f_pix_den;
-	uint32_t total_f_dist_num;
-	uint32_t total_f_dist_den;
-	uint32_t hor_view_angle_num;
-	uint32_t hor_view_angle_den;
-	uint32_t ver_view_angle_num;
-	uint32_t ver_view_angle_den;
-};
-
-enum af_camera_name {
-	ACTUATOR_MAIN_CAM_0,
-	ACTUATOR_MAIN_CAM_1,
-	ACTUATOR_MAIN_CAM_2,
-	ACTUATOR_MAIN_CAM_3,
-	ACTUATOR_MAIN_CAM_4,
-	ACTUATOR_MAIN_CAM_5,
-	ACTUATOR_WEB_CAM_0,
-	ACTUATOR_WEB_CAM_1,
-	ACTUATOR_WEB_CAM_2,
-};
-
-struct msm_ois_cfg_data {
-	int cfgtype;
-	union {
-		struct msm_ois_set_info_t set_info;
-		struct msm_camera_i2c_seq_reg_setting *settings;
-	} cfg;
-};
-
-struct msm_actuator_set_position_t {
-	uint16_t number_of_steps;
-	uint32_t hw_params;
-	uint16_t pos[MAX_NUMBER_OF_STEPS];
-	uint16_t delay[MAX_NUMBER_OF_STEPS];
-};
-
-struct msm_actuator_cfg_data {
-	int cfgtype;
-	uint8_t is_af_supported;
-	union {
-		struct msm_actuator_move_params_t move;
-		struct msm_actuator_set_info_t set_info;
-		struct msm_actuator_get_info_t get_info;
-		struct msm_actuator_set_position_t setpos;
-		enum af_camera_name cam_name;
-	} cfg;
-};
-
-enum msm_camera_led_config_t {
-	MSM_CAMERA_LED_OFF,
-	MSM_CAMERA_LED_LOW,
-	MSM_CAMERA_LED_HIGH,
-	MSM_CAMERA_LED_INIT,
-	MSM_CAMERA_LED_RELEASE,
-};
-
-struct msm_camera_led_cfg_t {
-	enum msm_camera_led_config_t cfgtype;
-	int32_t torch_current[MAX_LED_TRIGGERS];
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-};
-
-struct msm_flash_init_info_t {
-	enum msm_flash_driver_type flash_driver_type;
-	uint32_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	struct msm_sensor_power_setting_array *power_setting_array;
-	struct msm_camera_i2c_reg_setting_array *settings;
-};
-
-struct msm_flash_cfg_data_t {
-	enum msm_flash_cfg_type_t cfg_type;
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-	union {
-		struct msm_flash_init_info_t *flash_init_info;
-		struct msm_camera_i2c_reg_setting_array *settings;
-	} cfg;
-};
-
-/* sensor init structures and enums */
-enum msm_sensor_init_cfg_type_t {
-	CFG_SINIT_PROBE,
-	CFG_SINIT_PROBE_DONE,
-	CFG_SINIT_PROBE_WAIT_DONE,
-};
-
-struct sensor_init_cfg_data {
-	enum msm_sensor_init_cfg_type_t cfgtype;
-	struct msm_sensor_info_t        probed_info;
-	char                            entity_name[MAX_SENSOR_NAME];
-	union {
-		void *setting;
-	} cfg;
-};
-
-#define VIDIOC_MSM_SENSOR_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 1, struct sensorb_cfg_data)
-
-#define VIDIOC_MSM_SENSOR_RELEASE \
-	_IO('V', BASE_VIDIOC_PRIVATE + 2)
-
-#define VIDIOC_MSM_SENSOR_GET_SUBDEV_ID \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 3, uint32_t)
-
-#define VIDIOC_MSM_CSIPHY_IO_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 4, struct csiphy_cfg_data)
-
-#define VIDIOC_MSM_CSID_IO_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 5, struct csid_cfg_data)
-
-#define VIDIOC_MSM_ACTUATOR_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 6, struct msm_actuator_cfg_data)
-
-#define VIDIOC_MSM_FLASH_LED_DATA_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 7, struct msm_camera_led_cfg_t)
-
-#define VIDIOC_MSM_EEPROM_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 8, struct msm_eeprom_cfg_data)
-
-#define VIDIOC_MSM_SENSOR_GET_AF_STATUS \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 9, uint32_t)
-
-#define VIDIOC_MSM_SENSOR_INIT_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 10, struct sensor_init_cfg_data)
-
-#define VIDIOC_MSM_OIS_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 11, struct msm_ois_cfg_data)
-
-#define VIDIOC_MSM_FLASH_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 13, struct msm_flash_cfg_data_t)
-
-#ifdef CONFIG_COMPAT
-struct msm_camera_i2c_reg_setting32 {
-	compat_uptr_t reg_setting;
-	uint16_t size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	uint16_t delay;
-};
-
-struct msm_camera_i2c_array_write_config32 {
-	struct msm_camera_i2c_reg_setting32 conf_array;
-	uint16_t slave_addr;
-};
-
-struct msm_actuator_tuning_params_t32 {
-	int16_t initial_code;
-	uint16_t pwd_step;
-	uint16_t region_size;
-	uint32_t total_steps;
-	compat_uptr_t region_params;
-};
-
-struct msm_actuator_params_t32 {
-	enum actuator_type act_type;
-	uint8_t reg_tbl_size;
-	uint16_t data_size;
-	uint16_t init_setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_actuator_addr_type i2c_addr_type;
-	enum msm_actuator_data_type i2c_data_type;
-	compat_uptr_t reg_tbl_params;
-	compat_uptr_t init_settings;
-	struct park_lens_data_t park_lens;
-};
-
-struct msm_actuator_set_info_t32 {
-	struct msm_actuator_params_t32 actuator_params;
-	struct msm_actuator_tuning_params_t32 af_tuning_params;
-};
-
-struct sensor_init_cfg_data32 {
-	enum msm_sensor_init_cfg_type_t cfgtype;
-	struct msm_sensor_info_t        probed_info;
-	char                            entity_name[MAX_SENSOR_NAME];
-	union {
-		compat_uptr_t setting;
-	} cfg;
-};
-
-struct msm_actuator_move_params_t32 {
-	int8_t dir;
-	int8_t sign_dir;
-	int16_t dest_step_pos;
-	int32_t num_steps;
-	uint16_t curr_lens_pos;
-	compat_uptr_t ringing_params;
-};
-
-struct msm_actuator_cfg_data32 {
-	int cfgtype;
-	uint8_t is_af_supported;
-	union {
-		struct msm_actuator_move_params_t32 move;
-		struct msm_actuator_set_info_t32 set_info;
-		struct msm_actuator_get_info_t get_info;
-		struct msm_actuator_set_position_t setpos;
-		enum af_camera_name cam_name;
-	} cfg;
-};
-
-struct csiphy_cfg_data32 {
-	enum csiphy_cfg_type_t cfgtype;
-	union {
-		compat_uptr_t csiphy_params;
-		compat_uptr_t csi_lane_params;
-	} cfg;
-};
-
-struct sensorb_cfg_data32 {
-	int cfgtype;
-	union {
-		struct msm_sensor_info_t      sensor_info;
-		struct msm_sensor_init_params sensor_init_params;
-		compat_uptr_t                 setting;
-		struct msm_sensor_i2c_sync_params sensor_i2c_sync_params;
-	} cfg;
-};
-
-struct msm_ois_params_t32 {
-	uint16_t data_size;
-	uint16_t setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type i2c_addr_type;
-	enum msm_camera_i2c_data_type i2c_data_type;
-	compat_uptr_t settings;
-};
-
-struct msm_ois_set_info_t32 {
-	struct msm_ois_params_t32 ois_params;
-};
-
-struct msm_ois_cfg_data32 {
-	int cfgtype;
-	union {
-		struct msm_ois_set_info_t32 set_info;
-		compat_uptr_t settings;
-	} cfg;
-};
-
-struct msm_flash_init_info_t32 {
-	enum msm_flash_driver_type flash_driver_type;
-	uint32_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	compat_uptr_t power_setting_array;
-	compat_uptr_t settings;
-};
-
-struct msm_flash_cfg_data_t32 {
-	enum msm_flash_cfg_type_t cfg_type;
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-	union {
-		compat_uptr_t flash_init_info;
-		compat_uptr_t settings;
-	} cfg;
-};
-
-#define VIDIOC_MSM_ACTUATOR_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 6, struct msm_actuator_cfg_data32)
-
-#define VIDIOC_MSM_SENSOR_INIT_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 10, struct sensor_init_cfg_data32)
-
-#define VIDIOC_MSM_CSIPHY_IO_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 4, struct csiphy_cfg_data32)
-
-#define VIDIOC_MSM_SENSOR_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 1, struct sensorb_cfg_data32)
-
-#define VIDIOC_MSM_EEPROM_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 8, struct msm_eeprom_cfg_data32)
-
-#define VIDIOC_MSM_OIS_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 11, struct msm_ois_cfg_data32)
-
-#define VIDIOC_MSM_CSID_IO_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 5, struct csid_cfg_data32)
-
-#define VIDIOC_MSM_FLASH_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 13, struct msm_flash_cfg_data_t32)
-#endif
-
-#endif /* __LINUX_MSM_CAM_SENSOR_H */
diff --git a/third_party/linux/include/msm_camsensor_sdk.h b/third_party/linux/include/msm_camsensor_sdk.h
deleted file mode 100644
index 62a4da253c..0000000000
--- a/third_party/linux/include/msm_camsensor_sdk.h
+++ /dev/null
@@ -1,386 +0,0 @@
-#ifndef __LINUX_MSM_CAMSENSOR_SDK_H
-#define __LINUX_MSM_CAMSENSOR_SDK_H
-
-#define KVERSION 0x1
-
-#define MAX_POWER_CONFIG      12
-#define GPIO_OUT_LOW          (0 << 1)
-#define GPIO_OUT_HIGH         (1 << 1)
-#define CSI_EMBED_DATA        0x12
-#define CSI_RESERVED_DATA_0   0x13
-#define CSI_YUV422_8          0x1E
-#define CSI_RAW8              0x2A
-#define CSI_RAW10             0x2B
-#define CSI_RAW12             0x2C
-#define CSI_DECODE_6BIT         0
-#define CSI_DECODE_8BIT         1
-#define CSI_DECODE_10BIT        2
-#define CSI_DECODE_12BIT        3
-#define CSI_DECODE_DPCM_10_8_10 5
-#define MAX_CID                 16
-#define I2C_SEQ_REG_DATA_MAX    1024
-#define I2C_REG_DATA_MAX       (8*1024)
-
-#define MSM_V4L2_PIX_FMT_META v4l2_fourcc('M', 'E', 'T', 'A') /* META */
-#define MSM_V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4')
-	/* 14  BGBG.. GRGR.. */
-#define MSM_V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4')
-	/* 14  GBGB.. RGRG.. */
-#define MSM_V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4')
-	/* 14  GRGR.. BGBG.. */
-#define MSM_V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4')
-	/* 14  RGRG.. GBGB.. */
-
-#define MAX_ACTUATOR_REG_TBL_SIZE 8
-#define MAX_ACTUATOR_REGION       5
-#define NUM_ACTUATOR_DIR          2
-#define MAX_ACTUATOR_SCENARIO     8
-#define MAX_ACT_MOD_NAME_SIZE     32
-#define MAX_ACT_NAME_SIZE         32
-#define MAX_ACTUATOR_INIT_SET     120
-#define MAX_I2C_REG_SET           12
-
-#define MAX_LED_TRIGGERS          3
-
-#define MSM_EEPROM_MEMORY_MAP_MAX_SIZE  80
-#define MSM_EEPROM_MAX_MEM_MAP_CNT      8
-
-enum msm_sensor_camera_id_t {
-	CAMERA_0,
-	CAMERA_1,
-	CAMERA_2,
-	CAMERA_3,
-	MAX_CAMERAS,
-};
-
-enum i2c_freq_mode_t {
-	I2C_STANDARD_MODE,
-	I2C_FAST_MODE,
-	I2C_CUSTOM_MODE,
-	I2C_FAST_PLUS_MODE,
-	I2C_MAX_MODES,
-};
-
-enum camb_position_t {
-	BACK_CAMERA_B,
-	FRONT_CAMERA_B,
-	AUX_CAMERA_B = 0x100,
-	INVALID_CAMERA_B,
-};
-
-enum msm_sensor_power_seq_type_t {
-	SENSOR_CLK,
-	SENSOR_GPIO,
-	SENSOR_VREG,
-	SENSOR_I2C_MUX,
-	SENSOR_I2C,
-};
-
-enum msm_camera_i2c_reg_addr_type {
-	MSM_CAMERA_I2C_BYTE_ADDR = 1,
-	MSM_CAMERA_I2C_WORD_ADDR,
-	MSM_CAMERA_I2C_3B_ADDR,
-	MSM_CAMERA_I2C_ADDR_TYPE_MAX,
-};
-
-enum msm_camera_i2c_data_type {
-	MSM_CAMERA_I2C_BYTE_DATA = 1,
-	MSM_CAMERA_I2C_WORD_DATA,
-	MSM_CAMERA_I2C_DWORD_DATA,
-	MSM_CAMERA_I2C_SET_BYTE_MASK,
-	MSM_CAMERA_I2C_UNSET_BYTE_MASK,
-	MSM_CAMERA_I2C_SET_WORD_MASK,
-	MSM_CAMERA_I2C_UNSET_WORD_MASK,
-	MSM_CAMERA_I2C_SET_BYTE_WRITE_MASK_DATA,
-	MSM_CAMERA_I2C_SEQ_DATA,
-	MSM_CAMERA_I2C_DATA_TYPE_MAX,
-};
-
-enum msm_sensor_power_seq_gpio_t {
-	SENSOR_GPIO_RESET,
-	SENSOR_GPIO_STANDBY,
-	SENSOR_GPIO_AF_PWDM,
-	SENSOR_GPIO_VIO,
-	SENSOR_GPIO_VANA,
-	SENSOR_GPIO_VDIG,
-	SENSOR_GPIO_VAF,
-	SENSOR_GPIO_FL_EN,
-	SENSOR_GPIO_FL_NOW,
-	SENSOR_GPIO_FL_RESET,
-	SENSOR_GPIO_CUSTOM1,
-	SENSOR_GPIO_CUSTOM2,
-	SENSOR_GPIO_MAX,
-};
-
-enum msm_camera_vreg_name_t {
-	CAM_VDIG,
-	CAM_VIO,
-	CAM_VANA,
-	CAM_VAF,
-	CAM_V_CUSTOM1,
-	CAM_V_CUSTOM2,
-	CAM_VREG_MAX,
-};
-
-enum msm_sensor_clk_type_t {
-	SENSOR_CAM_MCLK,
-	SENSOR_CAM_CLK,
-	SENSOR_CAM_CLK_MAX,
-};
-
-enum camerab_mode_t {
-	CAMERA_MODE_2D_B = (1<<0),
-	CAMERA_MODE_3D_B = (1<<1),
-	CAMERA_MODE_INVALID = (1<<2),
-};
-
-enum msm_actuator_data_type {
-	MSM_ACTUATOR_BYTE_DATA = 1,
-	MSM_ACTUATOR_WORD_DATA,
-};
-
-enum msm_actuator_addr_type {
-	MSM_ACTUATOR_BYTE_ADDR = 1,
-	MSM_ACTUATOR_WORD_ADDR,
-};
-
-enum msm_actuator_write_type {
-	MSM_ACTUATOR_WRITE_HW_DAMP,
-	MSM_ACTUATOR_WRITE_DAC,
-	MSM_ACTUATOR_WRITE,
-	MSM_ACTUATOR_WRITE_DIR_REG,
-	MSM_ACTUATOR_POLL,
-	MSM_ACTUATOR_READ_WRITE,
-};
-
-enum msm_actuator_i2c_operation {
-	MSM_ACT_WRITE = 0,
-	MSM_ACT_POLL,
-};
-
-enum actuator_type {
-	ACTUATOR_VCM,
-	ACTUATOR_PIEZO,
-	ACTUATOR_HVCM,
-	ACTUATOR_BIVCM,
-};
-
-enum msm_flash_driver_type {
-	FLASH_DRIVER_PMIC,
-	FLASH_DRIVER_I2C,
-	FLASH_DRIVER_GPIO,
-	FLASH_DRIVER_DEFAULT
-};
-
-enum msm_flash_cfg_type_t {
-	CFG_FLASH_INIT,
-	CFG_FLASH_RELEASE,
-	CFG_FLASH_OFF,
-	CFG_FLASH_LOW,
-	CFG_FLASH_HIGH,
-};
-
-enum msm_sensor_output_format_t {
-	MSM_SENSOR_BAYER,
-	MSM_SENSOR_YCBCR,
-	MSM_SENSOR_META,
-};
-
-struct msm_sensor_power_setting {
-	enum msm_sensor_power_seq_type_t seq_type;
-	unsigned short seq_val;
-	long config_val;
-	unsigned short delay;
-	void *data[10];
-};
-
-struct msm_sensor_power_setting_array {
-	struct msm_sensor_power_setting  power_setting_a[MAX_POWER_CONFIG];
-	struct msm_sensor_power_setting *power_setting;
-	unsigned short size;
-	struct msm_sensor_power_setting  power_down_setting_a[MAX_POWER_CONFIG];
-	struct msm_sensor_power_setting *power_down_setting;
-	unsigned short size_down;
-};
-
-enum msm_camera_i2c_operation {
-	MSM_CAM_WRITE = 0,
-	MSM_CAM_POLL,
-	MSM_CAM_READ,
-};
-
-struct msm_sensor_i2c_sync_params {
-	unsigned int cid;
-	int csid;
-	unsigned short line;
-	unsigned short delay;
-};
-
-struct msm_camera_reg_settings_t {
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint16_t reg_data;
-	enum msm_camera_i2c_data_type data_type;
-	enum msm_camera_i2c_operation i2c_operation;
-	uint16_t delay;
-};
-
-struct msm_eeprom_mem_map_t {
-	int slave_addr;
-	struct msm_camera_reg_settings_t
-		mem_settings[MSM_EEPROM_MEMORY_MAP_MAX_SIZE];
-	int memory_map_size;
-};
-
-struct msm_eeprom_memory_map_array {
-	struct msm_eeprom_mem_map_t memory_map[MSM_EEPROM_MAX_MEM_MAP_CNT];
-	uint32_t msm_size_of_max_mappings;
-};
-
-struct msm_sensor_init_params {
-	/* mask of modes supported: 2D, 3D */
-	int                 modes_supported;
-	/* sensor position: front, back */
-	enum camb_position_t position;
-	/* sensor mount angle */
-	unsigned int            sensor_mount_angle;
-};
-
-struct msm_sensor_id_info_t {
-	unsigned short sensor_id_reg_addr;
-	unsigned short sensor_id;
-	unsigned short sensor_id_mask;
-  // added in LeEco
-  unsigned char module_id;
-  unsigned char vcm_id;
-};
-
-struct msm_camera_sensor_slave_info {
-	char sensor_name[32];
-	char eeprom_name[32];
-	char actuator_name[32];
-	char ois_name[32];
-	char flash_name[32];
-	enum msm_sensor_camera_id_t camera_id;
-	unsigned short slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	struct msm_sensor_id_info_t sensor_id_info;
-	struct msm_sensor_power_setting_array power_setting_array;
-	unsigned char  is_init_params_valid;
-	struct msm_sensor_init_params sensor_init_params;
-	enum msm_sensor_output_format_t output_format;
-};
-
-struct msm_camera_i2c_reg_array {
-	unsigned short reg_addr;
-	unsigned short reg_data;
-	unsigned int delay;
-};
-
-struct msm_camera_i2c_reg_setting {
-	struct msm_camera_i2c_reg_array *reg_setting;
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	unsigned short delay;
-};
-
-struct msm_camera_csid_vc_cfg {
-	unsigned char cid;
-	unsigned char dt;
-	unsigned char decode_format;
-};
-
-struct msm_camera_csid_lut_params {
-	unsigned char num_cid;
-	struct msm_camera_csid_vc_cfg vc_cfg_a[MAX_CID];
-	struct msm_camera_csid_vc_cfg *vc_cfg[MAX_CID];
-};
-
-struct msm_camera_csid_params {
-	unsigned char lane_cnt;
-	unsigned short lane_assign;
-	unsigned char phy_sel;
-	unsigned int csi_clk;
-	struct msm_camera_csid_lut_params lut_params;
-	unsigned char csi_3p_sel;
-};
-
-struct msm_camera_csid_testmode_parms {
-	unsigned int num_bytes_per_line;
-	unsigned int num_lines;
-	unsigned int h_blanking_count;
-	unsigned int v_blanking_count;
-	unsigned int payload_mode;
-};
-
-struct msm_camera_csiphy_params {
-	unsigned char lane_cnt;
-	unsigned char settle_cnt;
-	unsigned short lane_mask;
-	unsigned char combo_mode;
-	unsigned char csid_core;
-	unsigned int csiphy_clk;
-	unsigned char csi_3phase;
-};
-
-struct msm_camera_i2c_seq_reg_array {
-	unsigned short reg_addr;
-	unsigned char reg_data[I2C_SEQ_REG_DATA_MAX];
-	unsigned short reg_data_size;
-};
-
-struct msm_camera_i2c_seq_reg_setting {
-	struct msm_camera_i2c_seq_reg_array *reg_setting;
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	unsigned short delay;
-};
-
-struct msm_actuator_reg_params_t {
-	enum msm_actuator_write_type reg_write_type;
-	unsigned int hw_mask;
-	unsigned short reg_addr;
-	unsigned short hw_shift;
-	unsigned short data_shift;
-	unsigned short data_type;
-	unsigned short addr_type;
-	unsigned short reg_data;
-	unsigned short delay;
-};
-
-
-struct damping_params_t {
-	unsigned int damping_step;
-	unsigned int damping_delay;
-	unsigned int hw_params;
-};
-
-struct region_params_t {
-	/* [0] = ForwardDirection Macro boundary
-	   [1] = ReverseDirection Inf boundary
-	*/
-	unsigned short step_bound[2];
-	unsigned short code_per_step;
-	/* qvalue for converting float type numbers to integer format */
-	unsigned int qvalue;
-};
-
-struct reg_settings_t {
-	unsigned short reg_addr;
-	enum msm_actuator_addr_type addr_type;
-	unsigned short reg_data;
-	enum msm_actuator_data_type data_type;
-	enum msm_actuator_i2c_operation i2c_operation;
-	unsigned int delay;
-};
-
-struct msm_camera_i2c_reg_setting_array {
-	struct msm_camera_i2c_reg_array reg_setting_a[MAX_I2C_REG_SET];
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	unsigned short delay;
-};
-#endif /* __LINUX_MSM_CAM_SENSOR_H */
diff --git a/third_party/linux/include/msm_ion.h b/third_party/linux/include/msm_ion.h
deleted file mode 100644
index d5caed5eb3..0000000000
--- a/third_party/linux/include/msm_ion.h
+++ /dev/null
@@ -1,211 +0,0 @@
-#ifndef _UAPI_MSM_ION_H
-#define _UAPI_MSM_ION_H
-
-#include <linux/ion.h>
-
-enum msm_ion_heap_types {
-	ION_HEAP_TYPE_MSM_START = ION_HEAP_TYPE_CUSTOM + 1,
-	ION_HEAP_TYPE_SECURE_DMA = ION_HEAP_TYPE_MSM_START,
-	ION_HEAP_TYPE_SYSTEM_SECURE,
-	ION_HEAP_TYPE_HYP_CMA,
-	/*
-	 * if you add a heap type here you should also add it to
-	 * heap_types_info[] in msm_ion.c
-	 */
-};
-
-/**
- * These are the only ids that should be used for Ion heap ids.
- * The ids listed are the order in which allocation will be attempted
- * if specified. Don't swap the order of heap ids unless you know what
- * you are doing!
- * Id's are spaced by purpose to allow new Id's to be inserted in-between (for
- * possible fallbacks)
- */
-
-enum ion_heap_ids {
-	INVALID_HEAP_ID = -1,
-	ION_CP_MM_HEAP_ID = 8,
-	ION_SECURE_HEAP_ID = 9,
-	ION_SECURE_DISPLAY_HEAP_ID = 10,
-	ION_CP_MFC_HEAP_ID = 12,
-	ION_CP_WB_HEAP_ID = 16, /* 8660 only */
-	ION_CAMERA_HEAP_ID = 20, /* 8660 only */
-	ION_SYSTEM_CONTIG_HEAP_ID = 21,
-	ION_ADSP_HEAP_ID = 22,
-	ION_PIL1_HEAP_ID = 23, /* Currently used for other PIL images */
-	ION_SF_HEAP_ID = 24,
-	ION_SYSTEM_HEAP_ID = 25,
-	ION_PIL2_HEAP_ID = 26, /* Currently used for modem firmware images */
-	ION_QSECOM_HEAP_ID = 27,
-	ION_AUDIO_HEAP_ID = 28,
-
-	ION_MM_FIRMWARE_HEAP_ID = 29,
-
-	ION_HEAP_ID_RESERVED = 31 /** Bit reserved for ION_FLAG_SECURE flag */
-};
-
-/*
- * The IOMMU heap is deprecated! Here are some aliases for backwards
- * compatibility:
- */
-#define ION_IOMMU_HEAP_ID ION_SYSTEM_HEAP_ID
-#define ION_HEAP_TYPE_IOMMU ION_HEAP_TYPE_SYSTEM
-
-enum ion_fixed_position {
-	NOT_FIXED,
-	FIXED_LOW,
-	FIXED_MIDDLE,
-	FIXED_HIGH,
-};
-
-enum cp_mem_usage {
-	VIDEO_BITSTREAM = 0x1,
-	VIDEO_PIXEL = 0x2,
-	VIDEO_NONPIXEL = 0x3,
-	DISPLAY_SECURE_CP_USAGE = 0x4,
-	CAMERA_SECURE_CP_USAGE = 0x5,
-	MAX_USAGE = 0x6,
-	UNKNOWN = 0x7FFFFFFF,
-};
-
-/**
- * Flags to be used when allocating from the secure heap for
- * content protection
- */
-#define ION_FLAG_CP_TOUCH (1 << 17)
-#define ION_FLAG_CP_BITSTREAM (1 << 18)
-#define ION_FLAG_CP_PIXEL  (1 << 19)
-#define ION_FLAG_CP_NON_PIXEL (1 << 20)
-#define ION_FLAG_CP_CAMERA (1 << 21)
-#define ION_FLAG_CP_HLOS (1 << 22)
-#define ION_FLAG_CP_HLOS_FREE (1 << 23)
-#define ION_FLAG_CP_SEC_DISPLAY (1 << 25)
-#define ION_FLAG_CP_APP (1 << 26)
-
-/**
- * Flag to allow non continguous allocation of memory from secure
- * heap
- */
-#define ION_FLAG_ALLOW_NON_CONTIG (1 << 24)
-
-/**
- * Flag to use when allocating to indicate that a heap is secure.
- */
-#define ION_FLAG_SECURE (1 << ION_HEAP_ID_RESERVED)
-
-/**
- * Flag for clients to force contiguous memort allocation
- *
- * Use of this flag is carefully monitored!
- */
-#define ION_FLAG_FORCE_CONTIGUOUS (1 << 30)
-
-/*
- * Used in conjunction with heap which pool memory to force an allocation
- * to come from the page allocator directly instead of from the pool allocation
- */
-#define ION_FLAG_POOL_FORCE_ALLOC (1 << 16)
-
-
-#define ION_FLAG_POOL_PREFETCH (1 << 27)
-
-/**
-* Deprecated! Please use the corresponding ION_FLAG_*
-*/
-#define ION_SECURE ION_FLAG_SECURE
-#define ION_FORCE_CONTIGUOUS ION_FLAG_FORCE_CONTIGUOUS
-
-/**
- * Macro should be used with ion_heap_ids defined above.
- */
-#define ION_HEAP(bit) (1 << (bit))
-
-#define ION_ADSP_HEAP_NAME	"adsp"
-#define ION_SYSTEM_HEAP_NAME	"system"
-#define ION_VMALLOC_HEAP_NAME	ION_SYSTEM_HEAP_NAME
-#define ION_KMALLOC_HEAP_NAME	"kmalloc"
-#define ION_AUDIO_HEAP_NAME	"audio"
-#define ION_SF_HEAP_NAME	"sf"
-#define ION_MM_HEAP_NAME	"mm"
-#define ION_CAMERA_HEAP_NAME	"camera_preview"
-#define ION_IOMMU_HEAP_NAME	"iommu"
-#define ION_MFC_HEAP_NAME	"mfc"
-#define ION_WB_HEAP_NAME	"wb"
-#define ION_MM_FIRMWARE_HEAP_NAME	"mm_fw"
-#define ION_PIL1_HEAP_NAME  "pil_1"
-#define ION_PIL2_HEAP_NAME  "pil_2"
-#define ION_QSECOM_HEAP_NAME	"qsecom"
-#define ION_SECURE_HEAP_NAME	"secure_heap"
-#define ION_SECURE_DISPLAY_HEAP_NAME "secure_display"
-
-#define ION_SET_CACHED(__cache)		(__cache | ION_FLAG_CACHED)
-#define ION_SET_UNCACHED(__cache)	(__cache & ~ION_FLAG_CACHED)
-
-#define ION_IS_CACHED(__flags)	((__flags) & ION_FLAG_CACHED)
-
-/* struct ion_flush_data - data passed to ion for flushing caches
- *
- * @handle:	handle with data to flush
- * @fd:		fd to flush
- * @vaddr:	userspace virtual address mapped with mmap
- * @offset:	offset into the handle to flush
- * @length:	length of handle to flush
- *
- * Performs cache operations on the handle. If p is the start address
- * of the handle, p + offset through p + offset + length will have
- * the cache operations performed
- */
-struct ion_flush_data {
-	ion_user_handle_t handle;
-	int fd;
-	void *vaddr;
-	unsigned int offset;
-	unsigned int length;
-};
-
-struct ion_prefetch_regions {
-	unsigned int vmid;
-	size_t *sizes;
-	unsigned int nr_sizes;
-};
-
-struct ion_prefetch_data {
-	int heap_id;
-	unsigned long len;
-	/* Is unsigned long bad? 32bit compiler vs 64 bit compiler*/
-	struct ion_prefetch_regions *regions;
-	unsigned int nr_regions;
-};
-
-#define ION_IOC_MSM_MAGIC 'M'
-
-/**
- * DOC: ION_IOC_CLEAN_CACHES - clean the caches
- *
- * Clean the caches of the handle specified.
- */
-#define ION_IOC_CLEAN_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 0, \
-						struct ion_flush_data)
-/**
- * DOC: ION_IOC_INV_CACHES - invalidate the caches
- *
- * Invalidate the caches of the handle specified.
- */
-#define ION_IOC_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 1, \
-						struct ion_flush_data)
-/**
- * DOC: ION_IOC_CLEAN_INV_CACHES - clean and invalidate the caches
- *
- * Clean and invalidate the caches of the handle specified.
- */
-#define ION_IOC_CLEAN_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 2, \
-						struct ion_flush_data)
-
-#define ION_IOC_PREFETCH		_IOWR(ION_IOC_MSM_MAGIC, 3, \
-						struct ion_prefetch_data)
-
-#define ION_IOC_DRAIN			_IOWR(ION_IOC_MSM_MAGIC, 4, \
-						struct ion_prefetch_data)
-
-#endif
diff --git a/third_party/linux/include/msm_kgsl.h b/third_party/linux/include/msm_kgsl.h
deleted file mode 100644
index 93582eb066..0000000000
--- a/third_party/linux/include/msm_kgsl.h
+++ /dev/null
@@ -1,1449 +0,0 @@
-#ifndef _UAPI_MSM_KGSL_H
-#define _UAPI_MSM_KGSL_H
-
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-/*
- * The KGSL version has proven not to be very useful in userspace if features
- * are cherry picked into other trees out of order so it is frozen as of 3.14.
- * It is left here for backwards compatabilty and as a reminder that
- * software releases are never linear. Also, I like pie.
- */
-
-#define KGSL_VERSION_MAJOR        3
-#define KGSL_VERSION_MINOR        14
-
-/*
- * We have traditionally mixed context and issueibcmds / command batch flags
- * together into a big flag stew. This worked fine until we started adding a
- * lot more command batch flags and we started running out of bits. Turns out
- * we have a bit of room in the context type / priority mask that we could use
- * for command batches, but that means we need to split out the flags into two
- * coherent sets.
- *
- * If any future definitions are for both context and cmdbatch add both defines
- * and link the cmdbatch to the context define as we do below. Otherwise feel
- * free to add exclusive bits to either set.
- */
-
-/* --- context flags --- */
-#define KGSL_CONTEXT_SAVE_GMEM		0x00000001
-#define KGSL_CONTEXT_NO_GMEM_ALLOC	0x00000002
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_SUBMIT_IB_LIST	0x00000004
-#define KGSL_CONTEXT_CTX_SWITCH		0x00000008
-#define KGSL_CONTEXT_PREAMBLE		0x00000010
-#define KGSL_CONTEXT_TRASH_STATE	0x00000020
-#define KGSL_CONTEXT_PER_CONTEXT_TS	0x00000040
-#define KGSL_CONTEXT_USER_GENERATED_TS	0x00000080
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_END_OF_FRAME	0x00000100
-#define KGSL_CONTEXT_NO_FAULT_TOLERANCE 0x00000200
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_SYNC               0x00000400
-#define KGSL_CONTEXT_PWR_CONSTRAINT     0x00000800
-
-#define KGSL_CONTEXT_PRIORITY_MASK      0x0000F000
-#define KGSL_CONTEXT_PRIORITY_SHIFT     12
-#define KGSL_CONTEXT_PRIORITY_UNDEF     0
-
-#define KGSL_CONTEXT_IFH_NOP            0x00010000
-#define KGSL_CONTEXT_SECURE             0x00020000
-
-#define KGSL_CONTEXT_PREEMPT_STYLE_MASK       0x0E000000
-#define KGSL_CONTEXT_PREEMPT_STYLE_SHIFT      25
-#define KGSL_CONTEXT_PREEMPT_STYLE_DEFAULT    0x0
-#define KGSL_CONTEXT_PREEMPT_STYLE_RINGBUFFER 0x1
-#define KGSL_CONTEXT_PREEMPT_STYLE_FINEGRAIN  0x2
-
-#define KGSL_CONTEXT_TYPE_MASK          0x01F00000
-#define KGSL_CONTEXT_TYPE_SHIFT         20
-#define KGSL_CONTEXT_TYPE_ANY		0
-#define KGSL_CONTEXT_TYPE_GL		1
-#define KGSL_CONTEXT_TYPE_CL		2
-#define KGSL_CONTEXT_TYPE_C2D		3
-#define KGSL_CONTEXT_TYPE_RS		4
-#define KGSL_CONTEXT_TYPE_UNKNOWN	0x1E
-
-#define KGSL_CONTEXT_INVALID 0xffffffff
-
-/*
- * --- command batch flags ---
- * The bits that are linked to a KGSL_CONTEXT equivalent are either legacy
- * definitions or bits that are valid for both contexts and cmdbatches.  To be
- * safe the other 8 bits that are still available in the context field should be
- * omitted here in case we need to share - the other bits are available for
- * cmdbatch only flags as needed
- */
-#define KGSL_CMDBATCH_MEMLIST		0x00000001
-#define KGSL_CMDBATCH_MARKER		0x00000002
-#define KGSL_CMDBATCH_SUBMIT_IB_LIST	KGSL_CONTEXT_SUBMIT_IB_LIST /* 0x004 */
-#define KGSL_CMDBATCH_CTX_SWITCH	KGSL_CONTEXT_CTX_SWITCH     /* 0x008 */
-#define KGSL_CMDBATCH_PROFILING		0x00000010
-#define KGSL_CMDBATCH_PROFILING_KTIME	0x00000020
-#define KGSL_CMDBATCH_END_OF_FRAME	KGSL_CONTEXT_END_OF_FRAME   /* 0x100 */
-#define KGSL_CMDBATCH_SYNC		KGSL_CONTEXT_SYNC           /* 0x400 */
-#define KGSL_CMDBATCH_PWR_CONSTRAINT	KGSL_CONTEXT_PWR_CONSTRAINT /* 0x800 */
-
-/*
- * Reserve bits [16:19] and bits [28:31] for possible bits shared between
- * contexts and command batches.  Update this comment as new flags are added.
- */
-
-/*
- * gpu_command_object flags - these flags communicate the type of command or
- * memory object being submitted for a GPU command
- */
-
-/* Flags for GPU command objects */
-#define KGSL_CMDLIST_IB                  0x00000001U
-#define KGSL_CMDLIST_CTXTSWITCH_PREAMBLE 0x00000002U
-#define KGSL_CMDLIST_IB_PREAMBLE         0x00000004U
-
-/* Flags for GPU command memory objects */
-#define KGSL_OBJLIST_MEMOBJ  0x00000008U
-#define KGSL_OBJLIST_PROFILE 0x00000010U
-
-/* Flags for GPU command sync points */
-#define KGSL_CMD_SYNCPOINT_TYPE_TIMESTAMP 0
-#define KGSL_CMD_SYNCPOINT_TYPE_FENCE 1
-
-/* --- Memory allocation flags --- */
-
-/* General allocation hints */
-#define KGSL_MEMFLAGS_SECURE      0x00000008ULL
-#define KGSL_MEMFLAGS_GPUREADONLY 0x01000000U
-#define KGSL_MEMFLAGS_GPUWRITEONLY 0x02000000U
-#define KGSL_MEMFLAGS_FORCE_32BIT 0x100000000ULL
-
-/* Memory caching hints */
-#define KGSL_CACHEMODE_MASK       0x0C000000U
-#define KGSL_CACHEMODE_SHIFT 26
-
-#define KGSL_CACHEMODE_WRITECOMBINE 0
-#define KGSL_CACHEMODE_UNCACHED 1
-#define KGSL_CACHEMODE_WRITETHROUGH 2
-#define KGSL_CACHEMODE_WRITEBACK 3
-
-#define KGSL_MEMFLAGS_USE_CPU_MAP 0x10000000ULL
-
-/* Memory types for which allocations are made */
-#define KGSL_MEMTYPE_MASK		0x0000FF00
-#define KGSL_MEMTYPE_SHIFT		8
-
-#define KGSL_MEMTYPE_OBJECTANY			0
-#define KGSL_MEMTYPE_FRAMEBUFFER		1
-#define KGSL_MEMTYPE_RENDERBUFFER		2
-#define KGSL_MEMTYPE_ARRAYBUFFER		3
-#define KGSL_MEMTYPE_ELEMENTARRAYBUFFER		4
-#define KGSL_MEMTYPE_VERTEXARRAYBUFFER		5
-#define KGSL_MEMTYPE_TEXTURE			6
-#define KGSL_MEMTYPE_SURFACE			7
-#define KGSL_MEMTYPE_EGL_SURFACE		8
-#define KGSL_MEMTYPE_GL				9
-#define KGSL_MEMTYPE_CL				10
-#define KGSL_MEMTYPE_CL_BUFFER_MAP		11
-#define KGSL_MEMTYPE_CL_BUFFER_NOMAP		12
-#define KGSL_MEMTYPE_CL_IMAGE_MAP		13
-#define KGSL_MEMTYPE_CL_IMAGE_NOMAP		14
-#define KGSL_MEMTYPE_CL_KERNEL_STACK		15
-#define KGSL_MEMTYPE_COMMAND			16
-#define KGSL_MEMTYPE_2D				17
-#define KGSL_MEMTYPE_EGL_IMAGE			18
-#define KGSL_MEMTYPE_EGL_SHADOW			19
-#define KGSL_MEMTYPE_MULTISAMPLE		20
-#define KGSL_MEMTYPE_KERNEL			255
-
-/*
- * Alignment hint, passed as the power of 2 exponent.
- * i.e 4k (2^12) would be 12, 64k (2^16)would be 16.
- */
-#define KGSL_MEMALIGN_MASK		0x00FF0000
-#define KGSL_MEMALIGN_SHIFT		16
-
-enum kgsl_user_mem_type {
-	KGSL_USER_MEM_TYPE_PMEM		= 0x00000000,
-	KGSL_USER_MEM_TYPE_ASHMEM	= 0x00000001,
-	KGSL_USER_MEM_TYPE_ADDR		= 0x00000002,
-	KGSL_USER_MEM_TYPE_ION		= 0x00000003,
-	/*
-	 * ION type is retained for backwards compatibilty but Ion buffers are
-	 * dma-bufs so try to use that naming if we can
-	 */
-	KGSL_USER_MEM_TYPE_DMABUF       = 0x00000003,
-	KGSL_USER_MEM_TYPE_MAX		= 0x00000007,
-};
-#define KGSL_MEMFLAGS_USERMEM_MASK 0x000000e0
-#define KGSL_MEMFLAGS_USERMEM_SHIFT 5
-
-/*
- * Unfortunately, enum kgsl_user_mem_type starts at 0 which does not
- * leave a good value for allocated memory. In the flags we use
- * 0 to indicate allocated memory and thus need to add 1 to the enum
- * values.
- */
-#define KGSL_USERMEM_FLAG(x) (((x) + 1) << KGSL_MEMFLAGS_USERMEM_SHIFT)
-
-#define KGSL_MEMFLAGS_NOT_USERMEM 0
-#define KGSL_MEMFLAGS_USERMEM_PMEM KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_PMEM)
-#define KGSL_MEMFLAGS_USERMEM_ASHMEM \
-		KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ASHMEM)
-#define KGSL_MEMFLAGS_USERMEM_ADDR KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ADDR)
-#define KGSL_MEMFLAGS_USERMEM_ION KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ION)
-
-/* --- generic KGSL flag values --- */
-
-#define KGSL_FLAGS_NORMALMODE  0x00000000
-#define KGSL_FLAGS_SAFEMODE    0x00000001
-#define KGSL_FLAGS_INITIALIZED0 0x00000002
-#define KGSL_FLAGS_INITIALIZED 0x00000004
-#define KGSL_FLAGS_STARTED     0x00000008
-#define KGSL_FLAGS_ACTIVE      0x00000010
-#define KGSL_FLAGS_RESERVED0   0x00000020
-#define KGSL_FLAGS_RESERVED1   0x00000040
-#define KGSL_FLAGS_RESERVED2   0x00000080
-#define KGSL_FLAGS_SOFT_RESET  0x00000100
-#define KGSL_FLAGS_PER_CONTEXT_TIMESTAMPS 0x00000200
-
-/* Server Side Sync Timeout in milliseconds */
-#define KGSL_SYNCOBJ_SERVER_TIMEOUT 2000
-
-/*
- * Reset status values for context
- */
-enum kgsl_ctx_reset_stat {
-	KGSL_CTX_STAT_NO_ERROR				= 0x00000000,
-	KGSL_CTX_STAT_GUILTY_CONTEXT_RESET_EXT		= 0x00000001,
-	KGSL_CTX_STAT_INNOCENT_CONTEXT_RESET_EXT	= 0x00000002,
-	KGSL_CTX_STAT_UNKNOWN_CONTEXT_RESET_EXT		= 0x00000003
-};
-
-#define KGSL_CONVERT_TO_MBPS(val) \
-	(val*1000*1000U)
-
-/* device id */
-enum kgsl_deviceid {
-	KGSL_DEVICE_3D0		= 0x00000000,
-	KGSL_DEVICE_MAX
-};
-
-struct kgsl_devinfo {
-
-	unsigned int device_id;
-	/* chip revision id
-	* coreid:8 majorrev:8 minorrev:8 patch:8
-	*/
-	unsigned int chip_id;
-	unsigned int mmu_enabled;
-	unsigned long gmem_gpubaseaddr;
-	/*
-	* This field contains the adreno revision
-	* number 200, 205, 220, etc...
-	*/
-	unsigned int gpu_id;
-	size_t gmem_sizebytes;
-};
-
-/*
- * struct kgsl_devmemstore - this structure defines the region of memory
- * that can be mmap()ed from this driver. The timestamp fields are volatile
- * because they are written by the GPU
- * @soptimestamp: Start of pipeline timestamp written by GPU before the
- * commands in concern are processed
- * @sbz: Unused, kept for 8 byte alignment
- * @eoptimestamp: End of pipeline timestamp written by GPU after the
- * commands in concern are processed
- * @sbz2: Unused, kept for 8 byte alignment
- * @preempted: Indicates if the context was preempted
- * @sbz3: Unused, kept for 8 byte alignment
- * @ref_wait_ts: Timestamp on which to generate interrupt, unused now.
- * @sbz4: Unused, kept for 8 byte alignment
- * @current_context: The current context the GPU is working on
- * @sbz5: Unused, kept for 8 byte alignment
- */
-struct kgsl_devmemstore {
-	volatile unsigned int soptimestamp;
-	unsigned int sbz;
-	volatile unsigned int eoptimestamp;
-	unsigned int sbz2;
-	volatile unsigned int preempted;
-	unsigned int sbz3;
-	volatile unsigned int ref_wait_ts;
-	unsigned int sbz4;
-	unsigned int current_context;
-	unsigned int sbz5;
-};
-
-#define KGSL_MEMSTORE_OFFSET(ctxt_id, field) \
-	((ctxt_id)*sizeof(struct kgsl_devmemstore) + \
-	 offsetof(struct kgsl_devmemstore, field))
-
-/* timestamp id*/
-enum kgsl_timestamp_type {
-	KGSL_TIMESTAMP_CONSUMED = 0x00000001, /* start-of-pipeline timestamp */
-	KGSL_TIMESTAMP_RETIRED  = 0x00000002, /* end-of-pipeline timestamp*/
-	KGSL_TIMESTAMP_QUEUED   = 0x00000003,
-};
-
-/* property types - used with kgsl_device_getproperty */
-#define KGSL_PROP_DEVICE_INFO		0x1
-#define KGSL_PROP_DEVICE_SHADOW		0x2
-#define KGSL_PROP_DEVICE_POWER		0x3
-#define KGSL_PROP_SHMEM			0x4
-#define KGSL_PROP_SHMEM_APERTURES	0x5
-#define KGSL_PROP_MMU_ENABLE		0x6
-#define KGSL_PROP_INTERRUPT_WAITS	0x7
-#define KGSL_PROP_VERSION		0x8
-#define KGSL_PROP_GPU_RESET_STAT	0x9
-#define KGSL_PROP_PWRCTRL		0xE
-#define KGSL_PROP_PWR_CONSTRAINT	0x12
-#define KGSL_PROP_UCHE_GMEM_VADDR	0x13
-#define KGSL_PROP_SP_GENERIC_MEM	0x14
-#define KGSL_PROP_UCODE_VERSION		0x15
-#define KGSL_PROP_GPMU_VERSION		0x16
-#define KGSL_PROP_DEVICE_BITNESS	0x18
-
-struct kgsl_shadowprop {
-	unsigned long gpuaddr;
-	size_t size;
-	unsigned int flags; /* contains KGSL_FLAGS_ values */
-};
-
-struct kgsl_version {
-	unsigned int drv_major;
-	unsigned int drv_minor;
-	unsigned int dev_major;
-	unsigned int dev_minor;
-};
-
-struct kgsl_sp_generic_mem {
-	uint64_t local;
-	uint64_t pvt;
-};
-
-struct kgsl_ucode_version {
-	unsigned int pfp;
-	unsigned int pm4;
-};
-
-struct kgsl_gpmu_version {
-	unsigned int major;
-	unsigned int minor;
-	unsigned int features;
-};
-
-/* Performance counter groups */
-
-#define KGSL_PERFCOUNTER_GROUP_CP 0x0
-#define KGSL_PERFCOUNTER_GROUP_RBBM 0x1
-#define KGSL_PERFCOUNTER_GROUP_PC 0x2
-#define KGSL_PERFCOUNTER_GROUP_VFD 0x3
-#define KGSL_PERFCOUNTER_GROUP_HLSQ 0x4
-#define KGSL_PERFCOUNTER_GROUP_VPC 0x5
-#define KGSL_PERFCOUNTER_GROUP_TSE 0x6
-#define KGSL_PERFCOUNTER_GROUP_RAS 0x7
-#define KGSL_PERFCOUNTER_GROUP_UCHE 0x8
-#define KGSL_PERFCOUNTER_GROUP_TP 0x9
-#define KGSL_PERFCOUNTER_GROUP_SP 0xA
-#define KGSL_PERFCOUNTER_GROUP_RB 0xB
-#define KGSL_PERFCOUNTER_GROUP_PWR 0xC
-#define KGSL_PERFCOUNTER_GROUP_VBIF 0xD
-#define KGSL_PERFCOUNTER_GROUP_VBIF_PWR 0xE
-#define KGSL_PERFCOUNTER_GROUP_MH 0xF
-#define KGSL_PERFCOUNTER_GROUP_PA_SU 0x10
-#define KGSL_PERFCOUNTER_GROUP_SQ 0x11
-#define KGSL_PERFCOUNTER_GROUP_SX 0x12
-#define KGSL_PERFCOUNTER_GROUP_TCF 0x13
-#define KGSL_PERFCOUNTER_GROUP_TCM 0x14
-#define KGSL_PERFCOUNTER_GROUP_TCR 0x15
-#define KGSL_PERFCOUNTER_GROUP_L2 0x16
-#define KGSL_PERFCOUNTER_GROUP_VSC 0x17
-#define KGSL_PERFCOUNTER_GROUP_CCU 0x18
-#define KGSL_PERFCOUNTER_GROUP_LRZ 0x19
-#define KGSL_PERFCOUNTER_GROUP_CMP 0x1A
-#define KGSL_PERFCOUNTER_GROUP_ALWAYSON 0x1B
-#define KGSL_PERFCOUNTER_GROUP_SP_PWR 0x1C
-#define KGSL_PERFCOUNTER_GROUP_TP_PWR 0x1D
-#define KGSL_PERFCOUNTER_GROUP_RB_PWR 0x1E
-#define KGSL_PERFCOUNTER_GROUP_CCU_PWR 0x1F
-#define KGSL_PERFCOUNTER_GROUP_UCHE_PWR 0x20
-#define KGSL_PERFCOUNTER_GROUP_CP_PWR 0x21
-#define KGSL_PERFCOUNTER_GROUP_GPMU_PWR 0x22
-#define KGSL_PERFCOUNTER_GROUP_ALWAYSON_PWR 0x23
-#define KGSL_PERFCOUNTER_GROUP_MAX 0x24
-
-#define KGSL_PERFCOUNTER_NOT_USED 0xFFFFFFFF
-#define KGSL_PERFCOUNTER_BROKEN 0xFFFFFFFE
-
-/* structure holds list of ibs */
-struct kgsl_ibdesc {
-	unsigned long gpuaddr;
-	unsigned long __pad;
-	size_t sizedwords;
-	unsigned int ctrl;
-};
-
-/**
- * struct kgsl_cmdbatch_profiling_buffer
- * @wall_clock_s: Ringbuffer submission time (seconds).
- *                If KGSL_CMDBATCH_PROFILING_KTIME is set, time is provided
- *                in kernel clocks, otherwise wall clock time is used.
- * @wall_clock_ns: Ringbuffer submission time (nanoseconds).
- *                 If KGSL_CMDBATCH_PROFILING_KTIME is set time is provided
- *                 in kernel clocks, otherwise wall clock time is used.
- * @gpu_ticks_queued: GPU ticks at ringbuffer submission
- * @gpu_ticks_submitted: GPU ticks when starting cmdbatch execution
- * @gpu_ticks_retired: GPU ticks when finishing cmdbatch execution
- *
- * This structure defines the profiling buffer used to measure cmdbatch
- * execution time
- */
-struct kgsl_cmdbatch_profiling_buffer {
-	uint64_t wall_clock_s;
-	uint64_t wall_clock_ns;
-	uint64_t gpu_ticks_queued;
-	uint64_t gpu_ticks_submitted;
-	uint64_t gpu_ticks_retired;
-};
-
-/* ioctls */
-#define KGSL_IOC_TYPE 0x09
-
-/* get misc info about the GPU
-   type should be a value from enum kgsl_property_type
-   value points to a structure that varies based on type
-   sizebytes is sizeof() that structure
-   for KGSL_PROP_DEVICE_INFO, use struct kgsl_devinfo
-   this structure contaings hardware versioning info.
-   for KGSL_PROP_DEVICE_SHADOW, use struct kgsl_shadowprop
-   this is used to find mmap() offset and sizes for mapping
-   struct kgsl_memstore into userspace.
-*/
-struct kgsl_device_getproperty {
-	unsigned int type;
-	void __user *value;
-	size_t sizebytes;
-};
-
-#define IOCTL_KGSL_DEVICE_GETPROPERTY \
-	_IOWR(KGSL_IOC_TYPE, 0x2, struct kgsl_device_getproperty)
-
-/* IOCTL_KGSL_DEVICE_READ (0x3) - removed 03/2012
- */
-
-/* block until the GPU has executed past a given timestamp
- * timeout is in milliseconds.
- */
-struct kgsl_device_waittimestamp {
-	unsigned int timestamp;
-	unsigned int timeout;
-};
-
-#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP \
-	_IOW(KGSL_IOC_TYPE, 0x6, struct kgsl_device_waittimestamp)
-
-struct kgsl_device_waittimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned int timestamp;
-	unsigned int timeout;
-};
-
-#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID \
-	_IOW(KGSL_IOC_TYPE, 0x7, struct kgsl_device_waittimestamp_ctxtid)
-
-/* DEPRECATED: issue indirect commands to the GPU.
- * drawctxt_id must have been created with IOCTL_KGSL_DRAWCTXT_CREATE
- * ibaddr and sizedwords must specify a subset of a buffer created
- * with IOCTL_KGSL_SHAREDMEM_FROM_PMEM
- * flags may be a mask of KGSL_CONTEXT_ values
- * timestamp is a returned counter value which can be passed to
- * other ioctls to determine when the commands have been executed by
- * the GPU.
- *
- * This fucntion is deprecated - consider using IOCTL_KGSL_SUBMIT_COMMANDS
- * instead
- */
-struct kgsl_ringbuffer_issueibcmds {
-	unsigned int drawctxt_id;
-	unsigned long ibdesc_addr;
-	unsigned int numibs;
-	unsigned int timestamp; /*output param */
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_RINGBUFFER_ISSUEIBCMDS \
-	_IOWR(KGSL_IOC_TYPE, 0x10, struct kgsl_ringbuffer_issueibcmds)
-
-/* read the most recently executed timestamp value
- * type should be a value from enum kgsl_timestamp_type
- */
-struct kgsl_cmdstream_readtimestamp {
-	unsigned int type;
-	unsigned int timestamp; /*output param */
-};
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_OLD \
-	_IOR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp)
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP \
-	_IOWR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp)
-
-/* free memory when the GPU reaches a given timestamp.
- * gpuaddr specify a memory region created by a
- * IOCTL_KGSL_SHAREDMEM_FROM_PMEM call
- * type should be a value from enum kgsl_timestamp_type
- */
-struct kgsl_cmdstream_freememontimestamp {
-	unsigned long gpuaddr;
-	unsigned int type;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP \
-	_IOW(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp)
-
-/* Previous versions of this header had incorrectly defined
-   IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP as a read-only ioctl instead
-   of a write only ioctl.  To ensure binary compatability, the following
-   #define will be used to intercept the incorrect ioctl
-*/
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_OLD \
-	_IOR(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp)
-
-/* create a draw context, which is used to preserve GPU state.
- * The flags field may contain a mask KGSL_CONTEXT_*  values
- */
-struct kgsl_drawctxt_create {
-	unsigned int flags;
-	unsigned int drawctxt_id; /*output param */
-};
-
-#define IOCTL_KGSL_DRAWCTXT_CREATE \
-	_IOWR(KGSL_IOC_TYPE, 0x13, struct kgsl_drawctxt_create)
-
-/* destroy a draw context */
-struct kgsl_drawctxt_destroy {
-	unsigned int drawctxt_id;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_DESTROY \
-	_IOW(KGSL_IOC_TYPE, 0x14, struct kgsl_drawctxt_destroy)
-
-/* add a block of pmem, fb, ashmem or user allocated address
- * into the GPU address space */
-struct kgsl_map_user_mem {
-	int fd;
-	unsigned long gpuaddr;   /*output param */
-	size_t len;
-	size_t offset;
-	unsigned long hostptr;   /*input param */
-	enum kgsl_user_mem_type memtype;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_MAP_USER_MEM \
-	_IOWR(KGSL_IOC_TYPE, 0x15, struct kgsl_map_user_mem)
-
-struct kgsl_cmdstream_readtimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned int type;
-	unsigned int timestamp; /*output param */
-};
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_CTXTID \
-	_IOWR(KGSL_IOC_TYPE, 0x16, struct kgsl_cmdstream_readtimestamp_ctxtid)
-
-struct kgsl_cmdstream_freememontimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned long gpuaddr;
-	unsigned int type;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_CTXTID \
-	_IOW(KGSL_IOC_TYPE, 0x17, \
-	struct kgsl_cmdstream_freememontimestamp_ctxtid)
-
-/* add a block of pmem or fb into the GPU address space */
-struct kgsl_sharedmem_from_pmem {
-        int pmem_fd;
-        unsigned long gpuaddr;  /*output param */
-        unsigned int len;
-        unsigned int offset;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FROM_PMEM \
-        _IOWR(KGSL_IOC_TYPE, 0x20, struct kgsl_sharedmem_from_pmem)
-
-/* remove memory from the GPU's address space */
-struct kgsl_sharedmem_free {
-	unsigned long gpuaddr;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FREE \
-	_IOW(KGSL_IOC_TYPE, 0x21, struct kgsl_sharedmem_free)
-
-struct kgsl_cff_user_event {
-	unsigned char cff_opcode;
-	unsigned int op1;
-	unsigned int op2;
-	unsigned int op3;
-	unsigned int op4;
-	unsigned int op5;
-	unsigned int __pad[2];
-};
-
-#define IOCTL_KGSL_CFF_USER_EVENT \
-	_IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_cff_user_event)
-
-struct kgsl_gmem_desc {
-	unsigned int x;
-	unsigned int y;
-	unsigned int width;
-	unsigned int height;
-	unsigned int pitch;
-};
-
-struct kgsl_buffer_desc {
-	void 			*hostptr;
-	unsigned long	gpuaddr;
-	int				size;
-	unsigned int	format;
-	unsigned int  	pitch;
-	unsigned int  	enabled;
-};
-
-struct kgsl_bind_gmem_shadow {
-	unsigned int drawctxt_id;
-	struct kgsl_gmem_desc gmem_desc;
-	unsigned int shadow_x;
-	unsigned int shadow_y;
-	struct kgsl_buffer_desc shadow_buffer;
-	unsigned int buffer_id;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_BIND_GMEM_SHADOW \
-    _IOW(KGSL_IOC_TYPE, 0x22, struct kgsl_bind_gmem_shadow)
-
-/* add a block of memory into the GPU address space */
-
-/*
- * IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC deprecated 09/2012
- * use IOCTL_KGSL_GPUMEM_ALLOC instead
- */
-
-struct kgsl_sharedmem_from_vmalloc {
-	unsigned long gpuaddr;	/*output param */
-	unsigned int hostptr;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x23, struct kgsl_sharedmem_from_vmalloc)
-
-/*
- * This is being deprecated in favor of IOCTL_KGSL_GPUMEM_CACHE_SYNC which
- * supports both directions (flush and invalidate). This code will still
- * work, but by definition it will do a flush of the cache which might not be
- * what you want to have happen on a buffer following a GPU operation.  It is
- * safer to go with IOCTL_KGSL_GPUMEM_CACHE_SYNC
- */
-
-#define IOCTL_KGSL_SHAREDMEM_FLUSH_CACHE \
-	_IOW(KGSL_IOC_TYPE, 0x24, struct kgsl_sharedmem_free)
-
-struct kgsl_drawctxt_set_bin_base_offset {
-	unsigned int drawctxt_id;
-	unsigned int offset;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_SET_BIN_BASE_OFFSET \
-	_IOW(KGSL_IOC_TYPE, 0x25, struct kgsl_drawctxt_set_bin_base_offset)
-
-enum kgsl_cmdwindow_type {
-	KGSL_CMDWINDOW_MIN     = 0x00000000,
-	KGSL_CMDWINDOW_2D      = 0x00000000,
-	KGSL_CMDWINDOW_3D      = 0x00000001, /* legacy */
-	KGSL_CMDWINDOW_MMU     = 0x00000002,
-	KGSL_CMDWINDOW_ARBITER = 0x000000FF,
-	KGSL_CMDWINDOW_MAX     = 0x000000FF,
-};
-
-/* write to the command window */
-struct kgsl_cmdwindow_write {
-	enum kgsl_cmdwindow_type target;
-	unsigned int addr;
-	unsigned int data;
-};
-
-#define IOCTL_KGSL_CMDWINDOW_WRITE \
-	_IOW(KGSL_IOC_TYPE, 0x2e, struct kgsl_cmdwindow_write)
-
-struct kgsl_gpumem_alloc {
-	unsigned long gpuaddr; /* output param */
-	size_t size;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_GPUMEM_ALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x2f, struct kgsl_gpumem_alloc)
-
-struct kgsl_cff_syncmem {
-	unsigned long gpuaddr;
-	size_t len;
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_CFF_SYNCMEM \
-	_IOW(KGSL_IOC_TYPE, 0x30, struct kgsl_cff_syncmem)
-
-/*
- * A timestamp event allows the user space to register an action following an
- * expired timestamp. Note IOCTL_KGSL_TIMESTAMP_EVENT has been redefined to
- * _IOWR to support fences which need to return a fd for the priv parameter.
- */
-
-struct kgsl_timestamp_event {
-	int type;                /* Type of event (see list below) */
-	unsigned int timestamp;  /* Timestamp to trigger event on */
-	unsigned int context_id; /* Context for the timestamp */
-	void __user *priv;	 /* Pointer to the event specific blob */
-	size_t len;              /* Size of the event specific blob */
-};
-
-#define IOCTL_KGSL_TIMESTAMP_EVENT_OLD \
-	_IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_timestamp_event)
-
-/* A genlock timestamp event releases an existing lock on timestamp expire */
-
-#define KGSL_TIMESTAMP_EVENT_GENLOCK 1
-
-struct kgsl_timestamp_event_genlock {
-	int handle; /* Handle of the genlock lock to release */
-};
-
-/* A fence timestamp event releases an existing lock on timestamp expire */
-
-#define KGSL_TIMESTAMP_EVENT_FENCE 2
-
-struct kgsl_timestamp_event_fence {
-	int fence_fd; /* Fence to signal */
-};
-
-/*
- * Set a property within the kernel.  Uses the same structure as
- * IOCTL_KGSL_GETPROPERTY
- */
-
-#define IOCTL_KGSL_SETPROPERTY \
-	_IOW(KGSL_IOC_TYPE, 0x32, struct kgsl_device_getproperty)
-
-#define IOCTL_KGSL_TIMESTAMP_EVENT \
-	_IOWR(KGSL_IOC_TYPE, 0x33, struct kgsl_timestamp_event)
-
-/**
- * struct kgsl_gpumem_alloc_id - argument to IOCTL_KGSL_GPUMEM_ALLOC_ID
- * @id: returned id value for this allocation.
- * @flags: mask of KGSL_MEM* values requested and actual flags on return.
- * @size: requested size of the allocation and actual size on return.
- * @mmapsize: returned size to pass to mmap() which may be larger than 'size'
- * @gpuaddr: returned GPU address for the allocation
- *
- * Allocate memory for access by the GPU. The flags and size fields are echoed
- * back by the kernel, so that the caller can know if the request was
- * adjusted.
- *
- * Supported flags:
- * KGSL_MEMFLAGS_GPUREADONLY: the GPU will be unable to write to the buffer
- * KGSL_MEMTYPE*: usage hint for debugging aid
- * KGSL_MEMALIGN*: alignment hint, may be ignored or adjusted by the kernel.
- * KGSL_MEMFLAGS_USE_CPU_MAP: If set on call and return, the returned GPU
- * address will be 0. Calling mmap() will set the GPU address.
- */
-struct kgsl_gpumem_alloc_id {
-	unsigned int id;
-	unsigned int flags;
-	size_t size;
-	size_t mmapsize;
-	unsigned long gpuaddr;
-/* private: reserved for future use*/
-	unsigned long __pad[2];
-};
-
-#define IOCTL_KGSL_GPUMEM_ALLOC_ID \
-	_IOWR(KGSL_IOC_TYPE, 0x34, struct kgsl_gpumem_alloc_id)
-
-/**
- * struct kgsl_gpumem_free_id - argument to IOCTL_KGSL_GPUMEM_FREE_ID
- * @id: GPU allocation id to free
- *
- * Free an allocation by id, in case a GPU address has not been assigned or
- * is unknown. Freeing an allocation by id with this ioctl or by GPU address
- * with IOCTL_KGSL_SHAREDMEM_FREE are equivalent.
- */
-struct kgsl_gpumem_free_id {
-	unsigned int id;
-/* private: reserved for future use*/
-	unsigned int __pad;
-};
-
-#define IOCTL_KGSL_GPUMEM_FREE_ID \
-	_IOWR(KGSL_IOC_TYPE, 0x35, struct kgsl_gpumem_free_id)
-
-/**
- * struct kgsl_gpumem_get_info - argument to IOCTL_KGSL_GPUMEM_GET_INFO
- * @gpuaddr: GPU address to query. Also set on return.
- * @id: GPU allocation id to query. Also set on return.
- * @flags: returned mask of KGSL_MEM* values.
- * @size: returned size of the allocation.
- * @mmapsize: returned size to pass mmap(), which may be larger than 'size'
- * @useraddr: returned address of the userspace mapping for this buffer
- *
- * This ioctl allows querying of all user visible attributes of an existing
- * allocation, by either the GPU address or the id returned by a previous
- * call to IOCTL_KGSL_GPUMEM_ALLOC_ID. Legacy allocation ioctls may not
- * return all attributes so this ioctl can be used to look them up if needed.
- *
- */
-struct kgsl_gpumem_get_info {
-	unsigned long gpuaddr;
-	unsigned int id;
-	unsigned int flags;
-	size_t size;
-	size_t mmapsize;
-	unsigned long useraddr;
-/* private: reserved for future use*/
-	unsigned long __pad[4];
-};
-
-#define IOCTL_KGSL_GPUMEM_GET_INFO\
-	_IOWR(KGSL_IOC_TYPE, 0x36, struct kgsl_gpumem_get_info)
-
-/**
- * struct kgsl_gpumem_sync_cache - argument to IOCTL_KGSL_GPUMEM_SYNC_CACHE
- * @gpuaddr: GPU address of the buffer to sync.
- * @id: id of the buffer to sync. Either gpuaddr or id is sufficient.
- * @op: a mask of KGSL_GPUMEM_CACHE_* values
- * @offset: offset into the buffer
- * @length: number of bytes starting from offset to perform
- * the cache operation on
- *
- * Sync the L2 cache for memory headed to and from the GPU - this replaces
- * KGSL_SHAREDMEM_FLUSH_CACHE since it can handle cache management for both
- * directions
- *
- */
-struct kgsl_gpumem_sync_cache {
-	unsigned long gpuaddr;
-	unsigned int id;
-	unsigned int op;
-	size_t offset;
-	size_t length;
-};
-
-#define KGSL_GPUMEM_CACHE_CLEAN (1 << 0)
-#define KGSL_GPUMEM_CACHE_TO_GPU KGSL_GPUMEM_CACHE_CLEAN
-
-#define KGSL_GPUMEM_CACHE_INV (1 << 1)
-#define KGSL_GPUMEM_CACHE_FROM_GPU KGSL_GPUMEM_CACHE_INV
-
-#define KGSL_GPUMEM_CACHE_FLUSH \
-	(KGSL_GPUMEM_CACHE_CLEAN | KGSL_GPUMEM_CACHE_INV)
-
-/* Flag to ensure backwards compatibility of kgsl_gpumem_sync_cache struct */
-#define KGSL_GPUMEM_CACHE_RANGE (1 << 31U)
-
-#define IOCTL_KGSL_GPUMEM_SYNC_CACHE \
-	_IOW(KGSL_IOC_TYPE, 0x37, struct kgsl_gpumem_sync_cache)
-
-/**
- * struct kgsl_perfcounter_get - argument to IOCTL_KGSL_PERFCOUNTER_GET
- * @groupid: Performance counter group ID
- * @countable: Countable to select within the group
- * @offset: Return offset of the reserved LO counter
- * @offset_hi: Return offset of the reserved HI counter
- *
- * Get an available performance counter from a specified groupid.  The offset
- * of the performance counter will be returned after successfully assigning
- * the countable to the counter for the specified group.  An error will be
- * returned and an offset of 0 if the groupid is invalid or there are no
- * more counters left.  After successfully getting a perfcounter, the user
- * must call kgsl_perfcounter_put(groupid, contable) when finished with
- * the perfcounter to clear up perfcounter resources.
- *
- */
-struct kgsl_perfcounter_get {
-	unsigned int groupid;
-	unsigned int countable;
-	unsigned int offset;
-	unsigned int offset_hi;
-/* private: reserved for future use */
-	unsigned int __pad; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_GET \
-	_IOWR(KGSL_IOC_TYPE, 0x38, struct kgsl_perfcounter_get)
-
-/**
- * struct kgsl_perfcounter_put - argument to IOCTL_KGSL_PERFCOUNTER_PUT
- * @groupid: Performance counter group ID
- * @countable: Countable to release within the group
- *
- * Put an allocated performance counter to allow others to have access to the
- * resource that was previously taken.  This is only to be called after
- * successfully getting a performance counter from kgsl_perfcounter_get().
- *
- */
-struct kgsl_perfcounter_put {
-	unsigned int groupid;
-	unsigned int countable;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_PUT \
-	_IOW(KGSL_IOC_TYPE, 0x39, struct kgsl_perfcounter_put)
-
-/**
- * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY
- * @groupid: Performance counter group ID
- * @countable: Return active countables array
- * @size: Size of active countables array
- * @max_counters: Return total number counters for the group ID
- *
- * Query the available performance counters given a groupid.  The array
- * *countables is used to return the current active countables in counters.
- * The size of the array is passed in so the kernel will only write at most
- * size or counter->size for the group id.  The total number of available
- * counters for the group ID is returned in max_counters.
- * If the array or size passed in are invalid, then only the maximum number
- * of counters will be returned, no data will be written to *countables.
- * If the groupid is invalid an error code will be returned.
- *
- */
-struct kgsl_perfcounter_query {
-	unsigned int groupid;
-	/* Array to return the current countable for up to size counters */
-	unsigned int __user *countables;
-	unsigned int count;
-	unsigned int max_counters;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_QUERY \
-	_IOWR(KGSL_IOC_TYPE, 0x3A, struct kgsl_perfcounter_query)
-
-/**
- * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY
- * @groupid: Performance counter group IDs
- * @countable: Performance counter countable IDs
- * @value: Return performance counter reads
- * @size: Size of all arrays (groupid/countable pair and return value)
- *
- * Read in the current value of a performance counter given by the groupid
- * and countable.
- *
- */
-
-struct kgsl_perfcounter_read_group {
-	unsigned int groupid;
-	unsigned int countable;
-	unsigned long long value;
-};
-
-struct kgsl_perfcounter_read {
-	struct kgsl_perfcounter_read_group __user *reads;
-	unsigned int count;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_READ \
-	_IOWR(KGSL_IOC_TYPE, 0x3B, struct kgsl_perfcounter_read)
-/*
- * struct kgsl_gpumem_sync_cache_bulk - argument to
- * IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK
- * @id_list: list of GPU buffer ids of the buffers to sync
- * @count: number of GPU buffer ids in id_list
- * @op: a mask of KGSL_GPUMEM_CACHE_* values
- *
- * Sync the cache for memory headed to and from the GPU. Certain
- * optimizations can be made on the cache operation based on the total
- * size of the working set of memory to be managed.
- */
-struct kgsl_gpumem_sync_cache_bulk {
-	unsigned int __user *id_list;
-	unsigned int count;
-	unsigned int op;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK \
-	_IOWR(KGSL_IOC_TYPE, 0x3C, struct kgsl_gpumem_sync_cache_bulk)
-
-/*
- * struct kgsl_cmd_syncpoint_timestamp
- * @context_id: ID of a KGSL context
- * @timestamp: GPU timestamp
- *
- * This structure defines a syncpoint comprising a context/timestamp pair. A
- * list of these may be passed by IOCTL_KGSL_SUBMIT_COMMANDS to define
- * dependencies that must be met before the command can be submitted to the
- * hardware
- */
-struct kgsl_cmd_syncpoint_timestamp {
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-struct kgsl_cmd_syncpoint_fence {
-	int fd;
-};
-
-/**
- * struct kgsl_cmd_syncpoint - Define a sync point for a command batch
- * @type: type of sync point defined here
- * @priv: Pointer to the type specific buffer
- * @size: Size of the type specific buffer
- *
- * This structure contains pointers defining a specific command sync point.
- * The pointer and size should point to a type appropriate structure.
- */
-struct kgsl_cmd_syncpoint {
-	int type;
-	void __user *priv;
-	size_t size;
-};
-
-/* Flag to indicate that the cmdlist may contain memlists */
-#define KGSL_IBDESC_MEMLIST 0x1
-
-/* Flag to point out the cmdbatch profiling buffer in the memlist */
-#define KGSL_IBDESC_PROFILING_BUFFER 0x2
-
-/**
- * struct kgsl_submit_commands - Argument to IOCTL_KGSL_SUBMIT_COMMANDS
- * @context_id: KGSL context ID that owns the commands
- * @flags:
- * @cmdlist: User pointer to a list of kgsl_ibdesc structures
- * @numcmds: Number of commands listed in cmdlist
- * @synclist: User pointer to a list of kgsl_cmd_syncpoint structures
- * @numsyncs: Number of sync points listed in synclist
- * @timestamp: On entry the a user defined timestamp, on exist the timestamp
- * assigned to the command batch
- *
- * This structure specifies a command to send to the GPU hardware.  This is
- * similar to kgsl_issueibcmds expect that it doesn't support the legacy way to
- * submit IB lists and it adds sync points to block the IB until the
- * dependencies are satisified.  This entry point is the new and preferred way
- * to submit commands to the GPU. The memory list can be used to specify all
- * memory that is referrenced in the current set of commands.
- */
-
-struct kgsl_submit_commands {
-	unsigned int context_id;
-	unsigned int flags;
-	struct kgsl_ibdesc __user *cmdlist;
-	unsigned int numcmds;
-	struct kgsl_cmd_syncpoint __user *synclist;
-	unsigned int numsyncs;
-	unsigned int timestamp;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-#define IOCTL_KGSL_SUBMIT_COMMANDS \
-	_IOWR(KGSL_IOC_TYPE, 0x3D, struct kgsl_submit_commands)
-
-/**
- * struct kgsl_device_constraint - device constraint argument
- * @context_id: KGSL context ID
- * @type: type of constraint i.e pwrlevel/none
- * @data: constraint data
- * @size: size of the constraint data
- */
-struct kgsl_device_constraint {
-	unsigned int type;
-	unsigned int context_id;
-	void __user *data;
-	size_t size;
-};
-
-/* Constraint Type*/
-#define KGSL_CONSTRAINT_NONE 0
-#define KGSL_CONSTRAINT_PWRLEVEL 1
-
-/* PWRLEVEL constraint level*/
-/* set to min frequency */
-#define KGSL_CONSTRAINT_PWR_MIN    0
-/* set to max frequency */
-#define KGSL_CONSTRAINT_PWR_MAX    1
-
-struct kgsl_device_constraint_pwrlevel {
-	unsigned int level;
-};
-
-/**
- * struct kgsl_syncsource_create - Argument to IOCTL_KGSL_SYNCSOURCE_CREATE
- * @id: returned id for the syncsource that was created.
- *
- * This ioctl creates a userspace sync timeline.
- */
-
-struct kgsl_syncsource_create {
-	unsigned int id;
-/* private: reserved for future use */
-	unsigned int __pad[3];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_CREATE \
-	_IOWR(KGSL_IOC_TYPE, 0x40, struct kgsl_syncsource_create)
-
-/**
- * struct kgsl_syncsource_destroy - Argument to IOCTL_KGSL_SYNCSOURCE_DESTROY
- * @id: syncsource id to destroy
- *
- * This ioctl creates a userspace sync timeline.
- */
-
-struct kgsl_syncsource_destroy {
-	unsigned int id;
-/* private: reserved for future use */
-	unsigned int __pad[3];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_DESTROY \
-	_IOWR(KGSL_IOC_TYPE, 0x41, struct kgsl_syncsource_destroy)
-
-/**
- * struct kgsl_syncsource_create_fence - Argument to
- *     IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE
- * @id: syncsource id
- * @fence_fd: returned sync_fence fd
- *
- * Create a fence that may be signaled by userspace by calling
- * IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE. There are no order dependencies between
- * these fences.
- */
-struct kgsl_syncsource_create_fence {
-	unsigned int id;
-	int fence_fd;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-/**
- * struct kgsl_syncsource_signal_fence - Argument to
- *     IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE
- * @id: syncsource id
- * @fence_fd: sync_fence fd to signal
- *
- * Signal a fence that was created by a IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE
- * call using the same syncsource id. This allows a fence to be shared
- * to other processes but only signaled by the process owning the fd
- * used to create the fence.
- */
-#define IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE \
-	_IOWR(KGSL_IOC_TYPE, 0x42, struct kgsl_syncsource_create_fence)
-
-struct kgsl_syncsource_signal_fence {
-	unsigned int id;
-	int fence_fd;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE \
-	_IOWR(KGSL_IOC_TYPE, 0x43, struct kgsl_syncsource_signal_fence)
-
-/**
- * struct kgsl_cff_sync_gpuobj - Argument to IOCTL_KGSL_CFF_SYNC_GPUOBJ
- * @offset: Offset into the GPU object to sync
- * @length: Number of bytes to sync
- * @id: ID of the GPU object to sync
- */
-struct kgsl_cff_sync_gpuobj {
-	uint64_t offset;
-	uint64_t length;
-	unsigned int id;
-};
-
-#define IOCTL_KGSL_CFF_SYNC_GPUOBJ \
-	_IOW(KGSL_IOC_TYPE, 0x44, struct kgsl_cff_sync_gpuobj)
-
-/**
- * struct kgsl_gpuobj_alloc - Argument to IOCTL_KGSL_GPUOBJ_ALLOC
- * @size: Size in bytes of the object to allocate
- * @flags: mask of KGSL_MEMFLAG_* bits
- * @va_len: Size in bytes of the virtual region to allocate
- * @mmapsize: Returns the mmap() size of the object
- * @id: Returns the GPU object ID of the new object
- * @metadata_len: Length of the metdata to copy from the user
- * @metadata: Pointer to the user specified metadata to store for the object
- */
-struct kgsl_gpuobj_alloc {
-	uint64_t size;
-	uint64_t flags;
-	uint64_t va_len;
-	uint64_t mmapsize;
-	unsigned int id;
-	unsigned int metadata_len;
-	uint64_t metadata;
-};
-
-/* Let the user know that this header supports the gpuobj metadata */
-#define KGSL_GPUOBJ_ALLOC_METADATA_MAX 64
-
-#define IOCTL_KGSL_GPUOBJ_ALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x45, struct kgsl_gpuobj_alloc)
-
-/**
- * struct kgsl_gpuobj_free - Argument to IOCTL_KGLS_GPUOBJ_FREE
- * @flags: Mask of: KGSL_GUPOBJ_FREE_ON_EVENT
- * @priv: Pointer to the private object if KGSL_GPUOBJ_FREE_ON_EVENT is
- * specified
- * @id: ID of the GPU object to free
- * @type: If KGSL_GPUOBJ_FREE_ON_EVENT is specified, the type of asynchronous
- * event to free on
- * @len: Length of the data passed in priv
- */
-struct kgsl_gpuobj_free {
-	uint64_t flags;
-	uint64_t __user priv;
-	unsigned int id;
-	unsigned int type;
-	unsigned int len;
-};
-
-#define KGSL_GPUOBJ_FREE_ON_EVENT 1
-
-#define KGSL_GPU_EVENT_TIMESTAMP 1
-#define KGSL_GPU_EVENT_FENCE     2
-
-/**
- * struct kgsl_gpu_event_timestamp - Specifies a timestamp event to free a GPU
- * object on
- * @context_id: ID of the timestamp event to wait for
- * @timestamp: Timestamp of the timestamp event to wait for
- */
-struct kgsl_gpu_event_timestamp {
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-/**
- * struct kgsl_gpu_event_fence - Specifies a fence ID to to free a GPU object on
- * @fd: File descriptor for the fence
- */
-struct kgsl_gpu_event_fence {
-	int fd;
-};
-
-#define IOCTL_KGSL_GPUOBJ_FREE \
-	_IOW(KGSL_IOC_TYPE, 0x46, struct kgsl_gpuobj_free)
-
-/**
- * struct kgsl_gpuobj_info - argument to IOCTL_KGSL_GPUOBJ_INFO
- * @gpuaddr: GPU address of the object
- * @flags: Current flags for the object
- * @size: Size of the object
- * @va_len: VA size of the object
- * @va_addr: Virtual address of the object (if it is mapped)
- * id - GPU object ID of the object to query
- */
-struct kgsl_gpuobj_info {
-	uint64_t gpuaddr;
-	uint64_t flags;
-	uint64_t size;
-	uint64_t va_len;
-	uint64_t va_addr;
-	unsigned int id;
-};
-
-#define IOCTL_KGSL_GPUOBJ_INFO \
-	_IOWR(KGSL_IOC_TYPE, 0x47, struct kgsl_gpuobj_info)
-
-/**
- * struct kgsl_gpuobj_import - argument to IOCTL_KGSL_GPUOBJ_IMPORT
- * @priv: Pointer to the private data for the import type
- * @priv_len: Length of the private data
- * @flags: Mask of KGSL_MEMFLAG_ flags
- * @type: Type of the import (KGSL_USER_MEM_TYPE_*)
- * @id: Returns the ID of the new GPU object
- */
-struct kgsl_gpuobj_import {
-	uint64_t __user priv;
-	uint64_t priv_len;
-	uint64_t flags;
-	unsigned int type;
-	unsigned int id;
-};
-
-/**
- * struct kgsl_gpuobj_import_dma_buf - import a dmabuf object
- * @fd: File descriptor for the dma-buf object
- */
-struct kgsl_gpuobj_import_dma_buf {
-	int fd;
-};
-
-/**
- * struct kgsl_gpuobj_import_useraddr - import an object based on a useraddr
- * @virtaddr: Virtual address of the object to import
- */
-struct kgsl_gpuobj_import_useraddr {
-	uint64_t virtaddr;
-};
-
-#define IOCTL_KGSL_GPUOBJ_IMPORT \
-	_IOWR(KGSL_IOC_TYPE, 0x48, struct kgsl_gpuobj_import)
-
-/**
- * struct kgsl_gpuobj_sync_obj - Individual GPU object to sync
- * @offset: Offset within the GPU object to sync
- * @length: Number of bytes to sync
- * @id: ID of the GPU object to sync
- * @op: Cache operation to execute
- */
-
-struct kgsl_gpuobj_sync_obj {
-	uint64_t offset;
-	uint64_t length;
-	unsigned int id;
-	unsigned int op;
-};
-
-/**
- * struct kgsl_gpuobj_sync - Argument for IOCTL_KGSL_GPUOBJ_SYNC
- * @objs: Pointer to an array of kgsl_gpuobj_sync_obj structs
- * @obj_len: Size of each item in the array
- * @count: Number of items in the array
- */
-
-struct kgsl_gpuobj_sync {
-	uint64_t __user objs;
-	unsigned int obj_len;
-	unsigned int count;
-};
-
-#define IOCTL_KGSL_GPUOBJ_SYNC \
-	_IOW(KGSL_IOC_TYPE, 0x49, struct kgsl_gpuobj_sync)
-
-/**
- * struct kgsl_command_object - GPU command object
- * @offset: GPU address offset of the object
- * @gpuaddr: GPU address of the object
- * @size: Size of the object
- * @flags: Current flags for the object
- * @id - GPU command object ID
- */
-struct kgsl_command_object {
-	uint64_t offset;
-	uint64_t gpuaddr;
-	uint64_t size;
-	unsigned int flags;
-	unsigned int id;
-};
-
-/**
- * struct kgsl_command_syncpoint - GPU syncpoint object
- * @priv: Pointer to the type specific buffer
- * @size: Size of the type specific buffer
- * @type: type of sync point defined here
- */
-struct kgsl_command_syncpoint {
-	uint64_t __user priv;
-	uint64_t size;
-	unsigned int type;
-};
-
-/**
- * struct kgsl_command_object - Argument for IOCTL_KGSL_GPU_COMMAND
- * @flags: Current flags for the object
- * @cmdlist: List of kgsl_command_objects for submission
- * @cmd_size: Size of kgsl_command_objects structure
- * @numcmds: Number of kgsl_command_objects in command list
- * @objlist: List of kgsl_command_objects for tracking
- * @obj_size: Size of kgsl_command_objects structure
- * @numobjs: Number of kgsl_command_objects in object list
- * @synclist: List of kgsl_command_syncpoints
- * @sync_size: Size of kgsl_command_syncpoint structure
- * @numsyncs: Number of kgsl_command_syncpoints in syncpoint list
- * @context_id: Context ID submittin ghte kgsl_gpu_command
- * @timestamp: Timestamp for the submitted commands
- */
-struct kgsl_gpu_command {
-	uint64_t flags;
-	uint64_t __user cmdlist;
-	unsigned int cmdsize;
-	unsigned int numcmds;
-	uint64_t __user objlist;
-	unsigned int objsize;
-	unsigned int numobjs;
-	uint64_t __user synclist;
-	unsigned int syncsize;
-	unsigned int numsyncs;
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_GPU_COMMAND \
-	_IOWR(KGSL_IOC_TYPE, 0x4A, struct kgsl_gpu_command)
-
-/**
- * struct kgsl_preemption_counters_query - argument to
- * IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY
- * @counters: Return preemption counters array
- * @size_user: Size allocated by userspace
- * @size_priority_level: Size of preemption counters for each
- * priority level
- * @max_priority_level: Return max number of priority levels
- *
- * Query the available preemption counters. The array counters
- * is used to return preemption counters. The size of the array
- * is passed in so the kernel will only write at most size_user
- * or max available preemption counters.  The total number of
- * preemption counters is returned in max_priority_level. If the
- * array or size passed in are invalid, then an error is
- * returned back.
- */
-struct kgsl_preemption_counters_query {
-	uint64_t __user counters;
-	unsigned int size_user;
-	unsigned int size_priority_level;
-	unsigned int max_priority_level;
-};
-
-#define IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY \
-	_IOWR(KGSL_IOC_TYPE, 0x4B, struct kgsl_preemption_counters_query)
-
-/**
- * struct kgsl_gpuobj_set_info - argument for IOCTL_KGSL_GPUOBJ_SET_INFO
- * @flags: Flags to indicate which paramaters to change
- * @metadata:  If KGSL_GPUOBJ_SET_INFO_METADATA is set, a pointer to the new
- * metadata
- * @id: GPU memory object ID to change
- * @metadata_len:  If KGSL_GPUOBJ_SET_INFO_METADATA is set, the length of the
- * new metadata string
- * @type: If KGSL_GPUOBJ_SET_INFO_TYPE is set, the new type of the memory object
- */
-
-#define KGSL_GPUOBJ_SET_INFO_METADATA (1 << 0)
-#define KGSL_GPUOBJ_SET_INFO_TYPE (1 << 1)
-
-struct kgsl_gpuobj_set_info {
-	uint64_t flags;
-	uint64_t metadata;
-	unsigned int id;
-	unsigned int metadata_len;
-	unsigned int type;
-};
-
-#define IOCTL_KGSL_GPUOBJ_SET_INFO \
-	_IOW(KGSL_IOC_TYPE, 0x4C, struct kgsl_gpuobj_set_info)
-
-#endif /* _UAPI_MSM_KGSL_H */
diff --git a/third_party/linux/include/msm_media_info.h b/third_party/linux/include/msm_media_info.h
deleted file mode 100644
index 3fd0c8849a..0000000000
--- a/third_party/linux/include/msm_media_info.h
+++ /dev/null
@@ -1,1392 +0,0 @@
-#ifndef __MEDIA_INFO_H__
-#define __MEDIA_INFO_H__
-
-#ifndef MSM_MEDIA_ALIGN
-#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ?\
-	((((__sz) + (__align) - 1) / (__align)) * (__align)) :\
-	(((__sz) + (__align) - 1) & (~((__align) - 1))))
-#endif
-
-#ifndef MSM_MEDIA_ROUNDUP
-#define MSM_MEDIA_ROUNDUP(__sz, __r) (((__sz) + ((__r) - 1)) / (__r))
-#endif
-
-#ifndef MSM_MEDIA_MAX
-#define MSM_MEDIA_MAX(__a, __b) ((__a) > (__b)?(__a):(__b))
-#endif
-
-enum color_fmts {
-	/* Venus NV12:
-	 * YUV 4:2:0 image with a plane of 8 bit Y samples followed
-	 * by an interleaved U/V plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * U V U V U V U V U V U V . . . .  ^
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_NV12,
-
-	/* Venus NV21:
-	 * YUV 4:2:0 image with a plane of 8 bit Y samples followed
-	 * by an interleaved V/U plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * V U V U V U V U V U V U . . . .  ^
-	 * V U V U V U V U V U V U . . . .  |
-	 * V U V U V U V U V U V U . . . .  |
-	 * V U V U V U V U V U V U . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Padding & Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_NV21,
-	/* Venus NV12_MVTB:
-	 * Two YUV 4:2:0 images/views one after the other
-	 * in a top-bottom layout, same as NV12
-	 * with a plane of 8 bit Y samples followed
-	 * by an interleaved U/V plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^               ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |               |
-	 * . . . . . . . . . . . . . . . .              |             View_1
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              V               |
-	 * U V U V U V U V U V U V . . . .  ^                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines                |
-	 * . . . . . . . . . . . . . . . .  |                           |
-	 * . . . . . . . . . . . . . . . .  V                           V
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^               ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |               |
-	 * . . . . . . . . . . . . . . . .              |             View_2
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              V               |
-	 * U V U V U V U V U V U V . . . .  ^                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines                |
-	 * . . . . . . . . . . . . . . . .  |                           |
-	 * . . . . . . . . . . . . . . . .  V                           V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * View_1 begin at: 0 (zero)
-	 * View_2 begin at: Y_Stride * Y_Scanlines + UV_Stride * UV_Scanlines
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((2*(Y_Stride * Y_Scanlines)
-	 *          + 2*(UV_Stride * UV_Scanlines) + Extradata), 4096)
-	 */
-	COLOR_FMT_NV12_MVTB,
-	/*
-	 * The buffer can be of 2 types:
-	 * (1) Venus NV12 UBWC Progressive
-	 * (2) Venus NV12 UBWC Interlaced
-	 *
-	 * (1) Venus NV12 UBWC Progressive Buffer Format:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 8 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 8 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 * Y_Stride = align(Width, 128)
-	 * UV_Stride = align(Width, 128)
-	 * Y_Scanlines = align(Height, 32)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align( Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 *
-	 *
-	 * (2) Venus NV12 UBWC Interlaced Buffer Format:
-	 * Compressed Macro-tile format for NV12 interlaced.
-	 * Contains 8 planes in the following order -
-	 * (A) Y_Meta_Top_Field_Plane
-	 * (B) Y_UBWC_Top_Field_Plane
-	 * (C) UV_Meta_Top_Field_Plane
-	 * (D) UV_UBWC_Top_Field_Plane
-	 * (E) Y_Meta_Bottom_Field_Plane
-	 * (F) Y_UBWC_Bottom_Field_Plane
-	 * (G) UV_Meta_Bottom_Field_Plane
-	 * (H) UV_UBWC_Bottom_Field_Plane
-	 * Y_Meta_Top_Field_Plane consists of meta information to decode
-	 * compressed tile data for Y_UBWC_Top_Field_Plane.
-	 * Y_UBWC_Top_Field_Plane consists of Y data in compressed macro-tile
-	 * format for top field of an interlaced frame.
-	 * UBWC decoder block will use the Y_Meta_Top_Field_Plane data together
-	 * with Y_UBWC_Top_Field_Plane data to produce loss-less uncompressed
-	 * 8 bit Y samples for top field of an interlaced frame.
-	 *
-	 * UV_Meta_Top_Field_Plane consists of meta information to decode
-	 * compressed tile data in UV_UBWC_Top_Field_Plane.
-	 * UV_UBWC_Top_Field_Plane consists of UV data in compressed macro-tile
-	 * format for top field of an interlaced frame.
-	 * UBWC decoder block will use UV_Meta_Top_Field_Plane data together
-	 * with UV_UBWC_Top_Field_Plane data to produce loss-less uncompressed
-	 * 8 bit subsampled color difference samples for top field of an
-	 * interlaced frame.
-	 *
-	 * Each tile in Y_UBWC_Top_Field_Plane/UV_UBWC_Top_Field_Plane is
-	 * independently decodable and randomly accessible. There is no
-	 * dependency between tiles.
-	 *
-	 * Y_Meta_Bottom_Field_Plane consists of meta information to decode
-	 * compressed tile data for Y_UBWC_Bottom_Field_Plane.
-	 * Y_UBWC_Bottom_Field_Plane consists of Y data in compressed macro-tile
-	 * format for bottom field of an interlaced frame.
-	 * UBWC decoder block will use the Y_Meta_Bottom_Field_Plane data
-	 * together with Y_UBWC_Bottom_Field_Plane data to produce loss-less
-	 * uncompressed 8 bit Y samples for bottom field of an interlaced frame.
-	 *
-	 * UV_Meta_Bottom_Field_Plane consists of meta information to decode
-	 * compressed tile data in UV_UBWC_Bottom_Field_Plane.
-	 * UV_UBWC_Bottom_Field_Plane consists of UV data in compressed
-	 * macro-tile format for bottom field of an interlaced frame.
-	 * UBWC decoder block will use UV_Meta_Bottom_Field_Plane data together
-	 * with UV_UBWC_Bottom_Field_Plane data to produce loss-less
-	 * uncompressed 8 bit subsampled color difference samples for bottom
-	 * field of an interlaced frame.
-	 *
-	 * Each tile in Y_UBWC_Bottom_Field_Plane/UV_UBWC_Bottom_Field_Plane is
-	 * independently decodable and randomly accessible. There is no
-	 * dependency between tiles.
-	 *
-	 * <-----Y_TF_Meta_Stride---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . . Half_height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_TF_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-Compressed tile Y_TF Stride->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_TF_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----UV_TF_Meta_Stride---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_TF_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <-Compressed tile UV_TF Stride->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_TF_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * <-----Y_BF_Meta_Stride---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . . Half_height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_BF_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-Compressed tile Y_BF Stride->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_BF_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----UV_BF_Meta_Stride---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_BF_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <-Compressed tile UV_BF Stride->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_BF_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 * Half_height = (Height+1)>>1
-	 * Y_TF_Stride = align(Width, 128)
-	 * UV_TF_Stride = align(Width, 128)
-	 * Y_TF_Scanlines = align(Half_height, 32)
-	 * UV_TF_Scanlines = align((Half_height+1)/2, 32)
-	 * Y_UBWC_TF_Plane_size = align(Y_TF_Stride * Y_TF_Scanlines, 4096)
-	 * UV_UBWC_TF_Plane_size = align(UV_TF_Stride * UV_TF_Scanlines, 4096)
-	 * Y_TF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_TF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
-	 * Y_TF_Meta_Plane_size =
-	 *     align(Y_TF_Meta_Stride * Y_TF_Meta_Scanlines, 4096)
-	 * UV_TF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_TF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
-	 * UV_TF_Meta_Plane_size =
-	 *     align(UV_TF_Meta_Stride * UV_TF_Meta_Scanlines, 4096)
-	 * Y_BF_Stride = align(Width, 128)
-	 * UV_BF_Stride = align(Width, 128)
-	 * Y_BF_Scanlines = align(Half_height, 32)
-	 * UV_BF_Scanlines = align((Half_height+1)/2, 32)
-	 * Y_UBWC_BF_Plane_size = align(Y_BF_Stride * Y_BF_Scanlines, 4096)
-	 * UV_UBWC_BF_Plane_size = align(UV_BF_Stride * UV_BF_Scanlines, 4096)
-	 * Y_BF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_BF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
-	 * Y_BF_Meta_Plane_size =
-	 *     align(Y_BF_Meta_Stride * Y_BF_Meta_Scanlines, 4096)
-	 * UV_BF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_BF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
-	 * UV_BF_Meta_Plane_size =
-	 *     align(UV_BF_Meta_Stride * UV_BF_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align( Y_UBWC_TF_Plane_size + UV_UBWC_TF_Plane_size +
-	 *           Y_TF_Meta_Plane_size + UV_TF_Meta_Plane_size +
-	 *			 Y_UBWC_BF_Plane_size + UV_UBWC_BF_Plane_size +
-	 *           Y_BF_Meta_Plane_size + UV_BF_Meta_Plane_size +
-	 *           + max(Extradata, Y_TF_Stride * 48), 4096)
-	 */
-	COLOR_FMT_NV12_UBWC,
-	/* Venus NV12 10-bit UBWC:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ----->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 *
-	 * Y_Stride = align(Width * 4/3, 128)
-	 * UV_Stride = align(Width * 4/3, 128)
-	 * Y_Scanlines = align(Height, 32)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 */
-	COLOR_FMT_NV12_BPP10_UBWC,
-	/* Venus RGBA8888 format:
-	 * Contains 1 plane in the following order -
-	 * (A) RGBA plane
-	 *
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 128)
-	 * RGB_Scanlines = align(Height, 32)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Plane_size + Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA8888,
-	/* Venus RGBA8888 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGBA plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 128)
-	 * RGB_Scanlines = align(Height, 32)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA8888_UBWC,
-	/* Venus RGBA1010102 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGBA plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 256)
-	 * RGB_Scanlines = align(Height, 16)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA1010102_UBWC,
-	/* Venus RGB565 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGB plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 2, 128)
-	 * RGB_Scanlines = align(Height, 16)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGB565_UBWC,
-	/* P010 UBWC:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ----->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 *
-	 * Y_Stride = align(Width * 2, 256)
-	 * UV_Stride = align(Width * 2, 256)
-	 * Y_Scanlines = align(Height, 16)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 */
-	COLOR_FMT_P010_UBWC,
-	/* Venus P010:
-	 * YUV 4:2:0 image with a plane of 10 bit Y samples followed
-	 * by an interleaved U/V plane containing 10 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * U V U V U V U V U V U V . . . .  ^
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width * 2 aligned to 128
-	 * UV_Stride : Width * 2 aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_P010,
-};
-
-#define COLOR_FMT_RGBA1010102_UBWC	COLOR_FMT_RGBA1010102_UBWC
-#define COLOR_FMT_RGB565_UBWC		COLOR_FMT_RGB565_UBWC
-#define COLOR_FMT_P010_UBWC		COLOR_FMT_P010_UBWC
-#define COLOR_FMT_P010		COLOR_FMT_P010
-
-static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height)
-{
-	(void)height;
-	(void)width;
-
-	/*
-	 * In the future, calculate the size based on the w/h but just
-	 * hardcode it for now since 16K satisfies all current usecases.
-	 */
-	return 16 * 1024;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment, stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width, alignment);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width, 192);
-		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
-		break;
-	case COLOR_FMT_P010:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width*2, alignment);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment, stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width, alignment);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width, 192);
-		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
-		break;
-	case COLOR_FMT_P010:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width*2, alignment);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment, sclines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010:
-		alignment = 32;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		alignment = 16;
-		break;
-	default:
-		return 0;
-	}
-	sclines = MSM_MEDIA_ALIGN(height, alignment);
-invalid_input:
-	return sclines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment, sclines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-	case COLOR_FMT_P010:
-		alignment = 16;
-		break;
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 32;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	sclines = MSM_MEDIA_ALIGN((height+1)>>1, alignment);
-
-invalid_input:
-	return sclines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width)
-{
-	int y_tile_width = 0, y_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		y_tile_width = 32;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		y_tile_width = 48;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	y_meta_stride = MSM_MEDIA_ROUNDUP(width, y_tile_width);
-	y_meta_stride = MSM_MEDIA_ALIGN(y_meta_stride, 64);
-
-invalid_input:
-	return y_meta_stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height)
-{
-	int y_tile_height = 0, y_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-		y_tile_height = 8;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		y_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	y_meta_scanlines = MSM_MEDIA_ROUNDUP(height, y_tile_height);
-	y_meta_scanlines = MSM_MEDIA_ALIGN(y_meta_scanlines, 16);
-
-invalid_input:
-	return y_meta_scanlines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width)
-{
-	int uv_tile_width = 0, uv_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		uv_tile_width = 16;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		uv_tile_width = 24;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	uv_meta_stride = MSM_MEDIA_ROUNDUP((width+1)>>1, uv_tile_width);
-	uv_meta_stride = MSM_MEDIA_ALIGN(uv_meta_stride, 64);
-
-invalid_input:
-	return uv_meta_stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height)
-{
-	int uv_tile_height = 0, uv_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-		uv_tile_height = 8;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		uv_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	uv_meta_scanlines = MSM_MEDIA_ROUNDUP((height+1)>>1, uv_tile_height);
-	uv_meta_scanlines = MSM_MEDIA_ALIGN(uv_meta_scanlines, 16);
-
-invalid_input:
-	return uv_meta_scanlines;
-}
-
-static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment = 0, stride = 0, bpp = 4;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888:
-		alignment = 128;
-		break;
-	case COLOR_FMT_RGB565_UBWC:
-		alignment = 256;
-		bpp = 2;
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-		alignment = 256;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	stride = MSM_MEDIA_ALIGN(width * bpp, alignment);
-
-invalid_input:
-	return stride;
-}
-
-static inline unsigned int VENUS_RGB_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment = 0, scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888:
-		alignment = 32;
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		alignment = 16;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	scanlines = MSM_MEDIA_ALIGN(height, alignment);
-
-invalid_input:
-	return scanlines;
-}
-
-static inline unsigned int VENUS_RGB_META_STRIDE(int color_fmt, int width)
-{
-	int rgb_tile_width = 0, rgb_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_tile_width = 16;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	rgb_meta_stride = MSM_MEDIA_ROUNDUP(width, rgb_tile_width);
-	rgb_meta_stride = MSM_MEDIA_ALIGN(rgb_meta_stride, 64);
-
-invalid_input:
-	return rgb_meta_stride;
-}
-
-static inline unsigned int VENUS_RGB_META_SCANLINES(int color_fmt, int height)
-{
-	int rgb_tile_height = 0, rgb_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	rgb_meta_scanlines = MSM_MEDIA_ROUNDUP(height, rgb_tile_height);
-	rgb_meta_scanlines = MSM_MEDIA_ALIGN(rgb_meta_scanlines, 16);
-
-invalid_input:
-	return rgb_meta_scanlines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- * @height
- * Progressive: height
- * Interlaced: height
- */
-static inline unsigned int VENUS_BUFFER_SIZE(
-	int color_fmt, int width, int height)
-{
-	const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height);
-	unsigned int uv_alignment = 0, size = 0;
-	unsigned int w_alignment = 512;
-	unsigned int y_plane, uv_plane, y_stride,
-		uv_stride, y_sclines, uv_sclines;
-	unsigned int y_ubwc_plane = 0, uv_ubwc_plane = 0;
-	unsigned int y_meta_stride = 0, y_meta_scanlines = 0;
-	unsigned int uv_meta_stride = 0, uv_meta_scanlines = 0;
-	unsigned int y_meta_plane = 0, uv_meta_plane = 0;
-	unsigned int rgb_stride = 0, rgb_scanlines = 0;
-	unsigned int rgb_plane = 0, rgb_ubwc_plane = 0, rgb_meta_plane = 0;
-	unsigned int rgb_meta_stride = 0, rgb_meta_scanlines = 0;
-
-	if (!width || !height)
-		goto invalid_input;
-
-	y_stride = VENUS_Y_STRIDE(color_fmt, width);
-	uv_stride = VENUS_UV_STRIDE(color_fmt, width);
-	y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
-	uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
-	rgb_stride = VENUS_RGB_STRIDE(color_fmt, width);
-	rgb_scanlines = VENUS_RGB_SCANLINES(color_fmt, height);
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane +
-				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-
-		/* Additional size to cover last row of non-aligned frame */
-		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_P010:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane +
-				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_MVTB:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane;
-		size = 2 * size + extra_size;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_UBWC:
-		y_sclines = VENUS_Y_SCANLINES(color_fmt, (height+1)>>1);
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_sclines = VENUS_UV_SCANLINES(color_fmt, (height+1)>>1);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines =
-			VENUS_Y_META_SCANLINES(color_fmt, (height+1)>>1);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-			y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines =
-			VENUS_UV_META_SCANLINES(color_fmt, (height+1)>>1);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-			uv_meta_scanlines, 4096);
-
-		size = (y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane)*2 +
-			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-
-		/* Additional size to cover last row of non-aligned frame */
-		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-				y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-					uv_meta_scanlines, 4096);
-
-		size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane +
-			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-				y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-					uv_meta_scanlines, 4096);
-
-		size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_RGBA8888:
-		rgb_plane = MSM_MEDIA_ALIGN(rgb_stride  * rgb_scanlines, 4096);
-		size = rgb_plane;
-		size =  MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_ubwc_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines,
-							4096);
-		rgb_meta_stride = VENUS_RGB_META_STRIDE(color_fmt, width);
-		rgb_meta_scanlines = VENUS_RGB_META_SCANLINES(color_fmt,
-					height);
-		rgb_meta_plane = MSM_MEDIA_ALIGN(rgb_meta_stride *
-					rgb_meta_scanlines, 4096);
-		size = rgb_ubwc_plane + rgb_meta_plane;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return size;
-}
-
-static inline unsigned int VENUS_VIEW2_OFFSET(
-	int color_fmt, int width, int height)
-{
-	unsigned int offset = 0;
-	unsigned int y_plane, uv_plane, y_stride,
-		uv_stride, y_sclines, uv_sclines;
-	if (!width || !height)
-		goto invalid_input;
-
-	y_stride = VENUS_Y_STRIDE(color_fmt, width);
-	uv_stride = VENUS_UV_STRIDE(color_fmt, width);
-	y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
-	uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_MVTB:
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines;
-		offset = y_plane + uv_plane;
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return offset;
-}
-
-#endif
diff --git a/third_party/linux/include/msmb_camera.h b/third_party/linux/include/msmb_camera.h
deleted file mode 100644
index f4c4b3e183..0000000000
--- a/third_party/linux/include/msmb_camera.h
+++ /dev/null
@@ -1,220 +0,0 @@
-#ifndef __LINUX_MSMB_CAMERA_H
-#define __LINUX_MSMB_CAMERA_H
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-#define MSM_CAM_LOGSYNC_FILE_NAME "logsync"
-#define MSM_CAM_LOGSYNC_FILE_BASEDIR "camera"
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 30, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_META \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 31, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_CMD_ACK \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 32, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_ERROR \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 33, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_DEBUG \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 34, struct msm_v4l2_event_data)
-
-#ifdef CONFIG_COMPAT
-#define MSM_CAM_V4L2_IOCTL_NOTIFY32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 30, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_META32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 31, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_CMD_ACK32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 32, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_ERROR32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 33, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_DEBUG32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 34, struct v4l2_event32)
-
-#endif
-
-#define QCAMERA_DEVICE_GROUP_ID	1
-#define QCAMERA_VNODE_GROUP_ID	2
-#define MSM_CAMERA_NAME					"msm_camera"
-#define MSM_CONFIGURATION_NAME	"msm_config"
-
-#define MSM_CAMERA_SUBDEV_CSIPHY       0
-#define MSM_CAMERA_SUBDEV_CSID         1
-#define MSM_CAMERA_SUBDEV_ISPIF        2
-#define MSM_CAMERA_SUBDEV_VFE          3
-#define MSM_CAMERA_SUBDEV_AXI          4
-#define MSM_CAMERA_SUBDEV_VPE          5
-#define MSM_CAMERA_SUBDEV_SENSOR       6
-#define MSM_CAMERA_SUBDEV_ACTUATOR     7
-#define MSM_CAMERA_SUBDEV_EEPROM       8
-#define MSM_CAMERA_SUBDEV_CPP          9
-#define MSM_CAMERA_SUBDEV_CCI          10
-#define MSM_CAMERA_SUBDEV_LED_FLASH    11
-#define MSM_CAMERA_SUBDEV_STROBE_FLASH 12
-#define MSM_CAMERA_SUBDEV_BUF_MNGR     13
-#define MSM_CAMERA_SUBDEV_SENSOR_INIT  14
-#define MSM_CAMERA_SUBDEV_OIS          15
-#define MSM_CAMERA_SUBDEV_FLASH        16
-#define MSM_CAMERA_SUBDEV_EXT          17
-
-#define MSM_MAX_CAMERA_SENSORS  5
-
-/* The below macro is defined to put an upper limit on maximum
- * number of buffer requested per stream. In case of extremely
- * large value for number of buffer due to data structure corruption
- * we return error to avoid integer overflow. Group processing
- * can have max of 9 groups of 8 bufs each. This value may be
- * configured in future*/
-#define MSM_CAMERA_MAX_STREAM_BUF 72
-
-/* Max batch size of processing */
-#define MSM_CAMERA_MAX_USER_BUFF_CNT 16
-
-/* featur base */
-#define MSM_CAMERA_FEATURE_BASE     0x00010000
-#define MSM_CAMERA_FEATURE_SHUTDOWN (MSM_CAMERA_FEATURE_BASE + 1)
-
-#define MSM_CAMERA_STATUS_BASE      0x00020000
-#define MSM_CAMERA_STATUS_FAIL      (MSM_CAMERA_STATUS_BASE + 1)
-#define MSM_CAMERA_STATUS_SUCCESS   (MSM_CAMERA_STATUS_BASE + 2)
-
-/* event type */
-#define MSM_CAMERA_V4L2_EVENT_TYPE (V4L2_EVENT_PRIVATE_START + 0x00002000)
-
-/* event id */
-#define MSM_CAMERA_EVENT_MIN    0
-#define MSM_CAMERA_NEW_SESSION  (MSM_CAMERA_EVENT_MIN + 1)
-#define MSM_CAMERA_DEL_SESSION  (MSM_CAMERA_EVENT_MIN + 2)
-#define MSM_CAMERA_SET_PARM     (MSM_CAMERA_EVENT_MIN + 3)
-#define MSM_CAMERA_GET_PARM     (MSM_CAMERA_EVENT_MIN + 4)
-#define MSM_CAMERA_MAPPING_CFG  (MSM_CAMERA_EVENT_MIN + 5)
-#define MSM_CAMERA_MAPPING_SES  (MSM_CAMERA_EVENT_MIN + 6)
-#define MSM_CAMERA_MSM_NOTIFY   (MSM_CAMERA_EVENT_MIN + 7)
-#define MSM_CAMERA_EVENT_MAX    (MSM_CAMERA_EVENT_MIN + 8)
-
-/* data.command */
-#define MSM_CAMERA_PRIV_S_CROP		 (V4L2_CID_PRIVATE_BASE + 1)
-#define MSM_CAMERA_PRIV_G_CROP		 (V4L2_CID_PRIVATE_BASE + 2)
-#define MSM_CAMERA_PRIV_G_FMT			 (V4L2_CID_PRIVATE_BASE + 3)
-#define MSM_CAMERA_PRIV_S_FMT			 (V4L2_CID_PRIVATE_BASE + 4)
-#define MSM_CAMERA_PRIV_TRY_FMT		 (V4L2_CID_PRIVATE_BASE + 5)
-#define MSM_CAMERA_PRIV_METADATA	 (V4L2_CID_PRIVATE_BASE + 6)
-#define MSM_CAMERA_PRIV_QUERY_CAP  (V4L2_CID_PRIVATE_BASE + 7)
-#define MSM_CAMERA_PRIV_STREAM_ON  (V4L2_CID_PRIVATE_BASE + 8)
-#define MSM_CAMERA_PRIV_STREAM_OFF (V4L2_CID_PRIVATE_BASE + 9)
-#define MSM_CAMERA_PRIV_NEW_STREAM (V4L2_CID_PRIVATE_BASE + 10)
-#define MSM_CAMERA_PRIV_DEL_STREAM (V4L2_CID_PRIVATE_BASE + 11)
-#define MSM_CAMERA_PRIV_SHUTDOWN   (V4L2_CID_PRIVATE_BASE + 12)
-#define MSM_CAMERA_PRIV_STREAM_INFO_SYNC \
-	(V4L2_CID_PRIVATE_BASE + 13)
-#define MSM_CAMERA_PRIV_G_SESSION_ID (V4L2_CID_PRIVATE_BASE + 14)
-#define MSM_CAMERA_PRIV_CMD_MAX  20
-
-/* data.status - success */
-#define MSM_CAMERA_CMD_SUCESS      0x00000001
-#define MSM_CAMERA_BUF_MAP_SUCESS  0x00000002
-
-/* data.status - error */
-#define MSM_CAMERA_ERR_EVT_BASE 0x00010000
-#define MSM_CAMERA_ERR_CMD_FAIL (MSM_CAMERA_ERR_EVT_BASE + 1)
-#define MSM_CAMERA_ERR_MAPPING  (MSM_CAMERA_ERR_EVT_BASE + 2)
-#define MSM_CAMERA_ERR_DEVICE_BUSY  (MSM_CAMERA_ERR_EVT_BASE + 3)
-
-/* The msm_v4l2_event_data structure should match the
- * v4l2_event.u.data field.
- * should not exceed 16 elements */
-struct msm_v4l2_event_data {
-	/*word 0*/
-	unsigned int command;
-	/*word 1*/
-	unsigned int status;
-	/*word 2*/
-	unsigned int session_id;
-	/*word 3*/
-	unsigned int stream_id;
-	/*word 4*/
-	unsigned int map_op;
-	/*word 5*/
-	unsigned int map_buf_idx;
-	/*word 6*/
-	unsigned int notify;
-	/*word 7*/
-	unsigned int arg_value;
-	/*word 8*/
-	unsigned int ret_value;
-	/*word 9*/
-	unsigned int v4l2_event_type;
-	/*word 10*/
-	unsigned int v4l2_event_id;
-	/*word 11*/
-	unsigned int handle;
-	/*word 12*/
-	unsigned int nop6;
-	/*word 13*/
-	unsigned int nop7;
-	/*word 14*/
-	unsigned int nop8;
-	/*word 15*/
-	unsigned int nop9;
-};
-
-/* map to v4l2_format.fmt.raw_data */
-struct msm_v4l2_format_data {
-	enum v4l2_buf_type type;
-	unsigned int width;
-	unsigned int height;
-	unsigned int pixelformat; /* FOURCC */
-	unsigned char num_planes;
-	unsigned int plane_sizes[VIDEO_MAX_PLANES];
-};
-
-/*  MSM Four-character-code (FOURCC) */
-#define msm_v4l2_fourcc(a, b, c, d)\
-	((__u32)(a) | ((__u32)(b) << 8) | ((__u32)(c) << 16) |\
-	((__u32)(d) << 24))
-
-/* Composite stats */
-#define MSM_V4L2_PIX_FMT_STATS_COMB v4l2_fourcc('S', 'T', 'C', 'M')
-/* AEC stats */
-#define MSM_V4L2_PIX_FMT_STATS_AE   v4l2_fourcc('S', 'T', 'A', 'E')
-/* AF stats */
-#define MSM_V4L2_PIX_FMT_STATS_AF   v4l2_fourcc('S', 'T', 'A', 'F')
-/* AWB stats */
-#define MSM_V4L2_PIX_FMT_STATS_AWB  v4l2_fourcc('S', 'T', 'W', 'B')
-/* IHIST stats */
-#define MSM_V4L2_PIX_FMT_STATS_IHST v4l2_fourcc('I', 'H', 'S', 'T')
-/* Column count stats */
-#define MSM_V4L2_PIX_FMT_STATS_CS   v4l2_fourcc('S', 'T', 'C', 'S')
-/* Row count stats */
-#define MSM_V4L2_PIX_FMT_STATS_RS   v4l2_fourcc('S', 'T', 'R', 'S')
-/* Bayer Grid stats */
-#define MSM_V4L2_PIX_FMT_STATS_BG   v4l2_fourcc('S', 'T', 'B', 'G')
-/* Bayer focus stats */
-#define MSM_V4L2_PIX_FMT_STATS_BF   v4l2_fourcc('S', 'T', 'B', 'F')
-/* Bayer hist stats */
-#define MSM_V4L2_PIX_FMT_STATS_BHST v4l2_fourcc('B', 'H', 'S', 'T')
-
-enum smmu_attach_mode {
-	NON_SECURE_MODE = 0x01,
-	SECURE_MODE = 0x02,
-	MAX_PROTECTION_MODE = 0x03,
-};
-
-struct msm_camera_smmu_attach_type {
-	enum smmu_attach_mode attach;
-};
-
-struct msm_camera_user_buf_cont_t {
-	unsigned int buf_cnt;
-	unsigned int buf_idx[MSM_CAMERA_MAX_USER_BUFF_CNT];
-};
-
-#endif /* __LINUX_MSMB_CAMERA_H */
diff --git a/third_party/linux/include/msmb_isp.h b/third_party/linux/include/msmb_isp.h
deleted file mode 100644
index 35589e050a..0000000000
--- a/third_party/linux/include/msmb_isp.h
+++ /dev/null
@@ -1,880 +0,0 @@
-#ifndef __MSMB_ISP__
-#define __MSMB_ISP__
-
-#include <linux/videodev2.h>
-
-#define MAX_PLANES_PER_STREAM 3
-#define MAX_NUM_STREAM 7
-
-#define ISP_VERSION_47        47
-#define ISP_VERSION_46        46
-#define ISP_VERSION_44        44
-#define ISP_VERSION_40        40
-#define ISP_VERSION_32        32
-#define ISP_NATIVE_BUF_BIT    (0x10000 << 0)
-#define ISP0_BIT              (0x10000 << 1)
-#define ISP1_BIT              (0x10000 << 2)
-#define ISP_META_CHANNEL_BIT  (0x10000 << 3)
-#define ISP_SCRATCH_BUF_BIT   (0x10000 << 4)
-#define ISP_OFFLINE_STATS_BIT (0x10000 << 5)
-#define ISP_STATS_STREAM_BIT  0x80000000
-
-struct msm_vfe_cfg_cmd_list;
-
-enum ISP_START_PIXEL_PATTERN {
-	ISP_BAYER_RGRGRG,
-	ISP_BAYER_GRGRGR,
-	ISP_BAYER_BGBGBG,
-	ISP_BAYER_GBGBGB,
-	ISP_YUV_YCbYCr,
-	ISP_YUV_YCrYCb,
-	ISP_YUV_CbYCrY,
-	ISP_YUV_CrYCbY,
-	ISP_PIX_PATTERN_MAX
-};
-
-enum msm_vfe_plane_fmt {
-	Y_PLANE,
-	CB_PLANE,
-	CR_PLANE,
-	CRCB_PLANE,
-	CBCR_PLANE,
-	VFE_PLANE_FMT_MAX
-};
-
-enum msm_vfe_input_src {
-	VFE_PIX_0,
-	VFE_RAW_0,
-	VFE_RAW_1,
-	VFE_RAW_2,
-	VFE_SRC_MAX,
-};
-
-enum msm_vfe_axi_stream_src {
-	PIX_ENCODER,
-	PIX_VIEWFINDER,
-	PIX_VIDEO,
-	CAMIF_RAW,
-	IDEAL_RAW,
-	RDI_INTF_0,
-	RDI_INTF_1,
-	RDI_INTF_2,
-	VFE_AXI_SRC_MAX
-};
-
-enum msm_vfe_frame_skip_pattern {
-	NO_SKIP,
-	EVERY_2FRAME,
-	EVERY_3FRAME,
-	EVERY_4FRAME,
-	EVERY_5FRAME,
-	EVERY_6FRAME,
-	EVERY_7FRAME,
-	EVERY_8FRAME,
-	EVERY_16FRAME,
-	EVERY_32FRAME,
-	SKIP_ALL,
-	SKIP_RANGE,
-	MAX_SKIP,
-};
-
-/*
- * Define an unused period. When this period is set it means that the stream is
- * stopped(i.e the pattern is 0). We don't track the current pattern, just the
- * period defines what the pattern is, if period is this then pattern is 0 else
- * pattern is 1
- */
-#define MSM_VFE_STREAM_STOP_PERIOD 15
-
-enum msm_isp_stats_type {
-	MSM_ISP_STATS_AEC,   /* legacy based AEC */
-	MSM_ISP_STATS_AF,    /* legacy based AF */
-	MSM_ISP_STATS_AWB,   /* legacy based AWB */
-	MSM_ISP_STATS_RS,    /* legacy based RS */
-	MSM_ISP_STATS_CS,    /* legacy based CS */
-	MSM_ISP_STATS_IHIST, /* legacy based HIST */
-	MSM_ISP_STATS_SKIN,  /* legacy based SKIN */
-	MSM_ISP_STATS_BG,    /* Bayer Grids */
-	MSM_ISP_STATS_BF,    /* Bayer Focus */
-	MSM_ISP_STATS_BE,    /* Bayer Exposure*/
-	MSM_ISP_STATS_BHIST, /* Bayer Hist */
-	MSM_ISP_STATS_BF_SCALE,  /* Bayer Focus scale */
-	MSM_ISP_STATS_HDR_BE,    /* HDR Bayer Exposure */
-	MSM_ISP_STATS_HDR_BHIST, /* HDR Bayer Hist */
-	MSM_ISP_STATS_AEC_BG,   /* AEC BG */
-	MSM_ISP_STATS_MAX    /* MAX */
-};
-
-/*
- * @stats_type_mask: Stats type mask (enum msm_isp_stats_type).
- * @stream_src_mask: Stream src mask (enum msm_vfe_axi_stream_src)
- * @skip_mode: skip pattern, if skip mode is range only then min/max is used
- * @min_frame_id: minimum frame id (valid only if skip_mode = RANGE)
- * @max_frame_id: maximum frame id (valid only if skip_mode = RANGE)
-*/
-struct msm_isp_sw_framskip {
-	uint32_t stats_type_mask;
-	uint32_t stream_src_mask;
-	enum msm_vfe_frame_skip_pattern skip_mode;
-	uint32_t min_frame_id;
-	uint32_t max_frame_id;
-};
-
-enum msm_vfe_testgen_color_pattern {
-	COLOR_BAR_8_COLOR,
-	UNICOLOR_WHITE,
-	UNICOLOR_YELLOW,
-	UNICOLOR_CYAN,
-	UNICOLOR_GREEN,
-	UNICOLOR_MAGENTA,
-	UNICOLOR_RED,
-	UNICOLOR_BLUE,
-	UNICOLOR_BLACK,
-	MAX_COLOR,
-};
-
-enum msm_vfe_camif_input {
-	CAMIF_DISABLED,
-	CAMIF_PAD_REG_INPUT,
-	CAMIF_MIDDI_INPUT,
-	CAMIF_MIPI_INPUT,
-};
-
-struct msm_vfe_fetch_engine_cfg {
-	uint32_t input_format;
-	uint32_t buf_width;
-	uint32_t buf_height;
-	uint32_t fetch_width;
-	uint32_t fetch_height;
-	uint32_t x_offset;
-	uint32_t y_offset;
-	uint32_t buf_stride;
-};
-
-enum msm_vfe_camif_output_format {
-	CAMIF_QCOM_RAW,
-	CAMIF_MIPI_RAW,
-	CAMIF_PLAIN_8,
-	CAMIF_PLAIN_16,
-	CAMIF_MAX_FORMAT,
-};
-
-/*
- * Camif output general configuration
- */
-struct msm_vfe_camif_subsample_cfg {
-	uint32_t irq_subsample_period;
-	uint32_t irq_subsample_pattern;
-	uint32_t sof_counter_step;
-	uint32_t pixel_skip;
-	uint32_t line_skip;
-	uint32_t first_line;
-	uint32_t last_line;
-	uint32_t first_pixel;
-	uint32_t last_pixel;
-	enum msm_vfe_camif_output_format output_format;
-};
-
-/*
- * Camif frame and window configuration
- */
-struct msm_vfe_camif_cfg {
-	uint32_t lines_per_frame;
-	uint32_t pixels_per_line;
-	uint32_t first_pixel;
-	uint32_t last_pixel;
-	uint32_t first_line;
-	uint32_t last_line;
-	uint32_t epoch_line0;
-	uint32_t epoch_line1;
-	uint32_t is_split;
-	enum msm_vfe_camif_input camif_input;
-	struct msm_vfe_camif_subsample_cfg subsample_cfg;
-};
-
-struct msm_vfe_testgen_cfg {
-	uint32_t lines_per_frame;
-	uint32_t pixels_per_line;
-	uint32_t v_blank;
-	uint32_t h_blank;
-	enum ISP_START_PIXEL_PATTERN pixel_bayer_pattern;
-	uint32_t rotate_period;
-	enum msm_vfe_testgen_color_pattern color_bar_pattern;
-	uint32_t burst_num_frame;
-};
-
-enum msm_vfe_inputmux {
-	CAMIF,
-	TESTGEN,
-	EXTERNAL_READ,
-};
-
-enum msm_vfe_stats_composite_group {
-	STATS_COMPOSITE_GRP_NONE,
-	STATS_COMPOSITE_GRP_1,
-	STATS_COMPOSITE_GRP_2,
-	STATS_COMPOSITE_GRP_MAX,
-};
-
-enum msm_vfe_hvx_streaming_cmd {
-	HVX_DISABLE,
-	HVX_ONE_WAY,
-	HVX_ROUND_TRIP
-};
-
-struct msm_vfe_pix_cfg {
-	struct msm_vfe_camif_cfg camif_cfg;
-	struct msm_vfe_testgen_cfg testgen_cfg;
-	struct msm_vfe_fetch_engine_cfg fetch_engine_cfg;
-	enum msm_vfe_inputmux input_mux;
-	enum ISP_START_PIXEL_PATTERN pixel_pattern;
-	uint32_t input_format;
-	enum msm_vfe_hvx_streaming_cmd hvx_cmd;
-	uint32_t is_split;
-};
-
-struct msm_vfe_rdi_cfg {
-	uint8_t cid;
-	uint8_t frame_based;
-};
-
-struct msm_vfe_input_cfg {
-	union {
-		struct msm_vfe_pix_cfg pix_cfg;
-		struct msm_vfe_rdi_cfg rdi_cfg;
-	} d;
-	enum msm_vfe_input_src input_src;
-	uint32_t input_pix_clk;
-};
-
-struct msm_vfe_fetch_eng_start {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t buf_idx;
-	uint8_t  offline_mode;
-	uint32_t fd;
-	uint32_t buf_addr;
-	uint32_t frame_id;
-};
-
-struct msm_vfe_axi_plane_cfg {
-	uint32_t output_width; /*Include padding*/
-	uint32_t output_height;
-	uint32_t output_stride;
-	uint32_t output_scan_lines;
-	uint32_t output_plane_format; /*Y/Cb/Cr/CbCr*/
-	uint32_t plane_addr_offset;
-	uint8_t csid_src; /*RDI 0-2*/
-	uint8_t rdi_cid;/*CID 1-16*/
-};
-
-enum msm_stream_memory_input_t {
-	MEMORY_INPUT_DISABLED,
-	MEMORY_INPUT_ENABLED
-};
-
-struct msm_vfe_axi_stream_request_cmd {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t vt_enable;
-	uint32_t output_format;/*Planar/RAW/Misc*/
-	enum msm_vfe_axi_stream_src stream_src; /*CAMIF/IDEAL/RDIs*/
-	struct msm_vfe_axi_plane_cfg plane_cfg[MAX_PLANES_PER_STREAM];
-
-	uint32_t burst_count;
-	uint32_t hfr_mode;
-	uint8_t frame_base;
-
-	uint32_t init_frame_drop; /*MAX 31 Frames*/
-	enum msm_vfe_frame_skip_pattern frame_skip_pattern;
-	uint8_t buf_divert; /* if TRUE no vb2 buf done. */
-	/*Return values*/
-	uint32_t axi_stream_handle;
-	uint32_t controllable_output;
-	uint32_t burst_len;
-	/* Flag indicating memory input stream */
-	enum msm_stream_memory_input_t memory_input;
-};
-
-struct msm_vfe_axi_stream_release_cmd {
-	uint32_t stream_handle;
-};
-
-enum msm_vfe_axi_stream_cmd {
-	STOP_STREAM,
-	START_STREAM,
-	STOP_IMMEDIATELY,
-};
-
-struct msm_vfe_axi_stream_cfg_cmd {
-	uint8_t num_streams;
-	uint32_t stream_handle[VFE_AXI_SRC_MAX];
-	enum msm_vfe_axi_stream_cmd cmd;
-	uint8_t sync_frame_id_src;
-};
-
-enum msm_vfe_axi_stream_update_type {
-	ENABLE_STREAM_BUF_DIVERT,
-	DISABLE_STREAM_BUF_DIVERT,
-	UPDATE_STREAM_FRAMEDROP_PATTERN,
-	UPDATE_STREAM_STATS_FRAMEDROP_PATTERN,
-	UPDATE_STREAM_AXI_CONFIG,
-	UPDATE_STREAM_REQUEST_FRAMES,
-	UPDATE_STREAM_ADD_BUFQ,
-	UPDATE_STREAM_REMOVE_BUFQ,
-	UPDATE_STREAM_SW_FRAME_DROP,
-};
-
-enum msm_vfe_iommu_type {
-	IOMMU_ATTACH,
-	IOMMU_DETACH,
-};
-
-enum msm_vfe_buff_queue_id {
-	VFE_BUF_QUEUE_DEFAULT,
-	VFE_BUF_QUEUE_SHARED,
-	VFE_BUF_QUEUE_MAX,
-};
-
-struct msm_vfe_axi_stream_cfg_update_info {
-	uint32_t stream_handle;
-	uint32_t output_format;
-	uint32_t user_stream_id;
-	uint32_t frame_id;
-	enum msm_vfe_frame_skip_pattern skip_pattern;
-	struct msm_vfe_axi_plane_cfg plane_cfg[MAX_PLANES_PER_STREAM];
-	struct msm_isp_sw_framskip sw_skip_info;
-};
-
-struct msm_vfe_axi_halt_cmd {
-	uint32_t stop_camif;
-	uint32_t overflow_detected;
-	uint32_t blocking_halt;
-};
-
-struct msm_vfe_axi_reset_cmd {
-	uint32_t blocking;
-	uint32_t frame_id;
-};
-
-struct msm_vfe_axi_restart_cmd {
-	uint32_t enable_camif;
-};
-
-struct msm_vfe_axi_stream_update_cmd {
-	uint32_t num_streams;
-	enum msm_vfe_axi_stream_update_type update_type;
-	struct msm_vfe_axi_stream_cfg_update_info
-					update_info[MSM_ISP_STATS_MAX];
-};
-
-struct msm_vfe_smmu_attach_cmd {
-	uint32_t security_mode;
-	uint32_t iommu_attach_mode;
-};
-
-struct msm_vfe_stats_stream_request_cmd {
-	uint32_t session_id;
-	uint32_t stream_id;
-	enum msm_isp_stats_type stats_type;
-	uint32_t composite_flag;
-	uint32_t framedrop_pattern;
-	uint32_t init_frame_drop; /*MAX 31 Frames*/
-	uint32_t irq_subsample_pattern;
-	uint32_t buffer_offset;
-	uint32_t stream_handle;
-};
-
-struct msm_vfe_stats_stream_release_cmd {
-	uint32_t stream_handle;
-};
-struct msm_vfe_stats_stream_cfg_cmd {
-	uint8_t num_streams;
-	uint32_t stream_handle[MSM_ISP_STATS_MAX];
-	uint8_t enable;
-	uint32_t stats_burst_len;
-};
-
-enum msm_vfe_reg_cfg_type {
-	VFE_WRITE,
-	VFE_WRITE_MB,
-	VFE_READ,
-	VFE_CFG_MASK,
-	VFE_WRITE_DMI_16BIT,
-	VFE_WRITE_DMI_32BIT,
-	VFE_WRITE_DMI_64BIT,
-	VFE_READ_DMI_16BIT,
-	VFE_READ_DMI_32BIT,
-	VFE_READ_DMI_64BIT,
-	GET_MAX_CLK_RATE,
-	GET_CLK_RATES,
-	GET_ISP_ID,
-	VFE_HW_UPDATE_LOCK,
-	VFE_HW_UPDATE_UNLOCK,
-	SET_WM_UB_SIZE,
-	SET_UB_POLICY,
-};
-
-struct msm_vfe_cfg_cmd2 {
-	uint16_t num_cfg;
-	uint16_t cmd_len;
-	void __user *cfg_data;
-	void __user *cfg_cmd;
-};
-
-struct msm_vfe_cfg_cmd_list {
-	struct msm_vfe_cfg_cmd2      cfg_cmd;
-	struct msm_vfe_cfg_cmd_list *next;
-	uint32_t                     next_size;
-};
-
-struct msm_vfe_reg_rw_info {
-	uint32_t reg_offset;
-	uint32_t cmd_data_offset;
-	uint32_t len;
-};
-
-struct msm_vfe_reg_mask_info {
-	uint32_t reg_offset;
-	uint32_t mask;
-	uint32_t val;
-};
-
-struct msm_vfe_reg_dmi_info {
-	uint32_t hi_tbl_offset; /*Optional*/
-	uint32_t lo_tbl_offset; /*Required*/
-	uint32_t len;
-};
-
-struct msm_vfe_reg_cfg_cmd {
-	union {
-		struct msm_vfe_reg_rw_info rw_info;
-		struct msm_vfe_reg_mask_info mask_info;
-		struct msm_vfe_reg_dmi_info dmi_info;
-	} u;
-
-	enum msm_vfe_reg_cfg_type cmd_type;
-};
-
-enum vfe_sd_type {
-	VFE_SD_0 = 0,
-	VFE_SD_1,
-	VFE_SD_COMMON,
-	VFE_SD_MAX,
-};
-
-/* When you change the value below, check for the sof event_data size.
- * V4l2 limits payload to 64 bytes */
-#define MS_NUM_SLAVE_MAX 1
-
-/* Usecases when 2 HW need to be related or synced */
-enum msm_vfe_dual_hw_type {
-	DUAL_NONE = 0,
-	DUAL_HW_VFE_SPLIT = 1,
-	DUAL_HW_MASTER_SLAVE = 2,
-};
-
-/* Type for 2 INTF when used in Master-Slave mode */
-enum msm_vfe_dual_hw_ms_type {
-	MS_TYPE_NONE,
-	MS_TYPE_MASTER,
-	MS_TYPE_SLAVE,
-};
-
-struct msm_isp_set_dual_hw_ms_cmd {
-	uint8_t num_src;
-	/* Each session can be only one type but multiple intf if YUV cam */
-	enum msm_vfe_dual_hw_ms_type dual_hw_ms_type;
-	/* Primary intf is mostly associated with preview.
-	 * This primary intf SOF frame_id and timestamp is tracked
-	 * and used to calculate delta */
-	enum msm_vfe_input_src primary_intf;
-	/* input_src array indicates other input INTF that may be Master/Slave.
-	 * For these additional intf, frame_id and timestamp are not saved.
-	 * However, if these are slaves then they will still get their
-	 * frame_id from Master */
-	enum msm_vfe_input_src input_src[VFE_SRC_MAX];
-	uint32_t sof_delta_threshold; /* In milliseconds. Sent for Master */
-};
-
-enum msm_isp_buf_type {
-	ISP_PRIVATE_BUF,
-	ISP_SHARE_BUF,
-	MAX_ISP_BUF_TYPE,
-};
-
-struct msm_isp_unmap_buf_req {
-	uint32_t fd;
-};
-
-struct msm_isp_buf_request {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint8_t num_buf;
-	uint32_t handle;
-	enum msm_isp_buf_type buf_type;
-};
-
-struct msm_isp_qbuf_plane {
-	uint32_t addr;
-	uint32_t offset;
-	uint32_t length;
-};
-
-struct msm_isp_qbuf_buffer {
-	struct msm_isp_qbuf_plane planes[MAX_PLANES_PER_STREAM];
-	uint32_t num_planes;
-};
-
-struct msm_isp_qbuf_info {
-	uint32_t handle;
-	int32_t buf_idx;
-	/*Only used for prepare buffer*/
-	struct msm_isp_qbuf_buffer buffer;
-	/*Only used for diverted buffer*/
-	uint32_t dirty_buf;
-};
-
-struct msm_isp_clk_rates {
-	uint32_t svs_rate;
-	uint32_t nominal_rate;
-	uint32_t high_rate;
-};
-
-struct msm_vfe_axi_src_state {
-	enum msm_vfe_input_src input_src;
-	uint32_t src_active;
-	uint32_t src_frame_id;
-};
-
-enum msm_isp_event_mask_index {
-	ISP_EVENT_MASK_INDEX_STATS_NOTIFY		= 0,
-	ISP_EVENT_MASK_INDEX_ERROR			= 1,
-	ISP_EVENT_MASK_INDEX_IOMMU_P_FAULT		= 2,
-	ISP_EVENT_MASK_INDEX_STREAM_UPDATE_DONE		= 3,
-	ISP_EVENT_MASK_INDEX_REG_UPDATE			= 4,
-	ISP_EVENT_MASK_INDEX_SOF			= 5,
-	ISP_EVENT_MASK_INDEX_BUF_DIVERT			= 6,
-	ISP_EVENT_MASK_INDEX_COMP_STATS_NOTIFY		= 7,
-	ISP_EVENT_MASK_INDEX_MASK_FE_READ_DONE		= 8,
-	ISP_EVENT_MASK_INDEX_BUF_DONE			= 9,
-	ISP_EVENT_MASK_INDEX_REG_UPDATE_MISSING		= 10,
-	ISP_EVENT_MASK_INDEX_PING_PONG_MISMATCH		= 11,
-	ISP_EVENT_MASK_INDEX_BUF_FATAL_ERROR		= 12,
-};
-
-
-#define ISP_EVENT_SUBS_MASK_NONE			0
-
-#define ISP_EVENT_SUBS_MASK_STATS_NOTIFY \
-			(1 << ISP_EVENT_MASK_INDEX_STATS_NOTIFY)
-
-#define ISP_EVENT_SUBS_MASK_ERROR \
-			(1 << ISP_EVENT_MASK_INDEX_ERROR)
-
-#define ISP_EVENT_SUBS_MASK_IOMMU_P_FAULT \
-			(1 << ISP_EVENT_MASK_INDEX_IOMMU_P_FAULT)
-
-#define ISP_EVENT_SUBS_MASK_STREAM_UPDATE_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_STREAM_UPDATE_DONE)
-
-#define ISP_EVENT_SUBS_MASK_REG_UPDATE \
-			(1 << ISP_EVENT_MASK_INDEX_REG_UPDATE)
-
-#define ISP_EVENT_SUBS_MASK_SOF \
-			(1 << ISP_EVENT_MASK_INDEX_SOF)
-
-#define ISP_EVENT_SUBS_MASK_BUF_DIVERT \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_DIVERT)
-
-#define ISP_EVENT_SUBS_MASK_COMP_STATS_NOTIFY \
-			(1 << ISP_EVENT_MASK_INDEX_COMP_STATS_NOTIFY)
-
-#define ISP_EVENT_SUBS_MASK_FE_READ_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_MASK_FE_READ_DONE)
-
-#define ISP_EVENT_SUBS_MASK_BUF_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_DONE)
-
-#define ISP_EVENT_SUBS_MASK_REG_UPDATE_MISSING \
-			(1 << ISP_EVENT_MASK_INDEX_REG_UPDATE_MISSING)
-
-#define ISP_EVENT_SUBS_MASK_PING_PONG_MISMATCH \
-			(1 << ISP_EVENT_MASK_INDEX_PING_PONG_MISMATCH)
-
-#define ISP_EVENT_SUBS_MASK_BUF_FATAL_ERROR \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_FATAL_ERROR)
-
-enum msm_isp_event_idx {
-	ISP_REG_UPDATE        = 0,
-	ISP_EPOCH_0           = 1,
-	ISP_EPOCH_1           = 2,
-	ISP_START_ACK         = 3,
-	ISP_STOP_ACK          = 4,
-	ISP_IRQ_VIOLATION     = 5,
-	ISP_STATS_OVERFLOW    = 6,
-	ISP_BUF_DONE          = 7,
-	ISP_FE_RD_DONE        = 8,
-	ISP_IOMMU_P_FAULT     = 9,
-	ISP_ERROR             = 10,
-	ISP_HW_FATAL_ERROR      = 11,
-	ISP_PING_PONG_MISMATCH = 12,
-	ISP_REG_UPDATE_MISSING = 13,
-	ISP_BUF_FATAL_ERROR = 14,
-	ISP_EVENT_MAX         = 15
-};
-
-#define ISP_EVENT_OFFSET          8
-#define ISP_EVENT_BASE            (V4L2_EVENT_PRIVATE_START)
-#define ISP_BUF_EVENT_BASE        (ISP_EVENT_BASE + (1 << ISP_EVENT_OFFSET))
-#define ISP_STATS_EVENT_BASE      (ISP_EVENT_BASE + (2 << ISP_EVENT_OFFSET))
-#define ISP_CAMIF_EVENT_BASE      (ISP_EVENT_BASE + (3 << ISP_EVENT_OFFSET))
-#define ISP_STREAM_EVENT_BASE     (ISP_EVENT_BASE + (4 << ISP_EVENT_OFFSET))
-#define ISP_EVENT_REG_UPDATE      (ISP_EVENT_BASE + ISP_REG_UPDATE)
-#define ISP_EVENT_EPOCH_0         (ISP_EVENT_BASE + ISP_EPOCH_0)
-#define ISP_EVENT_EPOCH_1         (ISP_EVENT_BASE + ISP_EPOCH_1)
-#define ISP_EVENT_START_ACK       (ISP_EVENT_BASE + ISP_START_ACK)
-#define ISP_EVENT_STOP_ACK        (ISP_EVENT_BASE + ISP_STOP_ACK)
-#define ISP_EVENT_IRQ_VIOLATION   (ISP_EVENT_BASE + ISP_IRQ_VIOLATION)
-#define ISP_EVENT_STATS_OVERFLOW  (ISP_EVENT_BASE + ISP_STATS_OVERFLOW)
-#define ISP_EVENT_ERROR           (ISP_EVENT_BASE + ISP_ERROR)
-#define ISP_EVENT_SOF             (ISP_CAMIF_EVENT_BASE)
-#define ISP_EVENT_EOF             (ISP_CAMIF_EVENT_BASE + 1)
-#define ISP_EVENT_BUF_DONE        (ISP_EVENT_BASE + ISP_BUF_DONE)
-#define ISP_EVENT_BUF_DIVERT      (ISP_BUF_EVENT_BASE)
-#define ISP_EVENT_STATS_NOTIFY    (ISP_STATS_EVENT_BASE)
-#define ISP_EVENT_COMP_STATS_NOTIFY (ISP_EVENT_STATS_NOTIFY + MSM_ISP_STATS_MAX)
-#define ISP_EVENT_FE_READ_DONE    (ISP_EVENT_BASE + ISP_FE_RD_DONE)
-#define ISP_EVENT_IOMMU_P_FAULT   (ISP_EVENT_BASE + ISP_IOMMU_P_FAULT)
-#define ISP_EVENT_HW_FATAL_ERROR  (ISP_EVENT_BASE + ISP_HW_FATAL_ERROR)
-#define ISP_EVENT_PING_PONG_MISMATCH (ISP_EVENT_BASE + ISP_PING_PONG_MISMATCH)
-#define ISP_EVENT_REG_UPDATE_MISSING (ISP_EVENT_BASE + ISP_REG_UPDATE_MISSING)
-#define ISP_EVENT_BUF_FATAL_ERROR (ISP_EVENT_BASE + ISP_BUF_FATAL_ERROR)
-#define ISP_EVENT_STREAM_UPDATE_DONE   (ISP_STREAM_EVENT_BASE)
-
-/* The msm_v4l2_event_data structure should match the
- * v4l2_event.u.data field.
- * should not exceed 64 bytes */
-
-struct msm_isp_buf_event {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-	uint32_t output_format;
-	int8_t buf_idx;
-};
-struct msm_isp_fetch_eng_event {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-	uint32_t fd;
-	int8_t buf_idx;
-	int8_t offline_mode;
-};
-struct msm_isp_stats_event {
-	uint32_t stats_mask;                        /* 4 bytes */
-	uint8_t stats_buf_idxs[MSM_ISP_STATS_MAX];  /* 11 bytes */
-};
-
-struct msm_isp_stream_ack {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-};
-
-enum msm_vfe_error_type {
-	ISP_ERROR_NONE,
-	ISP_ERROR_CAMIF,
-	ISP_ERROR_BUS_OVERFLOW,
-	ISP_ERROR_RETURN_EMPTY_BUFFER,
-	ISP_ERROR_FRAME_ID_MISMATCH,
-	ISP_ERROR_MAX,
-};
-
-struct msm_isp_error_info {
-	enum msm_vfe_error_type err_type;
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t stream_id_mask;
-};
-
-/* This structure reports delta between master and slave */
-struct msm_isp_ms_delta_info {
-	uint8_t num_delta_info;
-	uint32_t delta[MS_NUM_SLAVE_MAX];
-};
-
-/* This is sent in EPOCH irq */
-struct msm_isp_output_info {
-	uint8_t regs_not_updated;
-	/* mask with bufq_handle for regs not updated or return empty */
-	uint16_t output_err_mask;
-	/* mask with stream_idx for get_buf failed */
-	uint8_t stream_framedrop_mask;
-	/* mask with stats stream_idx for get_buf failed */
-	uint16_t stats_framedrop_mask;
-	/* delta between master and slave */
-};
-
-/* This structure is piggybacked with SOF event */
-struct msm_isp_sof_info {
-	uint8_t regs_not_updated;
-	/* mask with AXI_SRC for regs not updated */
-	uint16_t reg_update_fail_mask;
-	/* mask with bufq_handle for get_buf failed */
-	uint32_t stream_get_buf_fail_mask;
-	/* mask with stats stream_idx for get_buf failed */
-	uint16_t stats_get_buf_fail_mask;
-	/* delta between master and slave */
-	struct msm_isp_ms_delta_info ms_delta_info;
-};
-
-struct msm_isp_event_data {
-	/*Wall clock except for buffer divert events
-	 *which use monotonic clock
-	 */
-	struct timeval timestamp;
-	/* Monotonic timestamp since bootup */
-	struct timeval mono_timestamp;
-	uint32_t frame_id;
-	union {
-		/* Sent for Stats_Done event */
-		struct msm_isp_stats_event stats;
-		/* Sent for Buf_Divert event */
-		struct msm_isp_buf_event buf_done;
-		/* Sent for offline fetch done event */
-		struct msm_isp_fetch_eng_event fetch_done;
-		/* Sent for Error_Event */
-		struct msm_isp_error_info error_info;
-		/*
-		 * This struct needs to be removed once
-		 * userspace switches to sof_info
-		 */
-		struct msm_isp_output_info output_info;
-		/* Sent for SOF event */
-		struct msm_isp_sof_info sof_info;
-	} u; /* union can have max 52 bytes */
-};
-
-#ifdef CONFIG_COMPAT
-struct msm_isp_event_data32 {
-	struct compat_timeval timestamp;
-	struct compat_timeval mono_timestamp;
-	uint32_t frame_id;
-	union {
-		struct msm_isp_stats_event stats;
-		struct msm_isp_buf_event buf_done;
-		struct msm_isp_fetch_eng_event fetch_done;
-		struct msm_isp_error_info error_info;
-		struct msm_isp_output_info output_info;
-		struct msm_isp_sof_info sof_info;
-	} u;
-};
-#endif
-
-#define V4L2_PIX_FMT_QBGGR8  v4l2_fourcc('Q', 'B', 'G', '8')
-#define V4L2_PIX_FMT_QGBRG8  v4l2_fourcc('Q', 'G', 'B', '8')
-#define V4L2_PIX_FMT_QGRBG8  v4l2_fourcc('Q', 'G', 'R', '8')
-#define V4L2_PIX_FMT_QRGGB8  v4l2_fourcc('Q', 'R', 'G', '8')
-#define V4L2_PIX_FMT_QBGGR10 v4l2_fourcc('Q', 'B', 'G', '0')
-#define V4L2_PIX_FMT_QGBRG10 v4l2_fourcc('Q', 'G', 'B', '0')
-#define V4L2_PIX_FMT_QGRBG10 v4l2_fourcc('Q', 'G', 'R', '0')
-#define V4L2_PIX_FMT_QRGGB10 v4l2_fourcc('Q', 'R', 'G', '0')
-#define V4L2_PIX_FMT_QBGGR12 v4l2_fourcc('Q', 'B', 'G', '2')
-#define V4L2_PIX_FMT_QGBRG12 v4l2_fourcc('Q', 'G', 'B', '2')
-#define V4L2_PIX_FMT_QGRBG12 v4l2_fourcc('Q', 'G', 'R', '2')
-#define V4L2_PIX_FMT_QRGGB12 v4l2_fourcc('Q', 'R', 'G', '2')
-#define V4L2_PIX_FMT_QBGGR14 v4l2_fourcc('Q', 'B', 'G', '4')
-#define V4L2_PIX_FMT_QGBRG14 v4l2_fourcc('Q', 'G', 'B', '4')
-#define V4L2_PIX_FMT_QGRBG14 v4l2_fourcc('Q', 'G', 'R', '4')
-#define V4L2_PIX_FMT_QRGGB14 v4l2_fourcc('Q', 'R', 'G', '4')
-#define V4L2_PIX_FMT_P16BGGR10 v4l2_fourcc('P', 'B', 'G', '0')
-#define V4L2_PIX_FMT_P16GBRG10 v4l2_fourcc('P', 'G', 'B', '0')
-#define V4L2_PIX_FMT_P16GRBG10 v4l2_fourcc('P', 'G', 'R', '0')
-#define V4L2_PIX_FMT_P16RGGB10 v4l2_fourcc('P', 'R', 'G', '0')
-#define V4L2_PIX_FMT_NV14 v4l2_fourcc('N', 'V', '1', '4')
-#define V4L2_PIX_FMT_NV41 v4l2_fourcc('N', 'V', '4', '1')
-#define V4L2_PIX_FMT_META v4l2_fourcc('Q', 'M', 'E', 'T')
-#define V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4') /* 14 BGBG.GRGR.*/
-#define V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4') /* 14 GBGB.RGRG.*/
-#define V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4') /* 14 GRGR.BGBG.*/
-#define V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4') /* 14 RGRG.GBGB.*/
-
-#define VIDIOC_MSM_VFE_REG_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct msm_vfe_cfg_cmd2)
-
-#define VIDIOC_MSM_ISP_REQUEST_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+1, struct msm_isp_buf_request)
-
-#define VIDIOC_MSM_ISP_ENQUEUE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+2, struct msm_isp_qbuf_info)
-
-#define VIDIOC_MSM_ISP_RELEASE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+3, struct msm_isp_buf_request)
-
-#define VIDIOC_MSM_ISP_REQUEST_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+4, struct msm_vfe_axi_stream_request_cmd)
-
-#define VIDIOC_MSM_ISP_CFG_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+5, struct msm_vfe_axi_stream_cfg_cmd)
-
-#define VIDIOC_MSM_ISP_RELEASE_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+6, struct msm_vfe_axi_stream_release_cmd)
-
-#define VIDIOC_MSM_ISP_INPUT_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+7, struct msm_vfe_input_cfg)
-
-#define VIDIOC_MSM_ISP_SET_SRC_STATE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+8, struct msm_vfe_axi_src_state)
-
-#define VIDIOC_MSM_ISP_REQUEST_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+9, \
-	struct msm_vfe_stats_stream_request_cmd)
-
-#define VIDIOC_MSM_ISP_CFG_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+10, struct msm_vfe_stats_stream_cfg_cmd)
-
-#define VIDIOC_MSM_ISP_RELEASE_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+11, \
-	struct msm_vfe_stats_stream_release_cmd)
-
-#define VIDIOC_MSM_ISP_REG_UPDATE_CMD \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+12, enum msm_vfe_input_src)
-
-#define VIDIOC_MSM_ISP_UPDATE_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+13, struct msm_vfe_axi_stream_update_cmd)
-
-#define VIDIOC_MSM_VFE_REG_LIST_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+14, struct msm_vfe_cfg_cmd_list)
-
-#define VIDIOC_MSM_ISP_SMMU_ATTACH \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+15, struct msm_vfe_smmu_attach_cmd)
-
-#define VIDIOC_MSM_ISP_UPDATE_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+16, struct msm_vfe_axi_stream_update_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_HALT \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+17, struct msm_vfe_axi_halt_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_RESET \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+18, struct msm_vfe_axi_reset_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_RESTART \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+19, struct msm_vfe_axi_restart_cmd)
-
-#define VIDIOC_MSM_ISP_FETCH_ENG_START \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+20, struct msm_vfe_fetch_eng_start)
-
-#define VIDIOC_MSM_ISP_DEQUEUE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+21, struct msm_isp_qbuf_info)
-
-#define VIDIOC_MSM_ISP_SET_DUAL_HW_MASTER_SLAVE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+22, struct msm_isp_set_dual_hw_ms_cmd)
-
-#define VIDIOC_MSM_ISP_MAP_BUF_START_FE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+23, struct msm_vfe_fetch_eng_start)
-
-#define VIDIOC_MSM_ISP_UNMAP_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+24, struct msm_isp_unmap_buf_req)
-
-#endif /* __MSMB_ISP__ */
diff --git a/third_party/linux/include/msmb_ispif.h b/third_party/linux/include/msmb_ispif.h
deleted file mode 100644
index 2564c33b7b..0000000000
--- a/third_party/linux/include/msmb_ispif.h
+++ /dev/null
@@ -1,125 +0,0 @@
-#ifndef MSM_CAM_ISPIF_H
-#define MSM_CAM_ISPIF_H
-
-#define CSID_VERSION_V20                      0x02000011
-#define CSID_VERSION_V22                      0x02001000
-#define CSID_VERSION_V30                      0x30000000
-#define CSID_VERSION_V3                      0x30000000
-
-enum msm_ispif_vfe_intf {
-	VFE0,
-	VFE1,
-	VFE_MAX
-};
-#define VFE0_MASK    (1 << VFE0)
-#define VFE1_MASK    (1 << VFE1)
-
-enum msm_ispif_intftype {
-	PIX0,
-	RDI0,
-	PIX1,
-	RDI1,
-	RDI2,
-	INTF_MAX
-};
-#define MAX_PARAM_ENTRIES (INTF_MAX * 2)
-#define MAX_CID_CH	8
-
-#define PIX0_MASK (1 << PIX0)
-#define PIX1_MASK (1 << PIX1)
-#define RDI0_MASK (1 << RDI0)
-#define RDI1_MASK (1 << RDI1)
-#define RDI2_MASK (1 << RDI2)
-
-
-enum msm_ispif_vc {
-	VC0,
-	VC1,
-	VC2,
-	VC3,
-	VC_MAX
-};
-
-enum msm_ispif_cid {
-	CID0,
-	CID1,
-	CID2,
-	CID3,
-	CID4,
-	CID5,
-	CID6,
-	CID7,
-	CID8,
-	CID9,
-	CID10,
-	CID11,
-	CID12,
-	CID13,
-	CID14,
-	CID15,
-	CID_MAX
-};
-
-enum msm_ispif_csid {
-	CSID0,
-	CSID1,
-	CSID2,
-	CSID3,
-	CSID_MAX
-};
-
-struct msm_ispif_params_entry {
-	enum msm_ispif_vfe_intf vfe_intf;
-	enum msm_ispif_intftype intftype;
-	int num_cids;
-	enum msm_ispif_cid cids[3];
-	enum msm_ispif_csid csid;
-	int crop_enable;
-	uint16_t crop_start_pixel;
-	uint16_t crop_end_pixel;
-};
-
-struct msm_ispif_param_data {
-	uint32_t num;
-	struct msm_ispif_params_entry entries[MAX_PARAM_ENTRIES];
-};
-
-struct msm_isp_info {
-	uint32_t max_resolution;
-	uint32_t id;
-	uint32_t ver;
-};
-
-struct msm_ispif_vfe_info {
-	int num_vfe;
-	struct msm_isp_info info[VFE_MAX];
-};
-
-enum ispif_cfg_type_t {
-	ISPIF_CLK_ENABLE,
-	ISPIF_CLK_DISABLE,
-	ISPIF_INIT,
-	ISPIF_CFG,
-	ISPIF_START_FRAME_BOUNDARY,
-	ISPIF_RESTART_FRAME_BOUNDARY,
-	ISPIF_STOP_FRAME_BOUNDARY,
-	ISPIF_STOP_IMMEDIATELY,
-	ISPIF_RELEASE,
-	ISPIF_ENABLE_REG_DUMP,
-	ISPIF_SET_VFE_INFO,
-};
-
-struct ispif_cfg_data {
-	enum ispif_cfg_type_t cfg_type;
-	union {
-		int reg_dump;                        /* ISPIF_ENABLE_REG_DUMP */
-		uint32_t csid_version;               /* ISPIF_INIT */
-		struct msm_ispif_vfe_info vfe_info;  /* ISPIF_SET_VFE_INFO */
-		struct msm_ispif_param_data params;  /* CFG, START, STOP */
-	};
-};
-
-#define VIDIOC_MSM_ISPIF_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct ispif_cfg_data)
-
-#endif /* MSM_CAM_ISPIF_H */
diff --git a/third_party/linux/include/v4l2-controls.h b/third_party/linux/include/v4l2-controls.h
deleted file mode 100644
index d14cd8fabe..0000000000
--- a/third_party/linux/include/v4l2-controls.h
+++ /dev/null
@@ -1,1696 +0,0 @@
-/*
- *  Video for Linux Two controls header file
- *
- *  Copyright (C) 1999-2012 the contributors
- *
- *  This program is free software; you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation; either version 2 of the License, or
- *  (at your option) any later version.
- *
- *  This program 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 General Public License for more details.
- *
- *  Alternatively you can redistribute this file under the terms of the
- *  BSD license as stated below:
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in
- *     the documentation and/or other materials provided with the
- *     distribution.
- *  3. The names of its contributors may not be used to endorse or promote
- *     products derived from this software without specific prior written
- *     permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- *  TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- *  PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
- *  LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
- *  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- *  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- *  The contents of this header was split off from videodev2.h. All control
- *  definitions should be added to this header, which is included by
- *  videodev2.h.
- */
-
-#ifndef __LINUX_V4L2_CONTROLS_H
-#define __LINUX_V4L2_CONTROLS_H
-
-/* Control classes */
-#define V4L2_CTRL_CLASS_USER		0x00980000	/* Old-style 'user' controls */
-#define V4L2_CTRL_CLASS_MPEG		0x00990000	/* MPEG-compression controls */
-#define V4L2_CTRL_CLASS_CAMERA		0x009a0000	/* Camera class controls */
-#define V4L2_CTRL_CLASS_FM_TX		0x009b0000	/* FM Modulator controls */
-#define V4L2_CTRL_CLASS_FLASH		0x009c0000	/* Camera flash controls */
-#define V4L2_CTRL_CLASS_JPEG		0x009d0000	/* JPEG-compression controls */
-#define V4L2_CTRL_CLASS_IMAGE_SOURCE	0x009e0000	/* Image source controls */
-#define V4L2_CTRL_CLASS_IMAGE_PROC	0x009f0000	/* Image processing controls */
-#define V4L2_CTRL_CLASS_DV		0x00a00000	/* Digital Video controls */
-#define V4L2_CTRL_CLASS_FM_RX		0x00a10000	/* FM Receiver controls */
-#define V4L2_CTRL_CLASS_RF_TUNER	0x00a20000	/* RF tuner controls */
-#define V4L2_CTRL_CLASS_DETECT		0x00a30000	/* Detection controls */
-
-/* User-class control IDs */
-
-#define V4L2_CID_BASE			(V4L2_CTRL_CLASS_USER | 0x900)
-#define V4L2_CID_USER_BASE 		V4L2_CID_BASE
-#define V4L2_CID_USER_CLASS 		(V4L2_CTRL_CLASS_USER | 1)
-#define V4L2_CID_BRIGHTNESS		(V4L2_CID_BASE+0)
-#define V4L2_CID_CONTRAST		(V4L2_CID_BASE+1)
-#define V4L2_CID_SATURATION		(V4L2_CID_BASE+2)
-#define V4L2_CID_HUE			(V4L2_CID_BASE+3)
-#define V4L2_CID_AUDIO_VOLUME		(V4L2_CID_BASE+5)
-#define V4L2_CID_AUDIO_BALANCE		(V4L2_CID_BASE+6)
-#define V4L2_CID_AUDIO_BASS		(V4L2_CID_BASE+7)
-#define V4L2_CID_AUDIO_TREBLE		(V4L2_CID_BASE+8)
-#define V4L2_CID_AUDIO_MUTE		(V4L2_CID_BASE+9)
-#define V4L2_CID_AUDIO_LOUDNESS		(V4L2_CID_BASE+10)
-#define V4L2_CID_BLACK_LEVEL		(V4L2_CID_BASE+11) /* Deprecated */
-#define V4L2_CID_AUTO_WHITE_BALANCE	(V4L2_CID_BASE+12)
-#define V4L2_CID_DO_WHITE_BALANCE	(V4L2_CID_BASE+13)
-#define V4L2_CID_RED_BALANCE		(V4L2_CID_BASE+14)
-#define V4L2_CID_BLUE_BALANCE		(V4L2_CID_BASE+15)
-#define V4L2_CID_GAMMA			(V4L2_CID_BASE+16)
-#define V4L2_CID_WHITENESS		(V4L2_CID_GAMMA) /* Deprecated */
-#define V4L2_CID_EXPOSURE		(V4L2_CID_BASE+17)
-#define V4L2_CID_AUTOGAIN		(V4L2_CID_BASE+18)
-#define V4L2_CID_GAIN			(V4L2_CID_BASE+19)
-#define V4L2_CID_HFLIP			(V4L2_CID_BASE+20)
-#define V4L2_CID_VFLIP			(V4L2_CID_BASE+21)
-
-#define V4L2_CID_POWER_LINE_FREQUENCY	(V4L2_CID_BASE+24)
-enum v4l2_power_line_frequency {
-	V4L2_CID_POWER_LINE_FREQUENCY_DISABLED	= 0,
-	V4L2_CID_POWER_LINE_FREQUENCY_50HZ	= 1,
-	V4L2_CID_POWER_LINE_FREQUENCY_60HZ	= 2,
-	V4L2_CID_POWER_LINE_FREQUENCY_AUTO	= 3,
-};
-#define V4L2_CID_HUE_AUTO			(V4L2_CID_BASE+25)
-#define V4L2_CID_WHITE_BALANCE_TEMPERATURE	(V4L2_CID_BASE+26)
-#define V4L2_CID_SHARPNESS			(V4L2_CID_BASE+27)
-#define V4L2_CID_BACKLIGHT_COMPENSATION 	(V4L2_CID_BASE+28)
-#define V4L2_CID_CHROMA_AGC                     (V4L2_CID_BASE+29)
-#define V4L2_CID_COLOR_KILLER                   (V4L2_CID_BASE+30)
-#define V4L2_CID_COLORFX			(V4L2_CID_BASE+31)
-enum v4l2_colorfx {
-	V4L2_COLORFX_NONE			= 0,
-	V4L2_COLORFX_BW				= 1,
-	V4L2_COLORFX_SEPIA			= 2,
-	V4L2_COLORFX_NEGATIVE			= 3,
-	V4L2_COLORFX_EMBOSS			= 4,
-	V4L2_COLORFX_SKETCH			= 5,
-	V4L2_COLORFX_SKY_BLUE			= 6,
-	V4L2_COLORFX_GRASS_GREEN		= 7,
-	V4L2_COLORFX_SKIN_WHITEN		= 8,
-	V4L2_COLORFX_VIVID			= 9,
-	V4L2_COLORFX_AQUA			= 10,
-	V4L2_COLORFX_ART_FREEZE			= 11,
-	V4L2_COLORFX_SILHOUETTE			= 12,
-	V4L2_COLORFX_SOLARIZATION		= 13,
-	V4L2_COLORFX_ANTIQUE			= 14,
-	V4L2_COLORFX_SET_CBCR			= 15,
-};
-#define V4L2_CID_AUTOBRIGHTNESS			(V4L2_CID_BASE+32)
-#define V4L2_CID_BAND_STOP_FILTER		(V4L2_CID_BASE+33)
-
-#define V4L2_CID_ROTATE				(V4L2_CID_BASE+34)
-#define V4L2_CID_BG_COLOR			(V4L2_CID_BASE+35)
-
-#define V4L2_CID_CHROMA_GAIN                    (V4L2_CID_BASE+36)
-
-#define V4L2_CID_ILLUMINATORS_1			(V4L2_CID_BASE+37)
-#define V4L2_CID_ILLUMINATORS_2			(V4L2_CID_BASE+38)
-
-#define V4L2_CID_MIN_BUFFERS_FOR_CAPTURE	(V4L2_CID_BASE+39)
-#define V4L2_CID_MIN_BUFFERS_FOR_OUTPUT		(V4L2_CID_BASE+40)
-
-#define V4L2_CID_ALPHA_COMPONENT		(V4L2_CID_BASE+41)
-#define V4L2_CID_COLORFX_CBCR			(V4L2_CID_BASE+42)
-
-/* last CID + 1 */
-#define V4L2_CID_LASTP1                         (V4L2_CID_BASE+43)
-
-/* USER-class private control IDs */
-
-/* The base for the meye driver controls. See linux/meye.h for the list
- * of controls. We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_MEYE_BASE			(V4L2_CID_USER_BASE + 0x1000)
-
-/* The base for the bttv driver controls.
- * We reserve 32 controls for this driver. */
-#define V4L2_CID_USER_BTTV_BASE			(V4L2_CID_USER_BASE + 0x1010)
-
-
-/* The base for the s2255 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_S2255_BASE		(V4L2_CID_USER_BASE + 0x1030)
-
-/*
- * The base for the si476x driver controls. See include/media/drv-intf/si476x.h
- * for the list of controls. Total of 16 controls is reserved for this driver
- */
-#define V4L2_CID_USER_SI476X_BASE		(V4L2_CID_USER_BASE + 0x1040)
-
-/* The base for the TI VPE driver controls. Total of 16 controls is reserved for
- * this driver */
-#define V4L2_CID_USER_TI_VPE_BASE		(V4L2_CID_USER_BASE + 0x1050)
-
-/* The base for the saa7134 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_SAA7134_BASE		(V4L2_CID_USER_BASE + 0x1060)
-
-/* The base for the adv7180 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_ADV7180_BASE		(V4L2_CID_USER_BASE + 0x1070)
-
-/* The base for the tc358743 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_TC358743_BASE		(V4L2_CID_USER_BASE + 0x1080)
-
-/* MPEG-class control IDs */
-/* The MPEG controls are applicable to all codec controls
- * and the 'MPEG' part of the define is historical */
-
-#define V4L2_CID_MPEG_BASE 			(V4L2_CTRL_CLASS_MPEG | 0x900)
-#define V4L2_CID_MPEG_CLASS 			(V4L2_CTRL_CLASS_MPEG | 1)
-
-/*  MPEG streams, specific to multiplexed streams */
-#define V4L2_CID_MPEG_STREAM_TYPE 		(V4L2_CID_MPEG_BASE+0)
-enum v4l2_mpeg_stream_type {
-	V4L2_MPEG_STREAM_TYPE_MPEG2_PS   = 0, /* MPEG-2 program stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_TS   = 1, /* MPEG-2 transport stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG1_SS   = 2, /* MPEG-1 system stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_DVD  = 3, /* MPEG-2 DVD-compatible stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG1_VCD  = 4, /* MPEG-1 VCD-compatible stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_SVCD = 5, /* MPEG-2 SVCD-compatible stream */
-};
-#define V4L2_CID_MPEG_STREAM_PID_PMT 		(V4L2_CID_MPEG_BASE+1)
-#define V4L2_CID_MPEG_STREAM_PID_AUDIO 		(V4L2_CID_MPEG_BASE+2)
-#define V4L2_CID_MPEG_STREAM_PID_VIDEO 		(V4L2_CID_MPEG_BASE+3)
-#define V4L2_CID_MPEG_STREAM_PID_PCR 		(V4L2_CID_MPEG_BASE+4)
-#define V4L2_CID_MPEG_STREAM_PES_ID_AUDIO 	(V4L2_CID_MPEG_BASE+5)
-#define V4L2_CID_MPEG_STREAM_PES_ID_VIDEO 	(V4L2_CID_MPEG_BASE+6)
-#define V4L2_CID_MPEG_STREAM_VBI_FMT 		(V4L2_CID_MPEG_BASE+7)
-enum v4l2_mpeg_stream_vbi_fmt {
-	V4L2_MPEG_STREAM_VBI_FMT_NONE = 0,  /* No VBI in the MPEG stream */
-	V4L2_MPEG_STREAM_VBI_FMT_IVTV = 1,  /* VBI in private packets, IVTV format */
-};
-
-/*  MPEG audio controls specific to multiplexed streams  */
-#define V4L2_CID_MPEG_AUDIO_SAMPLING_FREQ 	(V4L2_CID_MPEG_BASE+100)
-enum v4l2_mpeg_audio_sampling_freq {
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_44100 = 0,
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_48000 = 1,
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_32000 = 2,
-};
-#define V4L2_CID_MPEG_AUDIO_ENCODING 		(V4L2_CID_MPEG_BASE+101)
-enum v4l2_mpeg_audio_encoding {
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_1 = 0,
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_2 = 1,
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_3 = 2,
-	V4L2_MPEG_AUDIO_ENCODING_AAC     = 3,
-	V4L2_MPEG_AUDIO_ENCODING_AC3     = 4,
-};
-#define V4L2_CID_MPEG_AUDIO_L1_BITRATE 		(V4L2_CID_MPEG_BASE+102)
-enum v4l2_mpeg_audio_l1_bitrate {
-	V4L2_MPEG_AUDIO_L1_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L1_BITRATE_64K  = 1,
-	V4L2_MPEG_AUDIO_L1_BITRATE_96K  = 2,
-	V4L2_MPEG_AUDIO_L1_BITRATE_128K = 3,
-	V4L2_MPEG_AUDIO_L1_BITRATE_160K = 4,
-	V4L2_MPEG_AUDIO_L1_BITRATE_192K = 5,
-	V4L2_MPEG_AUDIO_L1_BITRATE_224K = 6,
-	V4L2_MPEG_AUDIO_L1_BITRATE_256K = 7,
-	V4L2_MPEG_AUDIO_L1_BITRATE_288K = 8,
-	V4L2_MPEG_AUDIO_L1_BITRATE_320K = 9,
-	V4L2_MPEG_AUDIO_L1_BITRATE_352K = 10,
-	V4L2_MPEG_AUDIO_L1_BITRATE_384K = 11,
-	V4L2_MPEG_AUDIO_L1_BITRATE_416K = 12,
-	V4L2_MPEG_AUDIO_L1_BITRATE_448K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_L2_BITRATE 		(V4L2_CID_MPEG_BASE+103)
-enum v4l2_mpeg_audio_l2_bitrate {
-	V4L2_MPEG_AUDIO_L2_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L2_BITRATE_48K  = 1,
-	V4L2_MPEG_AUDIO_L2_BITRATE_56K  = 2,
-	V4L2_MPEG_AUDIO_L2_BITRATE_64K  = 3,
-	V4L2_MPEG_AUDIO_L2_BITRATE_80K  = 4,
-	V4L2_MPEG_AUDIO_L2_BITRATE_96K  = 5,
-	V4L2_MPEG_AUDIO_L2_BITRATE_112K = 6,
-	V4L2_MPEG_AUDIO_L2_BITRATE_128K = 7,
-	V4L2_MPEG_AUDIO_L2_BITRATE_160K = 8,
-	V4L2_MPEG_AUDIO_L2_BITRATE_192K = 9,
-	V4L2_MPEG_AUDIO_L2_BITRATE_224K = 10,
-	V4L2_MPEG_AUDIO_L2_BITRATE_256K = 11,
-	V4L2_MPEG_AUDIO_L2_BITRATE_320K = 12,
-	V4L2_MPEG_AUDIO_L2_BITRATE_384K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_L3_BITRATE 		(V4L2_CID_MPEG_BASE+104)
-enum v4l2_mpeg_audio_l3_bitrate {
-	V4L2_MPEG_AUDIO_L3_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L3_BITRATE_40K  = 1,
-	V4L2_MPEG_AUDIO_L3_BITRATE_48K  = 2,
-	V4L2_MPEG_AUDIO_L3_BITRATE_56K  = 3,
-	V4L2_MPEG_AUDIO_L3_BITRATE_64K  = 4,
-	V4L2_MPEG_AUDIO_L3_BITRATE_80K  = 5,
-	V4L2_MPEG_AUDIO_L3_BITRATE_96K  = 6,
-	V4L2_MPEG_AUDIO_L3_BITRATE_112K = 7,
-	V4L2_MPEG_AUDIO_L3_BITRATE_128K = 8,
-	V4L2_MPEG_AUDIO_L3_BITRATE_160K = 9,
-	V4L2_MPEG_AUDIO_L3_BITRATE_192K = 10,
-	V4L2_MPEG_AUDIO_L3_BITRATE_224K = 11,
-	V4L2_MPEG_AUDIO_L3_BITRATE_256K = 12,
-	V4L2_MPEG_AUDIO_L3_BITRATE_320K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_MODE 		(V4L2_CID_MPEG_BASE+105)
-enum v4l2_mpeg_audio_mode {
-	V4L2_MPEG_AUDIO_MODE_STEREO       = 0,
-	V4L2_MPEG_AUDIO_MODE_JOINT_STEREO = 1,
-	V4L2_MPEG_AUDIO_MODE_DUAL         = 2,
-	V4L2_MPEG_AUDIO_MODE_MONO         = 3,
-};
-#define V4L2_CID_MPEG_AUDIO_MODE_EXTENSION 	(V4L2_CID_MPEG_BASE+106)
-enum v4l2_mpeg_audio_mode_extension {
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_4  = 0,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_8  = 1,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_12 = 2,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_16 = 3,
-};
-#define V4L2_CID_MPEG_AUDIO_EMPHASIS 		(V4L2_CID_MPEG_BASE+107)
-enum v4l2_mpeg_audio_emphasis {
-	V4L2_MPEG_AUDIO_EMPHASIS_NONE         = 0,
-	V4L2_MPEG_AUDIO_EMPHASIS_50_DIV_15_uS = 1,
-	V4L2_MPEG_AUDIO_EMPHASIS_CCITT_J17    = 2,
-};
-#define V4L2_CID_MPEG_AUDIO_CRC 		(V4L2_CID_MPEG_BASE+108)
-enum v4l2_mpeg_audio_crc {
-	V4L2_MPEG_AUDIO_CRC_NONE  = 0,
-	V4L2_MPEG_AUDIO_CRC_CRC16 = 1,
-};
-#define V4L2_CID_MPEG_AUDIO_MUTE 		(V4L2_CID_MPEG_BASE+109)
-#define V4L2_CID_MPEG_AUDIO_AAC_BITRATE		(V4L2_CID_MPEG_BASE+110)
-#define V4L2_CID_MPEG_AUDIO_AC3_BITRATE		(V4L2_CID_MPEG_BASE+111)
-enum v4l2_mpeg_audio_ac3_bitrate {
-	V4L2_MPEG_AUDIO_AC3_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_40K  = 1,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_48K  = 2,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_56K  = 3,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_64K  = 4,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_80K  = 5,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_96K  = 6,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_112K = 7,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_128K = 8,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_160K = 9,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_192K = 10,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_224K = 11,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_256K = 12,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_320K = 13,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_384K = 14,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_448K = 15,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_512K = 16,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_576K = 17,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_640K = 18,
-};
-#define V4L2_CID_MPEG_AUDIO_DEC_PLAYBACK	(V4L2_CID_MPEG_BASE+112)
-enum v4l2_mpeg_audio_dec_playback {
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_AUTO	    = 0,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_STEREO	    = 1,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_LEFT	    = 2,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_RIGHT	    = 3,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_MONO	    = 4,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_SWAPPED_STEREO = 5,
-};
-#define V4L2_CID_MPEG_AUDIO_DEC_MULTILINGUAL_PLAYBACK (V4L2_CID_MPEG_BASE+113)
-
-/*  MPEG video controls specific to multiplexed streams */
-#define V4L2_CID_MPEG_VIDEO_ENCODING 		(V4L2_CID_MPEG_BASE+200)
-enum v4l2_mpeg_video_encoding {
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_1     = 0,
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_2     = 1,
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_4_AVC = 2,
-};
-#define V4L2_CID_MPEG_VIDEO_ASPECT 		(V4L2_CID_MPEG_BASE+201)
-enum v4l2_mpeg_video_aspect {
-	V4L2_MPEG_VIDEO_ASPECT_1x1     = 0,
-	V4L2_MPEG_VIDEO_ASPECT_4x3     = 1,
-	V4L2_MPEG_VIDEO_ASPECT_16x9    = 2,
-	V4L2_MPEG_VIDEO_ASPECT_221x100 = 3,
-};
-#define V4L2_CID_MPEG_VIDEO_B_FRAMES 		(V4L2_CID_MPEG_BASE+202)
-#define V4L2_CID_MPEG_VIDEO_GOP_SIZE 		(V4L2_CID_MPEG_BASE+203)
-#define V4L2_CID_MPEG_VIDEO_GOP_CLOSURE 	(V4L2_CID_MPEG_BASE+204)
-#define V4L2_CID_MPEG_VIDEO_PULLDOWN 		(V4L2_CID_MPEG_BASE+205)
-#define V4L2_CID_MPEG_VIDEO_BITRATE_MODE 	(V4L2_CID_MPEG_BASE+206)
-enum v4l2_mpeg_video_bitrate_mode {
-	V4L2_MPEG_VIDEO_BITRATE_MODE_VBR = 0,
-	V4L2_MPEG_VIDEO_BITRATE_MODE_CBR = 1,
-};
-#define V4L2_CID_MPEG_VIDEO_BITRATE 		(V4L2_CID_MPEG_BASE+207)
-#define V4L2_CID_MPEG_VIDEO_BITRATE_PEAK 	(V4L2_CID_MPEG_BASE+208)
-#define V4L2_CID_MPEG_VIDEO_TEMPORAL_DECIMATION (V4L2_CID_MPEG_BASE+209)
-#define V4L2_CID_MPEG_VIDEO_MUTE 		(V4L2_CID_MPEG_BASE+210)
-#define V4L2_CID_MPEG_VIDEO_MUTE_YUV 		(V4L2_CID_MPEG_BASE+211)
-#define V4L2_CID_MPEG_VIDEO_DECODER_SLICE_INTERFACE		(V4L2_CID_MPEG_BASE+212)
-#define V4L2_CID_MPEG_VIDEO_DECODER_MPEG4_DEBLOCK_FILTER	(V4L2_CID_MPEG_BASE+213)
-#define V4L2_CID_MPEG_VIDEO_CYCLIC_INTRA_REFRESH_MB		(V4L2_CID_MPEG_BASE+214)
-#define V4L2_CID_MPEG_VIDEO_FRAME_RC_ENABLE			(V4L2_CID_MPEG_BASE+215)
-#define V4L2_CID_MPEG_VIDEO_HEADER_MODE				(V4L2_CID_MPEG_BASE+216)
-enum v4l2_mpeg_video_header_mode {
-	V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE			= 0,
-	V4L2_MPEG_VIDEO_HEADER_MODE_JOINED_WITH_1ST_FRAME	= 1,
-	V4L2_MPEG_VIDEO_HEADER_MODE_JOINED_WITH_I_FRAME		= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_MAX_REF_PIC			(V4L2_CID_MPEG_BASE+217)
-#define V4L2_CID_MPEG_VIDEO_MB_RC_ENABLE		(V4L2_CID_MPEG_BASE+218)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_BYTES	(V4L2_CID_MPEG_BASE+219)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_MB		(V4L2_CID_MPEG_BASE+220)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE		(V4L2_CID_MPEG_BASE+221)
-enum v4l2_mpeg_video_multi_slice_mode {
-	V4L2_MPEG_VIDEO_MULTI_SLICE_MODE_SINGLE		= 0,
-	V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_MB		= 1,
-	V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_BYTES	= 2,
-	V4L2_MPEG_VIDEO_MULTI_SLICE_GOB			= 3,
-};
-#define V4L2_CID_MPEG_VIDEO_VBV_SIZE			(V4L2_CID_MPEG_BASE+222)
-#define V4L2_CID_MPEG_VIDEO_DEC_PTS			(V4L2_CID_MPEG_BASE+223)
-#define V4L2_CID_MPEG_VIDEO_DEC_FRAME			(V4L2_CID_MPEG_BASE+224)
-#define V4L2_CID_MPEG_VIDEO_VBV_DELAY			(V4L2_CID_MPEG_BASE+225)
-#define V4L2_CID_MPEG_VIDEO_REPEAT_SEQ_HEADER		(V4L2_CID_MPEG_BASE+226)
-#define V4L2_CID_MPEG_VIDEO_MV_H_SEARCH_RANGE		(V4L2_CID_MPEG_BASE+227)
-#define V4L2_CID_MPEG_VIDEO_MV_V_SEARCH_RANGE		(V4L2_CID_MPEG_BASE+228)
-#define V4L2_CID_MPEG_VIDEO_FORCE_KEY_FRAME		(V4L2_CID_MPEG_BASE+229)
-
-#define V4L2_CID_MPEG_VIDEO_H263_I_FRAME_QP		(V4L2_CID_MPEG_BASE+300)
-#define V4L2_CID_MPEG_VIDEO_H263_P_FRAME_QP		(V4L2_CID_MPEG_BASE+301)
-#define V4L2_CID_MPEG_VIDEO_H263_B_FRAME_QP		(V4L2_CID_MPEG_BASE+302)
-#define V4L2_CID_MPEG_VIDEO_H263_MIN_QP			(V4L2_CID_MPEG_BASE+303)
-#define V4L2_CID_MPEG_VIDEO_H263_MAX_QP			(V4L2_CID_MPEG_BASE+304)
-#define V4L2_CID_MPEG_VIDEO_H264_I_FRAME_QP		(V4L2_CID_MPEG_BASE+350)
-#define V4L2_CID_MPEG_VIDEO_H264_P_FRAME_QP		(V4L2_CID_MPEG_BASE+351)
-#define V4L2_CID_MPEG_VIDEO_H264_B_FRAME_QP		(V4L2_CID_MPEG_BASE+352)
-#define V4L2_CID_MPEG_VIDEO_H264_MIN_QP			(V4L2_CID_MPEG_BASE+353)
-#define V4L2_CID_MPEG_VIDEO_H264_MAX_QP			(V4L2_CID_MPEG_BASE+354)
-#define V4L2_CID_MPEG_VIDEO_H264_8X8_TRANSFORM		(V4L2_CID_MPEG_BASE+355)
-#define V4L2_CID_MPEG_VIDEO_H264_CPB_SIZE		(V4L2_CID_MPEG_BASE+356)
-#define V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE		(V4L2_CID_MPEG_BASE+357)
-enum v4l2_mpeg_video_h264_entropy_mode {
-	V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CAVLC	= 0,
-	V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_I_PERIOD		(V4L2_CID_MPEG_BASE+358)
-#define V4L2_CID_MPEG_VIDEO_H264_LEVEL			(V4L2_CID_MPEG_BASE+359)
-enum v4l2_mpeg_video_h264_level {
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_0	= 0,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1B	= 1,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_1	= 2,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_2	= 3,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_3	= 4,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_0	= 5,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_1	= 6,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_2	= 7,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_0	= 8,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_1	= 9,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_2	= 10,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_0	= 11,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_1	= 12,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_2	= 13,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_0	= 14,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_1	= 15,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_2	= 16,
-#define V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN \
-	V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN
-	V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN = 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA	(V4L2_CID_MPEG_BASE+360)
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA	(V4L2_CID_MPEG_BASE+361)
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE	(V4L2_CID_MPEG_BASE+362)
-enum v4l2_mpeg_video_h264_loop_filter_mode {
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_ENABLED				= 0,
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_DISABLED				= 1,
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_DISABLED_AT_SLICE_BOUNDARY	= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_PROFILE		(V4L2_CID_MPEG_BASE+363)
-enum v4l2_mpeg_video_h264_profile {
-	V4L2_MPEG_VIDEO_H264_PROFILE_BASELINE			= 0,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CONSTRAINED_BASELINE	= 1,
-	V4L2_MPEG_VIDEO_H264_PROFILE_MAIN			= 2,
-	V4L2_MPEG_VIDEO_H264_PROFILE_EXTENDED			= 3,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH			= 4,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_10			= 5,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_422			= 6,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_PREDICTIVE	= 7,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_10_INTRA		= 8,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_422_INTRA		= 9,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_INTRA		= 10,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CAVLC_444_INTRA		= 11,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_BASELINE		= 12,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_HIGH		= 13,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_HIGH_INTRA	= 14,
-	V4L2_MPEG_VIDEO_H264_PROFILE_STEREO_HIGH		= 15,
-	V4L2_MPEG_VIDEO_H264_PROFILE_MULTIVIEW_HIGH		= 16,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CONSTRAINED_HIGH		= 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_EXT_SAR_HEIGHT	(V4L2_CID_MPEG_BASE+364)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_EXT_SAR_WIDTH	(V4L2_CID_MPEG_BASE+365)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_SAR_ENABLE		(V4L2_CID_MPEG_BASE+366)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_SAR_IDC		(V4L2_CID_MPEG_BASE+367)
-enum v4l2_mpeg_video_h264_vui_sar_idc {
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_UNSPECIFIED	= 0,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_1x1		= 1,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_12x11		= 2,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_10x11		= 3,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_16x11		= 4,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_40x33		= 5,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_24x11		= 6,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_20x11		= 7,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_32x11		= 8,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_80x33		= 9,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_18x11		= 10,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_15x11		= 11,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_64x33		= 12,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_160x99		= 13,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_4x3		= 14,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_3x2		= 15,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_2x1		= 16,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_EXTENDED	= 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FRAME_PACKING		(V4L2_CID_MPEG_BASE+368)
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FP_CURRENT_FRAME_0		(V4L2_CID_MPEG_BASE+369)
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE	(V4L2_CID_MPEG_BASE+370)
-enum v4l2_mpeg_video_h264_sei_fp_arrangement_type {
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_CHECKERBOARD	= 0,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_COLUMN		= 1,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_ROW		= 2,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_SIDE_BY_SIDE	= 3,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_TOP_BOTTOM		= 4,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_TEMPORAL		= 5,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO			(V4L2_CID_MPEG_BASE+371)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_MAP_TYPE		(V4L2_CID_MPEG_BASE+372)
-enum v4l2_mpeg_video_h264_fmo_map_type {
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_INTERLEAVED_SLICES		= 0,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_SCATTERED_SLICES		= 1,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_FOREGROUND_WITH_LEFT_OVER	= 2,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_BOX_OUT			= 3,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_RASTER_SCAN			= 4,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_WIPE_SCAN			= 5,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_EXPLICIT			= 6,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_SLICE_GROUP	(V4L2_CID_MPEG_BASE+373)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_CHANGE_DIRECTION	(V4L2_CID_MPEG_BASE+374)
-enum v4l2_mpeg_video_h264_fmo_change_dir {
-	V4L2_MPEG_VIDEO_H264_FMO_CHANGE_DIR_RIGHT	= 0,
-	V4L2_MPEG_VIDEO_H264_FMO_CHANGE_DIR_LEFT	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_CHANGE_RATE	(V4L2_CID_MPEG_BASE+375)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_RUN_LENGTH		(V4L2_CID_MPEG_BASE+376)
-#define V4L2_CID_MPEG_VIDEO_H264_ASO			(V4L2_CID_MPEG_BASE+377)
-#define V4L2_CID_MPEG_VIDEO_H264_ASO_SLICE_ORDER	(V4L2_CID_MPEG_BASE+378)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING		(V4L2_CID_MPEG_BASE+379)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_TYPE	(V4L2_CID_MPEG_BASE+380)
-enum v4l2_mpeg_video_h264_hierarchical_coding_type {
-	V4L2_MPEG_VIDEO_H264_HIERARCHICAL_CODING_B	= 0,
-	V4L2_MPEG_VIDEO_H264_HIERARCHICAL_CODING_P	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_LAYER	(V4L2_CID_MPEG_BASE+381)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_LAYER_QP	(V4L2_CID_MPEG_BASE+382)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_I_FRAME_QP	(V4L2_CID_MPEG_BASE+400)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_P_FRAME_QP	(V4L2_CID_MPEG_BASE+401)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_B_FRAME_QP	(V4L2_CID_MPEG_BASE+402)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_MIN_QP	(V4L2_CID_MPEG_BASE+403)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_MAX_QP	(V4L2_CID_MPEG_BASE+404)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_LEVEL		(V4L2_CID_MPEG_BASE+405)
-enum v4l2_mpeg_video_mpeg4_level {
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_0	= 0,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_0B	= 1,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_1	= 2,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_2	= 3,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_3	= 4,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_3B	= 5,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_4	= 6,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_5	= 7,
-};
-#define V4L2_CID_MPEG_VIDEO_MPEG4_PROFILE	(V4L2_CID_MPEG_BASE+406)
-enum v4l2_mpeg_video_mpeg4_profile {
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_SIMPLE				= 0,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_ADVANCED_SIMPLE			= 1,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_CORE				= 2,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_SIMPLE_SCALABLE			= 3,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_ADVANCED_CODING_EFFICIENCY	= 4,
-};
-#define V4L2_CID_MPEG_VIDEO_MPEG4_QPEL		(V4L2_CID_MPEG_BASE+407)
-
-/*  Control IDs for VP8 streams
- *  Although VP8 is not part of MPEG we add these controls to the MPEG class
- *  as that class is already handling other video compression standards
- */
-#define V4L2_CID_MPEG_VIDEO_VPX_NUM_PARTITIONS		(V4L2_CID_MPEG_BASE+500)
-enum v4l2_vp8_num_partitions {
-	V4L2_CID_MPEG_VIDEO_VPX_1_PARTITION	= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_2_PARTITIONS	= 1,
-	V4L2_CID_MPEG_VIDEO_VPX_4_PARTITIONS	= 2,
-	V4L2_CID_MPEG_VIDEO_VPX_8_PARTITIONS	= 3,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_IMD_DISABLE_4X4		(V4L2_CID_MPEG_BASE+501)
-#define V4L2_CID_MPEG_VIDEO_VPX_NUM_REF_FRAMES		(V4L2_CID_MPEG_BASE+502)
-enum v4l2_vp8_num_ref_frames {
-	V4L2_CID_MPEG_VIDEO_VPX_1_REF_FRAME	= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_2_REF_FRAME	= 1,
-	V4L2_CID_MPEG_VIDEO_VPX_3_REF_FRAME	= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_FILTER_LEVEL		(V4L2_CID_MPEG_BASE+503)
-#define V4L2_CID_MPEG_VIDEO_VPX_FILTER_SHARPNESS	(V4L2_CID_MPEG_BASE+504)
-#define V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_REF_PERIOD	(V4L2_CID_MPEG_BASE+505)
-#define V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_SEL	(V4L2_CID_MPEG_BASE+506)
-enum v4l2_vp8_golden_frame_sel {
-	V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_USE_PREV		= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_USE_REF_PERIOD	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_MIN_QP			(V4L2_CID_MPEG_BASE+507)
-#define V4L2_CID_MPEG_VIDEO_VPX_MAX_QP			(V4L2_CID_MPEG_BASE+508)
-#define V4L2_CID_MPEG_VIDEO_VPX_I_FRAME_QP		(V4L2_CID_MPEG_BASE+509)
-#define V4L2_CID_MPEG_VIDEO_VPX_P_FRAME_QP		(V4L2_CID_MPEG_BASE+510)
-#define V4L2_CID_MPEG_VIDEO_VPX_PROFILE			(V4L2_CID_MPEG_BASE+511)
-
-/*  MPEG-class control IDs specific to the CX2341x driver as defined by V4L2 */
-#define V4L2_CID_MPEG_CX2341X_BASE 				(V4L2_CTRL_CLASS_MPEG | 0x1000)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE 	(V4L2_CID_MPEG_CX2341X_BASE+0)
-enum v4l2_mpeg_cx2341x_video_spatial_filter_mode {
-	V4L2_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE_MANUAL = 0,
-	V4L2_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE_AUTO   = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_SPATIAL_FILTER 		(V4L2_CID_MPEG_CX2341X_BASE+1)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE 	(V4L2_CID_MPEG_CX2341X_BASE+2)
-enum v4l2_mpeg_cx2341x_video_luma_spatial_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_OFF                  = 0,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_1D_HOR               = 1,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_1D_VERT              = 2,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_2D_HV_SEPARABLE      = 3,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_2D_SYM_NON_SEPARABLE = 4,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE 	(V4L2_CID_MPEG_CX2341X_BASE+3)
-enum v4l2_mpeg_cx2341x_video_chroma_spatial_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE_OFF    = 0,
-	V4L2_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE_1D_HOR = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE 	(V4L2_CID_MPEG_CX2341X_BASE+4)
-enum v4l2_mpeg_cx2341x_video_temporal_filter_mode {
-	V4L2_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE_MANUAL = 0,
-	V4L2_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE_AUTO   = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER 		(V4L2_CID_MPEG_CX2341X_BASE+5)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE 		(V4L2_CID_MPEG_CX2341X_BASE+6)
-enum v4l2_mpeg_cx2341x_video_median_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_OFF      = 0,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_HOR      = 1,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_VERT     = 2,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_HOR_VERT = 3,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_DIAG     = 4,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_MEDIAN_FILTER_BOTTOM 	(V4L2_CID_MPEG_CX2341X_BASE+7)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_MEDIAN_FILTER_TOP 	(V4L2_CID_MPEG_CX2341X_BASE+8)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_MEDIAN_FILTER_BOTTOM	(V4L2_CID_MPEG_CX2341X_BASE+9)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_MEDIAN_FILTER_TOP 	(V4L2_CID_MPEG_CX2341X_BASE+10)
-#define V4L2_CID_MPEG_CX2341X_STREAM_INSERT_NAV_PACKETS 	(V4L2_CID_MPEG_CX2341X_BASE+11)
-
-/*  MPEG-class control IDs specific to the Samsung MFC 5.1 driver as defined by V4L2 */
-#define V4L2_CID_MPEG_MFC51_BASE				(V4L2_CTRL_CLASS_MPEG | 0x1100)
-
-#define V4L2_CID_MPEG_MFC51_VIDEO_DECODER_H264_DISPLAY_DELAY		(V4L2_CID_MPEG_MFC51_BASE+0)
-#define V4L2_CID_MPEG_MFC51_VIDEO_DECODER_H264_DISPLAY_DELAY_ENABLE	(V4L2_CID_MPEG_MFC51_BASE+1)
-#define V4L2_CID_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE			(V4L2_CID_MPEG_MFC51_BASE+2)
-enum v4l2_mpeg_mfc51_video_frame_skip_mode {
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_DISABLED		= 0,
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_LEVEL_LIMIT	= 1,
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_BUF_LIMIT		= 2,
-};
-#define V4L2_CID_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE			(V4L2_CID_MPEG_MFC51_BASE+3)
-enum v4l2_mpeg_mfc51_video_force_frame_type {
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_DISABLED		= 0,
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_I_FRAME		= 1,
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_NOT_CODED	= 2,
-};
-#define V4L2_CID_MPEG_MFC51_VIDEO_PADDING				(V4L2_CID_MPEG_MFC51_BASE+4)
-#define V4L2_CID_MPEG_MFC51_VIDEO_PADDING_YUV				(V4L2_CID_MPEG_MFC51_BASE+5)
-#define V4L2_CID_MPEG_MFC51_VIDEO_RC_FIXED_TARGET_BIT			(V4L2_CID_MPEG_MFC51_BASE+6)
-#define V4L2_CID_MPEG_MFC51_VIDEO_RC_REACTION_COEFF			(V4L2_CID_MPEG_MFC51_BASE+7)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_ACTIVITY		(V4L2_CID_MPEG_MFC51_BASE+50)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_DARK			(V4L2_CID_MPEG_MFC51_BASE+51)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_SMOOTH		(V4L2_CID_MPEG_MFC51_BASE+52)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_STATIC		(V4L2_CID_MPEG_MFC51_BASE+53)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_NUM_REF_PIC_FOR_P		(V4L2_CID_MPEG_MFC51_BASE+54)
-
-/*  MPEG-class control IDs specific to the msm_vidc driver */
-#define V4L2_CID_MPEG_MSM_VIDC_BASE		(V4L2_CTRL_CLASS_MPEG | 0x2000)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PICTYPE_DEC_MODE \
-			(V4L2_CID_MPEG_MSM_VIDC_BASE+0)
-enum v4l2_mpeg_vidc_video_pictype_dec_mode {
-	V4L2_MPEG_VIDC_VIDEO_PICTYPE_DECODE_OFF = 0,
-	V4L2_MPEG_VIDC_VIDEO_PICTYPE_DECODE_ON = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_KEEP_ASPECT_RATIO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+1)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_FORMAT   (V4L2_CID_MPEG_MSM_VIDC_BASE+2)
-enum v4l2_mpeg_vidc_video_stream_format {
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_STARTCODES         = 0,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_ONE_NAL_PER_BUFFER = 1,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_ONE_BYTE_LENGTH    = 2,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_TWO_BYTE_LENGTH    = 3,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_FOUR_BYTE_LENGTH   = 4,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_OUTPUT_ORDER   (V4L2_CID_MPEG_MSM_VIDC_BASE+3)
-enum v4l2_mpeg_vidc_video_output_order {
-	V4L2_MPEG_VIDC_VIDEO_OUTPUT_ORDER_DISPLAY         = 0,
-	V4L2_MPEG_VIDC_VIDEO_OUTPUT_ORDER_DECODE          = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_RATE   (V4L2_CID_MPEG_MSM_VIDC_BASE+4)
-#define V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD   (V4L2_CID_MPEG_MSM_VIDC_BASE+5)
-#define V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES (V4L2_CID_MPEG_MSM_VIDC_BASE+6)
-#define V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES (V4L2_CID_MPEG_MSM_VIDC_BASE+7)
-#define V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_IFRAME (V4L2_CID_MPEG_MSM_VIDC_BASE+8)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL (V4L2_CID_MPEG_MSM_VIDC_BASE+9)
-enum v4l2_mpeg_vidc_video_rate_control {
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_OFF = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_VFR = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CBR_VFR = 3,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CBR_CFR = 4,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR = 5,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR = 6,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CQ = 7,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR	\
-			V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR	\
-			V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ROTATION (V4L2_CID_MPEG_MSM_VIDC_BASE+10)
-enum v4l2_mpeg_vidc_video_rotation {
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_90 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_180 = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_270 = 3,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+11)
-enum v4l2_mpeg_vidc_h264_cabac_model {
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0 = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_1 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_2 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+12)
-enum v4l2_mpeg_vidc_video_intra_refresh_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_CYCLIC = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_RANDOM = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_ADAPTIVE = 3,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_CYCLIC_ADAPTIVE = 4,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_IR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE+13)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_AU_DELIMITER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 14)
-enum v4l2_mpeg_vidc_video_au_delimiter {
-	V4L2_MPEG_VIDC_VIDEO_AU_DELIMITER_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_AU_DELIMITER_ENABLED = 1
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 15)
-enum v4l2_mpeg_vidc_video_sync_frame_decode {
-	V4L2_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE_ENABLE = 1
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_SECURE (V4L2_CID_MPEG_MSM_VIDC_BASE+16)
-#define V4L2_CID_MPEG_VIDC_VIDEO_EXTRADATA \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 17)
-enum v4l2_mpeg_vidc_extradata {
-	V4L2_MPEG_VIDC_EXTRADATA_NONE = 0,
-	V4L2_MPEG_VIDC_EXTRADATA_MB_QUANTIZATION = 1,
-	V4L2_MPEG_VIDC_EXTRADATA_INTERLACE_VIDEO = 2,
-	V4L2_MPEG_VIDC_EXTRADATA_VC1_FRAMEDISP = 3,
-	V4L2_MPEG_VIDC_EXTRADATA_VC1_SEQDISP = 4,
-	V4L2_MPEG_VIDC_EXTRADATA_TIMESTAMP = 5,
-	V4L2_MPEG_VIDC_EXTRADATA_S3D_FRAME_PACKING = 6,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_RATE = 7,
-	V4L2_MPEG_VIDC_EXTRADATA_PANSCAN_WINDOW = 8,
-	V4L2_MPEG_VIDC_EXTRADATA_RECOVERY_POINT_SEI = 9,
-	V4L2_MPEG_VIDC_EXTRADATA_MULTISLICE_INFO = 10,
-	V4L2_MPEG_VIDC_EXTRADATA_NUM_CONCEALED_MB = 11,
-	V4L2_MPEG_VIDC_EXTRADATA_METADATA_FILLER = 12,
-	V4L2_MPEG_VIDC_EXTRADATA_INPUT_CROP = 13,
-	V4L2_MPEG_VIDC_EXTRADATA_DIGITAL_ZOOM = 14,
-	V4L2_MPEG_VIDC_EXTRADATA_ASPECT_RATIO = 15,
-	V4L2_MPEG_VIDC_EXTRADATA_MPEG2_SEQDISP = 16,
-	V4L2_MPEG_VIDC_EXTRADATA_STREAM_USERDATA = 17,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_QP = 18,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_BITS_INFO = 19,
-	V4L2_MPEG_VIDC_EXTRADATA_LTR = 20,
-	V4L2_MPEG_VIDC_EXTRADATA_METADATA_MBI = 21,
-	V4L2_MPEG_VIDC_EXTRADATA_VQZIP_SEI = 22,
-	V4L2_MPEG_VIDC_EXTRADATA_YUV_STATS = 23,
-	V4L2_MPEG_VIDC_EXTRADATA_ROI_QP = 24,
-#define V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP \
-	V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP
-	V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP = 25,
-#define V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI \
-	V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI
-	V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI = 26,
-#define V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI \
-	V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI
-	V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI = 27,
-#define V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO \
-	V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO
-	V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO = 28,
-#define V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY \
-	V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY
-	V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY = 29,
-#define V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE \
-	V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE
-	V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE = 30,
-#define V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO \
-	V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO
-	V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO = 31,
-#define V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP \
-	V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP
-	V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP = 32,
-};
-
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_DELIVERY_MODE	\
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 18)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 19)
-enum v4l2_mpeg_vidc_video_vui_timing_info {
-	V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_PROFILE_LEVEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 20)
-enum v4l2_mpeg_vidc_video_vp8_profile_level {
-	V4L2_MPEG_VIDC_VIDEO_VP8_UNUSED,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_0,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_1,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_2,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_3,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 21)
-enum v4l2_mpeg_vidc_video_preserve_text_quality {
-	V4L2_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
-enum v4l2_mpeg_vidc_video_decoder_multi_stream {
-	V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_PRIMARY = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_SECONDARY = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG2_LEVEL	(V4L2_CID_MPEG_MSM_VIDC_BASE+23)
-enum v4l2_mpeg_vidc_video_mpeg2_level {
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_0	= 0,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_1	= 1,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_2	= 2,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_3	= 3,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG2_PROFILE	(V4L2_CID_MPEG_MSM_VIDC_BASE+24)
-enum v4l2_mpeg_vidc_video_mpeg2_profile {
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SIMPLE		= 0,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_MAIN			= 1,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_422			= 2,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SNR_SCALABLE		= 3,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SPATIAL_SCALABLE	= 4,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_HIGH			= 5,
-};
-
-enum v4l2_mpeg_vidc_video_mvc_layout {
-	V4L2_MPEG_VIDC_VIDEO_MVC_SEQUENTIAL = 0,
-	V4L2_MPEG_VIDC_VIDEO_MVC_TOP_BOTTOM = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 25)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LTRMODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 26)
-
-enum v4l2_mpeg_vidc_video_ltrmode {
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_MANUAL = 1,
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_PERIODIC = 2
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LTRCOUNT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 27)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_USELTRFRAME \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 28)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MARKLTRFRAME \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 29)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HIER_P_NUM_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 30)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ALLOC_MODE_OUTPUT       \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+31)
-enum v4l2_mpeg_vidc_video_alloc_mode_type {
-	V4L2_MPEG_VIDC_VIDEO_STATIC = 0,
-	V4L2_MPEG_VIDC_VIDEO_RING = 1,
-	V4L2_MPEG_VIDC_VIDEO_DYNAMIC = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 32)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 33)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 34)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 35)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 36)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 37)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 38)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BUFFER_SIZE_LIMIT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 39)
-
-enum vl42_mpeg_vidc_video_vpx_error_resilience {
-	V4L2_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE_ENABLED = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 40)
-enum v4l2_mpeg_video_hevc_profile {
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN			= 0,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN10		= 1,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN_STILL_PIC	= 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 41)
-enum v4l2_mpeg_video_hevc_level {
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_1	= 0,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_1	= 1,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_2	= 2,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_2	= 3,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_2_1	= 4,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_2_1	= 5,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_3	= 6,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_3	= 7,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_3_1	= 8,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_3_1	= 9,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_4	= 10,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_4	= 11,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_4_1	= 12,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_4_1	= 13,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5	= 14,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5	= 15,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5_1	= 16,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5_1	= 17,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5_2	= 18,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5_2	= 19,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6	= 20,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6	= 21,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6_1	= 22,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6_1	= 23,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6_2	= 24,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6_2	= 25,
-#define V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN \
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN = 26,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HIER_B_NUM_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 42)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HYBRID_HIERP_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 43)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
-
-enum v4l2_mpeg_vidc_video_dpb_color_format {
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_NONE = 0,
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_UBWC = 1,
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_TP10_UBWC = 2
-};
-
-#define V4L2_CID_VIDC_QBUF_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 45)
-enum v4l2_vidc_qbuf_mode {
-	V4L2_VIDC_QBUF_STANDARD = 0,
-	V4L2_VIDC_QBUF_BATCHED = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MAX_HIERP_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 46)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BASELAYER_ID \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 47)
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_SAR_WIDTH \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 48)
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_SAR_HEIGHT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 49)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 50)
-
-enum v4l2_mpeg_vidc_video_vqzip_sei_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI_DISABLE	= 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI_ENABLE	= 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_LAYER_BITRATE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 51)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 52)
-
-enum v4l2_mpeg_vidc_video_priority {
-	V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 53)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_TYPE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 54)
-
-enum v4l2_mpeg_vidc_video_venc_bitrate_type_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_DISABLE	= 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_ENABLE	= 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 55)
-
-enum v4l2_cid_mpeg_vidc_video_vpe_csc_type_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_DISABLE  = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_ENABLE   = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 56)
-
-enum v4l2_mpeg_vidc_video_lowlatency_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_DISABLE     = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_ENABLE      = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BLUR_WIDTH \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 57)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BLUR_HEIGHT \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 58)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 59)
-enum v4l2_mpeg_vidc_video_h264_transform_8x8 {
-	V4L2_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_COLOR_SPACE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 60)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 61)
-
-enum v4l2_cid_mpeg_vidc_video_full_range {
-	V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE_DISABLE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TRANSFER_CHARS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 62)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MATRIX_COEFFS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 63)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_TYPE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 64)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LAYER_ID \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 65)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP9_PROFILE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 66)
-enum v4l2_mpeg_vidc_video_vp9_profile {
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_UNUSED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_P0 = 1,
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_P2_10 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP9_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 67)
-enum v4l2_mpeg_vidc_video_vp9_level {
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_UNUSED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_1 = 1,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_11 = 2,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_2 = 3,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_21 = 4,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_3 = 5,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_31 = 6,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_4 = 7,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_41 = 8,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_5 = 9,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_51 = 10,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MB_ERROR_MAP_REPORTING \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 68)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONTINUE_DATA_TRANSFER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 69)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ALLOC_MODE_INPUT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 70)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_ASSEMBLY	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 71)
-enum v4l2_mpeg_vidc_video_assembly {
-	V4L2_MPEG_VIDC_FRAME_ASSEMBLY_DISABLE = 0,
-	V4L2_MPEG_VIDC_FRAME_ASSEMBLY_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H263_PROFILE\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 72)
-enum v4l2_mpeg_vidc_video_h263_profile {
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_BASELINE = 0,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_H320CODING	= 1,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_BACKWARDCOMPATIBLE = 2,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_ISWV2 = 3,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_ISWV3 = 4,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_HIGHCOMPRESSION = 5,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_INTERNET = 6,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_INTERLACE = 7,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_HIGHLATENCY = 8,
-};
-
-#define V4L2_CID_MPEG_VIDEO_MIN_QP_PACKED \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 97)
-#define V4L2_CID_MPEG_VIDEO_MAX_QP_PACKED \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 98)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 99)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 100)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 101)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 102)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 103)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 104)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 105)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 106)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 107)
-#define V4L2_CID_MPEG_VIDC_VIDEO_QP_MASK \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 108)
-
-enum v4l2_mpeg_vidc_video_venc_iframesize_type {
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_DEFAULT,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_MEDIUM,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_HUGE,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_UNLIMITED,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR_8BIT	\
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 109)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR_10BIT \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 110)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_PROFILE  \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 111)
-
-enum v4l2_mpeg_vidc_video_tme_profile {
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_0 = 0,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_1 = 1,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_2 = 2,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_3 = 3,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_LEVEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 112)
-
-enum v4l2_mpeg_vidc_video_tme_level {
-	V4L2_MPEG_VIDC_VIDEO_TME_LEVEL_INTEGER = 0,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_PAYLOAD_VERSION  \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 113)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_CUSTOM_MATRIX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 114)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FLIP (V4L2_CID_MPEG_MSM_VIDC_BASE + 115)
-enum v4l2_mpeg_vidc_video_flip {
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_HORI = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_VERT = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_BOTH = 3,
-};
-
-/* HDR SEI INFO related control IDs and definitions*/
-#define V4L2_MPEG_VIDC_VENC_HDR_INFO_ENABLED 1
-#define V4L2_MPEG_VIDC_VENC_HDR_INFO_DISABLED 0
-
-#define V4L2_CID_MPEG_VIDC_VENC_HDR_INFO \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 116)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_00 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 117)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_01 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 118)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_10 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 119)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_11 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 120)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_20 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 121)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_21 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 122)
-#define V4L2_CID_MPEG_VIDC_VENC_WHITEPOINT_X \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 123)
-#define V4L2_CID_MPEG_VIDC_VENC_WHITEPOINT_Y \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 124)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_DISP_LUM \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 125)
-#define V4L2_CID_MPEG_VIDC_VENC_MIN_DISP_LUM \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 126)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_CLL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 127)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_FLL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 128)
-
-#define V4L2_CID_MPEG_VIDC_SET_PERF_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 129)
-enum v4l2_mpeg_vidc_perf_level {
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_NOMINAL	= 0,
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_PERFORMANCE	= 1,
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_TURBO	= 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_AIR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE + 130)
-#define V4L2_CID_MPEG_VIDC_VIDEO_AIR_REF (V4L2_CID_MPEG_MSM_VIDC_BASE + 131)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CIR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE + 132)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 135)
-
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_GOB \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 136)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 137)
-enum v4l2_mpeg_vidc_video_h264_vui_bitstream_restrict {
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 138)
-enum v4l2_mpeg_vidc_video_deinterlace {
-	V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE_DISABLED = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG4_TIME_RESOLUTION \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 139)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_SEQ_HEADER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 140)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 141)
-enum v4l2_mpeg_vidc_video_rate_control_timestamp_mode {
-	V4L2_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE_HONOR = 0,
-	V4L2_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE_IGNORE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 142)
-enum vl42_mpeg_vidc_video_enable_initial_qp {
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_IFRAME = 0x1,
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_PFRAME = 0x2,
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_BFRAME = 0x4,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_I_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 143)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_P_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 144)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_B_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 145)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 146)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PERF_MODE	 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 147)
-enum v4l2_mpeg_vidc_video_perf_mode {
-	V4L2_MPEG_VIDC_VIDEO_PERF_MAX_QUALITY = 1,
-	V4L2_MPEG_VIDC_VIDEO_PERF_POWER_SAVE = 2
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MBI_STATISTICS_MODE	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 148)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONFIG_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 149)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_PIC_ORDER_CNT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 150)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_SCS_THRESHOLD \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 151)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MVC_BUFFER_LAYOUT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 152)
-
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_SECURE_SCALING_THRESHOLD \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 153)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_NON_SECURE_OUTPUT2 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 154)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_MIN_QP (V4L2_CID_MPEG_MSM_VIDC_BASE + 155)
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_MAX_QP (V4L2_CID_MPEG_MSM_VIDC_BASE + 156)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H263_LEVEL (V4L2_CID_MPEG_MSM_VIDC_BASE + 157)
-enum v4l2_mpeg_vidc_video_h263_level {
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_1_0 = 0,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_2_0 = 1,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_3_0 = 2,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_4_0 = 3,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_4_5 = 4,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_5_0 = 5,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_6_0 = 6,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_7_0 = 7,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_POST_LOOP_DEBLOCKER_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 158)
-
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DIVX_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE+159)
-
-enum v4l2_mpeg_vidc_video_divx_format_type {
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_4 = 0,
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_5 = 1,
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_6 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_QUALITY \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE+160)
-
-#define V4L2_CID_MPEG_VIDC_IMG_GRID_DIMENSION \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE+161)
-
-enum v4l2_mpeg_vidc_video_mbi_statistics_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_DEFAULT = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_1 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_2 = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_3 = 3,
-};
-
-enum vl42_mpeg_vidc_video_h264_svc_nal {
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC_DISABLED = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC_ENABLED = 1,
-};
-
-enum v4l2_mpeg_vidc_video_h264_vui_timing_info {
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO_ENABLED = 1
-};
-
-/*  Camera class control IDs */
-
-#define V4L2_CID_CAMERA_CLASS_BASE 	(V4L2_CTRL_CLASS_CAMERA | 0x900)
-#define V4L2_CID_CAMERA_CLASS 		(V4L2_CTRL_CLASS_CAMERA | 1)
-
-#define V4L2_CID_EXPOSURE_AUTO			(V4L2_CID_CAMERA_CLASS_BASE+1)
-enum  v4l2_exposure_auto_type {
-	V4L2_EXPOSURE_AUTO = 0,
-	V4L2_EXPOSURE_MANUAL = 1,
-	V4L2_EXPOSURE_SHUTTER_PRIORITY = 2,
-	V4L2_EXPOSURE_APERTURE_PRIORITY = 3
-};
-#define V4L2_CID_EXPOSURE_ABSOLUTE		(V4L2_CID_CAMERA_CLASS_BASE+2)
-#define V4L2_CID_EXPOSURE_AUTO_PRIORITY		(V4L2_CID_CAMERA_CLASS_BASE+3)
-
-#define V4L2_CID_PAN_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+4)
-#define V4L2_CID_TILT_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+5)
-#define V4L2_CID_PAN_RESET			(V4L2_CID_CAMERA_CLASS_BASE+6)
-#define V4L2_CID_TILT_RESET			(V4L2_CID_CAMERA_CLASS_BASE+7)
-
-#define V4L2_CID_PAN_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+8)
-#define V4L2_CID_TILT_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+9)
-
-#define V4L2_CID_FOCUS_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+10)
-#define V4L2_CID_FOCUS_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+11)
-#define V4L2_CID_FOCUS_AUTO			(V4L2_CID_CAMERA_CLASS_BASE+12)
-
-#define V4L2_CID_ZOOM_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+13)
-#define V4L2_CID_ZOOM_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+14)
-#define V4L2_CID_ZOOM_CONTINUOUS		(V4L2_CID_CAMERA_CLASS_BASE+15)
-
-#define V4L2_CID_PRIVACY			(V4L2_CID_CAMERA_CLASS_BASE+16)
-
-#define V4L2_CID_IRIS_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+17)
-#define V4L2_CID_IRIS_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+18)
-
-#define V4L2_CID_AUTO_EXPOSURE_BIAS		(V4L2_CID_CAMERA_CLASS_BASE+19)
-
-#define V4L2_CID_AUTO_N_PRESET_WHITE_BALANCE	(V4L2_CID_CAMERA_CLASS_BASE+20)
-enum v4l2_auto_n_preset_white_balance {
-	V4L2_WHITE_BALANCE_MANUAL		= 0,
-	V4L2_WHITE_BALANCE_AUTO			= 1,
-	V4L2_WHITE_BALANCE_INCANDESCENT		= 2,
-	V4L2_WHITE_BALANCE_FLUORESCENT		= 3,
-	V4L2_WHITE_BALANCE_FLUORESCENT_H	= 4,
-	V4L2_WHITE_BALANCE_HORIZON		= 5,
-	V4L2_WHITE_BALANCE_DAYLIGHT		= 6,
-	V4L2_WHITE_BALANCE_FLASH		= 7,
-	V4L2_WHITE_BALANCE_CLOUDY		= 8,
-	V4L2_WHITE_BALANCE_SHADE		= 9,
-};
-
-#define V4L2_CID_WIDE_DYNAMIC_RANGE		(V4L2_CID_CAMERA_CLASS_BASE+21)
-#define V4L2_CID_IMAGE_STABILIZATION		(V4L2_CID_CAMERA_CLASS_BASE+22)
-
-#define V4L2_CID_ISO_SENSITIVITY		(V4L2_CID_CAMERA_CLASS_BASE+23)
-#define V4L2_CID_ISO_SENSITIVITY_AUTO		(V4L2_CID_CAMERA_CLASS_BASE+24)
-enum v4l2_iso_sensitivity_auto_type {
-	V4L2_ISO_SENSITIVITY_MANUAL		= 0,
-	V4L2_ISO_SENSITIVITY_AUTO		= 1,
-};
-
-#define V4L2_CID_EXPOSURE_METERING		(V4L2_CID_CAMERA_CLASS_BASE+25)
-enum v4l2_exposure_metering {
-	V4L2_EXPOSURE_METERING_AVERAGE		= 0,
-	V4L2_EXPOSURE_METERING_CENTER_WEIGHTED	= 1,
-	V4L2_EXPOSURE_METERING_SPOT		= 2,
-	V4L2_EXPOSURE_METERING_MATRIX		= 3,
-};
-
-#define V4L2_CID_SCENE_MODE			(V4L2_CID_CAMERA_CLASS_BASE+26)
-enum v4l2_scene_mode {
-	V4L2_SCENE_MODE_NONE			= 0,
-	V4L2_SCENE_MODE_BACKLIGHT		= 1,
-	V4L2_SCENE_MODE_BEACH_SNOW		= 2,
-	V4L2_SCENE_MODE_CANDLE_LIGHT		= 3,
-	V4L2_SCENE_MODE_DAWN_DUSK		= 4,
-	V4L2_SCENE_MODE_FALL_COLORS		= 5,
-	V4L2_SCENE_MODE_FIREWORKS		= 6,
-	V4L2_SCENE_MODE_LANDSCAPE		= 7,
-	V4L2_SCENE_MODE_NIGHT			= 8,
-	V4L2_SCENE_MODE_PARTY_INDOOR		= 9,
-	V4L2_SCENE_MODE_PORTRAIT		= 10,
-	V4L2_SCENE_MODE_SPORTS			= 11,
-	V4L2_SCENE_MODE_SUNSET			= 12,
-	V4L2_SCENE_MODE_TEXT			= 13,
-};
-
-#define V4L2_CID_3A_LOCK			(V4L2_CID_CAMERA_CLASS_BASE+27)
-#define V4L2_LOCK_EXPOSURE			(1 << 0)
-#define V4L2_LOCK_WHITE_BALANCE			(1 << 1)
-#define V4L2_LOCK_FOCUS				(1 << 2)
-
-#define V4L2_CID_AUTO_FOCUS_START		(V4L2_CID_CAMERA_CLASS_BASE+28)
-#define V4L2_CID_AUTO_FOCUS_STOP		(V4L2_CID_CAMERA_CLASS_BASE+29)
-#define V4L2_CID_AUTO_FOCUS_STATUS		(V4L2_CID_CAMERA_CLASS_BASE+30)
-#define V4L2_AUTO_FOCUS_STATUS_IDLE		(0 << 0)
-#define V4L2_AUTO_FOCUS_STATUS_BUSY		(1 << 0)
-#define V4L2_AUTO_FOCUS_STATUS_REACHED		(1 << 1)
-#define V4L2_AUTO_FOCUS_STATUS_FAILED		(1 << 2)
-
-#define V4L2_CID_AUTO_FOCUS_RANGE		(V4L2_CID_CAMERA_CLASS_BASE+31)
-enum v4l2_auto_focus_range {
-	V4L2_AUTO_FOCUS_RANGE_AUTO		= 0,
-	V4L2_AUTO_FOCUS_RANGE_NORMAL		= 1,
-	V4L2_AUTO_FOCUS_RANGE_MACRO		= 2,
-	V4L2_AUTO_FOCUS_RANGE_INFINITY		= 3,
-};
-
-#define V4L2_CID_PAN_SPEED			(V4L2_CID_CAMERA_CLASS_BASE+32)
-#define V4L2_CID_TILT_SPEED			(V4L2_CID_CAMERA_CLASS_BASE+33)
-
-/* FM Modulator class control IDs */
-
-#define V4L2_CID_FM_TX_CLASS_BASE		(V4L2_CTRL_CLASS_FM_TX | 0x900)
-#define V4L2_CID_FM_TX_CLASS			(V4L2_CTRL_CLASS_FM_TX | 1)
-
-#define V4L2_CID_RDS_TX_DEVIATION		(V4L2_CID_FM_TX_CLASS_BASE + 1)
-#define V4L2_CID_RDS_TX_PI			(V4L2_CID_FM_TX_CLASS_BASE + 2)
-#define V4L2_CID_RDS_TX_PTY			(V4L2_CID_FM_TX_CLASS_BASE + 3)
-#define V4L2_CID_RDS_TX_PS_NAME			(V4L2_CID_FM_TX_CLASS_BASE + 5)
-#define V4L2_CID_RDS_TX_RADIO_TEXT		(V4L2_CID_FM_TX_CLASS_BASE + 6)
-#define V4L2_CID_RDS_TX_MONO_STEREO		(V4L2_CID_FM_TX_CLASS_BASE + 7)
-#define V4L2_CID_RDS_TX_ARTIFICIAL_HEAD		(V4L2_CID_FM_TX_CLASS_BASE + 8)
-#define V4L2_CID_RDS_TX_COMPRESSED		(V4L2_CID_FM_TX_CLASS_BASE + 9)
-#define V4L2_CID_RDS_TX_DYNAMIC_PTY		(V4L2_CID_FM_TX_CLASS_BASE + 10)
-#define V4L2_CID_RDS_TX_TRAFFIC_ANNOUNCEMENT	(V4L2_CID_FM_TX_CLASS_BASE + 11)
-#define V4L2_CID_RDS_TX_TRAFFIC_PROGRAM		(V4L2_CID_FM_TX_CLASS_BASE + 12)
-#define V4L2_CID_RDS_TX_MUSIC_SPEECH		(V4L2_CID_FM_TX_CLASS_BASE + 13)
-#define V4L2_CID_RDS_TX_ALT_FREQS_ENABLE	(V4L2_CID_FM_TX_CLASS_BASE + 14)
-#define V4L2_CID_RDS_TX_ALT_FREQS		(V4L2_CID_FM_TX_CLASS_BASE + 15)
-
-#define V4L2_CID_AUDIO_LIMITER_ENABLED		(V4L2_CID_FM_TX_CLASS_BASE + 64)
-#define V4L2_CID_AUDIO_LIMITER_RELEASE_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 65)
-#define V4L2_CID_AUDIO_LIMITER_DEVIATION	(V4L2_CID_FM_TX_CLASS_BASE + 66)
-
-#define V4L2_CID_AUDIO_COMPRESSION_ENABLED	(V4L2_CID_FM_TX_CLASS_BASE + 80)
-#define V4L2_CID_AUDIO_COMPRESSION_GAIN		(V4L2_CID_FM_TX_CLASS_BASE + 81)
-#define V4L2_CID_AUDIO_COMPRESSION_THRESHOLD	(V4L2_CID_FM_TX_CLASS_BASE + 82)
-#define V4L2_CID_AUDIO_COMPRESSION_ATTACK_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 83)
-#define V4L2_CID_AUDIO_COMPRESSION_RELEASE_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 84)
-
-#define V4L2_CID_PILOT_TONE_ENABLED		(V4L2_CID_FM_TX_CLASS_BASE + 96)
-#define V4L2_CID_PILOT_TONE_DEVIATION		(V4L2_CID_FM_TX_CLASS_BASE + 97)
-#define V4L2_CID_PILOT_TONE_FREQUENCY		(V4L2_CID_FM_TX_CLASS_BASE + 98)
-
-#define V4L2_CID_TUNE_PREEMPHASIS		(V4L2_CID_FM_TX_CLASS_BASE + 112)
-enum v4l2_preemphasis {
-	V4L2_PREEMPHASIS_DISABLED	= 0,
-	V4L2_PREEMPHASIS_50_uS		= 1,
-	V4L2_PREEMPHASIS_75_uS		= 2,
-};
-#define V4L2_CID_TUNE_POWER_LEVEL		(V4L2_CID_FM_TX_CLASS_BASE + 113)
-#define V4L2_CID_TUNE_ANTENNA_CAPACITOR		(V4L2_CID_FM_TX_CLASS_BASE + 114)
-
-
-/* Flash and privacy (indicator) light controls */
-
-#define V4L2_CID_FLASH_CLASS_BASE		(V4L2_CTRL_CLASS_FLASH | 0x900)
-#define V4L2_CID_FLASH_CLASS			(V4L2_CTRL_CLASS_FLASH | 1)
-
-#define V4L2_CID_FLASH_LED_MODE			(V4L2_CID_FLASH_CLASS_BASE + 1)
-enum v4l2_flash_led_mode {
-	V4L2_FLASH_LED_MODE_NONE,
-	V4L2_FLASH_LED_MODE_FLASH,
-	V4L2_FLASH_LED_MODE_TORCH,
-};
-
-#define V4L2_CID_FLASH_STROBE_SOURCE		(V4L2_CID_FLASH_CLASS_BASE + 2)
-enum v4l2_flash_strobe_source {
-	V4L2_FLASH_STROBE_SOURCE_SOFTWARE,
-	V4L2_FLASH_STROBE_SOURCE_EXTERNAL,
-};
-
-#define V4L2_CID_FLASH_STROBE			(V4L2_CID_FLASH_CLASS_BASE + 3)
-#define V4L2_CID_FLASH_STROBE_STOP		(V4L2_CID_FLASH_CLASS_BASE + 4)
-#define V4L2_CID_FLASH_STROBE_STATUS		(V4L2_CID_FLASH_CLASS_BASE + 5)
-
-#define V4L2_CID_FLASH_TIMEOUT			(V4L2_CID_FLASH_CLASS_BASE + 6)
-#define V4L2_CID_FLASH_INTENSITY		(V4L2_CID_FLASH_CLASS_BASE + 7)
-#define V4L2_CID_FLASH_TORCH_INTENSITY		(V4L2_CID_FLASH_CLASS_BASE + 8)
-#define V4L2_CID_FLASH_INDICATOR_INTENSITY	(V4L2_CID_FLASH_CLASS_BASE + 9)
-
-#define V4L2_CID_FLASH_FAULT			(V4L2_CID_FLASH_CLASS_BASE + 10)
-#define V4L2_FLASH_FAULT_OVER_VOLTAGE		(1 << 0)
-#define V4L2_FLASH_FAULT_TIMEOUT		(1 << 1)
-#define V4L2_FLASH_FAULT_OVER_TEMPERATURE	(1 << 2)
-#define V4L2_FLASH_FAULT_SHORT_CIRCUIT		(1 << 3)
-#define V4L2_FLASH_FAULT_OVER_CURRENT		(1 << 4)
-#define V4L2_FLASH_FAULT_INDICATOR		(1 << 5)
-#define V4L2_FLASH_FAULT_UNDER_VOLTAGE		(1 << 6)
-#define V4L2_FLASH_FAULT_INPUT_VOLTAGE		(1 << 7)
-#define V4L2_FLASH_FAULT_LED_OVER_TEMPERATURE	(1 << 8)
-
-#define V4L2_CID_FLASH_CHARGE			(V4L2_CID_FLASH_CLASS_BASE + 11)
-#define V4L2_CID_FLASH_READY			(V4L2_CID_FLASH_CLASS_BASE + 12)
-
-
-/* JPEG-class control IDs */
-
-#define V4L2_CID_JPEG_CLASS_BASE		(V4L2_CTRL_CLASS_JPEG | 0x900)
-#define V4L2_CID_JPEG_CLASS			(V4L2_CTRL_CLASS_JPEG | 1)
-
-#define	V4L2_CID_JPEG_CHROMA_SUBSAMPLING	(V4L2_CID_JPEG_CLASS_BASE + 1)
-enum v4l2_jpeg_chroma_subsampling {
-	V4L2_JPEG_CHROMA_SUBSAMPLING_444	= 0,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_422	= 1,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_420	= 2,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_411	= 3,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_410	= 4,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_GRAY	= 5,
-};
-#define	V4L2_CID_JPEG_RESTART_INTERVAL		(V4L2_CID_JPEG_CLASS_BASE + 2)
-#define	V4L2_CID_JPEG_COMPRESSION_QUALITY	(V4L2_CID_JPEG_CLASS_BASE + 3)
-
-#define	V4L2_CID_JPEG_ACTIVE_MARKER		(V4L2_CID_JPEG_CLASS_BASE + 4)
-#define	V4L2_JPEG_ACTIVE_MARKER_APP0		(1 << 0)
-#define	V4L2_JPEG_ACTIVE_MARKER_APP1		(1 << 1)
-#define	V4L2_JPEG_ACTIVE_MARKER_COM		(1 << 16)
-#define	V4L2_JPEG_ACTIVE_MARKER_DQT		(1 << 17)
-#define	V4L2_JPEG_ACTIVE_MARKER_DHT		(1 << 18)
-
-
-/* Image source controls */
-#define V4L2_CID_IMAGE_SOURCE_CLASS_BASE	(V4L2_CTRL_CLASS_IMAGE_SOURCE | 0x900)
-#define V4L2_CID_IMAGE_SOURCE_CLASS		(V4L2_CTRL_CLASS_IMAGE_SOURCE | 1)
-
-#define V4L2_CID_VBLANK				(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 1)
-#define V4L2_CID_HBLANK				(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 2)
-#define V4L2_CID_ANALOGUE_GAIN			(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 3)
-#define V4L2_CID_TEST_PATTERN_RED		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 4)
-#define V4L2_CID_TEST_PATTERN_GREENR		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 5)
-#define V4L2_CID_TEST_PATTERN_BLUE		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 6)
-#define V4L2_CID_TEST_PATTERN_GREENB		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 7)
-
-
-/* Image processing controls */
-
-#define V4L2_CID_IMAGE_PROC_CLASS_BASE		(V4L2_CTRL_CLASS_IMAGE_PROC | 0x900)
-#define V4L2_CID_IMAGE_PROC_CLASS		(V4L2_CTRL_CLASS_IMAGE_PROC | 1)
-
-#define V4L2_CID_LINK_FREQ			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 1)
-#define V4L2_CID_PIXEL_RATE			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 2)
-#define V4L2_CID_TEST_PATTERN			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 3)
-
-
-/*  DV-class control IDs defined by V4L2 */
-#define V4L2_CID_DV_CLASS_BASE			(V4L2_CTRL_CLASS_DV | 0x900)
-#define V4L2_CID_DV_CLASS			(V4L2_CTRL_CLASS_DV | 1)
-
-#define	V4L2_CID_DV_TX_HOTPLUG			(V4L2_CID_DV_CLASS_BASE + 1)
-#define	V4L2_CID_DV_TX_RXSENSE			(V4L2_CID_DV_CLASS_BASE + 2)
-#define	V4L2_CID_DV_TX_EDID_PRESENT		(V4L2_CID_DV_CLASS_BASE + 3)
-#define	V4L2_CID_DV_TX_MODE			(V4L2_CID_DV_CLASS_BASE + 4)
-enum v4l2_dv_tx_mode {
-	V4L2_DV_TX_MODE_DVI_D	= 0,
-	V4L2_DV_TX_MODE_HDMI	= 1,
-};
-#define V4L2_CID_DV_TX_RGB_RANGE		(V4L2_CID_DV_CLASS_BASE + 5)
-enum v4l2_dv_rgb_range {
-	V4L2_DV_RGB_RANGE_AUTO	  = 0,
-	V4L2_DV_RGB_RANGE_LIMITED = 1,
-	V4L2_DV_RGB_RANGE_FULL	  = 2,
-};
-
-#define V4L2_CID_DV_TX_IT_CONTENT_TYPE		(V4L2_CID_DV_CLASS_BASE + 6)
-enum v4l2_dv_it_content_type {
-	V4L2_DV_IT_CONTENT_TYPE_GRAPHICS  = 0,
-	V4L2_DV_IT_CONTENT_TYPE_PHOTO	  = 1,
-	V4L2_DV_IT_CONTENT_TYPE_CINEMA	  = 2,
-	V4L2_DV_IT_CONTENT_TYPE_GAME	  = 3,
-	V4L2_DV_IT_CONTENT_TYPE_NO_ITC	  = 4,
-};
-
-#define	V4L2_CID_DV_RX_POWER_PRESENT		(V4L2_CID_DV_CLASS_BASE + 100)
-#define V4L2_CID_DV_RX_RGB_RANGE		(V4L2_CID_DV_CLASS_BASE + 101)
-#define V4L2_CID_DV_RX_IT_CONTENT_TYPE		(V4L2_CID_DV_CLASS_BASE + 102)
-
-#define V4L2_CID_FM_RX_CLASS_BASE		(V4L2_CTRL_CLASS_FM_RX | 0x900)
-#define V4L2_CID_FM_RX_CLASS			(V4L2_CTRL_CLASS_FM_RX | 1)
-
-#define V4L2_CID_TUNE_DEEMPHASIS		(V4L2_CID_FM_RX_CLASS_BASE + 1)
-enum v4l2_deemphasis {
-	V4L2_DEEMPHASIS_DISABLED	= V4L2_PREEMPHASIS_DISABLED,
-	V4L2_DEEMPHASIS_50_uS		= V4L2_PREEMPHASIS_50_uS,
-	V4L2_DEEMPHASIS_75_uS		= V4L2_PREEMPHASIS_75_uS,
-};
-
-#define V4L2_CID_RDS_RECEPTION			(V4L2_CID_FM_RX_CLASS_BASE + 2)
-#define V4L2_CID_RDS_RX_PTY			(V4L2_CID_FM_RX_CLASS_BASE + 3)
-#define V4L2_CID_RDS_RX_PS_NAME			(V4L2_CID_FM_RX_CLASS_BASE + 4)
-#define V4L2_CID_RDS_RX_RADIO_TEXT		(V4L2_CID_FM_RX_CLASS_BASE + 5)
-#define V4L2_CID_RDS_RX_TRAFFIC_ANNOUNCEMENT	(V4L2_CID_FM_RX_CLASS_BASE + 6)
-#define V4L2_CID_RDS_RX_TRAFFIC_PROGRAM		(V4L2_CID_FM_RX_CLASS_BASE + 7)
-#define V4L2_CID_RDS_RX_MUSIC_SPEECH		(V4L2_CID_FM_RX_CLASS_BASE + 8)
-
-#define V4L2_CID_RF_TUNER_CLASS_BASE		(V4L2_CTRL_CLASS_RF_TUNER | 0x900)
-#define V4L2_CID_RF_TUNER_CLASS			(V4L2_CTRL_CLASS_RF_TUNER | 1)
-
-#define V4L2_CID_RF_TUNER_BANDWIDTH_AUTO	(V4L2_CID_RF_TUNER_CLASS_BASE + 11)
-#define V4L2_CID_RF_TUNER_BANDWIDTH		(V4L2_CID_RF_TUNER_CLASS_BASE + 12)
-#define V4L2_CID_RF_TUNER_RF_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 32)
-#define V4L2_CID_RF_TUNER_LNA_GAIN_AUTO		(V4L2_CID_RF_TUNER_CLASS_BASE + 41)
-#define V4L2_CID_RF_TUNER_LNA_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 42)
-#define V4L2_CID_RF_TUNER_MIXER_GAIN_AUTO	(V4L2_CID_RF_TUNER_CLASS_BASE + 51)
-#define V4L2_CID_RF_TUNER_MIXER_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 52)
-#define V4L2_CID_RF_TUNER_IF_GAIN_AUTO		(V4L2_CID_RF_TUNER_CLASS_BASE + 61)
-#define V4L2_CID_RF_TUNER_IF_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 62)
-#define V4L2_CID_RF_TUNER_PLL_LOCK			(V4L2_CID_RF_TUNER_CLASS_BASE + 91)
-
-
-/*  Detection-class control IDs defined by V4L2 */
-#define V4L2_CID_DETECT_CLASS_BASE		(V4L2_CTRL_CLASS_DETECT | 0x900)
-#define V4L2_CID_DETECT_CLASS			(V4L2_CTRL_CLASS_DETECT | 1)
-
-#define V4L2_CID_DETECT_MD_MODE			(V4L2_CID_DETECT_CLASS_BASE + 1)
-enum v4l2_detect_md_mode {
-	V4L2_DETECT_MD_MODE_DISABLED		= 0,
-	V4L2_DETECT_MD_MODE_GLOBAL		= 1,
-	V4L2_DETECT_MD_MODE_THRESHOLD_GRID	= 2,
-	V4L2_DETECT_MD_MODE_REGION_GRID		= 3,
-};
-#define V4L2_CID_DETECT_MD_GLOBAL_THRESHOLD	(V4L2_CID_DETECT_CLASS_BASE + 2)
-#define V4L2_CID_DETECT_MD_THRESHOLD_GRID	(V4L2_CID_DETECT_CLASS_BASE + 3)
-#define V4L2_CID_DETECT_MD_REGION_GRID		(V4L2_CID_DETECT_CLASS_BASE + 4)
-
-#endif
diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore
deleted file mode 100644
index 6b1d3ad748..0000000000
--- a/third_party/raylib/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-/raylib_repo/
-/raylib_python_repo/
-/wheel/
-!*.a
diff --git a/third_party/raylib/Darwin/libraylib.a b/third_party/raylib/Darwin/libraylib.a
deleted file mode 100644
index dd2e9b33f1..0000000000
--- a/third_party/raylib/Darwin/libraylib.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fd045c1d4bca5c9b2ad044ea730826ff6cedeef0b64451b123717b136f1cd702
-size 6392532
diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh
deleted file mode 100755
index d20f9d33af..0000000000
--- a/third_party/raylib/build.sh
+++ /dev/null
@@ -1,93 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-SUDO=""
-
-# Use sudo if not root
-if [[ ! $(id -u) -eq 0 ]]; then
-  if [[ -z $(which sudo) ]]; then
-    echo "Please install sudo or run as root"
-    exit 1
-  fi
-  SUDO="sudo"
-fi
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
-
-RAYLIB_PLATFORM="PLATFORM_DESKTOP"
-
-ARCHNAME=$(uname -m)
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  RAYLIB_PLATFORM="PLATFORM_COMMA"
-elif [[ "$OSTYPE" == "linux"* ]]; then
-  # required dependencies on Linux PC
-  $SUDO apt install \
-    libxcursor-dev \
-    libxi-dev \
-    libxinerama-dev \
-    libxrandr-dev
-fi
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ARCHNAME="Darwin"
-fi
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-INSTALL_H_DIR="$DIR/include"
-rm -rf $INSTALL_H_DIR
-mkdir -p $INSTALL_H_DIR
-
-if [ ! -d raylib_repo ]; then
-  git clone -b master --no-tags https://github.com/commaai/raylib.git raylib_repo
-fi
-
-cd raylib_repo
-
-COMMIT=${1:-3425bd9d1fb292ede4d80f97a1f4f258f614cffc}
-git fetch origin $COMMIT
-git reset --hard $COMMIT
-git clean -xdff .
-
-cd src
-
-make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM RAYLIB_RELEASE_PATH=$INSTALL_DIR
-cp raylib.h raymath.h rlgl.h $INSTALL_H_DIR/
-echo "raylib development files installed/updated in $INSTALL_H_DIR"
-
-# this commit needs to be in line with raylib
-set -x
-RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827"
-curl -fsSLo $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h
-
-if [ -f /TICI ]; then
-
-  # Building the python bindings
-  cd $DIR
-
-  if [ ! -d raylib_python_repo ]; then
-    git clone -b master --no-tags https://github.com/commaai/raylib-python-cffi.git raylib_python_repo
-  fi
-
-  cd raylib_python_repo
-
-  BINDINGS_COMMIT="a0710d95af3c12fd7f4b639589be9a13dad93cb6"
-  git fetch origin $BINDINGS_COMMIT
-  git reset --hard $BINDINGS_COMMIT
-  git clean -xdff .
-
-  RAYLIB_PLATFORM=$RAYLIB_PLATFORM RAYLIB_INCLUDE_PATH=$INSTALL_H_DIR RAYLIB_LIB_PATH=$INSTALL_DIR python setup.py bdist_wheel
-  cd $DIR
-
-  rm -rf wheel
-  mkdir wheel
-  cp raylib_python_repo/dist/*.whl wheel/
-
-fi
diff --git a/third_party/raylib/include/raygui.h b/third_party/raylib/include/raygui.h
deleted file mode 100644
index fe233a16cf..0000000000
--- a/third_party/raylib/include/raygui.h
+++ /dev/null
@@ -1,5759 +0,0 @@
-/*******************************************************************************************
-*
-*   raygui v4.5-dev - A simple and easy-to-use immediate-mode gui library
-*
-*   DESCRIPTION:
-*       raygui is a tools-dev-focused immediate-mode-gui library based on raylib but also
-*       available as a standalone library, as long as input and drawing functions are provided.
-*
-*   FEATURES:
-*       - Immediate-mode gui, minimal retained data
-*       - +25 controls provided (basic and advanced)
-*       - Styling system for colors, font and metrics
-*       - Icons supported, embedded as a 1-bit icons pack
-*       - Standalone mode option (custom input/graphics backend)
-*       - Multiple support tools provided for raygui development
-*
-*   POSSIBLE IMPROVEMENTS:
-*       - Better standalone mode API for easy plug of custom backends
-*       - Externalize required inputs, allow user easier customization
-*
-*   LIMITATIONS:
-*       - No editable multi-line word-wraped text box supported
-*       - No auto-layout mechanism, up to the user to define controls position and size
-*       - Standalone mode requires library modification and some user work to plug another backend
-*
-*   NOTES:
-*       - WARNING: GuiLoadStyle() and GuiLoadStyle{Custom}() functions, allocate memory for
-*         font atlas recs and glyphs, freeing that memory is (usually) up to the user,
-*         no unload function is explicitly provided... but note that GuiLoadStyleDefault() unloads
-*         by default any previously loaded font (texture, recs, glyphs).
-*       - Global UI alpha (guiAlpha) is applied inside GuiDrawRectangle() and GuiDrawText() functions
-*
-*   CONTROLS PROVIDED:
-*     # Container/separators Controls
-*       - WindowBox     --> StatusBar, Panel
-*       - GroupBox      --> Line
-*       - Line
-*       - Panel         --> StatusBar
-*       - ScrollPanel   --> StatusBar
-*       - TabBar        --> Button
-*
-*     # Basic Controls
-*       - Label
-*       - LabelButton   --> Label
-*       - Button
-*       - Toggle
-*       - ToggleGroup   --> Toggle
-*       - ToggleSlider
-*       - CheckBox
-*       - ComboBox
-*       - DropdownBox
-*       - TextBox
-*       - ValueBox      --> TextBox
-*       - Spinner       --> Button, ValueBox
-*       - Slider
-*       - SliderBar     --> Slider
-*       - ProgressBar
-*       - StatusBar
-*       - DummyRec
-*       - Grid
-*
-*     # Advance Controls
-*       - ListView
-*       - ColorPicker   --> ColorPanel, ColorBarHue
-*       - MessageBox    --> Window, Label, Button
-*       - TextInputBox  --> Window, Label, TextBox, Button
-*
-*     It also provides a set of functions for styling the controls based on its properties (size, color).
-*
-*
-*   RAYGUI STYLE (guiStyle):
-*       raygui uses a global data array for all gui style properties (allocated on data segment by default),
-*       when a new style is loaded, it is loaded over the global style... but a default gui style could always be
-*       recovered with GuiLoadStyleDefault() function, that overwrites the current style to the default one
-*
-*       The global style array size is fixed and depends on the number of controls and properties:
-*
-*           static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)];
-*
-*       guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB
-*
-*       Note that the first set of BASE properties (by default guiStyle[0..15]) belong to the generic style
-*       used for all controls, when any of those base values is set, it is automatically populated to all
-*       controls, so, specific control values overwriting generic style should be set after base values.
-*
-*       After the first BASE set we have the EXTENDED properties (by default guiStyle[16..23]), those
-*       properties are actually common to all controls and can not be overwritten individually (like BASE ones)
-*       Some of those properties are: TEXT_SIZE, TEXT_SPACING, LINE_COLOR, BACKGROUND_COLOR
-*
-*       Custom control properties can be defined using the EXTENDED properties for each independent control.
-*
-*       TOOL: rGuiStyler is a visual tool to customize raygui style: github.com/raysan5/rguistyler
-*
-*
-*   RAYGUI ICONS (guiIcons):
-*       raygui could use a global array containing icons data (allocated on data segment by default),
-*       a custom icons set could be loaded over this array using GuiLoadIcons(), but loaded icons set
-*       must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS will be loaded
-*
-*       Every icon is codified in binary form, using 1 bit per pixel, so, every 16x16 icon
-*       requires 8 integers (16*16/32) to be stored in memory.
-*
-*       When the icon is draw, actually one quad per pixel is drawn if the bit for that pixel is set.
-*
-*       The global icons array size is fixed and depends on the number of icons and size:
-*
-*           static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS];
-*
-*       guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB
-*
-*       TOOL: rGuiIcons is a visual tool to customize/create raygui icons: github.com/raysan5/rguiicons
-*
-*   RAYGUI LAYOUT:
-*       raygui currently does not provide an auto-layout mechanism like other libraries,
-*       layouts must be defined manually on controls drawing, providing the right bounds Rectangle for it.
-*
-*       TOOL: rGuiLayout is a visual tool to create raygui layouts: github.com/raysan5/rguilayout
-*
-*   CONFIGURATION:
-*       #define RAYGUI_IMPLEMENTATION
-*           Generates the implementation of the library into the included file.
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation.
-*
-*       #define RAYGUI_STANDALONE
-*           Avoid raylib.h header inclusion in this file. Data types defined on raylib are defined
-*           internally in the library and input management and drawing functions must be provided by
-*           the user (check library implementation for further details).
-*
-*       #define RAYGUI_NO_ICONS
-*           Avoid including embedded ricons data (256 icons, 16x16 pixels, 1-bit per pixel, 2KB)
-*
-*       #define RAYGUI_CUSTOM_ICONS
-*           Includes custom ricons.h header defining a set of custom icons,
-*           this file can be generated using rGuiIcons tool
-*
-*       #define RAYGUI_DEBUG_RECS_BOUNDS
-*           Draw control bounds rectangles for debug
-*
-*       #define RAYGUI_DEBUG_TEXT_BOUNDS
-*           Draw text bounds rectangles for debug
-*
-*   VERSIONS HISTORY:
-*       4.5-dev (Sep-2024)    Current dev version...
-*                         ADDED: guiControlExclusiveMode and guiControlExclusiveRec for exclusive modes
-*                         ADDED: GuiValueBoxFloat()
-*                         ADDED: GuiDropdonwBox() properties: DROPDOWN_ARROW_HIDDEN, DROPDOWN_ROLL_UP
-*                         ADDED: GuiListView() property: LIST_ITEMS_BORDER_WIDTH
-*                         ADDED: Multiple new icons
-*                         REVIEWED: GuiTabBar(), close tab with mouse middle button
-*                         REVIEWED: GuiScrollPanel(), scroll speed proportional to content
-*                         REVIEWED: GuiDropdownBox(), support roll up and hidden arrow
-*                         REVIEWED: GuiTextBox(), cursor position initialization
-*                         REVIEWED: GuiSliderPro(), control value change check
-*                         REVIEWED: GuiGrid(), simplified implementation
-*                         REVIEWED: GuiIconText(), increase buffer size and reviewed padding
-*                         REVIEWED: GuiDrawText(), improved wrap mode drawing
-*                         REVIEWED: GuiScrollBar(), minor tweaks
-*                         REVIEWED: Functions descriptions, removed wrong return value reference
-*                         REDESIGNED: GuiColorPanel(), improved HSV <-> RGBA convertion
-*
-*       4.0 (12-Sep-2023) ADDED: GuiToggleSlider()
-*                         ADDED: GuiColorPickerHSV() and GuiColorPanelHSV()
-*                         ADDED: Multiple new icons, mostly compiler related
-*                         ADDED: New DEFAULT properties: TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE
-*                         ADDED: New enum values: GuiTextAlignment, GuiTextAlignmentVertical, GuiTextWrapMode
-*                         ADDED: Support loading styles with custom font charset from external file
-*                         REDESIGNED: GuiTextBox(), support mouse cursor positioning
-*                         REDESIGNED: GuiDrawText(), support multiline and word-wrap modes (read only)
-*                         REDESIGNED: GuiProgressBar() to be more visual, progress affects border color
-*                         REDESIGNED: Global alpha consideration moved to GuiDrawRectangle() and GuiDrawText()
-*                         REDESIGNED: GuiScrollPanel(), get parameters by reference and return result value
-*                         REDESIGNED: GuiToggleGroup(), get parameters by reference and return result value
-*                         REDESIGNED: GuiComboBox(), get parameters by reference and return result value
-*                         REDESIGNED: GuiCheckBox(), get parameters by reference and return result value
-*                         REDESIGNED: GuiSlider(), get parameters by reference and return result value
-*                         REDESIGNED: GuiSliderBar(), get parameters by reference and return result value
-*                         REDESIGNED: GuiProgressBar(), get parameters by reference and return result value
-*                         REDESIGNED: GuiListView(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorPicker(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorPanel(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorBarAlpha(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorBarHue(), get parameters by reference and return result value
-*                         REDESIGNED: GuiGrid(), get parameters by reference and return result value
-*                         REDESIGNED: GuiGrid(), added extra parameter
-*                         REDESIGNED: GuiListViewEx(), change parameters order
-*                         REDESIGNED: All controls return result as int value
-*                         REVIEWED: GuiScrollPanel() to avoid smallish scroll-bars
-*                         REVIEWED: All examples and specially controls_test_suite
-*                         RENAMED: gui_file_dialog module to gui_window_file_dialog
-*                         UPDATED: All styles to include ISO-8859-15 charset (as much as possible)
-*
-*       3.6 (10-May-2023) ADDED: New icon: SAND_TIMER
-*                         ADDED: GuiLoadStyleFromMemory() (binary only)
-*                         REVIEWED: GuiScrollBar() horizontal movement key
-*                         REVIEWED: GuiTextBox() crash on cursor movement
-*                         REVIEWED: GuiTextBox(), additional inputs support
-*                         REVIEWED: GuiLabelButton(), avoid text cut
-*                         REVIEWED: GuiTextInputBox(), password input
-*                         REVIEWED: Local GetCodepointNext(), aligned with raylib
-*                         REDESIGNED: GuiSlider*()/GuiScrollBar() to support out-of-bounds
-*
-*       3.5 (20-Apr-2023) ADDED: GuiTabBar(), based on GuiToggle()
-*                         ADDED: Helper functions to split text in separate lines
-*                         ADDED: Multiple new icons, useful for code editing tools
-*                         REMOVED: Unneeded icon editing functions
-*                         REMOVED: GuiTextBoxMulti(), very limited and broken
-*                         REMOVED: MeasureTextEx() dependency, logic directly implemented
-*                         REMOVED: DrawTextEx() dependency, logic directly implemented
-*                         REVIEWED: GuiScrollBar(), improve mouse-click behaviour
-*                         REVIEWED: Library header info, more info, better organized
-*                         REDESIGNED: GuiTextBox() to support cursor movement
-*                         REDESIGNED: GuiDrawText() to divide drawing by lines
-*
-*       3.2 (22-May-2022) RENAMED: Some enum values, for unification, avoiding prefixes
-*                         REMOVED: GuiScrollBar(), only internal
-*                         REDESIGNED: GuiPanel() to support text parameter
-*                         REDESIGNED: GuiScrollPanel() to support text parameter
-*                         REDESIGNED: GuiColorPicker() to support text parameter
-*                         REDESIGNED: GuiColorPanel() to support text parameter
-*                         REDESIGNED: GuiColorBarAlpha() to support text parameter
-*                         REDESIGNED: GuiColorBarHue() to support text parameter
-*                         REDESIGNED: GuiTextInputBox() to support password
-*
-*       3.1 (12-Jan-2022) REVIEWED: Default style for consistency (aligned with rGuiLayout v2.5 tool)
-*                         REVIEWED: GuiLoadStyle() to support compressed font atlas image data and unload previous textures
-*                         REVIEWED: External icons usage logic
-*                         REVIEWED: GuiLine() for centered alignment when including text
-*                         RENAMED: Multiple controls properties definitions to prepend RAYGUI_
-*                         RENAMED: RICON_ references to RAYGUI_ICON_ for library consistency
-*                         Projects updated and multiple tweaks
-*
-*       3.0 (04-Nov-2021) Integrated ricons data to avoid external file
-*                         REDESIGNED: GuiTextBoxMulti()
-*                         REMOVED: GuiImageButton*()
-*                         Multiple minor tweaks and bugs corrected
-*
-*       2.9 (17-Mar-2021) REMOVED: Tooltip API
-*       2.8 (03-May-2020) Centralized rectangles drawing to GuiDrawRectangle()
-*       2.7 (20-Feb-2020) ADDED: Possible tooltips API
-*       2.6 (09-Sep-2019) ADDED: GuiTextInputBox()
-*                         REDESIGNED: GuiListView*(), GuiDropdownBox(), GuiSlider*(), GuiProgressBar(), GuiMessageBox()
-*                         REVIEWED: GuiTextBox(), GuiSpinner(), GuiValueBox(), GuiLoadStyle()
-*                         Replaced property INNER_PADDING by TEXT_PADDING, renamed some properties
-*                         ADDED: 8 new custom styles ready to use
-*                         Multiple minor tweaks and bugs corrected
-*
-*       2.5 (28-May-2019) Implemented extended GuiTextBox(), GuiValueBox(), GuiSpinner()
-*       2.3 (29-Apr-2019) ADDED: rIcons auxiliar library and support for it, multiple controls reviewed
-*                         Refactor all controls drawing mechanism to use control state
-*       2.2 (05-Feb-2019) ADDED: GuiScrollBar(), GuiScrollPanel(), reviewed GuiListView(), removed Gui*Ex() controls
-*       2.1 (26-Dec-2018) REDESIGNED: GuiCheckBox(), GuiComboBox(), GuiDropdownBox(), GuiToggleGroup() > Use combined text string
-*                         REDESIGNED: Style system (breaking change)
-*       2.0 (08-Nov-2018) ADDED: Support controls guiLock and custom fonts
-*                         REVIEWED: GuiComboBox(), GuiListView()...
-*       1.9 (09-Oct-2018) REVIEWED: GuiGrid(), GuiTextBox(), GuiTextBoxMulti(), GuiValueBox()...
-*       1.8 (01-May-2018) Lot of rework and redesign to align with rGuiStyler and rGuiLayout
-*       1.5 (21-Jun-2017) Working in an improved styles system
-*       1.4 (15-Jun-2017) Rewritten all GUI functions (removed useless ones)
-*       1.3 (12-Jun-2017) Complete redesign of style system
-*       1.1 (01-Jun-2017) Complete review of the library
-*       1.0 (07-Jun-2016) Converted to header-only by Ramon Santamaria.
-*       0.9 (07-Mar-2016) Reviewed and tested by Albert Martos, Ian Eito, Sergio Martinez and Ramon Santamaria.
-*       0.8 (27-Aug-2015) Initial release. Implemented by Kevin Gato, Daniel Nicolás and Ramon Santamaria.
-*
-*   DEPENDENCIES:
-*       raylib 5.0  - Inputs reading (keyboard/mouse), shapes drawing, font loading and text drawing
-*
-*   STANDALONE MODE:
-*       By default raygui depends on raylib mostly for the inputs and the drawing functionality but that dependency can be disabled
-*       with the config flag RAYGUI_STANDALONE. In that case is up to the user to provide another backend to cover library needs.
-*
-*       The following functions should be redefined for a custom backend:
-*
-*           - Vector2 GetMousePosition(void);
-*           - float GetMouseWheelMove(void);
-*           - bool IsMouseButtonDown(int button);
-*           - bool IsMouseButtonPressed(int button);
-*           - bool IsMouseButtonReleased(int button);
-*           - bool IsKeyDown(int key);
-*           - bool IsKeyPressed(int key);
-*           - int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()
-*
-*           - void DrawRectangle(int x, int y, int width, int height, Color color); // -- GuiDrawRectangle()
-*           - void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()
-*
-*           - Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()
-*           - Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle()
-*           - Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image
-*           - void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)
-*           - char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data
-*           - void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data
-*           - const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs
-*           - int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list
-*           - void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list
-*           - unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()
-*
-*   CONTRIBUTORS:
-*       Ramon Santamaria:   Supervision, review, redesign, update and maintenance
-*       Vlad Adrian:        Complete rewrite of GuiTextBox() to support extended features (2019)
-*       Sergio Martinez:    Review, testing (2015) and redesign of multiple controls (2018)
-*       Adria Arranz:       Testing and implementation of additional controls (2018)
-*       Jordi Jorba:        Testing and implementation of additional controls (2018)
-*       Albert Martos:      Review and testing of the library (2015)
-*       Ian Eito:           Review and testing of the library (2015)
-*       Kevin Gato:         Initial implementation of basic components (2014)
-*       Daniel Nicolas:     Initial implementation of basic components (2014)
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2014-2025 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYGUI_H
-#define RAYGUI_H
-
-#define RAYGUI_VERSION_MAJOR 4
-#define RAYGUI_VERSION_MINOR 5
-#define RAYGUI_VERSION_PATCH 0
-#define RAYGUI_VERSION  "4.5-dev"
-
-#if !defined(RAYGUI_STANDALONE)
-    #include "raylib.h"
-#endif
-
-// Function specifiers in case library is build/used as a shared library (Windows)
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-#if defined(_WIN32)
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RAYGUIAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-    #elif defined(USE_LIBTYPE_SHARED)
-        #define RAYGUIAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-    #endif
-#endif
-
-// Function specifiers definition
-#ifndef RAYGUIAPI
-    #define RAYGUIAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-// Allow custom memory allocators
-#ifndef RAYGUI_MALLOC
-    #define RAYGUI_MALLOC(sz)       malloc(sz)
-#endif
-#ifndef RAYGUI_CALLOC
-    #define RAYGUI_CALLOC(n,sz)     calloc(n,sz)
-#endif
-#ifndef RAYGUI_FREE
-    #define RAYGUI_FREE(p)          free(p)
-#endif
-
-// Simple log system to avoid printf() calls if required
-// NOTE: Avoiding those calls, also avoids const strings memory usage
-#define RAYGUI_SUPPORT_LOG_INFO
-#if defined(RAYGUI_SUPPORT_LOG_INFO)
-  #define RAYGUI_LOG(...)           printf(__VA_ARGS__)
-#else
-  #define RAYGUI_LOG(...)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-// NOTE: Some types are required for RAYGUI_STANDALONE usage
-//----------------------------------------------------------------------------------
-#if defined(RAYGUI_STANDALONE)
-    #ifndef __cplusplus
-    // Boolean type
-        #ifndef true
-            typedef enum { false, true } bool;
-        #endif
-    #endif
-
-    // Vector2 type
-    typedef struct Vector2 {
-        float x;
-        float y;
-    } Vector2;
-
-    // Vector3 type                 // -- ConvertHSVtoRGB(), ConvertRGBtoHSV()
-    typedef struct Vector3 {
-        float x;
-        float y;
-        float z;
-    } Vector3;
-
-    // Color type, RGBA (32bit)
-    typedef struct Color {
-        unsigned char r;
-        unsigned char g;
-        unsigned char b;
-        unsigned char a;
-    } Color;
-
-    // Rectangle type
-    typedef struct Rectangle {
-        float x;
-        float y;
-        float width;
-        float height;
-    } Rectangle;
-
-    // TODO: Texture2D type is very coupled to raylib, required by Font type
-    // It should be redesigned to be provided by user
-    typedef struct Texture2D {
-        unsigned int id;        // OpenGL texture id
-        int width;              // Texture base width
-        int height;             // Texture base height
-        int mipmaps;            // Mipmap levels, 1 by default
-        int format;             // Data format (PixelFormat type)
-    } Texture2D;
-
-    // Image, pixel data stored in CPU memory (RAM)
-    typedef struct Image {
-        void *data;             // Image raw data
-        int width;              // Image base width
-        int height;             // Image base height
-        int mipmaps;            // Mipmap levels, 1 by default
-        int format;             // Data format (PixelFormat type)
-    } Image;
-
-    // GlyphInfo, font characters glyphs info
-    typedef struct GlyphInfo {
-        int value;              // Character value (Unicode)
-        int offsetX;            // Character offset X when drawing
-        int offsetY;            // Character offset Y when drawing
-        int advanceX;           // Character advance position X
-        Image image;            // Character image data
-    } GlyphInfo;
-
-    // TODO: Font type is very coupled to raylib, mostly required by GuiLoadStyle()
-    // It should be redesigned to be provided by user
-    typedef struct Font {
-        int baseSize;           // Base size (default chars height)
-        int glyphCount;         // Number of glyph characters
-        int glyphPadding;       // Padding around the glyph characters
-        Texture2D texture;      // Texture atlas containing the glyphs
-        Rectangle *recs;        // Rectangles in texture for the glyphs
-        GlyphInfo *glyphs;      // Glyphs info data
-    } Font;
-#endif
-
-// Style property
-// NOTE: Used when exporting style as code for convenience
-typedef struct GuiStyleProp {
-    unsigned short controlId;   // Control identifier
-    unsigned short propertyId;  // Property identifier
-    int propertyValue;          // Property value
-} GuiStyleProp;
-
-/*
-// Controls text style -NOT USED-
-// NOTE: Text style is defined by control
-typedef struct GuiTextStyle {
-    unsigned int size;
-    int charSpacing;
-    int lineSpacing;
-    int alignmentH;
-    int alignmentV;
-    int padding;
-} GuiTextStyle;
-*/
-
-// Gui control state
-typedef enum {
-    STATE_NORMAL = 0,
-    STATE_FOCUSED,
-    STATE_PRESSED,
-    STATE_DISABLED
-} GuiState;
-
-// Gui control text alignment
-typedef enum {
-    TEXT_ALIGN_LEFT = 0,
-    TEXT_ALIGN_CENTER,
-    TEXT_ALIGN_RIGHT
-} GuiTextAlignment;
-
-// Gui control text alignment vertical
-// NOTE: Text vertical position inside the text bounds
-typedef enum {
-    TEXT_ALIGN_TOP = 0,
-    TEXT_ALIGN_MIDDLE,
-    TEXT_ALIGN_BOTTOM
-} GuiTextAlignmentVertical;
-
-// Gui control text wrap mode
-// NOTE: Useful for multiline text
-typedef enum {
-    TEXT_WRAP_NONE = 0,
-    TEXT_WRAP_CHAR,
-    TEXT_WRAP_WORD
-} GuiTextWrapMode;
-
-// Gui controls
-typedef enum {
-    // Default -> populates to all controls when set
-    DEFAULT = 0,
-
-    // Basic controls
-    LABEL,          // Used also for: LABELBUTTON
-    BUTTON,
-    TOGGLE,         // Used also for: TOGGLEGROUP
-    SLIDER,         // Used also for: SLIDERBAR, TOGGLESLIDER
-    PROGRESSBAR,
-    CHECKBOX,
-    COMBOBOX,
-    DROPDOWNBOX,
-    TEXTBOX,        // Used also for: TEXTBOXMULTI
-    VALUEBOX,
-    SPINNER,        // Uses: BUTTON, VALUEBOX
-    LISTVIEW,
-    COLORPICKER,
-    SCROLLBAR,
-    STATUSBAR
-} GuiControl;
-
-// Gui base properties for every control
-// NOTE: RAYGUI_MAX_PROPS_BASE properties (by default 16 properties)
-typedef enum {
-    BORDER_COLOR_NORMAL = 0,    // Control border color in STATE_NORMAL
-    BASE_COLOR_NORMAL,          // Control base color in STATE_NORMAL
-    TEXT_COLOR_NORMAL,          // Control text color in STATE_NORMAL
-    BORDER_COLOR_FOCUSED,       // Control border color in STATE_FOCUSED
-    BASE_COLOR_FOCUSED,         // Control base color in STATE_FOCUSED
-    TEXT_COLOR_FOCUSED,         // Control text color in STATE_FOCUSED
-    BORDER_COLOR_PRESSED,       // Control border color in STATE_PRESSED
-    BASE_COLOR_PRESSED,         // Control base color in STATE_PRESSED
-    TEXT_COLOR_PRESSED,         // Control text color in STATE_PRESSED
-    BORDER_COLOR_DISABLED,      // Control border color in STATE_DISABLED
-    BASE_COLOR_DISABLED,        // Control base color in STATE_DISABLED
-    TEXT_COLOR_DISABLED,        // Control text color in STATE_DISABLED
-    BORDER_WIDTH,               // Control border size, 0 for no border
-    //TEXT_SIZE,                  // Control text size (glyphs max height) -> GLOBAL for all controls
-    //TEXT_SPACING,               // Control text spacing between glyphs -> GLOBAL for all controls
-    //TEXT_LINE_SPACING           // Control text spacing between lines -> GLOBAL for all controls
-    TEXT_PADDING,               // Control text padding, not considering border
-    TEXT_ALIGNMENT,             // Control text horizontal alignment inside control text bound (after border and padding)
-    //TEXT_WRAP_MODE              // Control text wrap-mode inside text bounds -> GLOBAL for all controls
-} GuiControlProperty;
-
-// TODO: Which text styling properties should be global or per-control?
-// At this moment TEXT_PADDING and TEXT_ALIGNMENT is configured and saved per control while
-// TEXT_SIZE, TEXT_SPACING, TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE are global and
-// should be configured by user as needed while defining the UI layout
-
-// Gui extended properties depend on control
-// NOTE: RAYGUI_MAX_PROPS_EXTENDED properties (by default, max 8 properties)
-//----------------------------------------------------------------------------------
-// DEFAULT extended properties
-// NOTE: Those properties are common to all controls or global
-// WARNING: We only have 8 slots for those properties by default!!! -> New global control: TEXT?
-typedef enum {
-    TEXT_SIZE = 16,             // Text size (glyphs max height)
-    TEXT_SPACING,               // Text spacing between glyphs
-    LINE_COLOR,                 // Line control color
-    BACKGROUND_COLOR,           // Background color
-    TEXT_LINE_SPACING,          // Text spacing between lines
-    TEXT_ALIGNMENT_VERTICAL,    // Text vertical alignment inside text bounds (after border and padding)
-    TEXT_WRAP_MODE              // Text wrap-mode inside text bounds
-    //TEXT_DECORATION             // Text decoration: 0-None, 1-Underline, 2-Line-through, 3-Overline
-    //TEXT_DECORATION_THICK       // Text decoration line thickness
-} GuiDefaultProperty;
-
-// Other possible text properties:
-// TEXT_WEIGHT                  // Normal, Italic, Bold -> Requires specific font change
-// TEXT_INDENT                  // Text indentation -> Now using TEXT_PADDING...
-
-// Label
-//typedef enum { } GuiLabelProperty;
-
-// Button/Spinner
-//typedef enum { } GuiButtonProperty;
-
-// Toggle/ToggleGroup
-typedef enum {
-    GROUP_PADDING = 16,         // ToggleGroup separation between toggles
-} GuiToggleProperty;
-
-// Slider/SliderBar
-typedef enum {
-    SLIDER_WIDTH = 16,          // Slider size of internal bar
-    SLIDER_PADDING              // Slider/SliderBar internal bar padding
-} GuiSliderProperty;
-
-// ProgressBar
-typedef enum {
-    PROGRESS_PADDING = 16,      // ProgressBar internal padding
-} GuiProgressBarProperty;
-
-// ScrollBar
-typedef enum {
-    ARROWS_SIZE = 16,           // ScrollBar arrows size
-    ARROWS_VISIBLE,             // ScrollBar arrows visible
-    SCROLL_SLIDER_PADDING,      // ScrollBar slider internal padding
-    SCROLL_SLIDER_SIZE,         // ScrollBar slider size
-    SCROLL_PADDING,             // ScrollBar scroll padding from arrows
-    SCROLL_SPEED,               // ScrollBar scrolling speed
-} GuiScrollBarProperty;
-
-// CheckBox
-typedef enum {
-    CHECK_PADDING = 16          // CheckBox internal check padding
-} GuiCheckBoxProperty;
-
-// ComboBox
-typedef enum {
-    COMBO_BUTTON_WIDTH = 16,    // ComboBox right button width
-    COMBO_BUTTON_SPACING        // ComboBox button separation
-} GuiComboBoxProperty;
-
-// DropdownBox
-typedef enum {
-    ARROW_PADDING = 16,         // DropdownBox arrow separation from border and items
-    DROPDOWN_ITEMS_SPACING,     // DropdownBox items separation
-    DROPDOWN_ARROW_HIDDEN,      // DropdownBox arrow hidden
-    DROPDOWN_ROLL_UP            // DropdownBox roll up flag (default rolls down)
-} GuiDropdownBoxProperty;
-
-// TextBox/TextBoxMulti/ValueBox/Spinner
-typedef enum {
-    TEXT_READONLY = 16,         // TextBox in read-only mode: 0-text editable, 1-text no-editable
-} GuiTextBoxProperty;
-
-// Spinner
-typedef enum {
-    SPIN_BUTTON_WIDTH = 16,     // Spinner left/right buttons width
-    SPIN_BUTTON_SPACING,        // Spinner buttons separation
-} GuiSpinnerProperty;
-
-// ListView
-typedef enum {
-    LIST_ITEMS_HEIGHT = 16,     // ListView items height
-    LIST_ITEMS_SPACING,         // ListView items separation
-    SCROLLBAR_WIDTH,            // ListView scrollbar size (usually width)
-    SCROLLBAR_SIDE,             // ListView scrollbar side (0-SCROLLBAR_LEFT_SIDE, 1-SCROLLBAR_RIGHT_SIDE)
-    LIST_ITEMS_BORDER_WIDTH     // ListView items border width
-} GuiListViewProperty;
-
-// ColorPicker
-typedef enum {
-    COLOR_SELECTOR_SIZE = 16,
-    HUEBAR_WIDTH,               // ColorPicker right hue bar width
-    HUEBAR_PADDING,             // ColorPicker right hue bar separation from panel
-    HUEBAR_SELECTOR_HEIGHT,     // ColorPicker right hue bar selector height
-    HUEBAR_SELECTOR_OVERFLOW    // ColorPicker right hue bar selector overflow
-} GuiColorPickerProperty;
-
-#define SCROLLBAR_LEFT_SIDE     0
-#define SCROLLBAR_RIGHT_SIDE    1
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-// ...
-
-//----------------------------------------------------------------------------------
-// Module Functions Declaration
-//----------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-// Global gui state control functions
-RAYGUIAPI void GuiEnable(void);                                 // Enable gui controls (global state)
-RAYGUIAPI void GuiDisable(void);                                // Disable gui controls (global state)
-RAYGUIAPI void GuiLock(void);                                   // Lock gui controls (global state)
-RAYGUIAPI void GuiUnlock(void);                                 // Unlock gui controls (global state)
-RAYGUIAPI bool GuiIsLocked(void);                               // Check if gui is locked (global state)
-RAYGUIAPI void GuiSetAlpha(float alpha);                        // Set gui controls alpha (global state), alpha goes from 0.0f to 1.0f
-RAYGUIAPI void GuiSetState(int state);                          // Set gui state (global state)
-RAYGUIAPI int GuiGetState(void);                                // Get gui state (global state)
-
-// Font set/get functions
-RAYGUIAPI void GuiSetFont(Font font);                           // Set gui custom font (global state)
-RAYGUIAPI Font GuiGetFont(void);                                // Get gui custom font (global state)
-
-// Style set/get functions
-RAYGUIAPI void GuiSetStyle(int control, int property, int value); // Set one style property
-RAYGUIAPI int GuiGetStyle(int control, int property);           // Get one style property
-
-// Styles loading functions
-RAYGUIAPI void GuiLoadStyle(const char *fileName);              // Load style file over global style variable (.rgs)
-RAYGUIAPI void GuiLoadStyleDefault(void);                       // Load style default over global style
-
-// Tooltips management functions
-RAYGUIAPI void GuiEnableTooltip(void);                          // Enable gui tooltips (global state)
-RAYGUIAPI void GuiDisableTooltip(void);                         // Disable gui tooltips (global state)
-RAYGUIAPI void GuiSetTooltip(const char *tooltip);              // Set tooltip string
-
-// Icons functionality
-RAYGUIAPI const char *GuiIconText(int iconId, const char *text); // Get text with icon id prepended (if supported)
-#if !defined(RAYGUI_NO_ICONS)
-RAYGUIAPI void GuiSetIconScale(int scale);                      // Set default icon drawing size
-RAYGUIAPI unsigned int *GuiGetIcons(void);                      // Get raygui icons data pointer
-RAYGUIAPI char **GuiLoadIcons(const char *fileName, bool loadIconsName); // Load raygui icons file (.rgi) into internal icons data
-RAYGUIAPI void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color); // Draw icon using pixel size at specified position
-#endif
-
-// Controls
-//----------------------------------------------------------------------------------------------------------
-// Container/separator controls, useful for controls organization
-RAYGUIAPI int GuiWindowBox(Rectangle bounds, const char *title);                                       // Window Box control, shows a window that can be closed
-RAYGUIAPI int GuiGroupBox(Rectangle bounds, const char *text);                                         // Group Box control with text name
-RAYGUIAPI int GuiLine(Rectangle bounds, const char *text);                                             // Line separator control, could contain text
-RAYGUIAPI int GuiPanel(Rectangle bounds, const char *text);                                            // Panel control, useful to group controls
-RAYGUIAPI int GuiTabBar(Rectangle bounds, const char **text, int count, int *active);                  // Tab Bar control, returns TAB to be closed or -1
-RAYGUIAPI int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view); // Scroll Panel control
-
-// Basic controls set
-RAYGUIAPI int GuiLabel(Rectangle bounds, const char *text);                                            // Label control
-RAYGUIAPI int GuiButton(Rectangle bounds, const char *text);                                           // Button control, returns true when clicked
-RAYGUIAPI int GuiLabelButton(Rectangle bounds, const char *text);                                      // Label button control, returns true when clicked
-RAYGUIAPI int GuiToggle(Rectangle bounds, const char *text, bool *active);                             // Toggle Button control
-RAYGUIAPI int GuiToggleGroup(Rectangle bounds, const char *text, int *active);                         // Toggle Group control
-RAYGUIAPI int GuiToggleSlider(Rectangle bounds, const char *text, int *active);                        // Toggle Slider control
-RAYGUIAPI int GuiCheckBox(Rectangle bounds, const char *text, bool *checked);                          // Check Box control, returns true when active
-RAYGUIAPI int GuiComboBox(Rectangle bounds, const char *text, int *active);                            // Combo Box control
-
-RAYGUIAPI int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode);          // Dropdown Box control
-RAYGUIAPI int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Spinner control
-RAYGUIAPI int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Value Box control, updates input text with numbers
-RAYGUIAPI int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode); // Value box control for float values
-RAYGUIAPI int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode);                   // Text Box control, updates input text
-
-RAYGUIAPI int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider control
-RAYGUIAPI int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider Bar control
-RAYGUIAPI int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Progress Bar control
-RAYGUIAPI int GuiStatusBar(Rectangle bounds, const char *text);                                        // Status Bar control, shows info text
-RAYGUIAPI int GuiDummyRec(Rectangle bounds, const char *text);                                         // Dummy control for placeholders
-RAYGUIAPI int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell); // Grid control
-
-// Advance controls set
-RAYGUIAPI int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active);          // List View control
-RAYGUIAPI int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus); // List View with extended parameters
-RAYGUIAPI int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons); // Message Box control, displays a message
-RAYGUIAPI int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive); // Text Input Box control, ask for text, supports secret
-RAYGUIAPI int GuiColorPicker(Rectangle bounds, const char *text, Color *color);                        // Color Picker control (multiple color controls)
-RAYGUIAPI int GuiColorPanel(Rectangle bounds, const char *text, Color *color);                         // Color Panel control
-RAYGUIAPI int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha);                      // Color Bar Alpha control
-RAYGUIAPI int GuiColorBarHue(Rectangle bounds, const char *text, float *value);                        // Color Bar Hue control
-RAYGUIAPI int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                // Color Picker control that avoids conversion to RGB on each call (multiple color controls)
-RAYGUIAPI int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                 // Color Panel control that updates Hue-Saturation-Value color value, used by GuiColorPickerHSV()
-//----------------------------------------------------------------------------------------------------------
-
-#if !defined(RAYGUI_NO_ICONS)
-
-#if !defined(RAYGUI_CUSTOM_ICONS)
-//----------------------------------------------------------------------------------
-// Icons enumeration
-//----------------------------------------------------------------------------------
-typedef enum {
-    ICON_NONE                     = 0,
-    ICON_FOLDER_FILE_OPEN         = 1,
-    ICON_FILE_SAVE_CLASSIC        = 2,
-    ICON_FOLDER_OPEN              = 3,
-    ICON_FOLDER_SAVE              = 4,
-    ICON_FILE_OPEN                = 5,
-    ICON_FILE_SAVE                = 6,
-    ICON_FILE_EXPORT              = 7,
-    ICON_FILE_ADD                 = 8,
-    ICON_FILE_DELETE              = 9,
-    ICON_FILETYPE_TEXT            = 10,
-    ICON_FILETYPE_AUDIO           = 11,
-    ICON_FILETYPE_IMAGE           = 12,
-    ICON_FILETYPE_PLAY            = 13,
-    ICON_FILETYPE_VIDEO           = 14,
-    ICON_FILETYPE_INFO            = 15,
-    ICON_FILE_COPY                = 16,
-    ICON_FILE_CUT                 = 17,
-    ICON_FILE_PASTE               = 18,
-    ICON_CURSOR_HAND              = 19,
-    ICON_CURSOR_POINTER           = 20,
-    ICON_CURSOR_CLASSIC           = 21,
-    ICON_PENCIL                   = 22,
-    ICON_PENCIL_BIG               = 23,
-    ICON_BRUSH_CLASSIC            = 24,
-    ICON_BRUSH_PAINTER            = 25,
-    ICON_WATER_DROP               = 26,
-    ICON_COLOR_PICKER             = 27,
-    ICON_RUBBER                   = 28,
-    ICON_COLOR_BUCKET             = 29,
-    ICON_TEXT_T                   = 30,
-    ICON_TEXT_A                   = 31,
-    ICON_SCALE                    = 32,
-    ICON_RESIZE                   = 33,
-    ICON_FILTER_POINT             = 34,
-    ICON_FILTER_BILINEAR          = 35,
-    ICON_CROP                     = 36,
-    ICON_CROP_ALPHA               = 37,
-    ICON_SQUARE_TOGGLE            = 38,
-    ICON_SYMMETRY                 = 39,
-    ICON_SYMMETRY_HORIZONTAL      = 40,
-    ICON_SYMMETRY_VERTICAL        = 41,
-    ICON_LENS                     = 42,
-    ICON_LENS_BIG                 = 43,
-    ICON_EYE_ON                   = 44,
-    ICON_EYE_OFF                  = 45,
-    ICON_FILTER_TOP               = 46,
-    ICON_FILTER                   = 47,
-    ICON_TARGET_POINT             = 48,
-    ICON_TARGET_SMALL             = 49,
-    ICON_TARGET_BIG               = 50,
-    ICON_TARGET_MOVE              = 51,
-    ICON_CURSOR_MOVE              = 52,
-    ICON_CURSOR_SCALE             = 53,
-    ICON_CURSOR_SCALE_RIGHT       = 54,
-    ICON_CURSOR_SCALE_LEFT        = 55,
-    ICON_UNDO                     = 56,
-    ICON_REDO                     = 57,
-    ICON_REREDO                   = 58,
-    ICON_MUTATE                   = 59,
-    ICON_ROTATE                   = 60,
-    ICON_REPEAT                   = 61,
-    ICON_SHUFFLE                  = 62,
-    ICON_EMPTYBOX                 = 63,
-    ICON_TARGET                   = 64,
-    ICON_TARGET_SMALL_FILL        = 65,
-    ICON_TARGET_BIG_FILL          = 66,
-    ICON_TARGET_MOVE_FILL         = 67,
-    ICON_CURSOR_MOVE_FILL         = 68,
-    ICON_CURSOR_SCALE_FILL        = 69,
-    ICON_CURSOR_SCALE_RIGHT_FILL  = 70,
-    ICON_CURSOR_SCALE_LEFT_FILL   = 71,
-    ICON_UNDO_FILL                = 72,
-    ICON_REDO_FILL                = 73,
-    ICON_REREDO_FILL              = 74,
-    ICON_MUTATE_FILL              = 75,
-    ICON_ROTATE_FILL              = 76,
-    ICON_REPEAT_FILL              = 77,
-    ICON_SHUFFLE_FILL             = 78,
-    ICON_EMPTYBOX_SMALL           = 79,
-    ICON_BOX                      = 80,
-    ICON_BOX_TOP                  = 81,
-    ICON_BOX_TOP_RIGHT            = 82,
-    ICON_BOX_RIGHT                = 83,
-    ICON_BOX_BOTTOM_RIGHT         = 84,
-    ICON_BOX_BOTTOM               = 85,
-    ICON_BOX_BOTTOM_LEFT          = 86,
-    ICON_BOX_LEFT                 = 87,
-    ICON_BOX_TOP_LEFT             = 88,
-    ICON_BOX_CENTER               = 89,
-    ICON_BOX_CIRCLE_MASK          = 90,
-    ICON_POT                      = 91,
-    ICON_ALPHA_MULTIPLY           = 92,
-    ICON_ALPHA_CLEAR              = 93,
-    ICON_DITHERING                = 94,
-    ICON_MIPMAPS                  = 95,
-    ICON_BOX_GRID                 = 96,
-    ICON_GRID                     = 97,
-    ICON_BOX_CORNERS_SMALL        = 98,
-    ICON_BOX_CORNERS_BIG          = 99,
-    ICON_FOUR_BOXES               = 100,
-    ICON_GRID_FILL                = 101,
-    ICON_BOX_MULTISIZE            = 102,
-    ICON_ZOOM_SMALL               = 103,
-    ICON_ZOOM_MEDIUM              = 104,
-    ICON_ZOOM_BIG                 = 105,
-    ICON_ZOOM_ALL                 = 106,
-    ICON_ZOOM_CENTER              = 107,
-    ICON_BOX_DOTS_SMALL           = 108,
-    ICON_BOX_DOTS_BIG             = 109,
-    ICON_BOX_CONCENTRIC           = 110,
-    ICON_BOX_GRID_BIG             = 111,
-    ICON_OK_TICK                  = 112,
-    ICON_CROSS                    = 113,
-    ICON_ARROW_LEFT               = 114,
-    ICON_ARROW_RIGHT              = 115,
-    ICON_ARROW_DOWN               = 116,
-    ICON_ARROW_UP                 = 117,
-    ICON_ARROW_LEFT_FILL          = 118,
-    ICON_ARROW_RIGHT_FILL         = 119,
-    ICON_ARROW_DOWN_FILL          = 120,
-    ICON_ARROW_UP_FILL            = 121,
-    ICON_AUDIO                    = 122,
-    ICON_FX                       = 123,
-    ICON_WAVE                     = 124,
-    ICON_WAVE_SINUS               = 125,
-    ICON_WAVE_SQUARE              = 126,
-    ICON_WAVE_TRIANGULAR          = 127,
-    ICON_CROSS_SMALL              = 128,
-    ICON_PLAYER_PREVIOUS          = 129,
-    ICON_PLAYER_PLAY_BACK         = 130,
-    ICON_PLAYER_PLAY              = 131,
-    ICON_PLAYER_PAUSE             = 132,
-    ICON_PLAYER_STOP              = 133,
-    ICON_PLAYER_NEXT              = 134,
-    ICON_PLAYER_RECORD            = 135,
-    ICON_MAGNET                   = 136,
-    ICON_LOCK_CLOSE               = 137,
-    ICON_LOCK_OPEN                = 138,
-    ICON_CLOCK                    = 139,
-    ICON_TOOLS                    = 140,
-    ICON_GEAR                     = 141,
-    ICON_GEAR_BIG                 = 142,
-    ICON_BIN                      = 143,
-    ICON_HAND_POINTER             = 144,
-    ICON_LASER                    = 145,
-    ICON_COIN                     = 146,
-    ICON_EXPLOSION                = 147,
-    ICON_1UP                      = 148,
-    ICON_PLAYER                   = 149,
-    ICON_PLAYER_JUMP              = 150,
-    ICON_KEY                      = 151,
-    ICON_DEMON                    = 152,
-    ICON_TEXT_POPUP               = 153,
-    ICON_GEAR_EX                  = 154,
-    ICON_CRACK                    = 155,
-    ICON_CRACK_POINTS             = 156,
-    ICON_STAR                     = 157,
-    ICON_DOOR                     = 158,
-    ICON_EXIT                     = 159,
-    ICON_MODE_2D                  = 160,
-    ICON_MODE_3D                  = 161,
-    ICON_CUBE                     = 162,
-    ICON_CUBE_FACE_TOP            = 163,
-    ICON_CUBE_FACE_LEFT           = 164,
-    ICON_CUBE_FACE_FRONT          = 165,
-    ICON_CUBE_FACE_BOTTOM         = 166,
-    ICON_CUBE_FACE_RIGHT          = 167,
-    ICON_CUBE_FACE_BACK           = 168,
-    ICON_CAMERA                   = 169,
-    ICON_SPECIAL                  = 170,
-    ICON_LINK_NET                 = 171,
-    ICON_LINK_BOXES               = 172,
-    ICON_LINK_MULTI               = 173,
-    ICON_LINK                     = 174,
-    ICON_LINK_BROKE               = 175,
-    ICON_TEXT_NOTES               = 176,
-    ICON_NOTEBOOK                 = 177,
-    ICON_SUITCASE                 = 178,
-    ICON_SUITCASE_ZIP             = 179,
-    ICON_MAILBOX                  = 180,
-    ICON_MONITOR                  = 181,
-    ICON_PRINTER                  = 182,
-    ICON_PHOTO_CAMERA             = 183,
-    ICON_PHOTO_CAMERA_FLASH       = 184,
-    ICON_HOUSE                    = 185,
-    ICON_HEART                    = 186,
-    ICON_CORNER                   = 187,
-    ICON_VERTICAL_BARS            = 188,
-    ICON_VERTICAL_BARS_FILL       = 189,
-    ICON_LIFE_BARS                = 190,
-    ICON_INFO                     = 191,
-    ICON_CROSSLINE                = 192,
-    ICON_HELP                     = 193,
-    ICON_FILETYPE_ALPHA           = 194,
-    ICON_FILETYPE_HOME            = 195,
-    ICON_LAYERS_VISIBLE           = 196,
-    ICON_LAYERS                   = 197,
-    ICON_WINDOW                   = 198,
-    ICON_HIDPI                    = 199,
-    ICON_FILETYPE_BINARY          = 200,
-    ICON_HEX                      = 201,
-    ICON_SHIELD                   = 202,
-    ICON_FILE_NEW                 = 203,
-    ICON_FOLDER_ADD               = 204,
-    ICON_ALARM                    = 205,
-    ICON_CPU                      = 206,
-    ICON_ROM                      = 207,
-    ICON_STEP_OVER                = 208,
-    ICON_STEP_INTO                = 209,
-    ICON_STEP_OUT                 = 210,
-    ICON_RESTART                  = 211,
-    ICON_BREAKPOINT_ON            = 212,
-    ICON_BREAKPOINT_OFF           = 213,
-    ICON_BURGER_MENU              = 214,
-    ICON_CASE_SENSITIVE           = 215,
-    ICON_REG_EXP                  = 216,
-    ICON_FOLDER                   = 217,
-    ICON_FILE                     = 218,
-    ICON_SAND_TIMER               = 219,
-    ICON_WARNING                  = 220,
-    ICON_HELP_BOX                 = 221,
-    ICON_INFO_BOX                 = 222,
-    ICON_PRIORITY                 = 223,
-    ICON_LAYERS_ISO               = 224,
-    ICON_LAYERS2                  = 225,
-    ICON_MLAYERS                  = 226,
-    ICON_MAPS                     = 227,
-    ICON_HOT                      = 228,
-    ICON_229                      = 229,
-    ICON_230                      = 230,
-    ICON_231                      = 231,
-    ICON_232                      = 232,
-    ICON_233                      = 233,
-    ICON_234                      = 234,
-    ICON_235                      = 235,
-    ICON_236                      = 236,
-    ICON_237                      = 237,
-    ICON_238                      = 238,
-    ICON_239                      = 239,
-    ICON_240                      = 240,
-    ICON_241                      = 241,
-    ICON_242                      = 242,
-    ICON_243                      = 243,
-    ICON_244                      = 244,
-    ICON_245                      = 245,
-    ICON_246                      = 246,
-    ICON_247                      = 247,
-    ICON_248                      = 248,
-    ICON_249                      = 249,
-    ICON_250                      = 250,
-    ICON_251                      = 251,
-    ICON_252                      = 252,
-    ICON_253                      = 253,
-    ICON_254                      = 254,
-    ICON_255                      = 255,
-} GuiIconName;
-#endif
-
-#endif
-
-#if defined(__cplusplus)
-}            // Prevents name mangling of functions
-#endif
-
-#endif // RAYGUI_H
-
-/***********************************************************************************
-*
-*   RAYGUI IMPLEMENTATION
-*
-************************************************************************************/
-
-#if defined(RAYGUI_IMPLEMENTATION)
-
-#include <ctype.h>              // required for: isspace() [GuiTextBox()]
-#include <stdio.h>              // Required for: FILE, fopen(), fclose(), fprintf(), feof(), fscanf(), vsprintf() [GuiLoadStyle(), GuiLoadIcons()]
-#include <stdlib.h>             // Required for: malloc(), calloc(), free() [GuiLoadStyle(), GuiLoadIcons()]
-#include <string.h>             // Required for: strlen() [GuiTextBox(), GuiValueBox()], memset(), memcpy()
-#include <stdarg.h>             // Required for: va_list, va_start(), vfprintf(), va_end() [TextFormat()]
-#include <math.h>               // Required for: roundf() [GuiColorPicker()]
-
-#ifdef __cplusplus
-    #define RAYGUI_CLITERAL(name) name
-#else
-    #define RAYGUI_CLITERAL(name) (name)
-#endif
-
-// Check if two rectangles are equal, used to validate a slider bounds as an id
-#ifndef CHECK_BOUNDS_ID
-    #define CHECK_BOUNDS_ID(src, dst) ((src.x == dst.x) && (src.y == dst.y) && (src.width == dst.width) && (src.height == dst.height))
-#endif
-
-#if !defined(RAYGUI_NO_ICONS) && !defined(RAYGUI_CUSTOM_ICONS)
-
-// Embedded icons, no external file provided
-#define RAYGUI_ICON_SIZE               16          // Size of icons in pixels (squared)
-#define RAYGUI_ICON_MAX_ICONS         256          // Maximum number of icons
-#define RAYGUI_ICON_MAX_NAME_LENGTH    32          // Maximum length of icon name id
-
-// Icons data is defined by bit array (every bit represents one pixel)
-// Those arrays are stored as unsigned int data arrays, so,
-// every array element defines 32 pixels (bits) of information
-// One icon is defined by 8 int, (8 int * 32 bit = 256 bit = 16*16 pixels)
-// NOTE: Number of elemens depend on RAYGUI_ICON_SIZE (by default 16x16 pixels)
-#define RAYGUI_ICON_DATA_ELEMENTS   (RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32)
-
-//----------------------------------------------------------------------------------
-// Icons data for all gui possible icons (allocated on data segment by default)
-//
-// NOTE 1: Every icon is codified in binary form, using 1 bit per pixel, so,
-// every 16x16 icon requires 8 integers (16*16/32) to be stored
-//
-// NOTE 2: A different icon set could be loaded over this array using GuiLoadIcons(),
-// but loaded icons set must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS
-//
-// guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB
-//----------------------------------------------------------------------------------
-static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS] = {
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_NONE
-    0x3ff80000, 0x2f082008, 0x2042207e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x00007ffe,      // ICON_FOLDER_FILE_OPEN
-    0x3ffe0000, 0x44226422, 0x400247e2, 0x5ffa4002, 0x57ea500a, 0x500a500a, 0x40025ffa, 0x00007ffe,      // ICON_FILE_SAVE_CLASSIC
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024002, 0x44424282, 0x793e4102, 0x00000100,      // ICON_FOLDER_OPEN
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024102, 0x44424102, 0x793e4282, 0x00000000,      // ICON_FOLDER_SAVE
-    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x24442284, 0x21042104, 0x20042104, 0x00003ffc,      // ICON_FILE_OPEN
-    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x21042104, 0x22842444, 0x20042104, 0x00003ffc,      // ICON_FILE_SAVE
-    0x3ff00000, 0x201c2010, 0x00042004, 0x20041004, 0x20844784, 0x00841384, 0x20042784, 0x00003ffc,      // ICON_FILE_EXPORT
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x22042204, 0x22042f84, 0x20042204, 0x00003ffc,      // ICON_FILE_ADD
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x25042884, 0x25042204, 0x20042884, 0x00003ffc,      // ICON_FILE_DELETE
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_TEXT
-    0x3ff00000, 0x201c2010, 0x27042004, 0x244424c4, 0x26442444, 0x20642664, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_AUDIO
-    0x3ff00000, 0x201c2010, 0x26042604, 0x20042004, 0x35442884, 0x2414222c, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_IMAGE
-    0x3ff00000, 0x201c2010, 0x20c42004, 0x22442144, 0x22442444, 0x20c42144, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_PLAY
-    0x3ff00000, 0x3ffc2ff0, 0x3f3c2ff4, 0x3dbc2eb4, 0x3dbc2bb4, 0x3f3c2eb4, 0x3ffc2ff4, 0x00002ff4,      // ICON_FILETYPE_VIDEO
-    0x3ff00000, 0x201c2010, 0x21842184, 0x21842004, 0x21842184, 0x21842184, 0x20042184, 0x00003ffc,      // ICON_FILETYPE_INFO
-    0x0ff00000, 0x381c0810, 0x28042804, 0x28042804, 0x28042804, 0x28042804, 0x20102ffc, 0x00003ff0,      // ICON_FILE_COPY
-    0x00000000, 0x701c0000, 0x079c1e14, 0x55a000f0, 0x079c00f0, 0x701c1e14, 0x00000000, 0x00000000,      // ICON_FILE_CUT
-    0x01c00000, 0x13e41bec, 0x3f841004, 0x204420c4, 0x20442044, 0x20442044, 0x207c2044, 0x00003fc0,      // ICON_FILE_PASTE
-    0x00000000, 0x3aa00fe0, 0x2abc2aa0, 0x2aa42aa4, 0x20042aa4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_CURSOR_HAND
-    0x00000000, 0x003c000c, 0x030800c8, 0x30100c10, 0x10202020, 0x04400840, 0x01800280, 0x00000000,      // ICON_CURSOR_POINTER
-    0x00000000, 0x00180000, 0x01f00078, 0x03e007f0, 0x07c003e0, 0x04000e40, 0x00000000, 0x00000000,      // ICON_CURSOR_CLASSIC
-    0x00000000, 0x04000000, 0x11000a00, 0x04400a80, 0x01100220, 0x00580088, 0x00000038, 0x00000000,      // ICON_PENCIL
-    0x04000000, 0x15000a00, 0x50402880, 0x14102820, 0x05040a08, 0x015c028c, 0x007c00bc, 0x00000000,      // ICON_PENCIL_BIG
-    0x01c00000, 0x01400140, 0x01400140, 0x0ff80140, 0x0ff80808, 0x0aa80808, 0x0aa80aa8, 0x00000ff8,      // ICON_BRUSH_CLASSIC
-    0x1ffc0000, 0x5ffc7ffe, 0x40004000, 0x00807f80, 0x01c001c0, 0x01c001c0, 0x01c001c0, 0x00000080,      // ICON_BRUSH_PAINTER
-    0x00000000, 0x00800000, 0x01c00080, 0x03e001c0, 0x07f003e0, 0x036006f0, 0x000001c0, 0x00000000,      // ICON_WATER_DROP
-    0x00000000, 0x3e003800, 0x1f803f80, 0x0c201e40, 0x02080c10, 0x00840104, 0x00380044, 0x00000000,      // ICON_COLOR_PICKER
-    0x00000000, 0x07800300, 0x1fe00fc0, 0x3f883fd0, 0x0e021f04, 0x02040402, 0x00f00108, 0x00000000,      // ICON_RUBBER
-    0x00c00000, 0x02800140, 0x08200440, 0x20081010, 0x2ffe3004, 0x03f807fc, 0x00e001f0, 0x00000040,      // ICON_COLOR_BUCKET
-    0x00000000, 0x21843ffc, 0x01800180, 0x01800180, 0x01800180, 0x01800180, 0x03c00180, 0x00000000,      // ICON_TEXT_T
-    0x00800000, 0x01400180, 0x06200340, 0x0c100620, 0x1ff80c10, 0x380c1808, 0x70067004, 0x0000f80f,      // ICON_TEXT_A
-    0x78000000, 0x50004000, 0x00004800, 0x03c003c0, 0x03c003c0, 0x00100000, 0x0002000a, 0x0000000e,      // ICON_SCALE
-    0x75560000, 0x5e004002, 0x54001002, 0x41001202, 0x408200fe, 0x40820082, 0x40820082, 0x00006afe,      // ICON_RESIZE
-    0x00000000, 0x3f003f00, 0x3f003f00, 0x3f003f00, 0x00400080, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_POINT
-    0x6d800000, 0x00004080, 0x40804080, 0x40800000, 0x00406d80, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_BILINEAR
-    0x40080000, 0x1ffe2008, 0x14081008, 0x11081208, 0x10481088, 0x10081028, 0x10047ff8, 0x00001002,      // ICON_CROP
-    0x00100000, 0x3ffc0010, 0x2ab03550, 0x22b02550, 0x20b02150, 0x20302050, 0x2000fff0, 0x00002000,      // ICON_CROP_ALPHA
-    0x40000000, 0x1ff82000, 0x04082808, 0x01082208, 0x00482088, 0x00182028, 0x35542008, 0x00000002,      // ICON_SQUARE_TOGGLE
-    0x00000000, 0x02800280, 0x06c006c0, 0x0ea00ee0, 0x1e901eb0, 0x3e883e98, 0x7efc7e8c, 0x00000000,      // ICON_SYMMETRY
-    0x01000000, 0x05600100, 0x1d480d50, 0x7d423d44, 0x3d447d42, 0x0d501d48, 0x01000560, 0x00000100,      // ICON_SYMMETRY_HORIZONTAL
-    0x01800000, 0x04200240, 0x10080810, 0x00001ff8, 0x00007ffe, 0x0ff01ff8, 0x03c007e0, 0x00000180,      // ICON_SYMMETRY_VERTICAL
-    0x00000000, 0x010800f0, 0x02040204, 0x02040204, 0x07f00308, 0x1c000e00, 0x30003800, 0x00000000,      // ICON_LENS
-    0x00000000, 0x061803f0, 0x08240c0c, 0x08040814, 0x0c0c0804, 0x23f01618, 0x18002400, 0x00000000,      // ICON_LENS_BIG
-    0x00000000, 0x00000000, 0x1c7007c0, 0x638e3398, 0x1c703398, 0x000007c0, 0x00000000, 0x00000000,      // ICON_EYE_ON
-    0x00000000, 0x10002000, 0x04700fc0, 0x610e3218, 0x1c703098, 0x001007a0, 0x00000008, 0x00000000,      // ICON_EYE_OFF
-    0x00000000, 0x00007ffc, 0x40047ffc, 0x10102008, 0x04400820, 0x02800280, 0x02800280, 0x00000100,      // ICON_FILTER_TOP
-    0x00000000, 0x40027ffe, 0x10082004, 0x04200810, 0x02400240, 0x02400240, 0x01400240, 0x000000c0,      // ICON_FILTER
-    0x00800000, 0x00800080, 0x00000080, 0x3c9e0000, 0x00000000, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_POINT
-    0x00800000, 0x00800080, 0x00800080, 0x3f7e01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL
-    0x00800000, 0x00800080, 0x03e00080, 0x3e3e0220, 0x03e00220, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG
-    0x01000000, 0x04400280, 0x01000100, 0x43842008, 0x43849ab2, 0x01002008, 0x04400100, 0x01000280,      // ICON_TARGET_MOVE
-    0x01000000, 0x04400280, 0x01000100, 0x41042108, 0x41049ff2, 0x01002108, 0x04400100, 0x01000280,      // ICON_CURSOR_MOVE
-    0x781e0000, 0x500a4002, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x4002500a, 0x0000781e,      // ICON_CURSOR_SCALE
-    0x00000000, 0x20003c00, 0x24002800, 0x01000200, 0x00400080, 0x00140024, 0x003c0004, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT
-    0x00000000, 0x0004003c, 0x00240014, 0x00800040, 0x02000100, 0x28002400, 0x3c002000, 0x00000000,      // ICON_CURSOR_SCALE_LEFT
-    0x00000000, 0x00100020, 0x10101fc8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO
-    0x00000000, 0x08000400, 0x080813f8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO
-    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3f902020, 0x00400020, 0x00000000,      // ICON_REREDO
-    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3fc82010, 0x00200010, 0x00000000,      // ICON_MUTATE
-    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18101020, 0x00100fc8, 0x00000020,      // ICON_ROTATE
-    0x00000000, 0x04000200, 0x240429fc, 0x20042204, 0x20442004, 0x3f942024, 0x00400020, 0x00000000,      // ICON_REPEAT
-    0x00000000, 0x20001000, 0x22104c0e, 0x00801120, 0x11200040, 0x4c0e2210, 0x10002000, 0x00000000,      // ICON_SHUFFLE
-    0x7ffe0000, 0x50024002, 0x44024802, 0x41024202, 0x40424082, 0x40124022, 0x4002400a, 0x00007ffe,      // ICON_EMPTYBOX
-    0x00800000, 0x03e00080, 0x08080490, 0x3c9e0808, 0x08080808, 0x03e00490, 0x00800080, 0x00000000,      // ICON_TARGET
-    0x00800000, 0x00800080, 0x00800080, 0x3ffe01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL_FILL
-    0x00800000, 0x00800080, 0x03e00080, 0x3ffe03e0, 0x03e003e0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG_FILL
-    0x01000000, 0x07c00380, 0x01000100, 0x638c2008, 0x638cfbbe, 0x01002008, 0x07c00100, 0x01000380,      // ICON_TARGET_MOVE_FILL
-    0x01000000, 0x07c00380, 0x01000100, 0x610c2108, 0x610cfffe, 0x01002108, 0x07c00100, 0x01000380,      // ICON_CURSOR_MOVE_FILL
-    0x781e0000, 0x6006700e, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x700e6006, 0x0000781e,      // ICON_CURSOR_SCALE_FILL
-    0x00000000, 0x38003c00, 0x24003000, 0x01000200, 0x00400080, 0x000c0024, 0x003c001c, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT_FILL
-    0x00000000, 0x001c003c, 0x0024000c, 0x00800040, 0x02000100, 0x30002400, 0x3c003800, 0x00000000,      // ICON_CURSOR_SCALE_LEFT_FILL
-    0x00000000, 0x00300020, 0x10301ff8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO_FILL
-    0x00000000, 0x0c000400, 0x0c081ff8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO_FILL
-    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3ff02060, 0x00400060, 0x00000000,      // ICON_REREDO_FILL
-    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3ff82030, 0x00200030, 0x00000000,      // ICON_MUTATE_FILL
-    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18301020, 0x00300ff8, 0x00000020,      // ICON_ROTATE_FILL
-    0x00000000, 0x06000200, 0x26042ffc, 0x20042204, 0x20442004, 0x3ff42064, 0x00400060, 0x00000000,      // ICON_REPEAT_FILL
-    0x00000000, 0x30001000, 0x32107c0e, 0x00801120, 0x11200040, 0x7c0e3210, 0x10003000, 0x00000000,      // ICON_SHUFFLE_FILL
-    0x00000000, 0x30043ffc, 0x24042804, 0x21042204, 0x20442084, 0x20142024, 0x3ffc200c, 0x00000000,      // ICON_EMPTYBOX_SMALL
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX
-    0x00000000, 0x23c43ffc, 0x23c423c4, 0x200423c4, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP
-    0x00000000, 0x3e043ffc, 0x3e043e04, 0x20043e04, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x3e043e04, 0x3e043e04, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x3e042004, 0x3e043e04, 0x3ffc3e04, 0x00000000,      // ICON_BOX_BOTTOM_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x23c42004, 0x23c423c4, 0x3ffc23c4, 0x00000000,      // ICON_BOX_BOTTOM
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x207c2004, 0x207c207c, 0x3ffc207c, 0x00000000,      // ICON_BOX_BOTTOM_LEFT
-    0x00000000, 0x20043ffc, 0x20042004, 0x207c207c, 0x207c207c, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_LEFT
-    0x00000000, 0x207c3ffc, 0x207c207c, 0x2004207c, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_LEFT
-    0x00000000, 0x20043ffc, 0x20042004, 0x23c423c4, 0x23c423c4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_CENTER
-    0x7ffe0000, 0x40024002, 0x47e24182, 0x4ff247e2, 0x47e24ff2, 0x418247e2, 0x40024002, 0x00007ffe,      // ICON_BOX_CIRCLE_MASK
-    0x7fff0000, 0x40014001, 0x40014001, 0x49555ddd, 0x4945495d, 0x400149c5, 0x40014001, 0x00007fff,      // ICON_POT
-    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x404e40ce, 0x48125432, 0x4006540e, 0x00007ffe,      // ICON_ALPHA_MULTIPLY
-    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x5c4e40ce, 0x44124432, 0x40065c0e, 0x00007ffe,      // ICON_ALPHA_CLEAR
-    0x7ffe0000, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x00007ffe,      // ICON_DITHERING
-    0x07fe0000, 0x1ffa0002, 0x7fea000a, 0x402a402a, 0x5b2a512a, 0x5128552a, 0x40205128, 0x00007fe0,      // ICON_MIPMAPS
-    0x00000000, 0x1ff80000, 0x12481248, 0x12481ff8, 0x1ff81248, 0x12481248, 0x00001ff8, 0x00000000,      // ICON_BOX_GRID
-    0x12480000, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x00001248,      // ICON_GRID
-    0x00000000, 0x1c380000, 0x1c3817e8, 0x08100810, 0x08100810, 0x17e81c38, 0x00001c38, 0x00000000,      // ICON_BOX_CORNERS_SMALL
-    0x700e0000, 0x700e5ffa, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x5ffa700e, 0x0000700e,      // ICON_BOX_CORNERS_BIG
-    0x3f7e0000, 0x21422142, 0x21422142, 0x00003f7e, 0x21423f7e, 0x21422142, 0x3f7e2142, 0x00000000,      // ICON_FOUR_BOXES
-    0x00000000, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x00000000,      // ICON_GRID_FILL
-    0x7ffe0000, 0x7ffe7ffe, 0x77fe7000, 0x77fe77fe, 0x777e7700, 0x777e777e, 0x777e777e, 0x0000777e,      // ICON_BOX_MULTISIZE
-    0x781e0000, 0x40024002, 0x00004002, 0x01800000, 0x00000180, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_SMALL
-    0x781e0000, 0x40024002, 0x00004002, 0x03c003c0, 0x03c003c0, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_MEDIUM
-    0x781e0000, 0x40024002, 0x07e04002, 0x07e007e0, 0x07e007e0, 0x400207e0, 0x40024002, 0x0000781e,      // ICON_ZOOM_BIG
-    0x781e0000, 0x5ffa4002, 0x1ff85ffa, 0x1ff81ff8, 0x1ff81ff8, 0x5ffa1ff8, 0x40025ffa, 0x0000781e,      // ICON_ZOOM_ALL
-    0x00000000, 0x2004381c, 0x00002004, 0x00000000, 0x00000000, 0x20040000, 0x381c2004, 0x00000000,      // ICON_ZOOM_CENTER
-    0x00000000, 0x1db80000, 0x10081008, 0x10080000, 0x00001008, 0x10081008, 0x00001db8, 0x00000000,      // ICON_BOX_DOTS_SMALL
-    0x35560000, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x35562002, 0x00000000,      // ICON_BOX_DOTS_BIG
-    0x7ffe0000, 0x40024002, 0x48124ff2, 0x49924812, 0x48124992, 0x4ff24812, 0x40024002, 0x00007ffe,      // ICON_BOX_CONCENTRIC
-    0x00000000, 0x10841ffc, 0x10841084, 0x1ffc1084, 0x10841084, 0x10841084, 0x00001ffc, 0x00000000,      // ICON_BOX_GRID_BIG
-    0x00000000, 0x00000000, 0x10000000, 0x04000800, 0x01040200, 0x00500088, 0x00000020, 0x00000000,      // ICON_OK_TICK
-    0x00000000, 0x10080000, 0x04200810, 0x01800240, 0x02400180, 0x08100420, 0x00001008, 0x00000000,      // ICON_CROSS
-    0x00000000, 0x02000000, 0x00800100, 0x00200040, 0x00200010, 0x00800040, 0x02000100, 0x00000000,      // ICON_ARROW_LEFT
-    0x00000000, 0x00400000, 0x01000080, 0x04000200, 0x04000800, 0x01000200, 0x00400080, 0x00000000,      // ICON_ARROW_RIGHT
-    0x00000000, 0x00000000, 0x00000000, 0x08081004, 0x02200410, 0x00800140, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN
-    0x00000000, 0x00000000, 0x01400080, 0x04100220, 0x10040808, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP
-    0x00000000, 0x02000000, 0x03800300, 0x03e003c0, 0x03e003f0, 0x038003c0, 0x02000300, 0x00000000,      // ICON_ARROW_LEFT_FILL
-    0x00000000, 0x00400000, 0x01c000c0, 0x07c003c0, 0x07c00fc0, 0x01c003c0, 0x004000c0, 0x00000000,      // ICON_ARROW_RIGHT_FILL
-    0x00000000, 0x00000000, 0x00000000, 0x0ff81ffc, 0x03e007f0, 0x008001c0, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN_FILL
-    0x00000000, 0x00000000, 0x01c00080, 0x07f003e0, 0x1ffc0ff8, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP_FILL
-    0x00000000, 0x18a008c0, 0x32881290, 0x24822686, 0x26862482, 0x12903288, 0x08c018a0, 0x00000000,      // ICON_AUDIO
-    0x00000000, 0x04800780, 0x004000c0, 0x662000f0, 0x08103c30, 0x130a0e18, 0x0000318e, 0x00000000,      // ICON_FX
-    0x00000000, 0x00800000, 0x08880888, 0x2aaa0a8a, 0x0a8a2aaa, 0x08880888, 0x00000080, 0x00000000,      // ICON_WAVE
-    0x00000000, 0x00600000, 0x01080090, 0x02040108, 0x42044204, 0x24022402, 0x00001800, 0x00000000,      // ICON_WAVE_SINUS
-    0x00000000, 0x07f80000, 0x04080408, 0x04080408, 0x04080408, 0x7c0e0408, 0x00000000, 0x00000000,      // ICON_WAVE_SQUARE
-    0x00000000, 0x00000000, 0x00a00040, 0x22084110, 0x08021404, 0x00000000, 0x00000000, 0x00000000,      // ICON_WAVE_TRIANGULAR
-    0x00000000, 0x00000000, 0x04200000, 0x01800240, 0x02400180, 0x00000420, 0x00000000, 0x00000000,      // ICON_CROSS_SMALL
-    0x00000000, 0x18380000, 0x12281428, 0x10a81128, 0x112810a8, 0x14281228, 0x00001838, 0x00000000,      // ICON_PLAYER_PREVIOUS
-    0x00000000, 0x18000000, 0x11801600, 0x10181060, 0x10601018, 0x16001180, 0x00001800, 0x00000000,      // ICON_PLAYER_PLAY_BACK
-    0x00000000, 0x00180000, 0x01880068, 0x18080608, 0x06081808, 0x00680188, 0x00000018, 0x00000000,      // ICON_PLAYER_PLAY
-    0x00000000, 0x1e780000, 0x12481248, 0x12481248, 0x12481248, 0x12481248, 0x00001e78, 0x00000000,      // ICON_PLAYER_PAUSE
-    0x00000000, 0x1ff80000, 0x10081008, 0x10081008, 0x10081008, 0x10081008, 0x00001ff8, 0x00000000,      // ICON_PLAYER_STOP
-    0x00000000, 0x1c180000, 0x14481428, 0x15081488, 0x14881508, 0x14281448, 0x00001c18, 0x00000000,      // ICON_PLAYER_NEXT
-    0x00000000, 0x03c00000, 0x08100420, 0x10081008, 0x10081008, 0x04200810, 0x000003c0, 0x00000000,      // ICON_PLAYER_RECORD
-    0x00000000, 0x0c3007e0, 0x13c81818, 0x14281668, 0x14281428, 0x1c381c38, 0x08102244, 0x00000000,      // ICON_MAGNET
-    0x07c00000, 0x08200820, 0x3ff80820, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_CLOSE
-    0x07c00000, 0x08000800, 0x3ff80800, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_OPEN
-    0x01c00000, 0x0c180770, 0x3086188c, 0x60832082, 0x60034781, 0x30062002, 0x0c18180c, 0x01c00770,      // ICON_CLOCK
-    0x0a200000, 0x1b201b20, 0x04200e20, 0x04200420, 0x04700420, 0x0e700e70, 0x0e700e70, 0x04200e70,      // ICON_TOOLS
-    0x01800000, 0x3bdc318c, 0x0ff01ff8, 0x7c3e1e78, 0x1e787c3e, 0x1ff80ff0, 0x318c3bdc, 0x00000180,      // ICON_GEAR
-    0x01800000, 0x3ffc318c, 0x1c381ff8, 0x781e1818, 0x1818781e, 0x1ff81c38, 0x318c3ffc, 0x00000180,      // ICON_GEAR_BIG
-    0x00000000, 0x08080ff8, 0x08081ffc, 0x0aa80aa8, 0x0aa80aa8, 0x0aa80aa8, 0x08080aa8, 0x00000ff8,      // ICON_BIN
-    0x00000000, 0x00000000, 0x20043ffc, 0x08043f84, 0x04040f84, 0x04040784, 0x000007fc, 0x00000000,      // ICON_HAND_POINTER
-    0x00000000, 0x24400400, 0x00001480, 0x6efe0e00, 0x00000e00, 0x24401480, 0x00000400, 0x00000000,      // ICON_LASER
-    0x00000000, 0x03c00000, 0x08300460, 0x11181118, 0x11181118, 0x04600830, 0x000003c0, 0x00000000,      // ICON_COIN
-    0x00000000, 0x10880080, 0x06c00810, 0x366c07e0, 0x07e00240, 0x00001768, 0x04200240, 0x00000000,      // ICON_EXPLOSION
-    0x00000000, 0x3d280000, 0x2528252c, 0x3d282528, 0x05280528, 0x05e80528, 0x00000000, 0x00000000,      // ICON_1UP
-    0x01800000, 0x03c003c0, 0x018003c0, 0x0ff007e0, 0x0bd00bd0, 0x0a500bd0, 0x02400240, 0x02400240,      // ICON_PLAYER
-    0x01800000, 0x03c003c0, 0x118013c0, 0x03c81ff8, 0x07c003c8, 0x04400440, 0x0c080478, 0x00000000,      // ICON_PLAYER_JUMP
-    0x3ff80000, 0x30183ff8, 0x30183018, 0x3ff83ff8, 0x03000300, 0x03c003c0, 0x03e00300, 0x000003e0,      // ICON_KEY
-    0x3ff80000, 0x3ff83ff8, 0x33983ff8, 0x3ff83398, 0x3ff83ff8, 0x00000540, 0x0fe00aa0, 0x00000fe0,      // ICON_DEMON
-    0x00000000, 0x0ff00000, 0x20041008, 0x25442004, 0x10082004, 0x06000bf0, 0x00000300, 0x00000000,      // ICON_TEXT_POPUP
-    0x00000000, 0x11440000, 0x07f00be8, 0x1c1c0e38, 0x1c1c0c18, 0x07f00e38, 0x11440be8, 0x00000000,      // ICON_GEAR_EX
-    0x00000000, 0x20080000, 0x0c601010, 0x07c00fe0, 0x07c007c0, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK
-    0x00000000, 0x20080000, 0x0c601010, 0x04400fe0, 0x04405554, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK_POINTS
-    0x00000000, 0x00800080, 0x01c001c0, 0x1ffc3ffe, 0x03e007f0, 0x07f003e0, 0x0c180770, 0x00000808,      // ICON_STAR
-    0x0ff00000, 0x08180810, 0x08100818, 0x0a100810, 0x08180810, 0x08100818, 0x08100810, 0x00001ff8,      // ICON_DOOR
-    0x0ff00000, 0x08100810, 0x08100810, 0x10100010, 0x4f902010, 0x10102010, 0x08100010, 0x00000ff0,      // ICON_EXIT
-    0x00040000, 0x001f000e, 0x0ef40004, 0x12f41284, 0x0ef41214, 0x10040004, 0x7ffc3004, 0x10003000,      // ICON_MODE_2D
-    0x78040000, 0x501f600e, 0x0ef44004, 0x12f41284, 0x0ef41284, 0x10140004, 0x7ffc300c, 0x10003000,      // ICON_MODE_3D
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE
-    0x7fe00000, 0x5ff87ff0, 0x47fe4ffc, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_TOP
-    0x7fe00000, 0x50386030, 0x47c2483c, 0x443e443e, 0x443e443e, 0x241e75fe, 0x0c06140e, 0x000007fe,      // ICON_CUBE_FACE_LEFT
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x47fe47fe, 0x47fe47fe, 0x27fe77fe, 0x0ffe17fe, 0x000007fe,      // ICON_CUBE_FACE_FRONT
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x3bf27be2, 0x0bfe1bfa, 0x000007fe,      // ICON_CUBE_FACE_BOTTOM
-    0x7fe00000, 0x70286030, 0x7ffe7804, 0x7c227c02, 0x7c227c22, 0x3c127de2, 0x0c061c0a, 0x000007fe,      // ICON_CUBE_FACE_RIGHT
-    0x7fe00000, 0x6fe85ff0, 0x781e77e4, 0x7be27be2, 0x7be27be2, 0x24127be2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_BACK
-    0x00000000, 0x2a0233fe, 0x22022602, 0x22022202, 0x2a022602, 0x00a033fe, 0x02080110, 0x00000000,      // ICON_CAMERA
-    0x00000000, 0x200c3ffc, 0x000c000c, 0x3ffc000c, 0x30003000, 0x30003000, 0x3ffc3004, 0x00000000,      // ICON_SPECIAL
-    0x00000000, 0x0022003e, 0x012201e2, 0x0100013e, 0x01000100, 0x79000100, 0x4f004900, 0x00007800,      // ICON_LINK_NET
-    0x00000000, 0x44007c00, 0x45004600, 0x00627cbe, 0x00620022, 0x45007cbe, 0x44004600, 0x00007c00,      // ICON_LINK_BOXES
-    0x00000000, 0x0044007c, 0x0010007c, 0x3f100010, 0x3f1021f0, 0x3f100010, 0x3f0021f0, 0x00000000,      // ICON_LINK_MULTI
-    0x00000000, 0x0044007c, 0x00440044, 0x0010007c, 0x00100010, 0x44107c10, 0x440047f0, 0x00007c00,      // ICON_LINK
-    0x00000000, 0x0044007c, 0x00440044, 0x0000007c, 0x00000010, 0x44007c10, 0x44004550, 0x00007c00,      // ICON_LINK_BROKE
-    0x02a00000, 0x22a43ffc, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_TEXT_NOTES
-    0x3ffc0000, 0x20042004, 0x245e27c4, 0x27c42444, 0x2004201e, 0x201e2004, 0x20042004, 0x00003ffc,      // ICON_NOTEBOOK
-    0x00000000, 0x07e00000, 0x04200420, 0x24243ffc, 0x24242424, 0x24242424, 0x3ffc2424, 0x00000000,      // ICON_SUITCASE
-    0x00000000, 0x0fe00000, 0x08200820, 0x40047ffc, 0x7ffc5554, 0x40045554, 0x7ffc4004, 0x00000000,      // ICON_SUITCASE_ZIP
-    0x00000000, 0x20043ffc, 0x3ffc2004, 0x13c81008, 0x100813c8, 0x10081008, 0x1ff81008, 0x00000000,      // ICON_MAILBOX
-    0x00000000, 0x40027ffe, 0x5ffa5ffa, 0x5ffa5ffa, 0x40025ffa, 0x03c07ffe, 0x1ff81ff8, 0x00000000,      // ICON_MONITOR
-    0x0ff00000, 0x6bfe7ffe, 0x7ffe7ffe, 0x68167ffe, 0x08106816, 0x08100810, 0x0ff00810, 0x00000000,      // ICON_PRINTER
-    0x3ff80000, 0xfffe2008, 0x870a8002, 0x904a888a, 0x904a904a, 0x870a888a, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA
-    0x0fc00000, 0xfcfe0cd8, 0x8002fffe, 0x84428382, 0x84428442, 0x80028382, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA_FLASH
-    0x00000000, 0x02400180, 0x08100420, 0x20041008, 0x23c42004, 0x22442244, 0x3ffc2244, 0x00000000,      // ICON_HOUSE
-    0x00000000, 0x1c700000, 0x3ff83ef8, 0x3ff83ff8, 0x0fe01ff0, 0x038007c0, 0x00000100, 0x00000000,      // ICON_HEART
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x80000000, 0xe000c000,      // ICON_CORNER
-    0x00000000, 0x14001c00, 0x15c01400, 0x15401540, 0x155c1540, 0x15541554, 0x1ddc1554, 0x00000000,      // ICON_VERTICAL_BARS
-    0x00000000, 0x03000300, 0x1b001b00, 0x1b601b60, 0x1b6c1b60, 0x1b6c1b6c, 0x1b6c1b6c, 0x00000000,      // ICON_VERTICAL_BARS_FILL
-    0x00000000, 0x00000000, 0x403e7ffe, 0x7ffe403e, 0x7ffe0000, 0x43fe43fe, 0x00007ffe, 0x00000000,      // ICON_LIFE_BARS
-    0x7ffc0000, 0x43844004, 0x43844284, 0x43844004, 0x42844284, 0x42844284, 0x40044384, 0x00007ffc,      // ICON_INFO
-    0x40008000, 0x10002000, 0x04000800, 0x01000200, 0x00400080, 0x00100020, 0x00040008, 0x00010002,      // ICON_CROSSLINE
-    0x00000000, 0x1ff01ff0, 0x18301830, 0x1f001830, 0x03001f00, 0x00000300, 0x03000300, 0x00000000,      // ICON_HELP
-    0x3ff00000, 0x2abc3550, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x00003ffc,      // ICON_FILETYPE_ALPHA
-    0x3ff00000, 0x201c2010, 0x22442184, 0x28142424, 0x29942814, 0x2ff42994, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_HOME
-    0x07fe0000, 0x04020402, 0x7fe20402, 0x44224422, 0x44224422, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS_VISIBLE
-    0x07fe0000, 0x04020402, 0x7c020402, 0x44024402, 0x44024402, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS
-    0x00000000, 0x40027ffe, 0x7ffe4002, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_WINDOW
-    0x09100000, 0x09f00910, 0x09100910, 0x00000910, 0x24a2779e, 0x27a224a2, 0x709e20a2, 0x00000000,      // ICON_HIDPI
-    0x3ff00000, 0x201c2010, 0x2a842e84, 0x2e842a84, 0x2ba42004, 0x2aa42aa4, 0x20042ba4, 0x00003ffc,      // ICON_FILETYPE_BINARY
-    0x00000000, 0x00000000, 0x00120012, 0x4a5e4bd2, 0x485233d2, 0x00004bd2, 0x00000000, 0x00000000,      // ICON_HEX
-    0x01800000, 0x381c0660, 0x23c42004, 0x23c42044, 0x13c82204, 0x08101008, 0x02400420, 0x00000180,      // ICON_SHIELD
-    0x007e0000, 0x20023fc2, 0x40227fe2, 0x400a403a, 0x400a400a, 0x400a400a, 0x4008400e, 0x00007ff8,      // ICON_FILE_NEW
-    0x00000000, 0x0042007e, 0x40027fc2, 0x44024002, 0x5f024402, 0x44024402, 0x7ffe4002, 0x00000000,      // ICON_FOLDER_ADD
-    0x44220000, 0x12482244, 0xf3cf0000, 0x14280420, 0x48122424, 0x08100810, 0x1ff81008, 0x03c00420,      // ICON_ALARM
-    0x0aa00000, 0x1ff80aa0, 0x1068700e, 0x1008706e, 0x1008700e, 0x1008700e, 0x0aa01ff8, 0x00000aa0,      // ICON_CPU
-    0x07e00000, 0x04201db8, 0x04a01c38, 0x04a01d38, 0x04a01d38, 0x04a01d38, 0x04201d38, 0x000007e0,      // ICON_ROM
-    0x00000000, 0x03c00000, 0x3c382ff0, 0x3c04380c, 0x01800000, 0x03c003c0, 0x00000180, 0x00000000,      // ICON_STEP_OVER
-    0x01800000, 0x01800180, 0x01800180, 0x03c007e0, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_INTO
-    0x01800000, 0x07e003c0, 0x01800180, 0x01800180, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_OUT
-    0x00000000, 0x0ff003c0, 0x181c1c34, 0x303c301c, 0x30003000, 0x1c301800, 0x03c00ff0, 0x00000000,      // ICON_RESTART
-    0x00000000, 0x00000000, 0x07e003c0, 0x0ff00ff0, 0x0ff00ff0, 0x03c007e0, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_ON
-    0x00000000, 0x00000000, 0x042003c0, 0x08100810, 0x08100810, 0x03c00420, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_OFF
-    0x00000000, 0x00000000, 0x1ff81ff8, 0x1ff80000, 0x00001ff8, 0x1ff81ff8, 0x00000000, 0x00000000,      // ICON_BURGER_MENU
-    0x00000000, 0x00000000, 0x00880070, 0x0c880088, 0x1e8810f8, 0x3e881288, 0x00000000, 0x00000000,      // ICON_CASE_SENSITIVE
-    0x00000000, 0x02000000, 0x07000a80, 0x07001fc0, 0x02000a80, 0x00300030, 0x00000000, 0x00000000,      // ICON_REG_EXP
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_FOLDER
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x00003ffc,      // ICON_FILE
-    0x1ff00000, 0x20082008, 0x17d02fe8, 0x05400ba0, 0x09200540, 0x23881010, 0x2fe827c8, 0x00001ff0,      // ICON_SAND_TIMER
-    0x01800000, 0x02400240, 0x05a00420, 0x09900990, 0x11881188, 0x21842004, 0x40024182, 0x00003ffc,      // ICON_WARNING
-    0x7ffe0000, 0x4ff24002, 0x4c324ff2, 0x4f824c02, 0x41824f82, 0x41824002, 0x40024182, 0x00007ffe,      // ICON_HELP_BOX
-    0x7ffe0000, 0x41824002, 0x40024182, 0x41824182, 0x41824182, 0x41824182, 0x40024182, 0x00007ffe,      // ICON_INFO_BOX
-    0x01800000, 0x04200240, 0x10080810, 0x7bde2004, 0x0a500a50, 0x08500bd0, 0x08100850, 0x00000ff0,      // ICON_PRIORITY
-    0x01800000, 0x18180660, 0x80016006, 0x98196006, 0x99996666, 0x19986666, 0x01800660, 0x00000000,      // ICON_LAYERS_ISO
-    0x07fe0000, 0x1c020402, 0x74021402, 0x54025402, 0x54025402, 0x500857fe, 0x40205ff8, 0x00007fe0,      // ICON_LAYERS2
-    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x422a422a, 0x422e422a, 0x40384e28, 0x00007fe0,      // ICON_MLAYERS
-    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x5b2a512a, 0x512e552a, 0x40385128, 0x00007fe0,      // ICON_MAPS
-    0x04200000, 0x1cf00c60, 0x11f019f0, 0x0f3807b8, 0x1e3c0f3c, 0x1c1c1e1c, 0x1e3c1c1c, 0x00000f70,      // ICON_HOT
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_229
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_230
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_231
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_232
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_233
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_234
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_235
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_236
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_237
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_238
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_239
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_240
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_241
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_242
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_243
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_244
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_245
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_246
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_247
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_248
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_249
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_250
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_251
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_252
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_253
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_254
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_255
-};
-
-// NOTE: A pointer to current icons array should be defined
-static unsigned int *guiIconsPtr = guiIcons;
-
-#endif      // !RAYGUI_NO_ICONS && !RAYGUI_CUSTOM_ICONS
-
-#ifndef RAYGUI_ICON_SIZE
-    #define RAYGUI_ICON_SIZE             0
-#endif
-
-// WARNING: Those values define the total size of the style data array,
-// if changed, previous saved styles could become incompatible
-#define RAYGUI_MAX_CONTROLS             16      // Maximum number of controls
-#define RAYGUI_MAX_PROPS_BASE           16      // Maximum number of base properties
-#define RAYGUI_MAX_PROPS_EXTENDED        8      // Maximum number of extended properties
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-// Gui control property style color element
-typedef enum { BORDER = 0, BASE, TEXT, OTHER } GuiPropertyElement;
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-static GuiState guiState = STATE_NORMAL;        // Gui global state, if !STATE_NORMAL, forces defined state
-
-static Font guiFont = { 0 };                    // Gui current font (WARNING: highly coupled to raylib)
-static bool guiLocked = false;                  // Gui lock state (no inputs processed)
-static float guiAlpha = 1.0f;                   // Gui controls transparency
-
-static unsigned int guiIconScale = 1;           // Gui icon default scale (if icons enabled)
-
-static bool guiTooltip = false;                 // Tooltip enabled/disabled
-static const char *guiTooltipPtr = NULL;        // Tooltip string pointer (string provided by user)
-
-static bool guiControlExclusiveMode = false;    // Gui control exclusive mode (no inputs processed except current control)
-static Rectangle guiControlExclusiveRec = { 0 }; // Gui control exclusive bounds rectangle, used as an unique identifier
-
-static int textBoxCursorIndex = 0;              // Cursor index, shared by all GuiTextBox*()
-//static int blinkCursorFrameCounter = 0;       // Frame counter for cursor blinking
-static int autoCursorCooldownCounter = 0;       // Cooldown frame counter for automatic cursor movement on key-down
-static int autoCursorDelayCounter = 0;          // Delay frame counter for automatic cursor movement
-
-//----------------------------------------------------------------------------------
-// Style data array for all gui style properties (allocated on data segment by default)
-//
-// NOTE 1: First set of BASE properties are generic to all controls but could be individually
-// overwritten per control, first set of EXTENDED properties are generic to all controls and
-// can not be overwritten individually but custom EXTENDED properties can be used by control
-//
-// NOTE 2: A new style set could be loaded over this array using GuiLoadStyle(),
-// but default gui style could always be recovered with GuiLoadStyleDefault()
-//
-// guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB
-//----------------------------------------------------------------------------------
-static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)] = { 0 };
-
-static bool guiStyleLoaded = false;         // Style loaded flag for lazy style initialization
-
-//----------------------------------------------------------------------------------
-// Standalone Mode Functions Declaration
-//
-// NOTE: raygui depend on some raylib input and drawing functions
-// To use raygui as standalone library, below functions must be defined by the user
-//----------------------------------------------------------------------------------
-#if defined(RAYGUI_STANDALONE)
-
-#define KEY_RIGHT           262
-#define KEY_LEFT            263
-#define KEY_DOWN            264
-#define KEY_UP              265
-#define KEY_BACKSPACE       259
-#define KEY_ENTER           257
-
-#define MOUSE_LEFT_BUTTON     0
-
-// Input required functions
-//-------------------------------------------------------------------------------
-static Vector2 GetMousePosition(void);
-static float GetMouseWheelMove(void);
-static bool IsMouseButtonDown(int button);
-static bool IsMouseButtonPressed(int button);
-static bool IsMouseButtonReleased(int button);
-
-static bool IsKeyDown(int key);
-static bool IsKeyPressed(int key);
-static int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()
-//-------------------------------------------------------------------------------
-
-// Drawing required functions
-//-------------------------------------------------------------------------------
-static void DrawRectangle(int x, int y, int width, int height, Color color);        // -- GuiDrawRectangle()
-static void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()
-//-------------------------------------------------------------------------------
-
-// Text required functions
-//-------------------------------------------------------------------------------
-static Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()
-static Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle(), load font
-
-static Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image
-static void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)
-
-static char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data
-static void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data
-
-static const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs
-
-static int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list
-static void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list
-
-static unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()
-//-------------------------------------------------------------------------------
-
-// raylib functions already implemented in raygui
-//-------------------------------------------------------------------------------
-static Color GetColor(int hexValue);                // Returns a Color struct from hexadecimal value
-static int ColorToInt(Color color);                 // Returns hexadecimal value for a Color
-static bool CheckCollisionPointRec(Vector2 point, Rectangle rec);   // Check if point is inside rectangle
-static const char *TextFormat(const char *text, ...);               // Formatting of text with variables to 'embed'
-static const char **TextSplit(const char *text, char delimiter, int *count);    // Split text into multiple strings
-static int TextToInteger(const char *text);         // Get integer value from text
-static float TextToFloat(const char *text);         // Get float value from text
-
-static int GetCodepointNext(const char *text, int *codepointSize);  // Get next codepoint in a UTF-8 encoded text
-static const char *CodepointToUTF8(int codepoint, int *byteSize);   // Encode codepoint into UTF-8 text (char array size returned as parameter)
-
-static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);  // Draw rectangle vertical gradient
-//-------------------------------------------------------------------------------
-
-#endif      // RAYGUI_STANDALONE
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Declaration
-//----------------------------------------------------------------------------------
-static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize);    // Load style from memory (binary only)
-
-static int GetTextWidth(const char *text);                      // Gui get text width using gui font and style
-static Rectangle GetTextBounds(int control, Rectangle bounds);  // Get text bounds considering control bounds
-static const char *GetTextIcon(const char *text, int *iconId);  // Get text icon if provided and move text cursor
-
-static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint);     // Gui draw text using default font
-static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color);   // Gui draw rectangle using default raygui style
-
-static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow);   // Split controls text into multiple strings
-static Vector3 ConvertHSVtoRGB(Vector3 hsv);                    // Convert color data from HSV to RGB
-static Vector3 ConvertRGBtoHSV(Vector3 rgb);                    // Convert color data from RGB to HSV
-
-static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue);   // Scroll bar control, used by GuiScrollPanel()
-static void GuiTooltip(Rectangle controlRec);                   // Draw tooltip using control rec position
-
-static Color GuiFade(Color color, float alpha);         // Fade color by an alpha factor
-
-//----------------------------------------------------------------------------------
-// Gui Setup Functions Definition
-//----------------------------------------------------------------------------------
-// Enable gui global state
-// NOTE: We check for STATE_DISABLED to avoid messing custom global state setups
-void GuiEnable(void) { if (guiState == STATE_DISABLED) guiState = STATE_NORMAL; }
-
-// Disable gui global state
-// NOTE: We check for STATE_NORMAL to avoid messing custom global state setups
-void GuiDisable(void) { if (guiState == STATE_NORMAL) guiState = STATE_DISABLED; }
-
-// Lock gui global state
-void GuiLock(void) { guiLocked = true; }
-
-// Unlock gui global state
-void GuiUnlock(void) { guiLocked = false; }
-
-// Check if gui is locked (global state)
-bool GuiIsLocked(void) { return guiLocked; }
-
-// Set gui controls alpha global state
-void GuiSetAlpha(float alpha)
-{
-    if (alpha < 0.0f) alpha = 0.0f;
-    else if (alpha > 1.0f) alpha = 1.0f;
-
-    guiAlpha = alpha;
-}
-
-// Set gui state (global state)
-void GuiSetState(int state) { guiState = (GuiState)state; }
-
-// Get gui state (global state)
-int GuiGetState(void) { return guiState; }
-
-// Set custom gui font
-// NOTE: Font loading/unloading is external to raygui
-void GuiSetFont(Font font)
-{
-    if (font.texture.id > 0)
-    {
-        // NOTE: If we try to setup a font but default style has not been
-        // lazily loaded before, it will be overwritten, so we need to force
-        // default style loading first
-        if (!guiStyleLoaded) GuiLoadStyleDefault();
-
-        guiFont = font;
-    }
-}
-
-// Get custom gui font
-Font GuiGetFont(void)
-{
-    return guiFont;
-}
-
-// Set control style property value
-void GuiSetStyle(int control, int property, int value)
-{
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-    guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;
-
-    // Default properties are propagated to all controls
-    if ((control == 0) && (property < RAYGUI_MAX_PROPS_BASE))
-    {
-        for (int i = 1; i < RAYGUI_MAX_CONTROLS; i++) guiStyle[i*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;
-    }
-}
-
-// Get control style property value
-int GuiGetStyle(int control, int property)
-{
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-    return guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property];
-}
-
-//----------------------------------------------------------------------------------
-// Gui Controls Functions Definition
-//----------------------------------------------------------------------------------
-
-// Window Box control
-int GuiWindowBox(Rectangle bounds, const char *title)
-{
-    // Window title bar height (including borders)
-    // NOTE: This define is also used by GuiMessageBox() and GuiTextInputBox()
-    #if !defined(RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT)
-        #define RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT        24
-    #endif
-
-    int result = 0;
-    //GuiState state = guiState;
-
-    int statusBarHeight = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT;
-
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)statusBarHeight };
-    if (bounds.height < statusBarHeight*2.0f) bounds.height = statusBarHeight*2.0f;
-
-    Rectangle windowPanel = { bounds.x, bounds.y + (float)statusBarHeight - 1, bounds.width, bounds.height - (float)statusBarHeight + 1 };
-    Rectangle closeButtonRec = { statusBar.x + statusBar.width - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - 20,
-                                 statusBar.y + statusBarHeight/2.0f - 18.0f/2.0f, 18, 18 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    // NOTE: Logic is directly managed by button
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiStatusBar(statusBar, title); // Draw window header as status bar
-    GuiPanel(windowPanel, NULL);    // Draw window base
-
-    // Draw window close button
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-#if defined(RAYGUI_NO_ICONS)
-    result = GuiButton(closeButtonRec, "x");
-#else
-    result = GuiButton(closeButtonRec, GuiIconText(ICON_CROSS_SMALL, NULL));
-#endif
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;      // Window close button clicked: result = 1
-}
-
-// Group Box control with text name
-int GuiGroupBox(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_GROUPBOX_LINE_THICK)
-        #define RAYGUI_GROUPBOX_LINE_THICK     1
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, RAYGUI_GROUPBOX_LINE_THICK }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-
-    GuiLine(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y - GuiGetStyle(DEFAULT, TEXT_SIZE)/2, bounds.width, (float)GuiGetStyle(DEFAULT, TEXT_SIZE) }, text);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Line control
-int GuiLine(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_LINE_ORIGIN_SIZE)
-        #define RAYGUI_LINE_MARGIN_TEXT  12
-    #endif
-    #if !defined(RAYGUI_LINE_TEXT_PADDING)
-        #define RAYGUI_LINE_TEXT_PADDING  4
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Color color = GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR));
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text == NULL) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, bounds.width, 1 }, 0, BLANK, color);
-    else
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = bounds.height;
-        textBounds.x = bounds.x + RAYGUI_LINE_MARGIN_TEXT;
-        textBounds.y = bounds.y;
-
-        // Draw line with embedded text label: "--- text --------------"
-        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);
-        GuiDrawText(text, textBounds, TEXT_ALIGN_LEFT, color);
-        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + 12 + textBounds.width + 4, bounds.y + bounds.height/2, bounds.width - textBounds.width - RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Panel control
-int GuiPanel(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_PANEL_BORDER_WIDTH)
-        #define RAYGUI_PANEL_BORDER_WIDTH   1
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    // Text will be drawn as a header bar (if provided)
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };
-    if ((text != NULL) && (bounds.height < RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f)) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;
-
-    if (text != NULL)
-    {
-        // Move panel bounds after the header bar
-        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-    }
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar
-
-    GuiDrawRectangle(bounds, RAYGUI_PANEL_BORDER_WIDTH, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED: (int)LINE_COLOR)),
-                     GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? BASE_COLOR_DISABLED : BACKGROUND_COLOR)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Tab Bar control
-// NOTE: Using GuiToggle() for the TABS
-int GuiTabBar(Rectangle bounds, const char **text, int count, int *active)
-{
-    #define RAYGUI_TABBAR_ITEM_WIDTH    160
-
-    int result = -1;
-    //GuiState state = guiState;
-
-    Rectangle tabBounds = { bounds.x, bounds.y, RAYGUI_TABBAR_ITEM_WIDTH, bounds.height };
-
-    if (*active < 0) *active = 0;
-    else if (*active > count - 1) *active = count - 1;
-
-    int offsetX = 0;    // Required in case tabs go out of screen
-    offsetX = (*active + 2)*RAYGUI_TABBAR_ITEM_WIDTH - GetScreenWidth();
-    if (offsetX < 0) offsetX = 0;
-
-    bool toggle = false;    // Required for individual toggles
-
-    // Draw control
-    //--------------------------------------------------------------------
-    for (int i = 0; i < count; i++)
-    {
-        tabBounds.x = bounds.x + (RAYGUI_TABBAR_ITEM_WIDTH + 4)*i - offsetX;
-
-        if (tabBounds.x < GetScreenWidth())
-        {
-            // Draw tabs as toggle controls
-            int textAlignment = GuiGetStyle(TOGGLE, TEXT_ALIGNMENT);
-            int textPadding = GuiGetStyle(TOGGLE, TEXT_PADDING);
-            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-            GuiSetStyle(TOGGLE, TEXT_PADDING, 8);
-
-            if (i == (*active))
-            {
-                toggle = true;
-                GuiToggle(tabBounds, GuiIconText(12, text[i]), &toggle);
-            }
-            else
-            {
-                toggle = false;
-                GuiToggle(tabBounds, GuiIconText(12, text[i]), &toggle);
-                if (toggle) *active = i;
-            }
-
-            // Close tab with middle mouse button pressed
-            if (CheckCollisionPointRec(GetMousePosition(), tabBounds) && IsMouseButtonPressed(MOUSE_MIDDLE_BUTTON)) result = i;
-
-            GuiSetStyle(TOGGLE, TEXT_PADDING, textPadding);
-            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, textAlignment);
-
-            // Draw tab close button
-            // NOTE: Only draw close button for current tab: if (CheckCollisionPointRec(mousePosition, tabBounds))
-            int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-            int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-            GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-#if defined(RAYGUI_NO_ICONS)
-            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, "x")) result = i;
-#else
-            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, GuiIconText(ICON_CROSS_SMALL, NULL))) result = i;
-#endif
-            GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);
-        }
-    }
-
-    // Draw tab-bar bottom line
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, 1 }, 0, BLANK, GetColor(GuiGetStyle(TOGGLE, BORDER_COLOR_NORMAL)));
-    //--------------------------------------------------------------------
-
-    return result;     // Return as result the current TAB closing requested
-}
-
-// Scroll Panel control
-int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view)
-{
-    #define RAYGUI_MIN_SCROLLBAR_WIDTH     40
-    #define RAYGUI_MIN_SCROLLBAR_HEIGHT    40
-    #define RAYGUI_MIN_MOUSE_WHEEL_SPEED   20
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Rectangle temp = { 0 };
-    if (view == NULL) view = &temp;
-
-    Vector2 scrollPos = { 0.0f, 0.0f };
-    if (scroll != NULL) scrollPos = *scroll;
-
-    // Text will be drawn as a header bar (if provided)
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };
-    if (bounds.height < RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;
-
-    if (text != NULL)
-    {
-        // Move panel bounds after the header bar
-        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + 1;
-    }
-
-    bool hasHorizontalScrollBar = (content.width > bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;
-    bool hasVerticalScrollBar = (content.height > bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;
-
-    // Recheck to account for the other scrollbar being visible
-    if (!hasHorizontalScrollBar) hasHorizontalScrollBar = (hasVerticalScrollBar && (content.width > (bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;
-    if (!hasVerticalScrollBar) hasVerticalScrollBar = (hasHorizontalScrollBar && (content.height > (bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;
-
-    int horizontalScrollBarWidth = hasHorizontalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;
-    int verticalScrollBarWidth =  hasVerticalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;
-    Rectangle horizontalScrollBar = {
-        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + verticalScrollBarWidth : (float)bounds.x) + GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)bounds.y + bounds.height - horizontalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)bounds.width - verticalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)horizontalScrollBarWidth
-    };
-    Rectangle verticalScrollBar = {
-        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)bounds.x + bounds.width - verticalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH)),
-        (float)bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)verticalScrollBarWidth,
-        (float)bounds.height - horizontalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)
-    };
-
-    // Make sure scroll bars have a minimum width/height
-    if (horizontalScrollBar.width < RAYGUI_MIN_SCROLLBAR_WIDTH) horizontalScrollBar.width = RAYGUI_MIN_SCROLLBAR_WIDTH;
-    if (verticalScrollBar.height < RAYGUI_MIN_SCROLLBAR_HEIGHT) verticalScrollBar.height = RAYGUI_MIN_SCROLLBAR_HEIGHT;
-
-    // Calculate view area (area without the scrollbars)
-    *view = (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)?
-                RAYGUI_CLITERAL(Rectangle){ bounds.x + verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth } :
-                RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth };
-
-    // Clip view area to the actual content size
-    if (view->width > content.width) view->width = content.width;
-    if (view->height > content.height) view->height = content.height;
-
-    float horizontalMin = hasHorizontalScrollBar? ((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    float horizontalMax = hasHorizontalScrollBar? content.width - bounds.width + (float)verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH) - (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)verticalScrollBarWidth : 0) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    float verticalMin = hasVerticalScrollBar? 0.0f : -1.0f;
-    float verticalMax = hasVerticalScrollBar? content.height - bounds.height + (float)horizontalScrollBarWidth + (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-#if defined(SUPPORT_SCROLLBAR_KEY_INPUT)
-            if (hasHorizontalScrollBar)
-            {
-                if (IsKeyDown(KEY_RIGHT)) scrollPos.x -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                if (IsKeyDown(KEY_LEFT)) scrollPos.x += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-            }
-
-            if (hasVerticalScrollBar)
-            {
-                if (IsKeyDown(KEY_DOWN)) scrollPos.y -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                if (IsKeyDown(KEY_UP)) scrollPos.y += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-            }
-#endif
-            float wheelMove = GetMouseWheelMove();
-
-            // Set scrolling speed with mouse wheel based on ratio between bounds and content
-            Vector2 mouseWheelSpeed = { content.width/bounds.width, content.height/bounds.height };
-            if (mouseWheelSpeed.x < RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.x = RAYGUI_MIN_MOUSE_WHEEL_SPEED;
-            if (mouseWheelSpeed.y < RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.y = RAYGUI_MIN_MOUSE_WHEEL_SPEED;
-
-            // Horizontal and vertical scrolling with mouse wheel
-            if (hasHorizontalScrollBar && (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_LEFT_SHIFT))) scrollPos.x += wheelMove*mouseWheelSpeed.x;
-            else scrollPos.y += wheelMove*mouseWheelSpeed.y; // Vertical scroll
-        }
-    }
-
-    // Normalize scroll values
-    if (scrollPos.x > -horizontalMin) scrollPos.x = -horizontalMin;
-    if (scrollPos.x < -horizontalMax) scrollPos.x = -horizontalMax;
-    if (scrollPos.y > -verticalMin) scrollPos.y = -verticalMin;
-    if (scrollPos.y < -verticalMax) scrollPos.y = -verticalMax;
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar
-
-    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));        // Draw background
-
-    // Save size of the scrollbar slider
-    const int slider = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);
-
-    // Draw horizontal scrollbar if visible
-    if (hasHorizontalScrollBar)
-    {
-        // Change scrollbar slider size to show the diff in size between the content width and the widget width
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)/(int)content.width)*((int)bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)));
-        scrollPos.x = (float)-GuiScrollBar(horizontalScrollBar, (int)-scrollPos.x, (int)horizontalMin, (int)horizontalMax);
-    }
-    else scrollPos.x = 0.0f;
-
-    // Draw vertical scrollbar if visible
-    if (hasVerticalScrollBar)
-    {
-        // Change scrollbar slider size to show the diff in size between the content height and the widget height
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)/(int)content.height)*((int)bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)));
-        scrollPos.y = (float)-GuiScrollBar(verticalScrollBar, (int)-scrollPos.y, (int)verticalMin, (int)verticalMax);
-    }
-    else scrollPos.y = 0.0f;
-
-    // Draw detail corner rectangle if both scroll bars are visible
-    if (hasHorizontalScrollBar && hasVerticalScrollBar)
-    {
-        Rectangle corner = { (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) + 2) : (horizontalScrollBar.x + horizontalScrollBar.width + 2), verticalScrollBar.y + verticalScrollBar.height + 2, (float)horizontalScrollBarWidth - 4, (float)verticalScrollBarWidth - 4 };
-        GuiDrawRectangle(corner, 0, BLANK, GetColor(GuiGetStyle(LISTVIEW, TEXT + (state*3))));
-    }
-
-    // Draw scrollbar lines depending on current state
-    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + (state*3))), BLANK);
-
-    // Set scrollbar slider size back to the way it was before
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, slider);
-    //--------------------------------------------------------------------
-
-    if (scroll != NULL) *scroll = scrollPos;
-
-    return result;
-}
-
-// Label control
-int GuiLabel(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    //...
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Button control, returns true when clicked
-int GuiButton(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(BUTTON, BORDER_WIDTH), GetColor(GuiGetStyle(BUTTON, BORDER + (state*3))), GetColor(GuiGetStyle(BUTTON, BASE + (state*3))));
-    GuiDrawText(text, GetTextBounds(BUTTON, bounds), GuiGetStyle(BUTTON, TEXT_ALIGNMENT), GetColor(GuiGetStyle(BUTTON, TEXT + (state*3))));
-
-    if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //------------------------------------------------------------------
-
-    return result;      // Button pressed: result = 1
-}
-
-// Label button control
-int GuiLabelButton(Rectangle bounds, const char *text)
-{
-    GuiState state = guiState;
-    bool pressed = false;
-
-    // NOTE: We force bounds.width to be all text
-    float textWidth = (float)GetTextWidth(text);
-    if ((bounds.width - 2*GuiGetStyle(LABEL, BORDER_WIDTH) - 2*GuiGetStyle(LABEL, TEXT_PADDING)) < textWidth) bounds.width = textWidth + 2*GuiGetStyle(LABEL, BORDER_WIDTH) + 2*GuiGetStyle(LABEL, TEXT_PADDING) + 2;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check checkbox state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) pressed = true;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return pressed;
-}
-
-// Toggle Button control
-int GuiToggle(Rectangle bounds, const char *text, bool *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    bool temp = false;
-    if (active == NULL) active = &temp;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check toggle button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_NORMAL;
-                *active = !(*active);
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_NORMAL)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, ((*active)? BORDER_COLOR_PRESSED : (BORDER + state*3)))), GetColor(GuiGetStyle(TOGGLE, ((*active)? BASE_COLOR_PRESSED : (BASE + state*3)))));
-        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, ((*active)? TEXT_COLOR_PRESSED : (TEXT + state*3)))));
-    }
-    else
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + state*3)), GetColor(GuiGetStyle(TOGGLE, BASE + state*3)));
-        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, TEXT + state*3)));
-    }
-
-    if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Toggle Group control
-int GuiToggleGroup(Rectangle bounds, const char *text, int *active)
-{
-    #if !defined(RAYGUI_TOGGLEGROUP_MAX_ITEMS)
-        #define RAYGUI_TOGGLEGROUP_MAX_ITEMS    32
-    #endif
-
-    int result = 0;
-    float initBoundsX = bounds.x;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    bool toggle = false;    // Required for individual toggles
-
-    // Get substrings items from text (items pointers)
-    int rows[RAYGUI_TOGGLEGROUP_MAX_ITEMS] = { 0 };
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, rows);
-
-    int prevRow = rows[0];
-
-    for (int i = 0; i < itemCount; i++)
-    {
-        if (prevRow != rows[i])
-        {
-            bounds.x = initBoundsX;
-            bounds.y += (bounds.height + GuiGetStyle(TOGGLE, GROUP_PADDING));
-            prevRow = rows[i];
-        }
-
-        if (i == (*active))
-        {
-            toggle = true;
-            GuiToggle(bounds, items[i], &toggle);
-        }
-        else
-        {
-            toggle = false;
-            GuiToggle(bounds, items[i], &toggle);
-            if (toggle) *active = i;
-        }
-
-        bounds.x += (bounds.width + GuiGetStyle(TOGGLE, GROUP_PADDING));
-    }
-
-    return result;
-}
-
-// Toggle Slider control extended
-int GuiToggleSlider(Rectangle bounds, const char *text, int *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    //bool toggle = false;    // Required for individual toggles
-
-    // Get substrings items from text (items pointers)
-    int itemCount = 0;
-    const char **items = NULL;
-
-    if (text != NULL) items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    Rectangle slider = {
-        0,      // Calculated later depending on the active toggle
-        bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),
-        (bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - (itemCount + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING))/itemCount,
-        bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                (*active)++;
-                result = 1;
-            }
-            else state = STATE_FOCUSED;
-        }
-
-        if ((*active) && (state != STATE_FOCUSED)) state = STATE_PRESSED;
-    }
-
-    if (*active >= itemCount) *active = 0;
-    slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH) + (*active + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING) + (*active)*slider.width;
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + (state*3))),
-        GetColor(GuiGetStyle(TOGGLE, BASE_COLOR_NORMAL)));
-
-    // Draw internal slider
-    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_FOCUSED)));
-    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-
-    // Draw text in slider
-    if (text != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(text);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = slider.x + slider.width/2 - textBounds.width/2;
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(items[*active], textBounds, GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), Fade(GetColor(GuiGetStyle(TOGGLE, TEXT + (state*3))), guiAlpha));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Check Box control, returns 1 when state changed
-int GuiCheckBox(Rectangle bounds, const char *text, bool *checked)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    bool temp = false;
-    if (checked == NULL) checked = &temp;
-
-    Rectangle textBounds = { 0 };
-
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(CHECKBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        Rectangle totalBounds = {
-            (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT)? textBounds.x : bounds.x,
-            bounds.y,
-            bounds.width + textBounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING),
-            bounds.height,
-        };
-
-        // Check checkbox state
-        if (CheckCollisionPointRec(mousePoint, totalBounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                *checked = !(*checked);
-                result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(CHECKBOX, BORDER_WIDTH), GetColor(GuiGetStyle(CHECKBOX, BORDER + (state*3))), BLANK);
-
-    if (*checked)
-    {
-        Rectangle check = { bounds.x + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),
-                            bounds.y + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),
-                            bounds.width - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)),
-                            bounds.height - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)) };
-        GuiDrawRectangle(check, 0, BLANK, GetColor(GuiGetStyle(CHECKBOX, TEXT + state*3)));
-    }
-
-    GuiDrawText(text, textBounds, (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Combo Box control
-int GuiComboBox(Rectangle bounds, const char *text, int *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    bounds.width -= (GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH) + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING));
-
-    Rectangle selector = { (float)bounds.x + bounds.width + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING),
-                           (float)bounds.y, (float)GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH), (float)bounds.height };
-
-    // Get substrings items from text (items pointers, lengths and count)
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    if (*active < 0) *active = 0;
-    else if (*active > (itemCount - 1)) *active = itemCount - 1;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && (itemCount > 1) && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (CheckCollisionPointRec(mousePoint, bounds) ||
-            CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-            {
-                *active += 1;
-                if (*active >= itemCount) *active = 0;      // Cyclic combobox
-            }
-
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    // Draw combo box main
-    GuiDrawRectangle(bounds, GuiGetStyle(COMBOBOX, BORDER_WIDTH), GetColor(GuiGetStyle(COMBOBOX, BORDER + (state*3))), GetColor(GuiGetStyle(COMBOBOX, BASE + (state*3))));
-    GuiDrawText(items[*active], GetTextBounds(COMBOBOX, bounds), GuiGetStyle(COMBOBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(COMBOBOX, TEXT + (state*3))));
-
-    // Draw selector using a custom button
-    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    GuiButton(selector, TextFormat("%i/%i", *active + 1, itemCount));
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Dropdown Box control
-// NOTE: Returns mouse click
-int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    int itemSelected = *active;
-    int itemFocused = -1;
-
-    int direction = 0; // Dropdown box open direction: down (default)
-    if (GuiGetStyle(DROPDOWNBOX, DROPDOWN_ROLL_UP) == 1) direction = 1; // Up
-
-    // Get substrings items from text (items pointers, lengths and count)
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    Rectangle boundsOpen = bounds;
-    boundsOpen.height = (itemCount + 1)*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-    if (direction == 1) boundsOpen.y -= itemCount*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING)) + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING);
-
-    Rectangle itemBounds = bounds;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && (editMode || !guiLocked) && (itemCount > 1) && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            // Check if mouse has been pressed or released outside limits
-            if (!CheckCollisionPointRec(mousePoint, boundsOpen))
-            {
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON) || IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-
-            // Check if already selected item has been pressed again
-            if (CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-
-            // Check focused and selected item
-            for (int i = 0; i < itemCount; i++)
-            {
-                // Update item rectangle y position for next item
-                if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-                else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-
-                if (CheckCollisionPointRec(mousePoint, itemBounds))
-                {
-                    itemFocused = i;
-                    if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-                    {
-                        itemSelected = i;
-                        result = 1;         // Item selected
-                    }
-                    break;
-                }
-            }
-
-            itemBounds = bounds;
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    result = 1;
-                    state = STATE_PRESSED;
-                }
-                else state = STATE_FOCUSED;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (editMode) GuiPanel(boundsOpen, NULL);
-
-    GuiDrawRectangle(bounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER + state*3)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE + state*3)));
-    GuiDrawText(items[itemSelected], GetTextBounds(DROPDOWNBOX, bounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + state*3)));
-
-    if (editMode)
-    {
-        // Draw visible items
-        for (int i = 0; i < itemCount; i++)
-        {
-            // Update item rectangle y position for next item
-            if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-            else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-
-            if (i == itemSelected)
-            {
-                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_PRESSED)));
-                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_PRESSED)));
-            }
-            else if (i == itemFocused)
-            {
-                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_FOCUSED)));
-                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_FOCUSED)));
-            }
-            else GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_NORMAL)));
-        }
-    }
-
-    if (!GuiGetStyle(DROPDOWNBOX, DROPDOWN_ARROW_HIDDEN))
-    {
-        // Draw arrows (using icon if available)
-#if defined(RAYGUI_NO_ICONS)
-        GuiDrawText("v", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 2, 10, 10 },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-#else
-        GuiDrawText(direction? "#121#" : "#120#", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 6, 10, 10 },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));   // ICON_ARROW_DOWN_FILL
-#endif
-    }
-    //--------------------------------------------------------------------
-
-    *active = itemSelected;
-
-    // TODO: Use result to return more internal states: mouse-press out-of-bounds, mouse-press over selected-item...
-    return result;   // Mouse click: result = 1
-}
-
-// Text Box control
-// NOTE: Returns true on ENTER pressed (useful for data validation)
-int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode)
-{
-    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)
-        #define RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN  40        // Frames to wait for autocursor movement
-    #endif
-    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY)
-        #define RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY      1        // Frames delay for autocursor movement
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    bool multiline = false;     // TODO: Consider multiline text input
-    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);
-
-    Rectangle textBounds = GetTextBounds(TEXTBOX, bounds);
-    int textLength = (int)strlen(text);     // Get current text length
-    int thisCursorIndex = textBoxCursorIndex;
-    if (thisCursorIndex > textLength) thisCursorIndex = textLength;
-    int textWidth = GetTextWidth(text) - GetTextWidth(text + thisCursorIndex);
-    int textIndexOffset = 0;    // Text index offset to start drawing in the box
-
-    // Cursor rectangle
-    // NOTE: Position X value should be updated
-    Rectangle cursor = {
-        textBounds.x + textWidth + GuiGetStyle(DEFAULT, TEXT_SPACING),
-        textBounds.y + textBounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE),
-        2,
-        (float)GuiGetStyle(DEFAULT, TEXT_SIZE)*2
-    };
-
-    if (cursor.height >= bounds.height) cursor.height = bounds.height - GuiGetStyle(TEXTBOX, BORDER_WIDTH)*2;
-    if (cursor.y < (bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH))) cursor.y = bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH);
-
-    // Mouse cursor rectangle
-    // NOTE: Initialized outside of screen
-    Rectangle mouseCursor = cursor;
-    mouseCursor.x = -1;
-    mouseCursor.width = 1;
-
-    // Auto-cursor movement logic
-    // NOTE: Cursor moves automatically when key down after some time
-    if (IsKeyDown(KEY_LEFT) || IsKeyDown(KEY_RIGHT) || IsKeyDown(KEY_UP) || IsKeyDown(KEY_DOWN) || IsKeyDown(KEY_BACKSPACE) || IsKeyDown(KEY_DELETE)) autoCursorCooldownCounter++;
-    else
-    {
-        autoCursorCooldownCounter = 0;      // GLOBAL: Cursor cooldown counter
-        autoCursorDelayCounter = 0;         // GLOBAL: Cursor delay counter
-    }
-
-    // Blink-cursor frame counter
-    //if (!autoCursorMode) blinkCursorFrameCounter++;
-    //else blinkCursorFrameCounter = 0;
-
-    // Update control
-    //--------------------------------------------------------------------
-    // WARNING: Text editing is only supported under certain conditions:
-    if ((state != STATE_DISABLED) &&                // Control not disabled
-        !GuiGetStyle(TEXTBOX, TEXT_READONLY) &&     // TextBox not on read-only mode
-        !guiLocked &&                               // Gui not locked
-        !guiControlExclusiveMode &&                       // No gui slider on dragging
-        (wrapMode == TEXT_WRAP_NONE))               // No wrap mode
-    {
-        Vector2 mousePosition = GetMousePosition();
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            if (textBoxCursorIndex > textLength) textBoxCursorIndex = textLength;
-
-            // If text does not fit in the textbox and current cursor position is out of bounds,
-            // we add an index offset to text for drawing only what requires depending on cursor
-            while (textWidth >= textBounds.width)
-            {
-                int nextCodepointSize = 0;
-                GetCodepointNext(text + textIndexOffset, &nextCodepointSize);
-
-                textIndexOffset += nextCodepointSize;
-
-                textWidth = GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex);
-            }
-
-            int codepoint = GetCharPressed();       // Get Unicode codepoint
-            if (multiline && IsKeyPressed(KEY_ENTER)) codepoint = (int)'\n';
-
-            // Encode codepoint as UTF-8
-            int codepointSize = 0;
-            const char *charEncoded = CodepointToUTF8(codepoint, &codepointSize);
-
-            // Add codepoint to text, at current cursor position
-            // NOTE: Make sure we do not overflow buffer size
-            if (((multiline && (codepoint == (int)'\n')) || (codepoint >= 32)) && ((textLength + codepointSize) < textSize))
-            {
-                // Move forward data from cursor position
-                for (int i = (textLength + codepointSize); i > textBoxCursorIndex; i--) text[i] = text[i - codepointSize];
-
-                // Add new codepoint in current cursor position
-                for (int i = 0; i < codepointSize; i++) text[textBoxCursorIndex + i] = charEncoded[i];
-
-                textBoxCursorIndex += codepointSize;
-                textLength += codepointSize;
-
-                // Make sure text last character is EOL
-                text[textLength] = '\0';
-            }
-
-            // Move cursor to start
-            if ((textLength > 0) && IsKeyPressed(KEY_HOME)) textBoxCursorIndex = 0;
-
-            // Move cursor to end
-            if ((textLength > textBoxCursorIndex) && IsKeyPressed(KEY_END)) textBoxCursorIndex = textLength;
-
-            // Delete codepoint from text, after current cursor position
-            if ((textLength > textBoxCursorIndex) && (IsKeyPressed(KEY_DELETE) || (IsKeyDown(KEY_DELETE) && (autoCursorCooldownCounter >= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_DELETE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int nextCodepointSize = 0;
-                    GetCodepointNext(text + textBoxCursorIndex, &nextCodepointSize);
-
-                    // Move backward text from cursor position
-                    for (int i = textBoxCursorIndex; i < textLength; i++) text[i] = text[i + nextCodepointSize];
-
-                    textLength -= codepointSize;
-                    if (textBoxCursorIndex > textLength) textBoxCursorIndex = textLength;
-
-                    // Make sure text last character is EOL
-                    text[textLength] = '\0';
-                }
-            }
-
-            // Delete related codepoints from text, before current cursor position
-            if ((textLength > 0) && IsKeyPressed(KEY_BACKSPACE) && (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_RIGHT_CONTROL)))
-            {
-                int i = textBoxCursorIndex - 1;
-                int accCodepointSize = 0;
-
-                // Move cursor to the end of word if on space already
-                while ((i > 0) && isspace(text[i]))
-                {
-                    int prevCodepointSize = 0;
-                    GetCodepointPrevious(text + i, &prevCodepointSize);
-                    i -= prevCodepointSize;
-                    accCodepointSize += prevCodepointSize;
-                }
-
-                // Move cursor to the start of the word
-                while ((i > 0) && !isspace(text[i]))
-                {
-                    int prevCodepointSize = 0;
-                    GetCodepointPrevious(text + i, &prevCodepointSize);
-                    i -= prevCodepointSize;
-                    accCodepointSize += prevCodepointSize;
-                }
-
-                // Move forward text from cursor position
-                for (int j = (textBoxCursorIndex - accCodepointSize); j < textLength; j++) text[j] = text[j + accCodepointSize];
-
-                // Prevent cursor index from decrementing past 0
-                if (textBoxCursorIndex > 0)
-                {
-                    textBoxCursorIndex -= accCodepointSize;
-                    textLength -= accCodepointSize;
-                }
-
-                // Make sure text last character is EOL
-                text[textLength] = '\0';
-            }
-            else if ((textLength > 0) && (IsKeyPressed(KEY_BACKSPACE) || (IsKeyDown(KEY_BACKSPACE) && (autoCursorCooldownCounter >= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_BACKSPACE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int prevCodepointSize = 0;
-
-                    // Prevent cursor index from decrementing past 0
-                    if (textBoxCursorIndex > 0)
-                    {
-                        GetCodepointPrevious(text + textBoxCursorIndex, &prevCodepointSize);
-
-                        // Move backward text from cursor position
-                        for (int i = (textBoxCursorIndex - prevCodepointSize); i < textLength; i++) text[i] = text[i + prevCodepointSize];
-
-                        textBoxCursorIndex -= codepointSize;
-                        textLength -= codepointSize;
-                    }
-
-                    // Make sure text last character is EOL
-                    text[textLength] = '\0';
-                }
-            }
-
-            // Move cursor position with keys
-            if (IsKeyPressed(KEY_LEFT) || (IsKeyDown(KEY_LEFT) && (autoCursorCooldownCounter > RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_LEFT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int prevCodepointSize = 0;
-                    if (textBoxCursorIndex > 0) GetCodepointPrevious(text + textBoxCursorIndex, &prevCodepointSize);
-
-                    if (textBoxCursorIndex >= prevCodepointSize) textBoxCursorIndex -= prevCodepointSize;
-                }
-            }
-            else if (IsKeyPressed(KEY_RIGHT) || (IsKeyDown(KEY_RIGHT) && (autoCursorCooldownCounter > RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_RIGHT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int nextCodepointSize = 0;
-                    GetCodepointNext(text + textBoxCursorIndex, &nextCodepointSize);
-
-                    if ((textBoxCursorIndex + nextCodepointSize) <= textLength) textBoxCursorIndex += nextCodepointSize;
-                }
-            }
-
-            // Move cursor position with mouse
-            if (CheckCollisionPointRec(mousePosition, textBounds))     // Mouse hover text
-            {
-                float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/(float)guiFont.baseSize;
-                int codepointIndex = 0;
-                float glyphWidth = 0.0f;
-                float widthToMouseX = 0;
-                int mouseCursorIndex = 0;
-
-                for (int i = textIndexOffset; i < textLength; i++)
-                {
-                    codepoint = GetCodepointNext(&text[i], &codepointSize);
-                    codepointIndex = GetGlyphIndex(guiFont, codepoint);
-
-                    if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);
-                    else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);
-
-                    if (mousePosition.x <= (textBounds.x + (widthToMouseX + glyphWidth/2)))
-                    {
-                        mouseCursor.x = textBounds.x + widthToMouseX;
-                        mouseCursorIndex = i;
-                        break;
-                    }
-
-                    widthToMouseX += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-                }
-
-                // Check if mouse cursor is at the last position
-                int textEndWidth = GetTextWidth(text + textIndexOffset);
-                if (GetMousePosition().x >= (textBounds.x + textEndWidth - glyphWidth/2))
-                {
-                    mouseCursor.x = textBounds.x + textEndWidth;
-                    mouseCursorIndex = textLength;
-                }
-
-                // Place cursor at required index on mouse click
-                if ((mouseCursor.x >= 0) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    cursor.x = mouseCursor.x;
-                    textBoxCursorIndex = mouseCursorIndex;
-                }
-            }
-            else mouseCursor.x = -1;
-
-            // Recalculate cursor position.y depending on textBoxCursorIndex
-            cursor.x = bounds.x + GuiGetStyle(TEXTBOX, TEXT_PADDING) + GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex) + GuiGetStyle(DEFAULT, TEXT_SPACING);
-            //if (multiline) cursor.y = GetTextLines()
-
-            // Finish text editing on ENTER or mouse click outside bounds
-            if ((!multiline && IsKeyPressed(KEY_ENTER)) ||
-                (!CheckCollisionPointRec(mousePosition, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))
-            {
-                textBoxCursorIndex = 0;     // GLOBAL: Reset the shared cursor index
-                result = 1;
-            }
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePosition, bounds))
-            {
-                state = STATE_FOCUSED;
-
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    textBoxCursorIndex = textLength;   // GLOBAL: Place cursor index to the end of current text
-                    result = 1;
-                }
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_PRESSED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_PRESSED)));
-    }
-    else if (state == STATE_DISABLED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_DISABLED)));
-    }
-    else GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), BLANK);
-
-    // Draw text considering index offset if required
-    // NOTE: Text index offset depends on cursor position
-    GuiDrawText(text + textIndexOffset, textBounds, GuiGetStyle(TEXTBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TEXTBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode && !GuiGetStyle(TEXTBOX, TEXT_READONLY))
-    {
-        //if (autoCursorMode || ((blinkCursorFrameCounter/40)%2 == 0))
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));
-
-        // Draw mouse position cursor (if required)
-        if (mouseCursor.x >= 0) GuiDrawRectangle(mouseCursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));
-    }
-    else if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //--------------------------------------------------------------------
-
-    return result;      // Mouse button pressed: result = 1
-}
-
-/*
-// Text Box control with multiple lines and word-wrap
-// NOTE: This text-box is readonly, no editing supported by default
-bool GuiTextBoxMulti(Rectangle bounds, char *text, int textSize, bool editMode)
-{
-    bool pressed = false;
-
-    GuiSetStyle(TEXTBOX, TEXT_READONLY, 1);
-    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_WORD);   // WARNING: If wrap mode enabled, text editing is not supported
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_TOP);
-
-    // TODO: Implement methods to calculate cursor position properly
-    pressed = GuiTextBox(bounds, text, textSize, editMode);
-
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);
-    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_NONE);
-    GuiSetStyle(TEXTBOX, TEXT_READONLY, 0);
-
-    return pressed;
-}
-*/
-
-// Spinner control, returns selected value
-int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)
-{
-    int result = 1;
-    GuiState state = guiState;
-
-    int tempValue = *value;
-
-    Rectangle spinner = { bounds.x + GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING), bounds.y,
-                          bounds.width - 2*(GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING)), bounds.height };
-    Rectangle leftButtonBound = { (float)bounds.x, (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };
-    Rectangle rightButtonBound = { (float)bounds.x + bounds.width - GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };
-
-    Rectangle textBounds = { 0 };
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SPINNER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SPINNER, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check spinner state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-
-#if defined(RAYGUI_NO_ICONS)
-    if (GuiButton(leftButtonBound, "<")) tempValue--;
-    if (GuiButton(rightButtonBound, ">")) tempValue++;
-#else
-    if (GuiButton(leftButtonBound, GuiIconText(ICON_ARROW_LEFT_FILL, NULL))) tempValue--;
-    if (GuiButton(rightButtonBound, GuiIconText(ICON_ARROW_RIGHT_FILL, NULL))) tempValue++;
-#endif
-
-    if (!editMode)
-    {
-        if (tempValue < minValue) tempValue = minValue;
-        if (tempValue > maxValue) tempValue = maxValue;
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    result = GuiValueBox(spinner, NULL, &tempValue, minValue, maxValue, editMode);
-
-    // Draw value selector custom buttons
-    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, GuiGetStyle(SPINNER, BORDER_WIDTH));
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds, (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    *value = tempValue;
-    return result;
-}
-
-// Value Box control, updates input text with numbers
-// NOTE: Requires static variables: frameCounter
-int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)
-{
-    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)
-        #define RAYGUI_VALUEBOX_MAX_CHARS  32
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = "\0";
-    sprintf(textValue, "%i", *value);
-
-    Rectangle textBounds = { 0 };
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        bool valueHasChanged = false;
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            int keyCount = (int)strlen(textValue);
-
-            // Only allow keys in range [48..57]
-            if (keyCount < RAYGUI_VALUEBOX_MAX_CHARS)
-            {
-                if (GetTextWidth(textValue) < bounds.width)
-                {
-                    int key = GetCharPressed();
-                    if ((key >= 48) && (key <= 57))
-                    {
-                        textValue[keyCount] = (char)key;
-                        keyCount++;
-                        valueHasChanged = true;
-                    }
-                }
-            }
-
-            // Delete text
-            if (keyCount > 0)
-            {
-                if (IsKeyPressed(KEY_BACKSPACE))
-                {
-                    keyCount--;
-                    textValue[keyCount] = '\0';
-                    valueHasChanged = true;
-                }
-            }
-
-            if (valueHasChanged) *value = TextToInteger(textValue);
-
-            // NOTE: We are not clamp values until user input finishes
-            //if (*value > maxValue) *value = maxValue;
-            //else if (*value < minValue) *value = minValue;
-
-            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))
-            {
-                if (*value > maxValue) *value = maxValue;
-                else if (*value < minValue) *value = minValue;
-
-                result = 1;
-            }
-        }
-        else
-        {
-            if (*value > maxValue) *value = maxValue;
-            else if (*value < minValue) *value = minValue;
-
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                state = STATE_FOCUSED;
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    Color baseColor = BLANK;
-    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));
-    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);
-    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode)
-    {
-        // NOTE: ValueBox internal text is always centered
-        Rectangle cursor = { bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1, bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4, bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH) };
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));
-    }
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds, (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Floating point Value Box control, updates input val_str with numbers
-// NOTE: Requires static variables: frameCounter
-int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode)
-{
-    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)
-        #define RAYGUI_VALUEBOX_MAX_CHARS  32
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    //char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = "\0";
-    //sprintf(textValue, "%2.2f", *value);
-
-    Rectangle textBounds = {0};
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        bool valueHasChanged = false;
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            int keyCount = (int)strlen(textValue);
-
-            // Only allow keys in range [48..57]
-            if (keyCount < RAYGUI_VALUEBOX_MAX_CHARS)
-            {
-                if (GetTextWidth(textValue) < bounds.width)
-                {
-                    int key = GetCharPressed();
-                    if (((key >= 48) && (key <= 57)) ||
-                        (key == '.') ||
-                        ((keyCount == 0) && (key == '+')) ||  // NOTE: Sign can only be in first position
-                        ((keyCount == 0) && (key == '-')))
-                    {
-                        textValue[keyCount] = (char)key;
-                        keyCount++;
-
-                        valueHasChanged = true;
-                    }
-                }
-            }
-
-            // Pressed backspace
-            if (IsKeyPressed(KEY_BACKSPACE))
-            {
-                if (keyCount > 0)
-                {
-                    keyCount--;
-                    textValue[keyCount] = '\0';
-                    valueHasChanged = true;
-                }
-            }
-
-            if (valueHasChanged) *value = TextToFloat(textValue);
-
-            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON))) result = 1;
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                state = STATE_FOCUSED;
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    Color baseColor = BLANK;
-    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));
-    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);
-    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode)
-    {
-        // NOTE: ValueBox internal text is always centered
-        Rectangle cursor = {bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1,
-                            bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4,
-                            bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH)};
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));
-    }
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds,
-                (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT,
-                GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Slider control with pro parameters
-// NOTE: Other GuiSlider*() controls use this one
-int GuiSliderPro(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue, int sliderWidth)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    float temp = (maxValue - minValue)/2.0f;
-    if (value == NULL) value = &temp;
-    float oldValue = *value;
-
-    Rectangle slider = { bounds.x, bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),
-                         0, bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-                    // Get equivalent value and slider position from mousePosition.x
-                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                if (!CheckCollisionPointRec(mousePoint, slider))
-                {
-                    // Get equivalent value and slider position from mousePosition.x
-                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;
-                }
-            }
-            else state = STATE_FOCUSED;
-        }
-
-        if (*value > maxValue) *value = maxValue;
-        else if (*value < minValue) *value = minValue;
-    }
-
-    // Control value change check
-    if (oldValue == *value) result = 0;
-    else result = 1;
-
-    // Slider bar limits check
-    float sliderValue = (((*value - minValue)/(maxValue - minValue))*(bounds.width - sliderWidth - 2*GuiGetStyle(SLIDER, BORDER_WIDTH)));
-    if (sliderWidth > 0)        // Slider
-    {
-        slider.x += sliderValue;
-        slider.width = (float)sliderWidth;
-        if (slider.x <= (bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH))) slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH);
-        else if ((slider.x + slider.width) >= (bounds.x + bounds.width)) slider.x = bounds.x + bounds.width - slider.width - GuiGetStyle(SLIDER, BORDER_WIDTH);
-    }
-    else if (sliderWidth == 0)  // SliderBar
-    {
-        slider.x += GuiGetStyle(SLIDER, BORDER_WIDTH);
-        slider.width = sliderValue;
-        if (slider.width > bounds.width) slider.width = bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH);
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(SLIDER, BORDER + (state*3))), GetColor(GuiGetStyle(SLIDER, (state != STATE_DISABLED)?  BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));
-
-    // Draw slider internal bar (depends on state)
-    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_FOCUSED)));
-    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_PRESSED)));
-
-    // Draw left/right text if provided
-    if (textLeft != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textLeft);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SLIDER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));
-    }
-
-    if (textRight != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textRight);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SLIDER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Slider control extended, returns selected value and has text
-int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, GuiGetStyle(SLIDER, SLIDER_WIDTH));
-}
-
-// Slider Bar control extended, returns selected value
-int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, 0);
-}
-
-// Progress Bar control extended, shows current progress value
-int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    float temp = (maxValue - minValue)/2.0f;
-    if (value == NULL) value = &temp;
-
-    // Progress bar
-    Rectangle progress = { bounds.x + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH),
-                           bounds.y + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) + GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING), 0,
-                           bounds.height - 2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) - 2*GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if (*value > maxValue) *value = maxValue;
-
-    // WARNING: Working with floats could lead to rounding issues
-    if ((state != STATE_DISABLED)) progress.width = (float)(*value/(maxValue - minValue))*bounds.width - ((*value >= maxValue)? (float)(2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH)) : 0.0f);
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_DISABLED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(PROGRESSBAR, BORDER + (state*3))), BLANK);
-    }
-    else
-    {
-        if (*value > minValue)
-        {
-            // Draw progress bar with colored border, more visual
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-        }
-        else GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-
-        if (*value >= maxValue) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + progress.width + 1, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-        else
-        {
-            // Draw borders not yet reached by value
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y + bounds.height - 1, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-        }
-
-        // Draw slider internal progress bar (depends on state)
-        GuiDrawRectangle(progress, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BASE_COLOR_PRESSED)));
-    }
-
-    // Draw left/right text if provided
-    if (textLeft != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textLeft);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(PROGRESSBAR, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));
-    }
-
-    if (textRight != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textRight);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(PROGRESSBAR, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Status Bar control
-int GuiStatusBar(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(STATUSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(STATUSBAR, BORDER + (state*3))), GetColor(GuiGetStyle(STATUSBAR, BASE + (state*3))));
-    GuiDrawText(text, GetTextBounds(STATUSBAR, bounds), GuiGetStyle(STATUSBAR, TEXT_ALIGNMENT), GetColor(GuiGetStyle(STATUSBAR, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Dummy rectangle control, intended for placeholding
-int GuiDummyRec(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state != STATE_DISABLED)? BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));
-    GuiDrawText(text, GetTextBounds(DEFAULT, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(BUTTON, (state != STATE_DISABLED)? TEXT_COLOR_NORMAL : TEXT_COLOR_DISABLED)));
-    //------------------------------------------------------------------
-
-    return result;
-}
-
-// List View control
-int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active)
-{
-    int result = 0;
-    int itemCount = 0;
-    const char **items = NULL;
-
-    if (text != NULL) items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    result = GuiListViewEx(bounds, items, itemCount, scrollIndex, active, NULL);
-
-    return result;
-}
-
-// List View control with extended parameters
-int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int itemFocused = (focus == NULL)? -1 : *focus;
-    int itemSelected = (active == NULL)? -1 : *active;
-
-    // Check if we need a scroll bar
-    bool useScrollBar = false;
-    if ((GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING))*count > bounds.height) useScrollBar = true;
-
-    // Define base item rectangle [0]
-    Rectangle itemBounds = { 0 };
-    itemBounds.x = bounds.x + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING);
-    itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    itemBounds.width = bounds.width - 2*GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) - GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    itemBounds.height = (float)GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT);
-    if (useScrollBar) itemBounds.width -= GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH);
-
-    // Get items on the list
-    int visibleItems = (int)bounds.height/(GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-    if (visibleItems > count) visibleItems = count;
-
-    int startIndex = (scrollIndex == NULL)? 0 : *scrollIndex;
-    if ((startIndex < 0) || (startIndex > (count - visibleItems))) startIndex = 0;
-    int endIndex = startIndex + visibleItems;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check mouse inside list view
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            state = STATE_FOCUSED;
-
-            // Check focused and selected item
-            for (int i = 0; i < visibleItems; i++)
-            {
-                if (CheckCollisionPointRec(mousePoint, itemBounds))
-                {
-                    itemFocused = startIndex + i;
-                    if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                    {
-                        if (itemSelected == (startIndex + i)) itemSelected = -1;
-                        else itemSelected = startIndex + i;
-                    }
-                    break;
-                }
-
-                // Update item rectangle y position for next item
-                itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-            }
-
-            if (useScrollBar)
-            {
-                int wheelMove = (int)GetMouseWheelMove();
-                startIndex -= wheelMove;
-
-                if (startIndex < 0) startIndex = 0;
-                else if (startIndex > (count - visibleItems)) startIndex = count - visibleItems;
-
-                endIndex = startIndex + visibleItems;
-                if (endIndex > count) endIndex = count;
-            }
-        }
-        else itemFocused = -1;
-
-        // Reset item rectangle y to [0]
-        itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));     // Draw background
-
-    // Draw visible items
-    for (int i = 0; ((i < visibleItems) && (text != NULL)); i++)
-    {
-        GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, LIST_ITEMS_BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_NORMAL)), BLANK);
-
-        if (state == STATE_DISABLED)
-        {
-            if ((startIndex + i) == itemSelected) GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_DISABLED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_DISABLED)));
-
-            GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_DISABLED)));
-        }
-        else
-        {
-            if (((startIndex + i) == itemSelected) && (active != NULL))
-            {
-                // Draw item selected
-                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_PRESSED)));
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_PRESSED)));
-            }
-            else if (((startIndex + i) == itemFocused)) // && (focus != NULL))  // NOTE: We want items focused, despite not returned!
-            {
-                // Draw item focused
-                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_FOCUSED)));
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_FOCUSED)));
-            }
-            else
-            {
-                // Draw item normal
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_NORMAL)));
-            }
-        }
-
-        // Update item rectangle y position for next item
-        itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-    }
-
-    if (useScrollBar)
-    {
-        Rectangle scrollBarBounds = {
-            bounds.x + bounds.width - GuiGetStyle(LISTVIEW, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),
-            bounds.y + GuiGetStyle(LISTVIEW, BORDER_WIDTH), (float)GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),
-            bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)
-        };
-
-        // Calculate percentage of visible items and apply same percentage to scrollbar
-        float percentVisible = (float)(endIndex - startIndex)/count;
-        float sliderSize = bounds.height*percentVisible;
-
-        int prevSliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);   // Save default slider size
-        int prevScrollSpeed = GuiGetStyle(SCROLLBAR, SCROLL_SPEED); // Save default scroll speed
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)sliderSize);            // Change slider size
-        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, count - visibleItems); // Change scroll speed
-
-        startIndex = GuiScrollBar(scrollBarBounds, startIndex, 0, count - visibleItems);
-
-        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, prevScrollSpeed); // Reset scroll speed to default
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, prevSliderSize); // Reset slider size to default
-    }
-    //--------------------------------------------------------------------
-
-    if (active != NULL) *active = itemSelected;
-    if (focus != NULL) *focus = itemFocused;
-    if (scrollIndex != NULL) *scrollIndex = startIndex;
-
-    return result;
-}
-
-// Color Panel control - Color (RGBA) variant.
-int GuiColorPanel(Rectangle bounds, const char *text, Color *color)
-{
-    int result = 0;
-
-    Vector3 vcolor = { (float)color->r/255.0f, (float)color->g/255.0f, (float)color->b/255.0f };
-    Vector3 hsv = ConvertRGBtoHSV(vcolor);
-    Vector3 prevHsv = hsv; // workaround to see if GuiColorPanelHSV modifies the hsv.
-
-    GuiColorPanelHSV(bounds, text, &hsv);
-
-    // Check if the hsv was changed, only then change the color.
-    // This is required, because the Color->HSV->Color conversion has precision errors.
-    // Thus the assignment from HSV to Color should only be made, if the HSV has a new user-entered value.
-    // Otherwise GuiColorPanel would often modify it's color without user input.
-    // TODO: GuiColorPanelHSV could return 1 if the slider was dragged, to simplify this check.
-    if (hsv.x != prevHsv.x || hsv.y != prevHsv.y || hsv.z != prevHsv.z)
-    {
-        Vector3 rgb = ConvertHSVtoRGB(hsv);
-
-        // NOTE: Vector3ToColor() only available on raylib 1.8.1
-        *color = RAYGUI_CLITERAL(Color){ (unsigned char)(255.0f*rgb.x),
-                            (unsigned char)(255.0f*rgb.y),
-                            (unsigned char)(255.0f*rgb.z),
-                            color->a };
-    }
-    return result;
-}
-
-// Color Bar Alpha control
-// NOTE: Returns alpha value normalized [0..1]
-int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)
-{
-    #if !defined(RAYGUI_COLORBARALPHA_CHECKED_SIZE)
-        #define RAYGUI_COLORBARALPHA_CHECKED_SIZE   10
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-    Rectangle selector = { (float)bounds.x + (*alpha)*bounds.width - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.y - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT), (float)bounds.height + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    *alpha = (mousePoint.x - bounds.x)/bounds.width;
-                    if (*alpha <= 0.0f) *alpha = 0.0f;
-                    if (*alpha >= 1.0f) *alpha = 1.0f;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                *alpha = (mousePoint.x - bounds.x)/bounds.width;
-                if (*alpha <= 0.0f) *alpha = 0.0f;
-                if (*alpha >= 1.0f) *alpha = 1.0f;
-                //selector.x = bounds.x + (int)(((alpha - 0)/(100 - 0))*(bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH))) - selector.width/2;
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-
-    // Draw alpha bar: checked background
-    if (state != STATE_DISABLED)
-    {
-        int checksX = (int)bounds.width/RAYGUI_COLORBARALPHA_CHECKED_SIZE;
-        int checksY = (int)bounds.height/RAYGUI_COLORBARALPHA_CHECKED_SIZE;
-
-        for (int x = 0; x < checksX; x++)
-        {
-            for (int y = 0; y < checksY; y++)
-            {
-                Rectangle check = { bounds.x + x*RAYGUI_COLORBARALPHA_CHECKED_SIZE, bounds.y + y*RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE };
-                GuiDrawRectangle(check, 0, BLANK, ((x + y)%2)? Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.4f) : Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.4f));
-            }
-        }
-
-        DrawRectangleGradientEx(bounds, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha));
-    }
-    else DrawRectangleGradientEx(bounds, Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-
-    // Draw alpha bar: selector
-    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Color Bar Hue control
-// Returns hue value normalized [0..1]
-// NOTE: Other similar bars (for reference):
-//      Color GuiColorBarSat() [WHITE->color]
-//      Color GuiColorBarValue() [BLACK->color], HSV/HSL
-//      float GuiColorBarLuminance() [BLACK->WHITE]
-int GuiColorBarHue(Rectangle bounds, const char *text, float *hue)
-{
-    int result = 0;
-    GuiState state = guiState;
-    Rectangle selector = { (float)bounds.x - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)bounds.y + (*hue)/360.0f*bounds.height - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2, (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    *hue = (mousePoint.y - bounds.y)*360/bounds.height;
-                    if (*hue <= 0.0f) *hue = 0.0f;
-                    if (*hue >= 359.0f) *hue = 359.0f;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                *hue = (mousePoint.y - bounds.y)*360/bounds.height;
-                if (*hue <= 0.0f) *hue = 0.0f;
-                if (*hue >= 359.0f) *hue = 359.0f;
-
-            }
-            else state = STATE_FOCUSED;
-
-            /*if (IsKeyDown(KEY_UP))
-            {
-                hue -= 2.0f;
-                if (hue <= 0.0f) hue = 0.0f;
-            }
-            else if (IsKeyDown(KEY_DOWN))
-            {
-                hue += 2.0f;
-                if (hue >= 360.0f) hue = 360.0f;
-            }*/
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state != STATE_DISABLED)
-    {
-        // Draw hue bar:color bars
-        // TODO: Use directly DrawRectangleGradientEx(bounds, color1, color2, color2, color1);
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + bounds.height/6), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 2*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 3*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 4*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 5*(bounds.height/6)), (int)bounds.width, (int)(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha));
-    }
-    else DrawRectangleGradientV((int)bounds.x, (int)bounds.y, (int)bounds.width, (int)bounds.height, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-
-    // Draw hue bar: selector
-    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Color Picker control
-// NOTE: It's divided in multiple controls:
-//      Color GuiColorPanel(Rectangle bounds, Color color)
-//      float GuiColorBarAlpha(Rectangle bounds, float alpha)
-//      float GuiColorBarHue(Rectangle bounds, float value)
-// NOTE: bounds define GuiColorPanel() size
-// NOTE: this picker converts RGB to HSV, which can cause the Hue control to jump. If you have this problem, consider using the HSV variant instead
-int GuiColorPicker(Rectangle bounds, const char *text, Color *color)
-{
-    int result = 0;
-
-    Color temp = { 200, 0, 0, 255 };
-    if (color == NULL) color = &temp;
-
-    GuiColorPanel(bounds, NULL, color);
-
-    Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };
-    //Rectangle boundsAlpha = { bounds.x, bounds.y + bounds.height + GuiGetStyle(COLORPICKER, BARS_PADDING), bounds.width, GuiGetStyle(COLORPICKER, BARS_THICK) };
-
-    // NOTE: this conversion can cause low hue-resolution, if the r, g and b value are very similar, which causes the hue bar to shift around when only the GuiColorPanel is used.
-    Vector3 hsv = ConvertRGBtoHSV(RAYGUI_CLITERAL(Vector3){ (*color).r/255.0f, (*color).g/255.0f, (*color).b/255.0f });
-
-    GuiColorBarHue(boundsHue, NULL, &hsv.x);
-
-    //color.a = (unsigned char)(GuiColorBarAlpha(boundsAlpha, (float)color.a/255.0f)*255.0f);
-    Vector3 rgb = ConvertHSVtoRGB(hsv);
-
-    *color = RAYGUI_CLITERAL(Color){ (unsigned char)roundf(rgb.x*255.0f), (unsigned char)roundf(rgb.y*255.0f), (unsigned char)roundf(rgb.z*255.0f), (*color).a };
-
-    return result;
-}
-
-// Color Picker control that avoids conversion to RGB and back to HSV on each call, thus avoiding jittering.
-// The user can call ConvertHSVtoRGB() to convert *colorHsv value to RGB.
-// NOTE: It's divided in multiple controls:
-//      int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-//      int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)
-//      float GuiColorBarHue(Rectangle bounds, float value)
-// NOTE: bounds define GuiColorPanelHSV() size
-int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-{
-    int result = 0;
-
-    Vector3 tempHsv = { 0 };
-
-    if (colorHsv == NULL)
-    {
-        const Vector3 tempColor = { 200.0f/255.0f, 0.0f, 0.0f };
-        tempHsv = ConvertRGBtoHSV(tempColor);
-        colorHsv = &tempHsv;
-    }
-
-    GuiColorPanelHSV(bounds, NULL, colorHsv);
-
-    const Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };
-
-    GuiColorBarHue(boundsHue, NULL, &colorHsv->x);
-
-    return result;
-}
-
-// Color Panel control - HSV variant
-int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-{
-    int result = 0;
-    GuiState state = guiState;
-    Vector2 pickerSelector = { 0 };
-
-    const Color colWhite = { 255, 255, 255, 255 };
-    const Color colBlack = { 0, 0, 0, 255 };
-
-    pickerSelector.x = bounds.x + (float)colorHsv->y*bounds.width;            // HSV: Saturation
-    pickerSelector.y = bounds.y + (1.0f - (float)colorHsv->z)*bounds.height;  // HSV: Value
-
-    Vector3 maxHue = { colorHsv->x, 1.0f, 1.0f };
-    Vector3 rgbHue = ConvertHSVtoRGB(maxHue);
-    Color maxHueCol = { (unsigned char)(255.0f*rgbHue.x),
-                      (unsigned char)(255.0f*rgbHue.y),
-                      (unsigned char)(255.0f*rgbHue.z), 255 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    pickerSelector = mousePoint;
-
-                    if (pickerSelector.x < bounds.x) pickerSelector.x = bounds.x;
-                    if (pickerSelector.x > bounds.x + bounds.width) pickerSelector.x = bounds.x + bounds.width;
-                    if (pickerSelector.y < bounds.y) pickerSelector.y = bounds.y;
-                    if (pickerSelector.y > bounds.y + bounds.height) pickerSelector.y = bounds.y + bounds.height;
-
-                    // Calculate color from picker
-                    Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };
-
-                    colorPick.x /= (float)bounds.width;     // Get normalized value on x
-                    colorPick.y /= (float)bounds.height;    // Get normalized value on y
-
-                    colorHsv->y = colorPick.x;
-                    colorHsv->z = 1.0f - colorPick.y;
-
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds;
-                pickerSelector = mousePoint;
-
-                // Calculate color from picker
-                Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };
-
-                colorPick.x /= (float)bounds.width;     // Get normalized value on x
-                colorPick.y /= (float)bounds.height;    // Get normalized value on y
-
-                colorHsv->y = colorPick.x;
-                colorHsv->z = 1.0f - colorPick.y;
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state != STATE_DISABLED)
-    {
-        DrawRectangleGradientEx(bounds, Fade(colWhite, guiAlpha), Fade(colWhite, guiAlpha), Fade(maxHueCol, guiAlpha), Fade(maxHueCol, guiAlpha));
-        DrawRectangleGradientEx(bounds, Fade(colBlack, 0), Fade(colBlack, guiAlpha), Fade(colBlack, guiAlpha), Fade(colBlack, 0));
-
-        // Draw color picker: selector
-        Rectangle selector = { pickerSelector.x - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, pickerSelector.y - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE), (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE) };
-        GuiDrawRectangle(selector, 0, BLANK, colWhite);
-    }
-    else
-    {
-        DrawRectangleGradientEx(bounds, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.6f), guiAlpha));
-    }
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Message Box control
-int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons)
-{
-    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_HEIGHT)
-        #define RAYGUI_MESSAGEBOX_BUTTON_HEIGHT    24
-    #endif
-    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_PADDING)
-        #define RAYGUI_MESSAGEBOX_BUTTON_PADDING   12
-    #endif
-
-    int result = -1;    // Returns clicked button from buttons list, 0 refers to closed window button
-
-    int buttonCount = 0;
-    const char **buttonsText = GuiTextSplit(buttons, ';', &buttonCount, NULL);
-    Rectangle buttonBounds = { 0 };
-    buttonBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    buttonBounds.y = bounds.y + bounds.height - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT - RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    buttonBounds.width = (bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;
-    buttonBounds.height = RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;
-
-    //int textWidth = GetTextWidth(message) + 2;
-
-    Rectangle textBounds = { 0 };
-    textBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    textBounds.width = bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*2;
-    textBounds.height = bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 3*RAYGUI_MESSAGEBOX_BUTTON_PADDING - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (GuiWindowBox(bounds, title)) result = 0;
-
-    int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-    GuiLabel(textBounds, message);
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);
-
-    prevTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    for (int i = 0; i < buttonCount; i++)
-    {
-        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;
-        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);
-    }
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Text Input Box control, ask for text
-int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive)
-{
-    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT)
-        #define RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT      24
-    #endif
-    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_PADDING)
-        #define RAYGUI_TEXTINPUTBOX_BUTTON_PADDING     12
-    #endif
-    #if !defined(RAYGUI_TEXTINPUTBOX_HEIGHT)
-        #define RAYGUI_TEXTINPUTBOX_HEIGHT             26
-    #endif
-
-    // Used to enable text edit mode
-    // WARNING: No more than one GuiTextInputBox() should be open at the same time
-    static bool textEditMode = false;
-
-    int result = -1;
-
-    int buttonCount = 0;
-    const char **buttonsText = GuiTextSplit(buttons, ';', &buttonCount, NULL);
-    Rectangle buttonBounds = { 0 };
-    buttonBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    buttonBounds.y = bounds.y + bounds.height - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    buttonBounds.width = (bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;
-    buttonBounds.height = RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT;
-
-    int messageInputHeight = (int)bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - 2*RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-
-    Rectangle textBounds = { 0 };
-    if (message != NULL)
-    {
-        int textSize = GetTextWidth(message) + 2;
-
-        textBounds.x = bounds.x + bounds.width/2 - textSize/2;
-        textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + messageInputHeight/4 - (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        textBounds.width = (float)textSize;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-    }
-
-    Rectangle textBoxBounds = { 0 };
-    textBoxBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    textBoxBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - RAYGUI_TEXTINPUTBOX_HEIGHT/2;
-    if (message == NULL) textBoxBounds.y = bounds.y + 24 + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    else textBoxBounds.y += (messageInputHeight/2 + messageInputHeight/4);
-    textBoxBounds.width = bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*2;
-    textBoxBounds.height = RAYGUI_TEXTINPUTBOX_HEIGHT;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (GuiWindowBox(bounds, title)) result = 0;
-
-    // Draw message if available
-    if (message != NULL)
-    {
-        int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-        GuiLabel(textBounds, message);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);
-    }
-
-    if (secretViewActive != NULL)
-    {
-        static char stars[] = "****************";
-        if (GuiTextBox(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x, textBoxBounds.y, textBoxBounds.width - 4 - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.height },
-            ((*secretViewActive == 1) || textEditMode)? text : stars, textMaxSize, textEditMode)) textEditMode = !textEditMode;
-
-        GuiToggle(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x + textBoxBounds.width - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.y, RAYGUI_TEXTINPUTBOX_HEIGHT, RAYGUI_TEXTINPUTBOX_HEIGHT }, (*secretViewActive == 1)? "#44#" : "#45#", secretViewActive);
-    }
-    else
-    {
-        if (GuiTextBox(textBoxBounds, text, textMaxSize, textEditMode)) textEditMode = !textEditMode;
-    }
-
-    int prevBtnTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    for (int i = 0; i < buttonCount; i++)
-    {
-        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;
-        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);
-    }
-
-    if (result >= 0) textEditMode = false;
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevBtnTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;      // Result is the pressed button index
-}
-
-// Grid control
-// NOTE: Returns grid mouse-hover selected cell
-// About drawing lines at subpixel spacing, simple put, not easy solution:
-// https://stackoverflow.com/questions/4435450/2d-opengl-drawing-lines-that-dont-exactly-fit-pixel-raster
-int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell)
-{
-    // Grid lines alpha amount
-    #if !defined(RAYGUI_GRID_ALPHA)
-        #define RAYGUI_GRID_ALPHA    0.15f
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Vector2 mousePoint = GetMousePosition();
-    Vector2 currentMouseCell = { -1, -1 };
-
-    float spaceWidth = spacing/(float)subdivs;
-    int linesV = (int)(bounds.width/spaceWidth) + 1;
-    int linesH = (int)(bounds.height/spaceWidth) + 1;
-
-    int color = GuiGetStyle(DEFAULT, LINE_COLOR);
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            // NOTE: Cell values must be the upper left of the cell the mouse is in
-            currentMouseCell.x = floorf((mousePoint.x - bounds.x)/spacing);
-            currentMouseCell.y = floorf((mousePoint.y - bounds.y)/spacing);
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_DISABLED) color = GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED);
-
-    if (subdivs > 0)
-    {
-        // Draw vertical grid lines
-        for (int i = 0; i < linesV; i++)
-        {
-            Rectangle lineV = { bounds.x + spacing*i/subdivs, bounds.y, 1, bounds.height + 1 };
-            GuiDrawRectangle(lineV, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));
-        }
-
-        // Draw horizontal grid lines
-        for (int i = 0; i < linesH; i++)
-        {
-            Rectangle lineH = { bounds.x, bounds.y + spacing*i/subdivs, bounds.width + 1, 1 };
-            GuiDrawRectangle(lineH, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));
-        }
-    }
-
-    if (mouseCell != NULL) *mouseCell = currentMouseCell;
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Tooltip management functions
-// NOTE: Tooltips requires some global variables: tooltipPtr
-//----------------------------------------------------------------------------------
-// Enable gui tooltips (global state)
-void GuiEnableTooltip(void) { guiTooltip = true; }
-
-// Disable gui tooltips (global state)
-void GuiDisableTooltip(void) { guiTooltip = false; }
-
-// Set tooltip string
-void GuiSetTooltip(const char *tooltip) { guiTooltipPtr = tooltip; }
-
-//----------------------------------------------------------------------------------
-// Styles loading functions
-//----------------------------------------------------------------------------------
-
-// Load raygui style file (.rgs)
-// NOTE: By default a binary file is expected, that file could contain a custom font,
-// in that case, custom font image atlas is GRAY+ALPHA and pixel data can be compressed (DEFLATE)
-void GuiLoadStyle(const char *fileName)
-{
-    #define MAX_LINE_BUFFER_SIZE    256
-
-    bool tryBinary = false;
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-
-    // Try reading the files as text file first
-    FILE *rgsFile = fopen(fileName, "rt");
-
-    if (rgsFile != NULL)
-    {
-        char buffer[MAX_LINE_BUFFER_SIZE] = { 0 };
-        fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);
-
-        if (buffer[0] == '#')
-        {
-            int controlId = 0;
-            int propertyId = 0;
-            unsigned int propertyValue = 0;
-
-            while (!feof(rgsFile))
-            {
-                switch (buffer[0])
-                {
-                    case 'p':
-                    {
-                        // Style property: p <control_id> <property_id> <property_value> <property_name>
-
-                        sscanf(buffer, "p %d %d 0x%x", &controlId, &propertyId, &propertyValue);
-                        GuiSetStyle(controlId, propertyId, (int)propertyValue);
-
-                    } break;
-                    case 'f':
-                    {
-                        // Style font: f <gen_font_size> <charmap_file> <font_file>
-
-                        int fontSize = 0;
-                        char charmapFileName[256] = { 0 };
-                        char fontFileName[256] = { 0 };
-                        sscanf(buffer, "f %d %s %[^\r\n]s", &fontSize, charmapFileName, fontFileName);
-
-                        Font font = { 0 };
-                        int *codepoints = NULL;
-                        int codepointCount = 0;
-
-                        if (charmapFileName[0] != '0')
-                        {
-                            // Load text data from file
-                            // NOTE: Expected an UTF-8 array of codepoints, no separation
-                            char *textData = LoadFileText(TextFormat("%s/%s", GetDirectoryPath(fileName), charmapFileName));
-                            codepoints = LoadCodepoints(textData, &codepointCount);
-                            UnloadFileText(textData);
-                        }
-
-                        if (fontFileName[0] != '\0')
-                        {
-                            // In case a font is already loaded and it is not default internal font, unload it
-                            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);
-
-                            if (codepointCount > 0) font = LoadFontEx(TextFormat("%s/%s", GetDirectoryPath(fileName), fontFileName), fontSize, codepoints, codepointCount);
-                            else font = LoadFontEx(TextFormat("%s/%s", GetDirectoryPath(fileName), fontFileName), fontSize, NULL, 0);   // Default to 95 standard codepoints
-                        }
-
-                        // If font texture not properly loaded, revert to default font and size/spacing
-                        if (font.texture.id == 0)
-                        {
-                            font = GetFontDefault();
-                            GuiSetStyle(DEFAULT, TEXT_SIZE, 10);
-                            GuiSetStyle(DEFAULT, TEXT_SPACING, 1);
-                        }
-
-                        UnloadCodepoints(codepoints);
-
-                        if ((font.texture.id > 0) && (font.glyphCount > 0)) GuiSetFont(font);
-
-                    } break;
-                    default: break;
-                }
-
-                fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);
-            }
-        }
-        else tryBinary = true;
-
-        fclose(rgsFile);
-    }
-
-    if (tryBinary)
-    {
-        rgsFile = fopen(fileName, "rb");
-
-        if (rgsFile != NULL)
-        {
-            fseek(rgsFile, 0, SEEK_END);
-            int fileDataSize = ftell(rgsFile);
-            fseek(rgsFile, 0, SEEK_SET);
-
-            if (fileDataSize > 0)
-            {
-                unsigned char *fileData = (unsigned char *)RAYGUI_MALLOC(fileDataSize*sizeof(unsigned char));
-                fread(fileData, sizeof(unsigned char), fileDataSize, rgsFile);
-
-                GuiLoadStyleFromMemory(fileData, fileDataSize);
-
-                RAYGUI_FREE(fileData);
-            }
-
-            fclose(rgsFile);
-        }
-    }
-}
-
-// Load style default over global style
-void GuiLoadStyleDefault(void)
-{
-    // We set this variable first to avoid cyclic function calls
-    // when calling GuiSetStyle() and GuiGetStyle()
-    guiStyleLoaded = true;
-
-    // Initialize default LIGHT style property values
-    // WARNING: Default value are applied to all controls on set but
-    // they can be overwritten later on for every custom control
-    GuiSetStyle(DEFAULT, BORDER_COLOR_NORMAL, 0x838383ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_NORMAL, 0xc9c9c9ff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_NORMAL, 0x686868ff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_FOCUSED, 0x5bb2d9ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_FOCUSED, 0xc9effeff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_FOCUSED, 0x6c9bbcff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_PRESSED, 0x0492c7ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_PRESSED, 0x97e8ffff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_PRESSED, 0x368bafff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_DISABLED, 0xb5c1c2ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_DISABLED, 0xe6e9e9ff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_DISABLED, 0xaeb7b8ff);
-    GuiSetStyle(DEFAULT, BORDER_WIDTH, 1);
-    GuiSetStyle(DEFAULT, TEXT_PADDING, 0);
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    // Initialize default extended property values
-    // NOTE: By default, extended property values are initialized to 0
-    GuiSetStyle(DEFAULT, TEXT_SIZE, 10);                // DEFAULT, shared by all controls
-    GuiSetStyle(DEFAULT, TEXT_SPACING, 1);              // DEFAULT, shared by all controls
-    GuiSetStyle(DEFAULT, LINE_COLOR, 0x90abb5ff);       // DEFAULT specific property
-    GuiSetStyle(DEFAULT, BACKGROUND_COLOR, 0xf5f5f5ff); // DEFAULT specific property
-    GuiSetStyle(DEFAULT, TEXT_LINE_SPACING, 15);        // DEFAULT, 15 pixels between lines
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);   // DEFAULT, text aligned vertically to middle of text-bounds
-
-    // Initialize control-specific property values
-    // NOTE: Those properties are in default list but require specific values by control type
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 2);
-    GuiSetStyle(SLIDER, TEXT_PADDING, 4);
-    GuiSetStyle(PROGRESSBAR, TEXT_PADDING, 4);
-    GuiSetStyle(CHECKBOX, TEXT_PADDING, 4);
-    GuiSetStyle(CHECKBOX, TEXT_ALIGNMENT, TEXT_ALIGN_RIGHT);
-    GuiSetStyle(DROPDOWNBOX, TEXT_PADDING, 0);
-    GuiSetStyle(DROPDOWNBOX, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-    GuiSetStyle(TEXTBOX, TEXT_PADDING, 4);
-    GuiSetStyle(TEXTBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(VALUEBOX, TEXT_PADDING, 0);
-    GuiSetStyle(VALUEBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(SPINNER, TEXT_PADDING, 0);
-    GuiSetStyle(SPINNER, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(STATUSBAR, TEXT_PADDING, 8);
-    GuiSetStyle(STATUSBAR, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-
-    // Initialize extended property values
-    // NOTE: By default, extended property values are initialized to 0
-    GuiSetStyle(TOGGLE, GROUP_PADDING, 2);
-    GuiSetStyle(SLIDER, SLIDER_WIDTH, 16);
-    GuiSetStyle(SLIDER, SLIDER_PADDING, 1);
-    GuiSetStyle(PROGRESSBAR, PROGRESS_PADDING, 1);
-    GuiSetStyle(CHECKBOX, CHECK_PADDING, 1);
-    GuiSetStyle(COMBOBOX, COMBO_BUTTON_WIDTH, 32);
-    GuiSetStyle(COMBOBOX, COMBO_BUTTON_SPACING, 2);
-    GuiSetStyle(DROPDOWNBOX, ARROW_PADDING, 16);
-    GuiSetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING, 2);
-    GuiSetStyle(SPINNER, SPIN_BUTTON_WIDTH, 24);
-    GuiSetStyle(SPINNER, SPIN_BUTTON_SPACING, 2);
-    GuiSetStyle(SCROLLBAR, BORDER_WIDTH, 0);
-    GuiSetStyle(SCROLLBAR, ARROWS_VISIBLE, 0);
-    GuiSetStyle(SCROLLBAR, ARROWS_SIZE, 6);
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING, 0);
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, 16);
-    GuiSetStyle(SCROLLBAR, SCROLL_PADDING, 0);
-    GuiSetStyle(SCROLLBAR, SCROLL_SPEED, 12);
-    GuiSetStyle(LISTVIEW, LIST_ITEMS_HEIGHT, 28);
-    GuiSetStyle(LISTVIEW, LIST_ITEMS_SPACING, 2);
-    GuiSetStyle(LISTVIEW, SCROLLBAR_WIDTH, 12);
-    GuiSetStyle(LISTVIEW, SCROLLBAR_SIDE, SCROLLBAR_RIGHT_SIDE);
-    GuiSetStyle(COLORPICKER, COLOR_SELECTOR_SIZE, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_WIDTH, 16);
-    GuiSetStyle(COLORPICKER, HUEBAR_PADDING, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW, 2);
-
-    if (guiFont.texture.id != GetFontDefault().texture.id)
-    {
-        // Unload previous font texture
-        UnloadTexture(guiFont.texture);
-        RL_FREE(guiFont.recs);
-        RL_FREE(guiFont.glyphs);
-        guiFont.recs = NULL;
-        guiFont.glyphs = NULL;
-
-        // Setup default raylib font
-        guiFont = GetFontDefault();
-
-        // NOTE: Default raylib font character 95 is a white square
-        Rectangle whiteChar = guiFont.recs[95];
-
-        // NOTE: We set up a 1px padding on char rectangle to avoid pixel bleeding on MSAA filtering
-        SetShapesTexture(guiFont.texture, RAYGUI_CLITERAL(Rectangle){ whiteChar.x + 1, whiteChar.y + 1, whiteChar.width - 2, whiteChar.height - 2 });
-    }
-}
-
-// Get text with icon id prepended
-// NOTE: Useful to add icons by name id (enum) instead of
-// a number that can change between ricon versions
-const char *GuiIconText(int iconId, const char *text)
-{
-#if defined(RAYGUI_NO_ICONS)
-    return NULL;
-#else
-    static char buffer[1024] = { 0 };
-    static char iconBuffer[16] = { 0 };
-
-    if (text != NULL)
-    {
-        memset(buffer, 0, 1024);
-        sprintf(buffer, "#%03i#", iconId);
-
-        for (int i = 5; i < 1024; i++)
-        {
-            buffer[i] = text[i - 5];
-            if (text[i - 5] == '\0') break;
-        }
-
-        return buffer;
-    }
-    else
-    {
-        sprintf(iconBuffer, "#%03i#", iconId);
-
-        return iconBuffer;
-    }
-#endif
-}
-
-#if !defined(RAYGUI_NO_ICONS)
-// Get full icons data pointer
-unsigned int *GuiGetIcons(void) { return guiIconsPtr; }
-
-// Load raygui icons file (.rgi)
-// NOTE: In case nameIds are required, they can be requested with loadIconsName,
-// they are returned as a guiIconsName[iconCount][RAYGUI_ICON_MAX_NAME_LENGTH],
-// WARNING: guiIconsName[]][] memory should be manually freed!
-char **GuiLoadIcons(const char *fileName, bool loadIconsName)
-{
-    // Style File Structure (.rgi)
-    // ------------------------------------------------------
-    // Offset  | Size    | Type       | Description
-    // ------------------------------------------------------
-    // 0       | 4       | char       | Signature: "rGI "
-    // 4       | 2       | short      | Version: 100
-    // 6       | 2       | short      | reserved
-
-    // 8       | 2       | short      | Num icons (N)
-    // 10      | 2       | short      | Icons size (Options: 16, 32, 64) (S)
-
-    // Icons name id (32 bytes per name id)
-    // foreach (icon)
-    // {
-    //   12+32*i  | 32   | char       | Icon NameId
-    // }
-
-    // Icons data: One bit per pixel, stored as unsigned int array (depends on icon size)
-    // S*S pixels/32bit per unsigned int = K unsigned int per icon
-    // foreach (icon)
-    // {
-    //   ...   | K       | unsigned int | Icon Data
-    // }
-
-    FILE *rgiFile = fopen(fileName, "rb");
-
-    char **guiIconsName = NULL;
-
-    if (rgiFile != NULL)
-    {
-        char signature[5] = { 0 };
-        short version = 0;
-        short reserved = 0;
-        short iconCount = 0;
-        short iconSize = 0;
-
-        fread(signature, 1, 4, rgiFile);
-        fread(&version, sizeof(short), 1, rgiFile);
-        fread(&reserved, sizeof(short), 1, rgiFile);
-        fread(&iconCount, sizeof(short), 1, rgiFile);
-        fread(&iconSize, sizeof(short), 1, rgiFile);
-
-        if ((signature[0] == 'r') &&
-            (signature[1] == 'G') &&
-            (signature[2] == 'I') &&
-            (signature[3] == ' '))
-        {
-            if (loadIconsName)
-            {
-                guiIconsName = (char **)RAYGUI_MALLOC(iconCount*sizeof(char **));
-                for (int i = 0; i < iconCount; i++)
-                {
-                    guiIconsName[i] = (char *)RAYGUI_MALLOC(RAYGUI_ICON_MAX_NAME_LENGTH);
-                    fread(guiIconsName[i], 1, RAYGUI_ICON_MAX_NAME_LENGTH, rgiFile);
-                }
-            }
-            else fseek(rgiFile, iconCount*RAYGUI_ICON_MAX_NAME_LENGTH, SEEK_CUR);
-
-            // Read icons data directly over internal icons array
-            fread(guiIconsPtr, sizeof(unsigned int), iconCount*(iconSize*iconSize/32), rgiFile);
-        }
-
-        fclose(rgiFile);
-    }
-
-    return guiIconsName;
-}
-
-// Draw selected icon using rectangles pixel-by-pixel
-void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color)
-{
-    #define BIT_CHECK(a,b) ((a) & (1u<<(b)))
-
-    for (int i = 0, y = 0; i < RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32; i++)
-    {
-        for (int k = 0; k < 32; k++)
-        {
-            if (BIT_CHECK(guiIconsPtr[iconId*RAYGUI_ICON_DATA_ELEMENTS + i], k))
-            {
-            #if !defined(RAYGUI_STANDALONE)
-                GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ (float)posX + (k%RAYGUI_ICON_SIZE)*pixelSize, (float)posY + y*pixelSize, (float)pixelSize, (float)pixelSize }, 0, BLANK, color);
-            #endif
-            }
-
-            if ((k == 15) || (k == 31)) y++;
-        }
-    }
-}
-
-// Set icon drawing size
-void GuiSetIconScale(int scale)
-{
-    if (scale >= 1) guiIconScale = scale;
-}
-
-#endif      // !RAYGUI_NO_ICONS
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Definition
-//----------------------------------------------------------------------------------
-
-// Load style from memory
-// WARNING: Binary files only
-static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize)
-{
-    unsigned char *fileDataPtr = (unsigned char *)fileData;
-
-    char signature[5] = { 0 };
-    short version = 0;
-    short reserved = 0;
-    int propertyCount = 0;
-
-    memcpy(signature, fileDataPtr, 4);
-    memcpy(&version, fileDataPtr + 4, sizeof(short));
-    memcpy(&reserved, fileDataPtr + 4 + 2, sizeof(short));
-    memcpy(&propertyCount, fileDataPtr + 4 + 2 + 2, sizeof(int));
-    fileDataPtr += 12;
-
-    if ((signature[0] == 'r') &&
-        (signature[1] == 'G') &&
-        (signature[2] == 'S') &&
-        (signature[3] == ' '))
-    {
-        short controlId = 0;
-        short propertyId = 0;
-        unsigned int propertyValue = 0;
-
-        for (int i = 0; i < propertyCount; i++)
-        {
-            memcpy(&controlId, fileDataPtr, sizeof(short));
-            memcpy(&propertyId, fileDataPtr + 2, sizeof(short));
-            memcpy(&propertyValue, fileDataPtr + 2 + 2, sizeof(unsigned int));
-            fileDataPtr += 8;
-
-            if (controlId == 0) // DEFAULT control
-            {
-                // If a DEFAULT property is loaded, it is propagated to all controls
-                // NOTE: All DEFAULT properties should be defined first in the file
-                GuiSetStyle(0, (int)propertyId, propertyValue);
-
-                if (propertyId < RAYGUI_MAX_PROPS_BASE) for (int j = 1; j < RAYGUI_MAX_CONTROLS; j++) GuiSetStyle(j, (int)propertyId, propertyValue);
-            }
-            else GuiSetStyle((int)controlId, (int)propertyId, propertyValue);
-        }
-
-        // Font loading is highly dependant on raylib API to load font data and image
-
-#if !defined(RAYGUI_STANDALONE)
-        // Load custom font if available
-        int fontDataSize = 0;
-        memcpy(&fontDataSize, fileDataPtr, sizeof(int));
-        fileDataPtr += 4;
-
-        if (fontDataSize > 0)
-        {
-            Font font = { 0 };
-            int fontType = 0;   // 0-Normal, 1-SDF
-
-            memcpy(&font.baseSize, fileDataPtr, sizeof(int));
-            memcpy(&font.glyphCount, fileDataPtr + 4, sizeof(int));
-            memcpy(&fontType, fileDataPtr + 4 + 4, sizeof(int));
-            fileDataPtr += 12;
-
-            // Load font white rectangle
-            Rectangle fontWhiteRec = { 0 };
-            memcpy(&fontWhiteRec, fileDataPtr, sizeof(Rectangle));
-            fileDataPtr += 16;
-
-            // Load font image parameters
-            int fontImageUncompSize = 0;
-            int fontImageCompSize = 0;
-            memcpy(&fontImageUncompSize, fileDataPtr, sizeof(int));
-            memcpy(&fontImageCompSize, fileDataPtr + 4, sizeof(int));
-            fileDataPtr += 8;
-
-            Image imFont = { 0 };
-            imFont.mipmaps = 1;
-            memcpy(&imFont.width, fileDataPtr, sizeof(int));
-            memcpy(&imFont.height, fileDataPtr + 4, sizeof(int));
-            memcpy(&imFont.format, fileDataPtr + 4 + 4, sizeof(int));
-            fileDataPtr += 12;
-
-            if ((fontImageCompSize > 0) && (fontImageCompSize != fontImageUncompSize))
-            {
-                // Compressed font atlas image data (DEFLATE), it requires DecompressData()
-                int dataUncompSize = 0;
-                unsigned char *compData = (unsigned char *)RAYGUI_MALLOC(fontImageCompSize);
-                memcpy(compData, fileDataPtr, fontImageCompSize);
-                fileDataPtr += fontImageCompSize;
-
-                imFont.data = DecompressData(compData, fontImageCompSize, &dataUncompSize);
-
-                // Security check, dataUncompSize must match the provided fontImageUncompSize
-                if (dataUncompSize != fontImageUncompSize) RAYGUI_LOG("WARNING: Uncompressed font atlas image data could be corrupted");
-
-                RAYGUI_FREE(compData);
-            }
-            else
-            {
-                // Font atlas image data is not compressed
-                imFont.data = (unsigned char *)RAYGUI_MALLOC(fontImageUncompSize);
-                memcpy(imFont.data, fileDataPtr, fontImageUncompSize);
-                fileDataPtr += fontImageUncompSize;
-            }
-
-            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);
-            font.texture = LoadTextureFromImage(imFont);
-
-            RAYGUI_FREE(imFont.data);
-
-            // Validate font atlas texture was loaded correctly
-            if (font.texture.id != 0)
-            {
-                // Load font recs data
-                int recsDataSize = font.glyphCount*sizeof(Rectangle);
-                int recsDataCompressedSize = 0;
-
-                // WARNING: Version 400 adds the compression size parameter
-                if (version >= 400)
-                {
-                    // RGS files version 400 support compressed recs data
-                    memcpy(&recsDataCompressedSize, fileDataPtr, sizeof(int));
-                    fileDataPtr += sizeof(int);
-                }
-
-                if ((recsDataCompressedSize > 0) && (recsDataCompressedSize != recsDataSize))
-                {
-                    // Recs data is compressed, uncompress it
-                    unsigned char *recsDataCompressed = (unsigned char *)RAYGUI_MALLOC(recsDataCompressedSize);
-
-                    memcpy(recsDataCompressed, fileDataPtr, recsDataCompressedSize);
-                    fileDataPtr += recsDataCompressedSize;
-
-                    int recsDataUncompSize = 0;
-                    font.recs = (Rectangle *)DecompressData(recsDataCompressed, recsDataCompressedSize, &recsDataUncompSize);
-
-                    // Security check, data uncompressed size must match the expected original data size
-                    if (recsDataUncompSize != recsDataSize) RAYGUI_LOG("WARNING: Uncompressed font recs data could be corrupted");
-
-                    RAYGUI_FREE(recsDataCompressed);
-                }
-                else
-                {
-                    // Recs data is uncompressed
-                    font.recs = (Rectangle *)RAYGUI_CALLOC(font.glyphCount, sizeof(Rectangle));
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.recs[i], fileDataPtr, sizeof(Rectangle));
-                        fileDataPtr += sizeof(Rectangle);
-                    }
-                }
-
-                // Load font glyphs info data
-                int glyphsDataSize = font.glyphCount*16;    // 16 bytes data per glyph
-                int glyphsDataCompressedSize = 0;
-
-                // WARNING: Version 400 adds the compression size parameter
-                if (version >= 400)
-                {
-                    // RGS files version 400 support compressed glyphs data
-                    memcpy(&glyphsDataCompressedSize, fileDataPtr, sizeof(int));
-                    fileDataPtr += sizeof(int);
-                }
-
-                // Allocate required glyphs space to fill with data
-                font.glyphs = (GlyphInfo *)RAYGUI_CALLOC(font.glyphCount, sizeof(GlyphInfo));
-
-                if ((glyphsDataCompressedSize > 0) && (glyphsDataCompressedSize != glyphsDataSize))
-                {
-                    // Glyphs data is compressed, uncompress it
-                    unsigned char *glypsDataCompressed = (unsigned char *)RAYGUI_MALLOC(glyphsDataCompressedSize);
-
-                    memcpy(glypsDataCompressed, fileDataPtr, glyphsDataCompressedSize);
-                    fileDataPtr += glyphsDataCompressedSize;
-
-                    int glyphsDataUncompSize = 0;
-                    unsigned char *glyphsDataUncomp = DecompressData(glypsDataCompressed, glyphsDataCompressedSize, &glyphsDataUncompSize);
-
-                    // Security check, data uncompressed size must match the expected original data size
-                    if (glyphsDataUncompSize != glyphsDataSize) RAYGUI_LOG("WARNING: Uncompressed font glyphs data could be corrupted");
-
-                    unsigned char *glyphsDataUncompPtr = glyphsDataUncomp;
-
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.glyphs[i].value, glyphsDataUncompPtr, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetX, glyphsDataUncompPtr + 4, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetY, glyphsDataUncompPtr + 8, sizeof(int));
-                        memcpy(&font.glyphs[i].advanceX, glyphsDataUncompPtr + 12, sizeof(int));
-                        glyphsDataUncompPtr += 16;
-                    }
-
-                    RAYGUI_FREE(glypsDataCompressed);
-                    RAYGUI_FREE(glyphsDataUncomp);
-                }
-                else
-                {
-                    // Glyphs data is uncompressed
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.glyphs[i].value, fileDataPtr, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetX, fileDataPtr + 4, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetY, fileDataPtr + 8, sizeof(int));
-                        memcpy(&font.glyphs[i].advanceX, fileDataPtr + 12, sizeof(int));
-                        fileDataPtr += 16;
-                    }
-                }
-            }
-            else font = GetFontDefault();   // Fallback in case of errors loading font atlas texture
-
-            GuiSetFont(font);
-
-            // Set font texture source rectangle to be used as white texture to draw shapes
-            // NOTE: It makes possible to draw shapes and text (full UI) in a single draw call
-            if ((fontWhiteRec.x > 0) &&
-                (fontWhiteRec.y > 0) &&
-                (fontWhiteRec.width > 0) &&
-                (fontWhiteRec.height > 0)) SetShapesTexture(font.texture, fontWhiteRec);
-        }
-#endif
-    }
-}
-
-// Gui get text width considering icon
-static int GetTextWidth(const char *text)
-{
-    #if !defined(ICON_TEXT_PADDING)
-        #define ICON_TEXT_PADDING   4
-    #endif
-
-    Vector2 textSize = { 0 };
-    int textIconOffset = 0;
-
-    if ((text != NULL) && (text[0] != '\0'))
-    {
-        if (text[0] == '#')
-        {
-            for (int i = 1; (i < 5) && (text[i] != '\0'); i++)
-            {
-                if (text[i] == '#')
-                {
-                    textIconOffset = i;
-                    break;
-                }
-            }
-        }
-
-        text += textIconOffset;
-
-        // Make sure guiFont is set, GuiGetStyle() initializes it lazynessly
-        float fontSize = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-
-        // Custom MeasureText() implementation
-        if ((guiFont.texture.id > 0) && (text != NULL))
-        {
-            // Get size in bytes of text, considering end of line and line break
-            int size = 0;
-            for (int i = 0; i < MAX_LINE_BUFFER_SIZE; i++)
-            {
-                if ((text[i] != '\0') && (text[i] != '\n')) size++;
-                else break;
-            }
-
-            float scaleFactor = fontSize/(float)guiFont.baseSize;
-            textSize.y = (float)guiFont.baseSize*scaleFactor;
-            float glyphWidth = 0.0f;
-
-            for (int i = 0, codepointSize = 0; i < size; i += codepointSize)
-            {
-                int codepoint = GetCodepointNext(&text[i], &codepointSize);
-                int codepointIndex = GetGlyphIndex(guiFont, codepoint);
-
-                if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);
-                else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);
-
-                textSize.x += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-            }
-        }
-
-        if (textIconOffset > 0) textSize.x += (RAYGUI_ICON_SIZE + ICON_TEXT_PADDING);
-    }
-
-    return (int)textSize.x;
-}
-
-// Get text bounds considering control bounds
-static Rectangle GetTextBounds(int control, Rectangle bounds)
-{
-    Rectangle textBounds = bounds;
-
-    textBounds.x = bounds.x + GuiGetStyle(control, BORDER_WIDTH);
-    textBounds.y = bounds.y + GuiGetStyle(control, BORDER_WIDTH) + GuiGetStyle(control, TEXT_PADDING);
-    textBounds.width = bounds.width - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);
-    textBounds.height = bounds.height - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);    // NOTE: Text is processed line per line!
-
-    // Depending on control, TEXT_PADDING and TEXT_ALIGNMENT properties could affect the text-bounds
-    switch (control)
-    {
-        case COMBOBOX:
-        case DROPDOWNBOX:
-        case LISTVIEW:
-            // TODO: Special cases (no label): COMBOBOX, DROPDOWNBOX, LISTVIEW
-        case SLIDER:
-        case CHECKBOX:
-        case VALUEBOX:
-        case SPINNER:
-            // TODO: More special cases (label on side): SLIDER, CHECKBOX, VALUEBOX, SPINNER
-        default:
-        {
-            // TODO: WARNING: TEXT_ALIGNMENT is already considered in GuiDrawText()
-            if (GuiGetStyle(control, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT) textBounds.x -= GuiGetStyle(control, TEXT_PADDING);
-            else textBounds.x += GuiGetStyle(control, TEXT_PADDING);
-        }
-        break;
-    }
-
-    return textBounds;
-}
-
-// Get text icon if provided and move text cursor
-// NOTE: We support up to 999 values for iconId
-static const char *GetTextIcon(const char *text, int *iconId)
-{
-#if !defined(RAYGUI_NO_ICONS)
-    *iconId = -1;
-    if (text[0] == '#')     // Maybe we have an icon!
-    {
-        char iconValue[4] = { 0 };  // Maximum length for icon value: 3 digits + '\0'
-
-        int pos = 1;
-        while ((pos < 4) && (text[pos] >= '0') && (text[pos] <= '9'))
-        {
-            iconValue[pos - 1] = text[pos];
-            pos++;
-        }
-
-        if (text[pos] == '#')
-        {
-            *iconId = TextToInteger(iconValue);
-
-            // Move text pointer after icon
-            // WARNING: If only icon provided, it could point to EOL character: '\0'
-            if (*iconId >= 0) text += (pos + 1);
-        }
-    }
-#endif
-
-    return text;
-}
-
-// Get text divided into lines (by line-breaks '\n')
-const char **GetTextLines(const char *text, int *count)
-{
-    #define RAYGUI_MAX_TEXT_LINES   128
-
-    static const char *lines[RAYGUI_MAX_TEXT_LINES] = { 0 };
-    for (int i = 0; i < RAYGUI_MAX_TEXT_LINES; i++) lines[i] = NULL;    // Init NULL pointers to substrings
-
-    int textSize = (int)strlen(text);
-
-    lines[0] = text;
-    int len = 0;
-    *count = 1;
-    //int lineSize = 0;   // Stores current line size, not returned
-
-    for (int i = 0, k = 0; (i < textSize) && (*count < RAYGUI_MAX_TEXT_LINES); i++)
-    {
-        if (text[i] == '\n')
-        {
-            //lineSize = len;
-            k++;
-            lines[k] = &text[i + 1];     // WARNING: next value is valid?
-            len = 0;
-            *count += 1;
-        }
-        else len++;
-    }
-
-    //lines[*count - 1].size = len;
-
-    return lines;
-}
-
-// Get text width to next space for provided string
-static float GetNextSpaceWidth(const char *text, int *nextSpaceIndex)
-{
-    float width = 0;
-    int codepointByteCount = 0;
-    int codepoint = 0;
-    int index = 0;
-    float glyphWidth = 0;
-    float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;
-
-    for (int i = 0; text[i] != '\0'; i++)
-    {
-        if (text[i] != ' ')
-        {
-            codepoint = GetCodepoint(&text[i], &codepointByteCount);
-            index = GetGlyphIndex(guiFont, codepoint);
-            glyphWidth = (guiFont.glyphs[index].advanceX == 0)? guiFont.recs[index].width*scaleFactor : guiFont.glyphs[index].advanceX*scaleFactor;
-            width += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-        }
-        else
-        {
-            *nextSpaceIndex = i;
-            break;
-        }
-    }
-
-    return width;
-}
-
-// Gui draw text using default font
-static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint)
-{
-    #define TEXT_VALIGN_PIXEL_OFFSET(h)  ((int)h%2)     // Vertical alignment for pixel perfect
-
-    #if !defined(ICON_TEXT_PADDING)
-        #define ICON_TEXT_PADDING   4
-    #endif
-
-    if ((text == NULL) || (text[0] == '\0')) return;    // Security check
-
-    // PROCEDURE:
-    //   - Text is processed line per line
-    //   - For every line, horizontal alignment is defined
-    //   - For all text, vertical alignment is defined (multiline text only)
-    //   - For every line, wordwrap mode is checked (useful for GuitextBox(), read-only)
-
-    // Get text lines (using '\n' as delimiter) to be processed individually
-    // WARNING: We can't use GuiTextSplit() function because it can be already used
-    // before the GuiDrawText() call and its buffer is static, it would be overriden :(
-    int lineCount = 0;
-    const char **lines = GetTextLines(text, &lineCount);
-
-    // Text style variables
-    //int alignment = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT);
-    int alignmentVertical = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL);
-    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);    // Wrap-mode only available in read-only mode, no for text editing
-
-    // TODO: WARNING: This totalHeight is not valid for vertical alignment in case of word-wrap
-    float totalHeight = (float)(lineCount*GuiGetStyle(DEFAULT, TEXT_SIZE) + (lineCount - 1)*GuiGetStyle(DEFAULT, TEXT_SIZE)/2);
-    float posOffsetY = 0.0f;
-
-    for (int i = 0; i < lineCount; i++)
-    {
-        int iconId = 0;
-        lines[i] = GetTextIcon(lines[i], &iconId);      // Check text for icon and move cursor
-
-        // Get text position depending on alignment and iconId
-        //---------------------------------------------------------------------------------
-        Vector2 textBoundsPosition = { textBounds.x, textBounds.y };
-        float textBoundsWidthOffset = 0.0f;
-
-        // NOTE: We get text size after icon has been processed
-        // WARNING: GetTextWidth() also processes text icon to get width! -> Really needed?
-        int textSizeX = GetTextWidth(lines[i]);
-
-        // If text requires an icon, add size to measure
-        if (iconId >= 0)
-        {
-            textSizeX += RAYGUI_ICON_SIZE*guiIconScale;
-
-            // WARNING: If only icon provided, text could be pointing to EOF character: '\0'
-#if !defined(RAYGUI_NO_ICONS)
-            if ((lines[i] != NULL) && (lines[i][0] != '\0')) textSizeX += ICON_TEXT_PADDING;
-#endif
-        }
-
-        // Check guiTextAlign global variables
-        switch (alignment)
-        {
-            case TEXT_ALIGN_LEFT: textBoundsPosition.x = textBounds.x; break;
-            case TEXT_ALIGN_CENTER: textBoundsPosition.x = textBounds.x +  textBounds.width/2 - textSizeX/2; break;
-            case TEXT_ALIGN_RIGHT: textBoundsPosition.x = textBounds.x + textBounds.width - textSizeX; break;
-            default: break;
-        }
-
-        if (textSizeX > textBounds.width && (lines[i] != NULL) && (lines[i][0] != '\0')) textBoundsPosition.x = textBounds.x;
-
-        switch (alignmentVertical)
-        {
-            // Only valid in case of wordWrap = 0;
-            case TEXT_ALIGN_TOP: textBoundsPosition.y = textBounds.y + posOffsetY; break;
-            case TEXT_ALIGN_MIDDLE: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height/2 - totalHeight/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;
-            case TEXT_ALIGN_BOTTOM: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height - totalHeight + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;
-            default: break;
-        }
-
-        // NOTE: Make sure we get pixel-perfect coordinates,
-        // In case of decimals we got weird text positioning
-        textBoundsPosition.x = (float)((int)textBoundsPosition.x);
-        textBoundsPosition.y = (float)((int)textBoundsPosition.y);
-        //---------------------------------------------------------------------------------
-
-        // Draw text (with icon if available)
-        //---------------------------------------------------------------------------------
-#if !defined(RAYGUI_NO_ICONS)
-        if (iconId >= 0)
-        {
-            // NOTE: We consider icon height, probably different than text size
-            GuiDrawIcon(iconId, (int)textBoundsPosition.x, (int)(textBounds.y + textBounds.height/2 - RAYGUI_ICON_SIZE*guiIconScale/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height)), guiIconScale, tint);
-            textBoundsPosition.x += (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);
-            textBoundsWidthOffset = (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);
-        }
-#endif
-        // Get size in bytes of text,
-        // considering end of line and line break
-        int lineSize = 0;
-        for (int c = 0; (lines[i][c] != '\0') && (lines[i][c] != '\n') && (lines[i][c] != '\r'); c++, lineSize++){ }
-        float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;
-
-        int lastSpaceIndex = 0;
-        bool tempWrapCharMode = false;
-
-        int textOffsetY = 0;
-        float textOffsetX = 0.0f;
-        float glyphWidth = 0;
-
-        int ellipsisWidth = GetTextWidth("...");
-        bool textOverflow = false;
-        for (int c = 0, codepointSize = 0; c < lineSize; c += codepointSize)
-        {
-            int codepoint = GetCodepointNext(&lines[i][c], &codepointSize);
-            int index = GetGlyphIndex(guiFont, codepoint);
-
-            // NOTE: Normally we exit the decoding sequence as soon as a bad byte is found (and return 0x3f)
-            // but we need to draw all of the bad bytes using the '?' symbol moving one byte
-            if (codepoint == 0x3f) codepointSize = 1; // TODO: Review not recognized codepoints size
-
-            // Get glyph width to check if it goes out of bounds
-            if (guiFont.glyphs[index].advanceX == 0) glyphWidth = ((float)guiFont.recs[index].width*scaleFactor);
-            else glyphWidth = (float)guiFont.glyphs[index].advanceX*scaleFactor;
-
-            // Wrap mode text measuring, to validate if
-            // it can be drawn or a new line is required
-            if (wrapMode == TEXT_WRAP_CHAR)
-            {
-                // Jump to next line if current character reach end of the box limits
-                if ((textOffsetX + glyphWidth) > textBounds.width - textBoundsWidthOffset)
-                {
-                    textOffsetX = 0.0f;
-                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-
-                    if (tempWrapCharMode)   // Wrap at char level when too long words
-                    {
-                        wrapMode = TEXT_WRAP_WORD;
-                        tempWrapCharMode = false;
-                    }
-                }
-            }
-            else if (wrapMode == TEXT_WRAP_WORD)
-            {
-                if (codepoint == 32) lastSpaceIndex = c;
-
-                // Get width to next space in line
-                int nextSpaceIndex = 0;
-                float nextSpaceWidth = GetNextSpaceWidth(lines[i] + c, &nextSpaceIndex);
-
-                int nextSpaceIndex2 = 0;
-                float nextWordSize = GetNextSpaceWidth(lines[i] + lastSpaceIndex + 1, &nextSpaceIndex2);
-
-                if (nextWordSize > textBounds.width - textBoundsWidthOffset)
-                {
-                    // Considering the case the next word is longer than bounds
-                    tempWrapCharMode = true;
-                    wrapMode = TEXT_WRAP_CHAR;
-                }
-                else if ((textOffsetX + nextSpaceWidth) > textBounds.width - textBoundsWidthOffset)
-                {
-                    textOffsetX = 0.0f;
-                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-                }
-            }
-
-            if (codepoint == '\n') break;   // WARNING: Lines are already processed manually, no need to keep drawing after this codepoint
-            else
-            {
-                // TODO: There are multiple types of spaces in Unicode,
-                // maybe it's a good idea to add support for more: http://jkorpela.fi/chars/spaces.html
-                if ((codepoint != ' ') && (codepoint != '\t'))      // Do not draw codepoints with no glyph
-                {
-                    if (wrapMode == TEXT_WRAP_NONE)
-                    {
-                        // Draw only required text glyphs fitting the textBounds.width
-                        if (textSizeX > textBounds.width)
-                        {
-                            if (textOffsetX <= (textBounds.width - glyphWidth - textBoundsWidthOffset - ellipsisWidth))
-                            {
-                                DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                            }
-                            else if (!textOverflow)
-                            {
-                                textOverflow = true;
-
-                                for (int j = 0; j < ellipsisWidth; j += ellipsisWidth/3)
-                                {
-                                    DrawTextCodepoint(guiFont, '.', RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX + j, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                                }
-                            }
-                        }
-                        else
-                        {
-                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                        }
-                    }
-                    else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD))
-                    {
-                        // Draw only glyphs inside the bounds
-                        if ((textBoundsPosition.y + textOffsetY) <= (textBounds.y + textBounds.height - GuiGetStyle(DEFAULT, TEXT_SIZE)))
-                        {
-                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                        }
-                    }
-                }
-
-                if (guiFont.glyphs[index].advanceX == 0) textOffsetX += ((float)guiFont.recs[index].width*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-                else textOffsetX += ((float)guiFont.glyphs[index].advanceX*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-            }
-        }
-
-        if (wrapMode == TEXT_WRAP_NONE) posOffsetY += (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-        else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD)) posOffsetY += (textOffsetY + (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING));
-        //---------------------------------------------------------------------------------
-    }
-
-#if defined(RAYGUI_DEBUG_TEXT_BOUNDS)
-    GuiDrawRectangle(textBounds, 0, WHITE, Fade(BLUE, 0.4f));
-#endif
-}
-
-// Gui draw rectangle using default raygui plain style with borders
-static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color)
-{
-    if (color.a > 0)
-    {
-        // Draw rectangle filled with color
-        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, GuiFade(color, guiAlpha));
-    }
-
-    if (borderWidth > 0)
-    {
-        // Draw rectangle border lines with color
-        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x + (int)rec.width - borderWidth, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x, (int)rec.y + (int)rec.height - borderWidth, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));
-    }
-
-#if defined(RAYGUI_DEBUG_RECS_BOUNDS)
-    DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, Fade(RED, 0.4f));
-#endif
-}
-
-// Draw tooltip using control bounds
-static void GuiTooltip(Rectangle controlRec)
-{
-    if (!guiLocked && guiTooltip && (guiTooltipPtr != NULL) && !guiControlExclusiveMode)
-    {
-        Vector2 textSize = MeasureTextEx(GuiGetFont(), guiTooltipPtr, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-
-        if ((controlRec.x + textSize.x + 16) > GetScreenWidth()) controlRec.x -= (textSize.x + 16 - controlRec.width);
-
-        GuiPanel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, NULL);
-
-        int textPadding = GuiGetStyle(LABEL, TEXT_PADDING);
-        int textAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-        GuiSetStyle(LABEL, TEXT_PADDING, 0);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-        GuiLabel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, guiTooltipPtr);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, textAlignment);
-        GuiSetStyle(LABEL, TEXT_PADDING, textPadding);
-    }
-}
-
-// Split controls text into multiple strings
-// Also check for multiple columns (required by GuiToggleGroup())
-static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow)
-{
-    // NOTE: Current implementation returns a copy of the provided string with '\0' (string end delimiter)
-    // inserted between strings defined by "delimiter" parameter. No memory is dynamically allocated,
-    // all used memory is static... it has some limitations:
-    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS
-    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE
-    // NOTE: Those definitions could be externally provided if required
-
-    // TODO: HACK: GuiTextSplit() - Review how textRows are returned to user
-    // textRow is an externally provided array of integers that stores row number for every splitted string
-
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)
-        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128
-    #endif
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)
-        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE     1024
-    #endif
-
-    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };   // String pointers array (points to buffer data)
-    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };         // Buffer data (text input copy with '\0' added)
-    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);
-
-    result[0] = buffer;
-    int counter = 1;
-
-    if (textRow != NULL) textRow[0] = 0;
-
-    // Count how many substrings we have on text and point to every one
-    for (int i = 0; i < RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)
-    {
-        buffer[i] = text[i];
-        if (buffer[i] == '\0') break;
-        else if ((buffer[i] == delimiter) || (buffer[i] == '\n'))
-        {
-            result[counter] = buffer + i + 1;
-
-            if (textRow != NULL)
-            {
-                if (buffer[i] == '\n') textRow[counter] = textRow[counter - 1] + 1;
-                else textRow[counter] = textRow[counter - 1];
-            }
-
-            buffer[i] = '\0';   // Set an end of string at this point
-
-            counter++;
-            if (counter > RAYGUI_TEXTSPLIT_MAX_ITEMS) break;
-        }
-    }
-
-    *count = counter;
-
-    return result;
-}
-
-// Convert color data from RGB to HSV
-// NOTE: Color data should be passed normalized
-static Vector3 ConvertRGBtoHSV(Vector3 rgb)
-{
-    Vector3 hsv = { 0 };
-    float min = 0.0f;
-    float max = 0.0f;
-    float delta = 0.0f;
-
-    min = (rgb.x < rgb.y)? rgb.x : rgb.y;
-    min = (min < rgb.z)? min  : rgb.z;
-
-    max = (rgb.x > rgb.y)? rgb.x : rgb.y;
-    max = (max > rgb.z)? max  : rgb.z;
-
-    hsv.z = max;            // Value
-    delta = max - min;
-
-    if (delta < 0.00001f)
-    {
-        hsv.y = 0.0f;
-        hsv.x = 0.0f;           // Undefined, maybe NAN?
-        return hsv;
-    }
-
-    if (max > 0.0f)
-    {
-        // NOTE: If max is 0, this divide would cause a crash
-        hsv.y = (delta/max);    // Saturation
-    }
-    else
-    {
-        // NOTE: If max is 0, then r = g = b = 0, s = 0, h is undefined
-        hsv.y = 0.0f;
-        hsv.x = 0.0f;           // Undefined, maybe NAN?
-        return hsv;
-    }
-
-    // NOTE: Comparing float values could not work properly
-    if (rgb.x >= max) hsv.x = (rgb.y - rgb.z)/delta;    // Between yellow & magenta
-    else
-    {
-        if (rgb.y >= max) hsv.x = 2.0f + (rgb.z - rgb.x)/delta;  // Between cyan & yellow
-        else hsv.x = 4.0f + (rgb.x - rgb.y)/delta;      // Between magenta & cyan
-    }
-
-    hsv.x *= 60.0f;     // Convert to degrees
-
-    if (hsv.x < 0.0f) hsv.x += 360.0f;
-
-    return hsv;
-}
-
-// Convert color data from HSV to RGB
-// NOTE: Color data should be passed normalized
-static Vector3 ConvertHSVtoRGB(Vector3 hsv)
-{
-    Vector3 rgb = { 0 };
-    float hh = 0.0f, p = 0.0f, q = 0.0f, t = 0.0f, ff = 0.0f;
-    long i = 0;
-
-    // NOTE: Comparing float values could not work properly
-    if (hsv.y <= 0.0f)
-    {
-        rgb.x = hsv.z;
-        rgb.y = hsv.z;
-        rgb.z = hsv.z;
-        return rgb;
-    }
-
-    hh = hsv.x;
-    if (hh >= 360.0f) hh = 0.0f;
-    hh /= 60.0f;
-
-    i = (long)hh;
-    ff = hh - i;
-    p = hsv.z*(1.0f - hsv.y);
-    q = hsv.z*(1.0f - (hsv.y*ff));
-    t = hsv.z*(1.0f - (hsv.y*(1.0f - ff)));
-
-    switch (i)
-    {
-        case 0:
-        {
-            rgb.x = hsv.z;
-            rgb.y = t;
-            rgb.z = p;
-        } break;
-        case 1:
-        {
-            rgb.x = q;
-            rgb.y = hsv.z;
-            rgb.z = p;
-        } break;
-        case 2:
-        {
-            rgb.x = p;
-            rgb.y = hsv.z;
-            rgb.z = t;
-        } break;
-        case 3:
-        {
-            rgb.x = p;
-            rgb.y = q;
-            rgb.z = hsv.z;
-        } break;
-        case 4:
-        {
-            rgb.x = t;
-            rgb.y = p;
-            rgb.z = hsv.z;
-        } break;
-        case 5:
-        default:
-        {
-            rgb.x = hsv.z;
-            rgb.y = p;
-            rgb.z = q;
-        } break;
-    }
-
-    return rgb;
-}
-
-// Scroll bar control (used by GuiScrollPanel())
-static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue)
-{
-    GuiState state = guiState;
-
-    // Is the scrollbar horizontal or vertical?
-    bool isVertical = (bounds.width > bounds.height)? false : true;
-
-    // The size (width or height depending on scrollbar type) of the spinner buttons
-    const int spinnerSize = GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE)?
-        (isVertical? (int)bounds.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) :
-        (int)bounds.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH)) : 0;
-
-    // Arrow buttons [<] [>] [∧] [∨]
-    Rectangle arrowUpLeft = { 0 };
-    Rectangle arrowDownRight = { 0 };
-
-    // Actual area of the scrollbar excluding the arrow buttons
-    Rectangle scrollbar = { 0 };
-
-    // Slider bar that moves     --[///]-----
-    Rectangle slider = { 0 };
-
-    // Normalize value
-    if (value > maxValue) value = maxValue;
-    if (value < minValue) value = minValue;
-
-    int valueRange = maxValue - minValue;
-    if (valueRange <= 0) valueRange = 1;
-
-    int sliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);
-    if (sliderSize < 1) sliderSize = 1;  // TODO: Consider a minimum slider size
-
-    // Calculate rectangles for all of the components
-    arrowUpLeft = RAYGUI_CLITERAL(Rectangle){
-        (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),
-        (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),
-        (float)spinnerSize, (float)spinnerSize };
-
-    if (isVertical)
-    {
-        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + bounds.height - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };
-        scrollbar = RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), arrowUpLeft.y + arrowUpLeft.height, bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)), bounds.height - arrowUpLeft.height - arrowDownRight.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) };
-
-        // Make sure the slider won't get outside of the scrollbar
-        sliderSize = (sliderSize >= scrollbar.height)? ((int)scrollbar.height - 2) : sliderSize;
-        slider = RAYGUI_CLITERAL(Rectangle){
-            bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),
-            scrollbar.y + (int)(((float)(value - minValue)/valueRange)*(scrollbar.height - sliderSize)),
-            bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)),
-            (float)sliderSize };
-    }
-    else    // horizontal
-    {
-        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + bounds.width - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };
-        scrollbar = RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x + arrowUpLeft.width, bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), bounds.width - arrowUpLeft.width - arrowDownRight.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH), bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)) };
-
-        // Make sure the slider won't get outside of the scrollbar
-        sliderSize = (sliderSize >= scrollbar.width)? ((int)scrollbar.width - 2) : sliderSize;
-        slider = RAYGUI_CLITERAL(Rectangle){
-            scrollbar.x + (int)(((float)(value - minValue)/valueRange)*(scrollbar.width - sliderSize)),
-            bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),
-            (float)sliderSize,
-            bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)) };
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON) &&
-                !CheckCollisionPointRec(mousePoint, arrowUpLeft) &&
-                !CheckCollisionPointRec(mousePoint, arrowDownRight))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);
-                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            state = STATE_FOCUSED;
-
-            // Handle mouse wheel
-            int wheel = (int)GetMouseWheelMove();
-            if (wheel != 0) value += wheel;
-
-            // Handle mouse button down
-            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-            {
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                // Check arrows click
-                if (CheckCollisionPointRec(mousePoint, arrowUpLeft)) value -= valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                else if (CheckCollisionPointRec(mousePoint, arrowDownRight)) value += valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                else if (!CheckCollisionPointRec(mousePoint, slider))
-                {
-                    // If click on scrollbar position but not on slider, place slider directly on that position
-                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);
-                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);
-                }
-
-                state = STATE_PRESSED;
-            }
-
-            // Keyboard control on mouse hover scrollbar
-            /*
-            if (isVertical)
-            {
-                if (IsKeyDown(KEY_DOWN)) value += 5;
-                else if (IsKeyDown(KEY_UP)) value -= 5;
-            }
-            else
-            {
-                if (IsKeyDown(KEY_RIGHT)) value += 5;
-                else if (IsKeyDown(KEY_LEFT)) value -= 5;
-            }
-            */
-        }
-
-        // Normalize value
-        if (value > maxValue) value = maxValue;
-        if (value < minValue) value = minValue;
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SCROLLBAR, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED)));   // Draw the background
-
-    GuiDrawRectangle(scrollbar, 0, BLANK, GetColor(GuiGetStyle(BUTTON, BASE_COLOR_NORMAL)));     // Draw the scrollbar active area background
-    GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BORDER + state*3)));         // Draw the slider bar
-
-    // Draw arrows (using icon if available)
-    if (GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE))
-    {
-#if defined(RAYGUI_NO_ICONS)
-        GuiDrawText(isVertical? "^" : "<",
-            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-        GuiDrawText(isVertical? "v" : ">",
-            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-#else
-        GuiDrawText(isVertical? "#121#" : "#118#",
-            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_UP_FILL / ICON_ARROW_LEFT_FILL
-        GuiDrawText(isVertical? "#120#" : "#119#",
-            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_DOWN_FILL / ICON_ARROW_RIGHT_FILL
-#endif
-    }
-    //--------------------------------------------------------------------
-
-    return value;
-}
-
-// Color fade-in or fade-out, alpha goes from 0.0f to 1.0f
-// WARNING: It multiplies current alpha by alpha scale factor
-static Color GuiFade(Color color, float alpha)
-{
-    if (alpha < 0.0f) alpha = 0.0f;
-    else if (alpha > 1.0f) alpha = 1.0f;
-
-    Color result = { color.r, color.g, color.b, (unsigned char)(color.a*alpha) };
-
-    return result;
-}
-
-#if defined(RAYGUI_STANDALONE)
-// Returns a Color struct from hexadecimal value
-static Color GetColor(int hexValue)
-{
-    Color color;
-
-    color.r = (unsigned char)(hexValue >> 24) & 0xFF;
-    color.g = (unsigned char)(hexValue >> 16) & 0xFF;
-    color.b = (unsigned char)(hexValue >> 8) & 0xFF;
-    color.a = (unsigned char)hexValue & 0xFF;
-
-    return color;
-}
-
-// Returns hexadecimal value for a Color
-static int ColorToInt(Color color)
-{
-    return (((int)color.r << 24) | ((int)color.g << 16) | ((int)color.b << 8) | (int)color.a);
-}
-
-// Check if point is inside rectangle
-static bool CheckCollisionPointRec(Vector2 point, Rectangle rec)
-{
-    bool collision = false;
-
-    if ((point.x >= rec.x) && (point.x <= (rec.x + rec.width)) &&
-        (point.y >= rec.y) && (point.y <= (rec.y + rec.height))) collision = true;
-
-    return collision;
-}
-
-// Formatting of text with variables to 'embed'
-static const char *TextFormat(const char *text, ...)
-{
-    #if !defined(RAYGUI_TEXTFORMAT_MAX_SIZE)
-        #define RAYGUI_TEXTFORMAT_MAX_SIZE   256
-    #endif
-
-    static char buffer[RAYGUI_TEXTFORMAT_MAX_SIZE];
-
-    va_list args;
-    va_start(args, text);
-    vsprintf(buffer, text, args);
-    va_end(args);
-
-    return buffer;
-}
-
-// Draw rectangle with vertical gradient fill color
-// NOTE: This function is only used by GuiColorPicker()
-static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2)
-{
-    Rectangle bounds = { (float)posX, (float)posY, (float)width, (float)height };
-    DrawRectangleGradientEx(bounds, color1, color2, color2, color1);
-}
-
-// Split string into multiple strings
-const char **TextSplit(const char *text, char delimiter, int *count)
-{
-    // NOTE: Current implementation returns a copy of the provided string with '\0' (string end delimiter)
-    // inserted between strings defined by "delimiter" parameter. No memory is dynamically allocated,
-    // all used memory is static... it has some limitations:
-    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS
-    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE
-
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)
-        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128
-    #endif
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)
-        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE      1024
-    #endif
-
-    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };
-    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };
-    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);
-
-    result[0] = buffer;
-    int counter = 0;
-
-    if (text != NULL)
-    {
-        counter = 1;
-
-        // Count how many substrings we have on text and point to every one
-        for (int i = 0; i < RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)
-        {
-            buffer[i] = text[i];
-            if (buffer[i] == '\0') break;
-            else if (buffer[i] == delimiter)
-            {
-                buffer[i] = '\0';   // Set an end of string at this point
-                result[counter] = buffer + i + 1;
-                counter++;
-
-                if (counter == RAYGUI_TEXTSPLIT_MAX_ITEMS) break;
-            }
-        }
-    }
-
-    *count = counter;
-    return result;
-}
-
-// Get integer value from text
-// NOTE: This function replaces atoi() [stdlib.h]
-static int TextToInteger(const char *text)
-{
-    int value = 0;
-    int sign = 1;
-
-    if ((text[0] == '+') || (text[0] == '-'))
-    {
-        if (text[0] == '-') sign = -1;
-        text++;
-    }
-
-    for (int i = 0; ((text[i] >= '0') && (text[i] <= '9')); ++i) value = value*10 + (int)(text[i] - '0');
-
-    return value*sign;
-}
-
-// Get float value from text
-// NOTE: This function replaces atof() [stdlib.h]
-// WARNING: Only '.' character is understood as decimal point
-static float TextToFloat(const char *text)
-{
-    float value = 0.0f;
-    float sign = 1.0f;
-
-    if ((text[0] == '+') || (text[0] == '-'))
-    {
-        if (text[0] == '-') sign = -1.0f;
-        text++;
-    }
-
-    int i = 0;
-    for (; ((text[i] >= '0') && (text[i] <= '9')); i++) value = value*10.0f + (float)(text[i] - '0');
-
-    if (text[i++] != '.') value *= sign;
-    else
-    {
-        float divisor = 10.0f;
-        for (; ((text[i] >= '0') && (text[i] <= '9')); i++)
-        {
-            value += ((float)(text[i] - '0'))/divisor;
-            divisor = divisor*10.0f;
-        }
-    }
-
-    return value;
-}
-
-// Encode codepoint into UTF-8 text (char array size returned as parameter)
-static const char *CodepointToUTF8(int codepoint, int *byteSize)
-{
-    static char utf8[6] = { 0 };
-    int size = 0;
-
-    if (codepoint <= 0x7f)
-    {
-        utf8[0] = (char)codepoint;
-        size = 1;
-    }
-    else if (codepoint <= 0x7ff)
-    {
-        utf8[0] = (char)(((codepoint >> 6) & 0x1f) | 0xc0);
-        utf8[1] = (char)((codepoint & 0x3f) | 0x80);
-        size = 2;
-    }
-    else if (codepoint <= 0xffff)
-    {
-        utf8[0] = (char)(((codepoint >> 12) & 0x0f) | 0xe0);
-        utf8[1] = (char)(((codepoint >>  6) & 0x3f) | 0x80);
-        utf8[2] = (char)((codepoint & 0x3f) | 0x80);
-        size = 3;
-    }
-    else if (codepoint <= 0x10ffff)
-    {
-        utf8[0] = (char)(((codepoint >> 18) & 0x07) | 0xf0);
-        utf8[1] = (char)(((codepoint >> 12) & 0x3f) | 0x80);
-        utf8[2] = (char)(((codepoint >>  6) & 0x3f) | 0x80);
-        utf8[3] = (char)((codepoint & 0x3f) | 0x80);
-        size = 4;
-    }
-
-    *byteSize = size;
-
-    return utf8;
-}
-
-// Get next codepoint in a UTF-8 encoded text, scanning until '\0' is found
-// When a invalid UTF-8 byte is encountered we exit as soon as possible and a '?'(0x3f) codepoint is returned
-// Total number of bytes processed are returned as a parameter
-// NOTE: the standard says U+FFFD should be returned in case of errors
-// but that character is not supported by the default font in raylib
-static int GetCodepointNext(const char *text, int *codepointSize)
-{
-    const char *ptr = text;
-    int codepoint = 0x3f;       // Codepoint (defaults to '?')
-    *codepointSize = 1;
-
-    // Get current codepoint and bytes processed
-    if (0xf0 == (0xf8 & ptr[0]))
-    {
-        // 4 byte UTF-8 codepoint
-        if (((ptr[1] & 0xC0) ^ 0x80) || ((ptr[2] & 0xC0) ^ 0x80) || ((ptr[3] & 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x07 & ptr[0]) << 18) | ((0x3f & ptr[1]) << 12) | ((0x3f & ptr[2]) << 6) | (0x3f & ptr[3]);
-        *codepointSize = 4;
-    }
-    else if (0xe0 == (0xf0 & ptr[0]))
-    {
-        // 3 byte UTF-8 codepoint */
-        if (((ptr[1] & 0xC0) ^ 0x80) || ((ptr[2] & 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x0f & ptr[0]) << 12) | ((0x3f & ptr[1]) << 6) | (0x3f & ptr[2]);
-        *codepointSize = 3;
-    }
-    else if (0xc0 == (0xe0 & ptr[0]))
-    {
-        // 2 byte UTF-8 codepoint
-        if ((ptr[1] & 0xC0) ^ 0x80) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x1f & ptr[0]) << 6) | (0x3f & ptr[1]);
-        *codepointSize = 2;
-    }
-    else if (0x00 == (0x80 & ptr[0]))
-    {
-        // 1 byte UTF-8 codepoint
-        codepoint = ptr[0];
-        *codepointSize = 1;
-    }
-
-    return codepoint;
-}
-#endif      // RAYGUI_STANDALONE
-
-#endif      // RAYGUI_IMPLEMENTATION
diff --git a/third_party/raylib/include/raylib.h b/third_party/raylib/include/raylib.h
deleted file mode 100644
index ea973ff1ba..0000000000
--- a/third_party/raylib/include/raylib.h
+++ /dev/null
@@ -1,1766 +0,0 @@
-/**********************************************************************************************
-*
-*   raylib v5.6-dev - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
-*
-*   FEATURES:
-*       - NO external dependencies, all required libraries included with raylib
-*       - Multiplatform: Windows, Linux, FreeBSD, OpenBSD, NetBSD, DragonFly,
-*                        MacOS, Haiku, Android, Raspberry Pi, DRM native, HTML5.
-*       - Written in plain C code (C99) in PascalCase/camelCase notation
-*       - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3, ES2, ES3 - choose at compile)
-*       - Unique OpenGL abstraction layer (usable as standalone module): [rlgl]
-*       - Multiple Fonts formats supported (TTF, OTF, FNT, BDF, Sprite fonts)
-*       - Outstanding texture formats support, including compressed formats (DXT, ETC, ASTC)
-*       - Full 3d support for 3d Shapes, Models, Billboards, Heightmaps and more!
-*       - Flexible Materials system, supporting classic maps and PBR maps
-*       - Animated 3D models supported (skeletal bones animation) (IQM, M3D, GLTF)
-*       - Shaders support, including Model shaders and Postprocessing shaders
-*       - Powerful math module for Vector, Matrix and Quaternion operations: [raymath]
-*       - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, QOA, XM, MOD)
-*       - VR stereo rendering with configurable HMD device parameters
-*       - Bindings to multiple programming languages available!
-*
-*   NOTES:
-*       - One default Font is loaded on InitWindow()->LoadFontDefault() [core, text]
-*       - One default Texture2D is loaded on rlglInit(), 1x1 white pixel R8G8B8A8 [rlgl] (OpenGL 3.3 or ES2)
-*       - One default Shader is loaded on rlglInit()->rlLoadShaderDefault() [rlgl] (OpenGL 3.3 or ES2)
-*       - One default RenderBatch is loaded on rlglInit()->rlLoadRenderBatch() [rlgl] (OpenGL 3.3 or ES2)
-*
-*   DEPENDENCIES (included):
-*       [rcore][GLFW] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input
-*       [rcore][RGFW] rgfw (ColleagueRiley - github.com/ColleagueRiley/RGFW) for window/context management and input
-*       [rlgl] glad/glad_gles2 (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading
-*       [raudio] miniaudio (David Reid - github.com/mackron/miniaudio) for audio device/context management
-*
-*   OPTIONAL DEPENDENCIES (included):
-*       [rcore] msf_gif (Miles Fogle) for GIF recording
-*       [rcore] sinfl (Micha Mettke) for DEFLATE decompression algorithm
-*       [rcore] sdefl (Micha Mettke) for DEFLATE compression algorithm
-*       [rcore] rprand (Ramon Snatamaria) for pseudo-random numbers generation
-*       [rtextures] qoi (Dominic Szablewski - https://phoboslab.org) for QOI image manage
-*       [rtextures] stb_image (Sean Barret) for images loading (BMP, TGA, PNG, JPEG, HDR...)
-*       [rtextures] stb_image_write (Sean Barret) for image writing (BMP, TGA, PNG, JPG)
-*       [rtextures] stb_image_resize2 (Sean Barret) for image resizing algorithms
-*       [rtextures] stb_perlin (Sean Barret) for Perlin Noise image generation
-*       [rtext] stb_truetype (Sean Barret) for ttf fonts loading
-*       [rtext] stb_rect_pack (Sean Barret) for rectangles packing
-*       [rmodels] par_shapes (Philip Rideout) for parametric 3d shapes generation
-*       [rmodels] tinyobj_loader_c (Syoyo Fujita) for models loading (OBJ, MTL)
-*       [rmodels] cgltf (Johannes Kuhlmann) for models loading (glTF)
-*       [rmodels] m3d (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
-*       [rmodels] vox_loader (Johann Nadalutti) for models loading (VOX)
-*       [raudio] dr_wav (David Reid) for WAV audio file loading
-*       [raudio] dr_flac (David Reid) for FLAC audio file loading
-*       [raudio] dr_mp3 (David Reid) for MP3 audio file loading
-*       [raudio] stb_vorbis (Sean Barret) for OGG audio loading
-*       [raudio] jar_xm (Joshua Reisenauer) for XM audio module loading
-*       [raudio] jar_mod (Joshua Reisenauer) for MOD audio module loading
-*       [raudio] qoa (Dominic Szablewski - https://phoboslab.org) for QOA audio manage
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   raylib is licensed under an unmodified zlib/libpng license, which is an OSI-certified,
-*   BSD-like license that allows static linking with closed source software:
-*
-*   Copyright (c) 2013-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYLIB_H
-#define RAYLIB_H
-
-#include <stdarg.h>     // Required for: va_list - Only used by TraceLogCallback
-
-#define RAYLIB_VERSION_MAJOR 5
-#define RAYLIB_VERSION_MINOR 6
-#define RAYLIB_VERSION_PATCH 0
-#define RAYLIB_VERSION  "5.6-dev"
-
-// Function specifiers in case library is build/used as a shared library
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-// NOTE: visibility("default") attribute makes symbols "visible" when compiled with -fvisibility=hidden
-#if defined(_WIN32)
-    #if defined(__TINYC__)
-        #define __declspec(x) __attribute__((x))
-    #endif
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-    #elif defined(USE_LIBTYPE_SHARED)
-        #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-    #endif
-#else
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RLAPI __attribute__((visibility("default"))) // We are building as a Unix shared library (.so/.dylib)
-    #endif
-#endif
-
-#ifndef RLAPI
-    #define RLAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-//----------------------------------------------------------------------------------
-// Some basic Defines
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-// Allow custom memory allocators
-// NOTE: Require recompiling raylib sources
-#ifndef RL_MALLOC
-    #define RL_MALLOC(sz)       malloc(sz)
-#endif
-#ifndef RL_CALLOC
-    #define RL_CALLOC(n,sz)     calloc(n,sz)
-#endif
-#ifndef RL_REALLOC
-    #define RL_REALLOC(ptr,sz)  realloc(ptr,sz)
-#endif
-#ifndef RL_FREE
-    #define RL_FREE(ptr)        free(ptr)
-#endif
-
-// NOTE: MSVC C++ compiler does not support compound literals (C99 feature)
-// Plain structures in C++ (without constructors) can be initialized with { }
-// This is called aggregate initialization (C++11 feature)
-#if defined(__cplusplus)
-    #define CLITERAL(type)      type
-#else
-    #define CLITERAL(type)      (type)
-#endif
-
-// Some compilers (mostly macos clang) default to C++98,
-// where aggregate initialization can't be used
-// So, give a more clear error stating how to fix this
-#if !defined(_MSC_VER) && (defined(__cplusplus) && __cplusplus < 201103L)
-    #error "C++11 or later is required. Add -std=c++11"
-#endif
-
-// NOTE: We set some defines with some data types declared by raylib
-// Other modules (raymath, rlgl) also require some of those types, so,
-// to be able to use those other modules as standalone (not depending on raylib)
-// this defines are very useful for internal check and avoid type (re)definitions
-#define RL_COLOR_TYPE
-#define RL_RECTANGLE_TYPE
-#define RL_VECTOR2_TYPE
-#define RL_VECTOR3_TYPE
-#define RL_VECTOR4_TYPE
-#define RL_QUATERNION_TYPE
-#define RL_MATRIX_TYPE
-
-// Some Basic Colors
-// NOTE: Custom raylib color palette for amazing visuals on WHITE background
-#define _rl_LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
-#define _rl_GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
-#define _rl_DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
-#define _rl_YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
-#define _rl_GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
-#define _rl_ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
-#define _rl_PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
-#define _rl_RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
-#define _rl_MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
-#define _rl_GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
-#define _rl_LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
-#define _rl_DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
-#define _rl_SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
-#define _rl_BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
-#define _rl_DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
-#define _rl_PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
-#define _rl_VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
-#define _rl_DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
-#define _rl_BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
-#define _rl_BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
-#define _rl_DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
-
-#define _rl_WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
-#define _rl_BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
-#define _rl_BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
-#define _rl_MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
-#define _rl_RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
-
-#ifndef OPENPILOT_RAYLIB
-  #define LIGHTGRAY  _rl_LIGHTGRAY
-  #define GRAY       _rl_GRAY
-  #define DARKGRAY   _rl_DARKGRAY
-  #define YELLOW     _rl_YELLOW
-  #define GOLD       _rl_GOLD
-  #define ORANGE     _rl_ORANGE
-  #define PINK       _rl_PINK
-  #define RED        _rl_RED
-  #define MAROON     _rl_MAROON
-  #define GREEN      _rl_GREEN
-  #define LIME       _rl_LIME
-  #define DARKGREEN  _rl_DARKGREEN
-  #define SKYBLUE    _rl_SKYBLUE
-  #define BLUE       _rl_BLUE
-  #define DARKBLUE   _rl_DARKBLUE
-  #define PURPLE     _rl_PURPLE
-  #define VIOLET     _rl_VIOLET
-  #define DARKPURPLE _rl_DARKBLUE
-  #define BEIGE      _rl_BEIGE
-  #define BROWN      _rl_BROWN
-  #define DARKBROWN  _rl_DARKBROWN
-
-  #define WHITE      _rl_WHITE
-  #define BLACK      _rl_BLACK
-  #define BLANK      _rl_BLANK
-  #define MAGENTA    _rl_MAGENTA
-  #define RAYWHITE   _rl_RAYWHITE
-#else
-  #define RAYLIB_LIGHTGRAY  _rl_LIGHTGRAY
-  #define RAYLIB_GRAY       _rl_GRAY
-  #define RAYLIB_DARKGRAY   _rl_DARKGRAY
-  #define RAYLIB_YELLOW     _rl_YELLOW
-  #define RAYLIB_GOLD       _rl_GOLD
-  #define RAYLIB_ORANGE     _rl_ORANGE
-  #define RAYLIB_PINK       _rl_PINK
-  #define RAYLIB_RED        _rl_RED
-  #define RAYLIB_MAROON     _rl_MAROON
-  #define RAYLIB_GREEN      _rl_GREEN
-  #define RAYLIB_LIME       _rl_LIME
-  #define RAYLIB_DARKGREEN  _rl_DARKGREEN
-  #define RAYLIB_SKYBLUE    _rl_SKYBLUE
-  #define RAYLIB_BLUE       _rl_BLUE
-  #define RAYLIB_DARKBLUE   _rl_DARKBLUE
-  #define RAYLIB_PURPLE     _rl_PURPLE
-  #define RAYLIB_VIOLET     _rl_VIOLET
-  #define RAYLIB_DARKPURPLE _rl_DARKBLUE
-  #define RAYLIB_BEIGE      _rl_BEIGE
-  #define RAYLIB_BROWN      _rl_BROWN
-  #define RAYLIB_DARKBROWN  _rl_DARKBROWN
-
-  #define RAYLIB_WHITE      _rl_WHITE
-  #define RAYLIB_BLACK      _rl_BLACK
-  #define RAYLIB_BLANK      _rl_BLANK
-  #define RAYLIB_MAGENTA    _rl_MAGENTA
-  #define RAYLIB_RAYWHITE   _rl_RAYWHITE
-#endif
-
-//----------------------------------------------------------------------------------
-// Structures Definition
-//----------------------------------------------------------------------------------
-// Boolean type
-#if (defined(__STDC__) && __STDC_VERSION__ >= 199901L) || (defined(_MSC_VER) && _MSC_VER >= 1800)
-    #include <stdbool.h>
-#elif !defined(__cplusplus) && !defined(bool)
-    typedef enum bool { false = 0, true = !false } bool;
-    #define RL_BOOL_TYPE
-#endif
-
-// Vector2, 2 components
-typedef struct Vector2 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-} Vector2;
-
-// Vector3, 3 components
-typedef struct Vector3 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-    float z;                // Vector z component
-} Vector3;
-
-// Vector4, 4 components
-typedef struct Vector4 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-    float z;                // Vector z component
-    float w;                // Vector w component
-} Vector4;
-
-// Quaternion, 4 components (Vector4 alias)
-typedef Vector4 Quaternion;
-
-// Matrix, 4x4 components, column major, OpenGL style, right-handed
-typedef struct Matrix {
-    float m0, m4, m8, m12;  // Matrix first row (4 components)
-    float m1, m5, m9, m13;  // Matrix second row (4 components)
-    float m2, m6, m10, m14; // Matrix third row (4 components)
-    float m3, m7, m11, m15; // Matrix fourth row (4 components)
-} Matrix;
-
-// Color, 4 components, R8G8B8A8 (32bit)
-typedef struct Color {
-    unsigned char r;        // Color red value
-    unsigned char g;        // Color green value
-    unsigned char b;        // Color blue value
-    unsigned char a;        // Color alpha value
-} Color;
-
-// Rectangle, 4 components
-typedef struct Rectangle {
-    float x;                // Rectangle top-left corner position x
-    float y;                // Rectangle top-left corner position y
-    float width;            // Rectangle width
-    float height;           // Rectangle height
-} Rectangle;
-
-// Image, pixel data stored in CPU memory (RAM)
-typedef struct Image {
-    void *data;             // Image raw data
-    int width;              // Image base width
-    int height;             // Image base height
-    int mipmaps;            // Mipmap levels, 1 by default
-    int format;             // Data format (PixelFormat type)
-} Image;
-
-// Texture, tex data stored in GPU memory (VRAM)
-typedef struct Texture {
-    unsigned int id;        // OpenGL texture id
-    int width;              // Texture base width
-    int height;             // Texture base height
-    int mipmaps;            // Mipmap levels, 1 by default
-    int format;             // Data format (PixelFormat type)
-} Texture;
-
-// Texture2D, same as Texture
-typedef Texture Texture2D;
-
-// TextureCubemap, same as Texture
-typedef Texture TextureCubemap;
-
-// RenderTexture, fbo for texture rendering
-typedef struct RenderTexture {
-    unsigned int id;        // OpenGL framebuffer object id
-    Texture texture;        // Color buffer attachment texture
-    Texture depth;          // Depth buffer attachment texture
-} RenderTexture;
-
-// RenderTexture2D, same as RenderTexture
-typedef RenderTexture RenderTexture2D;
-
-// NPatchInfo, n-patch layout info
-typedef struct NPatchInfo {
-    Rectangle source;       // Texture source rectangle
-    int left;               // Left border offset
-    int top;                // Top border offset
-    int right;              // Right border offset
-    int bottom;             // Bottom border offset
-    int layout;             // Layout of the n-patch: 3x3, 1x3 or 3x1
-} NPatchInfo;
-
-// GlyphInfo, font characters glyphs info
-typedef struct GlyphInfo {
-    int value;              // Character value (Unicode)
-    int offsetX;            // Character offset X when drawing
-    int offsetY;            // Character offset Y when drawing
-    int advanceX;           // Character advance position X
-    Image image;            // Character image data
-} GlyphInfo;
-
-// Font, font texture and GlyphInfo array data
-typedef struct Font {
-    int baseSize;           // Base size (default chars height)
-    int glyphCount;         // Number of glyph characters
-    int glyphPadding;       // Padding around the glyph characters
-    Texture2D texture;      // Texture atlas containing the glyphs
-    Rectangle *recs;        // Rectangles in texture for the glyphs
-    GlyphInfo *glyphs;      // Glyphs info data
-} Font;
-
-// Camera, defines position/orientation in 3d space
-typedef struct Camera3D {
-    Vector3 position;       // Camera position
-    Vector3 target;         // Camera target it looks-at
-    Vector3 up;             // Camera up vector (rotation over its axis)
-    float fovy;             // Camera field-of-view aperture in Y (degrees) in perspective, used as near plane width in orthographic
-    int projection;         // Camera projection: CAMERA_PERSPECTIVE or CAMERA_ORTHOGRAPHIC
-} Camera3D;
-
-typedef Camera3D Camera;    // Camera type fallback, defaults to Camera3D
-
-// Camera2D, defines position/orientation in 2d space
-typedef struct Camera2D {
-    Vector2 offset;         // Camera offset (displacement from target)
-    Vector2 target;         // Camera target (rotation and zoom origin)
-    float rotation;         // Camera rotation in degrees
-    float zoom;             // Camera zoom (scaling), should be 1.0f by default
-} Camera2D;
-
-// Mesh, vertex data and vao/vbo
-typedef struct Mesh {
-    int vertexCount;        // Number of vertices stored in arrays
-    int triangleCount;      // Number of triangles stored (indexed or not)
-
-    // Vertex attributes data
-    float *vertices;        // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
-    float *texcoords;       // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
-    float *texcoords2;      // Vertex texture second coordinates (UV - 2 components per vertex) (shader-location = 5)
-    float *normals;         // Vertex normals (XYZ - 3 components per vertex) (shader-location = 2)
-    float *tangents;        // Vertex tangents (XYZW - 4 components per vertex) (shader-location = 4)
-    unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
-    unsigned short *indices;    // Vertex indices (in case vertex data comes indexed)
-
-    // Animation vertex data
-    float *animVertices;    // Animated vertex positions (after bones transformations)
-    float *animNormals;     // Animated normals (after bones transformations)
-    unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning) (shader-location = 6)
-    float *boneWeights;     // Vertex bone weight, up to 4 bones influence by vertex (skinning) (shader-location = 7)
-    Matrix *boneMatrices;   // Bones animated transformation matrices
-    int boneCount;          // Number of bones
-
-    // OpenGL identifiers
-    unsigned int vaoId;     // OpenGL Vertex Array Object id
-    unsigned int *vboId;    // OpenGL Vertex Buffer Objects id (default vertex data)
-} Mesh;
-
-// Shader
-typedef struct Shader {
-    unsigned int id;        // Shader program id
-    int *locs;              // Shader locations array (RL_MAX_SHADER_LOCATIONS)
-} Shader;
-
-// MaterialMap
-typedef struct MaterialMap {
-    Texture2D texture;      // Material map texture
-    Color color;            // Material map color
-    float value;            // Material map value
-} MaterialMap;
-
-// Material, includes shader and maps
-typedef struct Material {
-    Shader shader;          // Material shader
-    MaterialMap *maps;      // Material maps array (MAX_MATERIAL_MAPS)
-    float params[4];        // Material generic parameters (if required)
-} Material;
-
-// Transform, vertex transformation data
-typedef struct Transform {
-    Vector3 translation;    // Translation
-    Quaternion rotation;    // Rotation
-    Vector3 scale;          // Scale
-} Transform;
-
-// Bone, skeletal animation bone
-typedef struct BoneInfo {
-    char name[32];          // Bone name
-    int parent;             // Bone parent
-} BoneInfo;
-
-// Model, meshes, materials and animation data
-typedef struct Model {
-    Matrix transform;       // Local transform matrix
-
-    int meshCount;          // Number of meshes
-    int materialCount;      // Number of materials
-    Mesh *meshes;           // Meshes array
-    Material *materials;    // Materials array
-    int *meshMaterial;      // Mesh material number
-
-    // Animation data
-    int boneCount;          // Number of bones
-    BoneInfo *bones;        // Bones information (skeleton)
-    Transform *bindPose;    // Bones base transformation (pose)
-} Model;
-
-// ModelAnimation
-typedef struct ModelAnimation {
-    int boneCount;          // Number of bones
-    int frameCount;         // Number of animation frames
-    BoneInfo *bones;        // Bones information (skeleton)
-    Transform **framePoses; // Poses array by frame
-    char name[32];          // Animation name
-} ModelAnimation;
-
-// Ray, ray for raycasting
-typedef struct Ray {
-    Vector3 position;       // Ray position (origin)
-    Vector3 direction;      // Ray direction (normalized)
-} Ray;
-
-// RayCollision, ray hit information
-typedef struct RayCollision {
-    bool hit;               // Did the ray hit something?
-    float distance;         // Distance to the nearest hit
-    Vector3 point;          // Point of the nearest hit
-    Vector3 normal;         // Surface normal of hit
-} RayCollision;
-
-// BoundingBox
-typedef struct BoundingBox {
-    Vector3 min;            // Minimum vertex box-corner
-    Vector3 max;            // Maximum vertex box-corner
-} BoundingBox;
-
-// Wave, audio wave data
-typedef struct Wave {
-    unsigned int frameCount;    // Total number of frames (considering channels)
-    unsigned int sampleRate;    // Frequency (samples per second)
-    unsigned int sampleSize;    // Bit depth (bits per sample): 8, 16, 32 (24 not supported)
-    unsigned int channels;      // Number of channels (1-mono, 2-stereo, ...)
-    void *data;                 // Buffer data pointer
-} Wave;
-
-// Opaque structs declaration
-// NOTE: Actual structs are defined internally in raudio module
-typedef struct rAudioBuffer rAudioBuffer;
-typedef struct rAudioProcessor rAudioProcessor;
-
-// AudioStream, custom audio stream
-typedef struct AudioStream {
-    rAudioBuffer *buffer;       // Pointer to internal data used by the audio system
-    rAudioProcessor *processor; // Pointer to internal data processor, useful for audio effects
-
-    unsigned int sampleRate;    // Frequency (samples per second)
-    unsigned int sampleSize;    // Bit depth (bits per sample): 8, 16, 32 (24 not supported)
-    unsigned int channels;      // Number of channels (1-mono, 2-stereo, ...)
-} AudioStream;
-
-// Sound
-typedef struct Sound {
-    AudioStream stream;         // Audio stream
-    unsigned int frameCount;    // Total number of frames (considering channels)
-} Sound;
-
-// Music, audio stream, anything longer than ~10 seconds should be streamed
-typedef struct Music {
-    AudioStream stream;         // Audio stream
-    unsigned int frameCount;    // Total number of frames (considering channels)
-    bool looping;               // Music looping enable
-
-    int ctxType;                // Type of music context (audio filetype)
-    void *ctxData;              // Audio context data, depends on type
-} Music;
-
-// VrDeviceInfo, Head-Mounted-Display device parameters
-typedef struct VrDeviceInfo {
-    int hResolution;                // Horizontal resolution in pixels
-    int vResolution;                // Vertical resolution in pixels
-    float hScreenSize;              // Horizontal size in meters
-    float vScreenSize;              // Vertical size in meters
-    float eyeToScreenDistance;      // Distance between eye and display in meters
-    float lensSeparationDistance;   // Lens separation distance in meters
-    float interpupillaryDistance;   // IPD (distance between pupils) in meters
-    float lensDistortionValues[4];  // Lens distortion constant parameters
-    float chromaAbCorrection[4];    // Chromatic aberration correction parameters
-} VrDeviceInfo;
-
-// VrStereoConfig, VR stereo rendering configuration for simulator
-typedef struct VrStereoConfig {
-    Matrix projection[2];           // VR projection matrices (per eye)
-    Matrix viewOffset[2];           // VR view offset matrices (per eye)
-    float leftLensCenter[2];        // VR left lens center
-    float rightLensCenter[2];       // VR right lens center
-    float leftScreenCenter[2];      // VR left screen center
-    float rightScreenCenter[2];     // VR right screen center
-    float scale[2];                 // VR distortion scale
-    float scaleIn[2];               // VR distortion scale in
-} VrStereoConfig;
-
-// File path list
-typedef struct FilePathList {
-    unsigned int capacity;          // Filepaths max entries
-    unsigned int count;             // Filepaths entries count
-    char **paths;                   // Filepaths entries
-} FilePathList;
-
-// Automation event
-typedef struct AutomationEvent {
-    unsigned int frame;             // Event frame
-    unsigned int type;              // Event type (AutomationEventType)
-    int params[4];                  // Event parameters (if required)
-} AutomationEvent;
-
-// Automation event list
-typedef struct AutomationEventList {
-    unsigned int capacity;          // Events max entries (MAX_AUTOMATION_EVENTS)
-    unsigned int count;             // Events entries count
-    AutomationEvent *events;        // Events entries
-} AutomationEventList;
-
-//----------------------------------------------------------------------------------
-// Enumerators Definition
-//----------------------------------------------------------------------------------
-// System/Window config flags
-// NOTE: Every bit registers one state (use it with bit masks)
-// By default all flags are set to 0
-typedef enum {
-    FLAG_VSYNC_HINT         = 0x00000040,   // Set to try enabling V-Sync on GPU
-    FLAG_FULLSCREEN_MODE    = 0x00000002,   // Set to run program in fullscreen
-    FLAG_WINDOW_RESIZABLE   = 0x00000004,   // Set to allow resizable window
-    FLAG_WINDOW_UNDECORATED = 0x00000008,   // Set to disable window decoration (frame and buttons)
-    FLAG_WINDOW_HIDDEN      = 0x00000080,   // Set to hide window
-    FLAG_WINDOW_MINIMIZED   = 0x00000200,   // Set to minimize window (iconify)
-    FLAG_WINDOW_MAXIMIZED   = 0x00000400,   // Set to maximize window (expanded to monitor)
-    FLAG_WINDOW_UNFOCUSED   = 0x00000800,   // Set to window non focused
-    FLAG_WINDOW_TOPMOST     = 0x00001000,   // Set to window always on top
-    FLAG_WINDOW_ALWAYS_RUN  = 0x00000100,   // Set to allow windows running while minimized
-    FLAG_WINDOW_TRANSPARENT = 0x00000010,   // Set to allow transparent framebuffer
-    FLAG_WINDOW_HIGHDPI     = 0x00002000,   // Set to support HighDPI
-    FLAG_WINDOW_MOUSE_PASSTHROUGH = 0x00004000, // Set to support mouse passthrough, only supported when FLAG_WINDOW_UNDECORATED
-    FLAG_BORDERLESS_WINDOWED_MODE = 0x00008000, // Set to run program in borderless windowed mode
-    FLAG_MSAA_4X_HINT       = 0x00000020,   // Set to try enabling MSAA 4X
-    FLAG_INTERLACED_HINT    = 0x00010000    // Set to try enabling interlaced video format (for V3D)
-} ConfigFlags;
-
-// Trace log level
-// NOTE: Organized by priority level
-typedef enum {
-    LOG_ALL = 0,        // Display all logs
-    LOG_TRACE,          // Trace logging, intended for internal use only
-    LOG_DEBUG,          // Debug logging, used for internal debugging, it should be disabled on release builds
-    LOG_INFO,           // Info logging, used for program execution info
-    LOG_WARNING,        // Warning logging, used on recoverable failures
-    LOG_ERROR,          // Error logging, used on unrecoverable failures
-    LOG_FATAL,          // Fatal logging, used to abort program: exit(EXIT_FAILURE)
-    LOG_NONE            // Disable logging
-} TraceLogLevel;
-
-// Keyboard keys (US keyboard layout)
-// NOTE: Use GetKeyPressed() to allow redefining
-// required keys for alternative layouts
-typedef enum {
-    KEY_NULL            = 0,        // Key: NULL, used for no key pressed
-    // Alphanumeric keys
-    KEY_APOSTROPHE      = 39,       // Key: '
-    KEY_COMMA           = 44,       // Key: ,
-    KEY_MINUS           = 45,       // Key: -
-    KEY_PERIOD          = 46,       // Key: .
-    KEY_SLASH           = 47,       // Key: /
-    KEY_ZERO            = 48,       // Key: 0
-    KEY_ONE             = 49,       // Key: 1
-    KEY_TWO             = 50,       // Key: 2
-    KEY_THREE           = 51,       // Key: 3
-    KEY_FOUR            = 52,       // Key: 4
-    KEY_FIVE            = 53,       // Key: 5
-    KEY_SIX             = 54,       // Key: 6
-    KEY_SEVEN           = 55,       // Key: 7
-    KEY_EIGHT           = 56,       // Key: 8
-    KEY_NINE            = 57,       // Key: 9
-    KEY_SEMICOLON       = 59,       // Key: ;
-    KEY_EQUAL           = 61,       // Key: =
-    KEY_A               = 65,       // Key: A | a
-    KEY_B               = 66,       // Key: B | b
-    KEY_C               = 67,       // Key: C | c
-    KEY_D               = 68,       // Key: D | d
-    KEY_E               = 69,       // Key: E | e
-    KEY_F               = 70,       // Key: F | f
-    KEY_G               = 71,       // Key: G | g
-    KEY_H               = 72,       // Key: H | h
-    KEY_I               = 73,       // Key: I | i
-    KEY_J               = 74,       // Key: J | j
-    KEY_K               = 75,       // Key: K | k
-    KEY_L               = 76,       // Key: L | l
-    KEY_M               = 77,       // Key: M | m
-    KEY_N               = 78,       // Key: N | n
-    KEY_O               = 79,       // Key: O | o
-    KEY_P               = 80,       // Key: P | p
-    KEY_Q               = 81,       // Key: Q | q
-    KEY_R               = 82,       // Key: R | r
-    KEY_S               = 83,       // Key: S | s
-    KEY_T               = 84,       // Key: T | t
-    KEY_U               = 85,       // Key: U | u
-    KEY_V               = 86,       // Key: V | v
-    KEY_W               = 87,       // Key: W | w
-    KEY_X               = 88,       // Key: X | x
-    KEY_Y               = 89,       // Key: Y | y
-    KEY_Z               = 90,       // Key: Z | z
-    KEY_LEFT_BRACKET    = 91,       // Key: [
-    KEY_BACKSLASH       = 92,       // Key: '\'
-    KEY_RIGHT_BRACKET   = 93,       // Key: ]
-    KEY_GRAVE           = 96,       // Key: `
-    // Function keys
-    KEY_SPACE           = 32,       // Key: Space
-    KEY_ESCAPE          = 256,      // Key: Esc
-    KEY_ENTER           = 257,      // Key: Enter
-    KEY_TAB             = 258,      // Key: Tab
-    KEY_BACKSPACE       = 259,      // Key: Backspace
-    KEY_INSERT          = 260,      // Key: Ins
-    KEY_DELETE          = 261,      // Key: Del
-    KEY_RIGHT           = 262,      // Key: Cursor right
-    KEY_LEFT            = 263,      // Key: Cursor left
-    KEY_DOWN            = 264,      // Key: Cursor down
-    KEY_UP              = 265,      // Key: Cursor up
-    KEY_PAGE_UP         = 266,      // Key: Page up
-    KEY_PAGE_DOWN       = 267,      // Key: Page down
-    KEY_HOME            = 268,      // Key: Home
-    KEY_END             = 269,      // Key: End
-    KEY_CAPS_LOCK       = 280,      // Key: Caps lock
-    KEY_SCROLL_LOCK     = 281,      // Key: Scroll down
-    KEY_NUM_LOCK        = 282,      // Key: Num lock
-    KEY_PRINT_SCREEN    = 283,      // Key: Print screen
-    KEY_PAUSE           = 284,      // Key: Pause
-    KEY_F1              = 290,      // Key: F1
-    KEY_F2              = 291,      // Key: F2
-    KEY_F3              = 292,      // Key: F3
-    KEY_F4              = 293,      // Key: F4
-    KEY_F5              = 294,      // Key: F5
-    KEY_F6              = 295,      // Key: F6
-    KEY_F7              = 296,      // Key: F7
-    KEY_F8              = 297,      // Key: F8
-    KEY_F9              = 298,      // Key: F9
-    KEY_F10             = 299,      // Key: F10
-    KEY_F11             = 300,      // Key: F11
-    KEY_F12             = 301,      // Key: F12
-    KEY_LEFT_SHIFT      = 340,      // Key: Shift left
-    KEY_LEFT_CONTROL    = 341,      // Key: Control left
-    KEY_LEFT_ALT        = 342,      // Key: Alt left
-    KEY_LEFT_SUPER      = 343,      // Key: Super left
-    KEY_RIGHT_SHIFT     = 344,      // Key: Shift right
-    KEY_RIGHT_CONTROL   = 345,      // Key: Control right
-    KEY_RIGHT_ALT       = 346,      // Key: Alt right
-    KEY_RIGHT_SUPER     = 347,      // Key: Super right
-    KEY_KB_MENU         = 348,      // Key: KB menu
-    // Keypad keys
-    KEY_KP_0            = 320,      // Key: Keypad 0
-    KEY_KP_1            = 321,      // Key: Keypad 1
-    KEY_KP_2            = 322,      // Key: Keypad 2
-    KEY_KP_3            = 323,      // Key: Keypad 3
-    KEY_KP_4            = 324,      // Key: Keypad 4
-    KEY_KP_5            = 325,      // Key: Keypad 5
-    KEY_KP_6            = 326,      // Key: Keypad 6
-    KEY_KP_7            = 327,      // Key: Keypad 7
-    KEY_KP_8            = 328,      // Key: Keypad 8
-    KEY_KP_9            = 329,      // Key: Keypad 9
-    KEY_KP_DECIMAL      = 330,      // Key: Keypad .
-    KEY_KP_DIVIDE       = 331,      // Key: Keypad /
-    KEY_KP_MULTIPLY     = 332,      // Key: Keypad *
-    KEY_KP_SUBTRACT     = 333,      // Key: Keypad -
-    KEY_KP_ADD          = 334,      // Key: Keypad +
-    KEY_KP_ENTER        = 335,      // Key: Keypad Enter
-    KEY_KP_EQUAL        = 336,      // Key: Keypad =
-    // Android key buttons
-    KEY_BACK            = 4,        // Key: Android back button
-    KEY_MENU            = 5,        // Key: Android menu button
-    KEY_VOLUME_UP       = 24,       // Key: Android volume up button
-    KEY_VOLUME_DOWN     = 25        // Key: Android volume down button
-} KeyboardKey;
-
-// Add backwards compatibility support for deprecated names
-#define MOUSE_LEFT_BUTTON   MOUSE_BUTTON_LEFT
-#define MOUSE_RIGHT_BUTTON  MOUSE_BUTTON_RIGHT
-#define MOUSE_MIDDLE_BUTTON MOUSE_BUTTON_MIDDLE
-
-// Mouse buttons
-typedef enum {
-    MOUSE_BUTTON_LEFT    = 0,       // Mouse button left
-    MOUSE_BUTTON_RIGHT   = 1,       // Mouse button right
-    MOUSE_BUTTON_MIDDLE  = 2,       // Mouse button middle (pressed wheel)
-    MOUSE_BUTTON_SIDE    = 3,       // Mouse button side (advanced mouse device)
-    MOUSE_BUTTON_EXTRA   = 4,       // Mouse button extra (advanced mouse device)
-    MOUSE_BUTTON_FORWARD = 5,       // Mouse button forward (advanced mouse device)
-    MOUSE_BUTTON_BACK    = 6,       // Mouse button back (advanced mouse device)
-} MouseButton;
-
-// Mouse cursor
-typedef enum {
-    MOUSE_CURSOR_DEFAULT       = 0,     // Default pointer shape
-    MOUSE_CURSOR_ARROW         = 1,     // Arrow shape
-    MOUSE_CURSOR_IBEAM         = 2,     // Text writing cursor shape
-    MOUSE_CURSOR_CROSSHAIR     = 3,     // Cross shape
-    MOUSE_CURSOR_POINTING_HAND = 4,     // Pointing hand cursor
-    MOUSE_CURSOR_RESIZE_EW     = 5,     // Horizontal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NS     = 6,     // Vertical resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NWSE   = 7,     // Top-left to bottom-right diagonal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NESW   = 8,     // The top-right to bottom-left diagonal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_ALL    = 9,     // The omnidirectional resize/move cursor shape
-    MOUSE_CURSOR_NOT_ALLOWED   = 10     // The operation-not-allowed shape
-} MouseCursor;
-
-// Gamepad buttons
-typedef enum {
-    GAMEPAD_BUTTON_UNKNOWN = 0,         // Unknown button, just for error checking
-    GAMEPAD_BUTTON_LEFT_FACE_UP,        // Gamepad left DPAD up button
-    GAMEPAD_BUTTON_LEFT_FACE_RIGHT,     // Gamepad left DPAD right button
-    GAMEPAD_BUTTON_LEFT_FACE_DOWN,      // Gamepad left DPAD down button
-    GAMEPAD_BUTTON_LEFT_FACE_LEFT,      // Gamepad left DPAD left button
-    GAMEPAD_BUTTON_RIGHT_FACE_UP,       // Gamepad right button up (i.e. PS3: Triangle, Xbox: Y)
-    GAMEPAD_BUTTON_RIGHT_FACE_RIGHT,    // Gamepad right button right (i.e. PS3: Circle, Xbox: B)
-    GAMEPAD_BUTTON_RIGHT_FACE_DOWN,     // Gamepad right button down (i.e. PS3: Cross, Xbox: A)
-    GAMEPAD_BUTTON_RIGHT_FACE_LEFT,     // Gamepad right button left (i.e. PS3: Square, Xbox: X)
-    GAMEPAD_BUTTON_LEFT_TRIGGER_1,      // Gamepad top/back trigger left (first), it could be a trailing button
-    GAMEPAD_BUTTON_LEFT_TRIGGER_2,      // Gamepad top/back trigger left (second), it could be a trailing button
-    GAMEPAD_BUTTON_RIGHT_TRIGGER_1,     // Gamepad top/back trigger right (first), it could be a trailing button
-    GAMEPAD_BUTTON_RIGHT_TRIGGER_2,     // Gamepad top/back trigger right (second), it could be a trailing button
-    GAMEPAD_BUTTON_MIDDLE_LEFT,         // Gamepad center buttons, left one (i.e. PS3: Select)
-    GAMEPAD_BUTTON_MIDDLE,              // Gamepad center buttons, middle one (i.e. PS3: PS, Xbox: XBOX)
-    GAMEPAD_BUTTON_MIDDLE_RIGHT,        // Gamepad center buttons, right one (i.e. PS3: Start)
-    GAMEPAD_BUTTON_LEFT_THUMB,          // Gamepad joystick pressed button left
-    GAMEPAD_BUTTON_RIGHT_THUMB          // Gamepad joystick pressed button right
-} GamepadButton;
-
-// Gamepad axis
-typedef enum {
-    GAMEPAD_AXIS_LEFT_X        = 0,     // Gamepad left stick X axis
-    GAMEPAD_AXIS_LEFT_Y        = 1,     // Gamepad left stick Y axis
-    GAMEPAD_AXIS_RIGHT_X       = 2,     // Gamepad right stick X axis
-    GAMEPAD_AXIS_RIGHT_Y       = 3,     // Gamepad right stick Y axis
-    GAMEPAD_AXIS_LEFT_TRIGGER  = 4,     // Gamepad back trigger left, pressure level: [1..-1]
-    GAMEPAD_AXIS_RIGHT_TRIGGER = 5      // Gamepad back trigger right, pressure level: [1..-1]
-} GamepadAxis;
-
-// Material map index
-typedef enum {
-    MATERIAL_MAP_ALBEDO = 0,        // Albedo material (same as: MATERIAL_MAP_DIFFUSE)
-    MATERIAL_MAP_METALNESS,         // Metalness material (same as: MATERIAL_MAP_SPECULAR)
-    MATERIAL_MAP_NORMAL,            // Normal material
-    MATERIAL_MAP_ROUGHNESS,         // Roughness material
-    MATERIAL_MAP_OCCLUSION,         // Ambient occlusion material
-    MATERIAL_MAP_EMISSION,          // Emission material
-    MATERIAL_MAP_HEIGHT,            // Heightmap material
-    MATERIAL_MAP_CUBEMAP,           // Cubemap material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_IRRADIANCE,        // Irradiance material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_PREFILTER,         // Prefilter material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_BRDF               // Brdf material
-} MaterialMapIndex;
-
-#define MATERIAL_MAP_DIFFUSE      MATERIAL_MAP_ALBEDO
-#define MATERIAL_MAP_SPECULAR     MATERIAL_MAP_METALNESS
-
-// Shader location index
-typedef enum {
-    SHADER_LOC_VERTEX_POSITION = 0, // Shader location: vertex attribute: position
-    SHADER_LOC_VERTEX_TEXCOORD01,   // Shader location: vertex attribute: texcoord01
-    SHADER_LOC_VERTEX_TEXCOORD02,   // Shader location: vertex attribute: texcoord02
-    SHADER_LOC_VERTEX_NORMAL,       // Shader location: vertex attribute: normal
-    SHADER_LOC_VERTEX_TANGENT,      // Shader location: vertex attribute: tangent
-    SHADER_LOC_VERTEX_COLOR,        // Shader location: vertex attribute: color
-    SHADER_LOC_MATRIX_MVP,          // Shader location: matrix uniform: model-view-projection
-    SHADER_LOC_MATRIX_VIEW,         // Shader location: matrix uniform: view (camera transform)
-    SHADER_LOC_MATRIX_PROJECTION,   // Shader location: matrix uniform: projection
-    SHADER_LOC_MATRIX_MODEL,        // Shader location: matrix uniform: model (transform)
-    SHADER_LOC_MATRIX_NORMAL,       // Shader location: matrix uniform: normal
-    SHADER_LOC_VECTOR_VIEW,         // Shader location: vector uniform: view
-    SHADER_LOC_COLOR_DIFFUSE,       // Shader location: vector uniform: diffuse color
-    SHADER_LOC_COLOR_SPECULAR,      // Shader location: vector uniform: specular color
-    SHADER_LOC_COLOR_AMBIENT,       // Shader location: vector uniform: ambient color
-    SHADER_LOC_MAP_ALBEDO,          // Shader location: sampler2d texture: albedo (same as: SHADER_LOC_MAP_DIFFUSE)
-    SHADER_LOC_MAP_METALNESS,       // Shader location: sampler2d texture: metalness (same as: SHADER_LOC_MAP_SPECULAR)
-    SHADER_LOC_MAP_NORMAL,          // Shader location: sampler2d texture: normal
-    SHADER_LOC_MAP_ROUGHNESS,       // Shader location: sampler2d texture: roughness
-    SHADER_LOC_MAP_OCCLUSION,       // Shader location: sampler2d texture: occlusion
-    SHADER_LOC_MAP_EMISSION,        // Shader location: sampler2d texture: emission
-    SHADER_LOC_MAP_HEIGHT,          // Shader location: sampler2d texture: height
-    SHADER_LOC_MAP_CUBEMAP,         // Shader location: samplerCube texture: cubemap
-    SHADER_LOC_MAP_IRRADIANCE,      // Shader location: samplerCube texture: irradiance
-    SHADER_LOC_MAP_PREFILTER,       // Shader location: samplerCube texture: prefilter
-    SHADER_LOC_MAP_BRDF,            // Shader location: sampler2d texture: brdf
-    SHADER_LOC_VERTEX_BONEIDS,      // Shader location: vertex attribute: boneIds
-    SHADER_LOC_VERTEX_BONEWEIGHTS,  // Shader location: vertex attribute: boneWeights
-    SHADER_LOC_BONE_MATRICES        // Shader location: array of matrices uniform: boneMatrices
-} ShaderLocationIndex;
-
-#define SHADER_LOC_MAP_DIFFUSE      SHADER_LOC_MAP_ALBEDO
-#define SHADER_LOC_MAP_SPECULAR     SHADER_LOC_MAP_METALNESS
-
-// Shader uniform data type
-typedef enum {
-    SHADER_UNIFORM_FLOAT = 0,       // Shader uniform type: float
-    SHADER_UNIFORM_VEC2,            // Shader uniform type: vec2 (2 float)
-    SHADER_UNIFORM_VEC3,            // Shader uniform type: vec3 (3 float)
-    SHADER_UNIFORM_VEC4,            // Shader uniform type: vec4 (4 float)
-    SHADER_UNIFORM_INT,             // Shader uniform type: int
-    SHADER_UNIFORM_IVEC2,           // Shader uniform type: ivec2 (2 int)
-    SHADER_UNIFORM_IVEC3,           // Shader uniform type: ivec3 (3 int)
-    SHADER_UNIFORM_IVEC4,           // Shader uniform type: ivec4 (4 int)
-    SHADER_UNIFORM_SAMPLER2D        // Shader uniform type: sampler2d
-} ShaderUniformDataType;
-
-// Shader attribute data types
-typedef enum {
-    SHADER_ATTRIB_FLOAT = 0,        // Shader attribute type: float
-    SHADER_ATTRIB_VEC2,             // Shader attribute type: vec2 (2 float)
-    SHADER_ATTRIB_VEC3,             // Shader attribute type: vec3 (3 float)
-    SHADER_ATTRIB_VEC4              // Shader attribute type: vec4 (4 float)
-} ShaderAttributeDataType;
-
-// Pixel formats
-// NOTE: Support depends on OpenGL version and platform
-typedef enum {
-    PIXELFORMAT_UNCOMPRESSED_GRAYSCALE = 1, // 8 bit per pixel (no alpha)
-    PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA,    // 8*2 bpp (2 channels)
-    PIXELFORMAT_UNCOMPRESSED_R5G6B5,        // 16 bpp
-    PIXELFORMAT_UNCOMPRESSED_R8G8B8,        // 24 bpp
-    PIXELFORMAT_UNCOMPRESSED_R5G5B5A1,      // 16 bpp (1 bit alpha)
-    PIXELFORMAT_UNCOMPRESSED_R4G4B4A4,      // 16 bpp (4 bit alpha)
-    PIXELFORMAT_UNCOMPRESSED_R8G8B8A8,      // 32 bpp
-    PIXELFORMAT_UNCOMPRESSED_R32,           // 32 bpp (1 channel - float)
-    PIXELFORMAT_UNCOMPRESSED_R32G32B32,     // 32*3 bpp (3 channels - float)
-    PIXELFORMAT_UNCOMPRESSED_R32G32B32A32,  // 32*4 bpp (4 channels - float)
-    PIXELFORMAT_UNCOMPRESSED_R16,           // 16 bpp (1 channel - half float)
-    PIXELFORMAT_UNCOMPRESSED_R16G16B16,     // 16*3 bpp (3 channels - half float)
-    PIXELFORMAT_UNCOMPRESSED_R16G16B16A16,  // 16*4 bpp (4 channels - half float)
-    PIXELFORMAT_COMPRESSED_DXT1_RGB,        // 4 bpp (no alpha)
-    PIXELFORMAT_COMPRESSED_DXT1_RGBA,       // 4 bpp (1 bit alpha)
-    PIXELFORMAT_COMPRESSED_DXT3_RGBA,       // 8 bpp
-    PIXELFORMAT_COMPRESSED_DXT5_RGBA,       // 8 bpp
-    PIXELFORMAT_COMPRESSED_ETC1_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_ETC2_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA,   // 8 bpp
-    PIXELFORMAT_COMPRESSED_PVRT_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_PVRT_RGBA,       // 4 bpp
-    PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA,   // 8 bpp
-    PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA    // 2 bpp
-} PixelFormat;
-
-// Texture parameters: filter mode
-// NOTE 1: Filtering considers mipmaps if available in the texture
-// NOTE 2: Filter is accordingly set for minification and magnification
-typedef enum {
-    TEXTURE_FILTER_POINT = 0,               // No filter, just pixel approximation
-    TEXTURE_FILTER_BILINEAR,                // Linear filtering
-    TEXTURE_FILTER_TRILINEAR,               // Trilinear filtering (linear with mipmaps)
-    TEXTURE_FILTER_ANISOTROPIC_4X,          // Anisotropic filtering 4x
-    TEXTURE_FILTER_ANISOTROPIC_8X,          // Anisotropic filtering 8x
-    TEXTURE_FILTER_ANISOTROPIC_16X,         // Anisotropic filtering 16x
-} TextureFilter;
-
-// Texture parameters: wrap mode
-typedef enum {
-    TEXTURE_WRAP_REPEAT = 0,                // Repeats texture in tiled mode
-    TEXTURE_WRAP_CLAMP,                     // Clamps texture to edge pixel in tiled mode
-    TEXTURE_WRAP_MIRROR_REPEAT,             // Mirrors and repeats the texture in tiled mode
-    TEXTURE_WRAP_MIRROR_CLAMP               // Mirrors and clamps to border the texture in tiled mode
-} TextureWrap;
-
-// Cubemap layouts
-typedef enum {
-    CUBEMAP_LAYOUT_AUTO_DETECT = 0,         // Automatically detect layout type
-    CUBEMAP_LAYOUT_LINE_VERTICAL,           // Layout is defined by a vertical line with faces
-    CUBEMAP_LAYOUT_LINE_HORIZONTAL,         // Layout is defined by a horizontal line with faces
-    CUBEMAP_LAYOUT_CROSS_THREE_BY_FOUR,     // Layout is defined by a 3x4 cross with cubemap faces
-    CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE     // Layout is defined by a 4x3 cross with cubemap faces
-} CubemapLayout;
-
-// Font type, defines generation method
-typedef enum {
-    FONT_DEFAULT = 0,               // Default font generation, anti-aliased
-    FONT_BITMAP,                    // Bitmap font generation, no anti-aliasing
-    FONT_SDF                        // SDF font generation, requires external shader
-} FontType;
-
-// Color blending modes (pre-defined)
-typedef enum {
-    BLEND_ALPHA = 0,                // Blend textures considering alpha (default)
-    BLEND_ADDITIVE,                 // Blend textures adding colors
-    BLEND_MULTIPLIED,               // Blend textures multiplying colors
-    BLEND_ADD_COLORS,               // Blend textures adding colors (alternative)
-    BLEND_SUBTRACT_COLORS,          // Blend textures subtracting colors (alternative)
-    BLEND_ALPHA_PREMULTIPLY,        // Blend premultiplied textures considering alpha
-    BLEND_CUSTOM,                   // Blend textures using custom src/dst factors (use rlSetBlendFactors())
-    BLEND_CUSTOM_SEPARATE           // Blend textures using custom rgb/alpha separate src/dst factors (use rlSetBlendFactorsSeparate())
-} BlendMode;
-
-// Gesture
-// NOTE: Provided as bit-wise flags to enable only desired gestures
-typedef enum {
-    GESTURE_NONE        = 0,        // No gesture
-    GESTURE_TAP         = 1,        // Tap gesture
-    GESTURE_DOUBLETAP   = 2,        // Double tap gesture
-    GESTURE_HOLD        = 4,        // Hold gesture
-    GESTURE_DRAG        = 8,        // Drag gesture
-    GESTURE_SWIPE_RIGHT = 16,       // Swipe right gesture
-    GESTURE_SWIPE_LEFT  = 32,       // Swipe left gesture
-    GESTURE_SWIPE_UP    = 64,       // Swipe up gesture
-    GESTURE_SWIPE_DOWN  = 128,      // Swipe down gesture
-    GESTURE_PINCH_IN    = 256,      // Pinch in gesture
-    GESTURE_PINCH_OUT   = 512       // Pinch out gesture
-} Gesture;
-
-// Camera system modes
-typedef enum {
-    CAMERA_CUSTOM = 0,              // Camera custom, controlled by user (UpdateCamera() does nothing)
-    CAMERA_FREE,                    // Camera free mode
-    CAMERA_ORBITAL,                 // Camera orbital, around target, zoom supported
-    CAMERA_FIRST_PERSON,            // Camera first person
-    CAMERA_THIRD_PERSON             // Camera third person
-} CameraMode;
-
-// Camera projection
-typedef enum {
-    CAMERA_PERSPECTIVE = 0,         // Perspective projection
-    CAMERA_ORTHOGRAPHIC             // Orthographic projection
-} CameraProjection;
-
-// N-patch layout
-typedef enum {
-    NPATCH_NINE_PATCH = 0,          // Npatch layout: 3x3 tiles
-    NPATCH_THREE_PATCH_VERTICAL,    // Npatch layout: 1x3 tiles
-    NPATCH_THREE_PATCH_HORIZONTAL   // Npatch layout: 3x1 tiles
-} NPatchLayout;
-
-// Callbacks to hook some internal functions
-// WARNING: These callbacks are intended for advanced users
-typedef void (*TraceLogCallback)(int logLevel, const char *text, va_list args);  // Logging: Redirect trace log messages
-typedef unsigned char *(*LoadFileDataCallback)(const char *fileName, int *dataSize);    // FileIO: Load binary data
-typedef bool (*SaveFileDataCallback)(const char *fileName, void *data, int dataSize);   // FileIO: Save binary data
-typedef char *(*LoadFileTextCallback)(const char *fileName);            // FileIO: Load text data
-typedef bool (*SaveFileTextCallback)(const char *fileName, char *text); // FileIO: Save text data
-
-//------------------------------------------------------------------------------------
-// Global Variables Definition
-//------------------------------------------------------------------------------------
-// It's lonely here...
-
-//------------------------------------------------------------------------------------
-// Window and Graphics Device Functions (Module: core)
-//------------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-// Window-related functions
-RLAPI void InitWindow(int width, int height, const char *title);  // Initialize window and OpenGL context
-RLAPI void CloseWindow(void);                                     // Close window and unload OpenGL context
-RLAPI bool WindowShouldClose(void);                               // Check if application should close (KEY_ESCAPE pressed or windows close icon clicked)
-RLAPI bool IsWindowReady(void);                                   // Check if window has been initialized successfully
-RLAPI bool IsWindowFullscreen(void);                              // Check if window is currently fullscreen
-RLAPI bool IsWindowHidden(void);                                  // Check if window is currently hidden
-RLAPI bool IsWindowMinimized(void);                               // Check if window is currently minimized
-RLAPI bool IsWindowMaximized(void);                               // Check if window is currently maximized
-RLAPI bool IsWindowFocused(void);                                 // Check if window is currently focused
-RLAPI bool IsWindowResized(void);                                 // Check if window has been resized last frame
-RLAPI bool IsWindowState(unsigned int flag);                      // Check if one specific window flag is enabled
-RLAPI void SetWindowState(unsigned int flags);                    // Set window configuration state using flags
-RLAPI void ClearWindowState(unsigned int flags);                  // Clear window configuration state flags
-RLAPI void ToggleFullscreen(void);                                // Toggle window state: fullscreen/windowed, resizes monitor to match window resolution
-RLAPI void ToggleBorderlessWindowed(void);                        // Toggle window state: borderless windowed, resizes window to match monitor resolution
-RLAPI void MaximizeWindow(void);                                  // Set window state: maximized, if resizable
-RLAPI void MinimizeWindow(void);                                  // Set window state: minimized, if resizable
-RLAPI void RestoreWindow(void);                                   // Set window state: not minimized/maximized
-RLAPI void SetWindowIcon(Image image);                            // Set icon for window (single image, RGBA 32bit)
-RLAPI void SetWindowIcons(Image *images, int count);              // Set icon for window (multiple images, RGBA 32bit)
-RLAPI void SetWindowTitle(const char *title);                     // Set title for window
-RLAPI void SetWindowPosition(int x, int y);                       // Set window position on screen
-RLAPI void SetWindowMonitor(int monitor);                         // Set monitor for the current window
-RLAPI void SetWindowMinSize(int width, int height);               // Set window minimum dimensions (for FLAG_WINDOW_RESIZABLE)
-RLAPI void SetWindowMaxSize(int width, int height);               // Set window maximum dimensions (for FLAG_WINDOW_RESIZABLE)
-RLAPI void SetWindowSize(int width, int height);                  // Set window dimensions
-RLAPI void SetWindowOpacity(float opacity);                       // Set window opacity [0.0f..1.0f]
-RLAPI void SetWindowFocused(void);                                // Set window focused
-RLAPI void *GetWindowHandle(void);                                // Get native window handle
-RLAPI int GetScreenWidth(void);                                   // Get current screen width
-RLAPI int GetScreenHeight(void);                                  // Get current screen height
-RLAPI int GetRenderWidth(void);                                   // Get current render width (it considers HiDPI)
-RLAPI int GetRenderHeight(void);                                  // Get current render height (it considers HiDPI)
-RLAPI int GetMonitorCount(void);                                  // Get number of connected monitors
-RLAPI int GetCurrentMonitor(void);                                // Get current monitor where window is placed
-RLAPI Vector2 GetMonitorPosition(int monitor);                    // Get specified monitor position
-RLAPI int GetMonitorWidth(int monitor);                           // Get specified monitor width (current video mode used by monitor)
-RLAPI int GetMonitorHeight(int monitor);                          // Get specified monitor height (current video mode used by monitor)
-RLAPI int GetMonitorPhysicalWidth(int monitor);                   // Get specified monitor physical width in millimetres
-RLAPI int GetMonitorPhysicalHeight(int monitor);                  // Get specified monitor physical height in millimetres
-RLAPI int GetMonitorRefreshRate(int monitor);                     // Get specified monitor refresh rate
-RLAPI Vector2 GetWindowPosition(void);                            // Get window position XY on monitor
-RLAPI Vector2 GetWindowScaleDPI(void);                            // Get window scale DPI factor
-RLAPI const char *GetMonitorName(int monitor);                    // Get the human-readable, UTF-8 encoded name of the specified monitor
-RLAPI void SetClipboardText(const char *text);                    // Set clipboard text content
-RLAPI const char *GetClipboardText(void);                         // Get clipboard text content
-RLAPI Image GetClipboardImage(void);                              // Get clipboard image content
-RLAPI void EnableEventWaiting(void);                              // Enable waiting for events on EndDrawing(), no automatic event polling
-RLAPI void DisableEventWaiting(void);                             // Disable waiting for events on EndDrawing(), automatic events polling
-
-// Cursor-related functions
-RLAPI void ShowCursor(void);                                      // Shows cursor
-RLAPI void HideCursor(void);                                      // Hides cursor
-RLAPI bool IsCursorHidden(void);                                  // Check if cursor is not visible
-RLAPI void EnableCursor(void);                                    // Enables cursor (unlock cursor)
-RLAPI void DisableCursor(void);                                   // Disables cursor (lock cursor)
-RLAPI bool IsCursorOnScreen(void);                                // Check if cursor is on the screen
-
-// Drawing-related functions
-RLAPI void ClearBackground(Color color);                          // Set background color (framebuffer clear color)
-RLAPI void BeginDrawing(void);                                    // Setup canvas (framebuffer) to start drawing
-RLAPI void EndDrawing(void);                                      // End canvas drawing and swap buffers (double buffering)
-RLAPI void BeginMode2D(Camera2D camera);                          // Begin 2D mode with custom camera (2D)
-RLAPI void EndMode2D(void);                                       // Ends 2D mode with custom camera
-RLAPI void BeginMode3D(Camera3D camera);                          // Begin 3D mode with custom camera (3D)
-RLAPI void EndMode3D(void);                                       // Ends 3D mode and returns to default 2D orthographic mode
-RLAPI void BeginTextureMode(RenderTexture2D target);              // Begin drawing to render texture
-RLAPI void EndTextureMode(void);                                  // Ends drawing to render texture
-RLAPI void BeginShaderMode(Shader shader);                        // Begin custom shader drawing
-RLAPI void EndShaderMode(void);                                   // End custom shader drawing (use default shader)
-RLAPI void BeginBlendMode(int mode);                              // Begin blending mode (alpha, additive, multiplied, subtract, custom)
-RLAPI void EndBlendMode(void);                                    // End blending mode (reset to default: alpha blending)
-RLAPI void BeginScissorMode(int x, int y, int width, int height); // Begin scissor mode (define screen area for following drawing)
-RLAPI void EndScissorMode(void);                                  // End scissor mode
-RLAPI void BeginVrStereoMode(VrStereoConfig config);              // Begin stereo rendering (requires VR simulator)
-RLAPI void EndVrStereoMode(void);                                 // End stereo rendering (requires VR simulator)
-
-// VR stereo config functions for VR simulator
-RLAPI VrStereoConfig LoadVrStereoConfig(VrDeviceInfo device);     // Load VR stereo config for VR simulator device parameters
-RLAPI void UnloadVrStereoConfig(VrStereoConfig config);           // Unload VR stereo config
-
-// Shader management functions
-// NOTE: Shader functionality is not available on OpenGL 1.1
-RLAPI Shader LoadShader(const char *vsFileName, const char *fsFileName);   // Load shader from files and bind default locations
-RLAPI Shader LoadShaderFromMemory(const char *vsCode, const char *fsCode); // Load shader from code strings and bind default locations
-RLAPI bool IsShaderValid(Shader shader);                                   // Check if a shader is valid (loaded on GPU)
-RLAPI int GetShaderLocation(Shader shader, const char *uniformName);       // Get shader uniform location
-RLAPI int GetShaderLocationAttrib(Shader shader, const char *attribName);  // Get shader attribute location
-RLAPI void SetShaderValue(Shader shader, int locIndex, const void *value, int uniformType);               // Set shader uniform value
-RLAPI void SetShaderValueV(Shader shader, int locIndex, const void *value, int uniformType, int count);   // Set shader uniform value vector
-RLAPI void SetShaderValueMatrix(Shader shader, int locIndex, Matrix mat);         // Set shader uniform value (matrix 4x4)
-RLAPI void SetShaderValueTexture(Shader shader, int locIndex, Texture2D texture); // Set shader uniform value for texture (sampler2d)
-RLAPI void UnloadShader(Shader shader);                                    // Unload shader from GPU memory (VRAM)
-
-// Screen-space-related functions
-#define GetMouseRay GetScreenToWorldRay     // Compatibility hack for previous raylib versions
-RLAPI Ray GetScreenToWorldRay(Vector2 position, Camera camera);         // Get a ray trace from screen position (i.e mouse)
-RLAPI Ray GetScreenToWorldRayEx(Vector2 position, Camera camera, int width, int height); // Get a ray trace from screen position (i.e mouse) in a viewport
-RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera);        // Get the screen space position for a 3d world space position
-RLAPI Vector2 GetWorldToScreenEx(Vector3 position, Camera camera, int width, int height); // Get size position for a 3d world space position
-RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera);    // Get the screen space position for a 2d camera world space position
-RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera);    // Get the world space position for a 2d camera screen space position
-RLAPI Matrix GetCameraMatrix(Camera camera);                            // Get camera transform matrix (view matrix)
-RLAPI Matrix GetCameraMatrix2D(Camera2D camera);                        // Get camera 2d transform matrix
-
-// Timing-related functions
-RLAPI void SetTargetFPS(int fps);                                 // Set target FPS (maximum)
-RLAPI float GetFrameTime(void);                                   // Get time in seconds for last frame drawn (delta time)
-RLAPI double GetTime(void);                                       // Get elapsed time in seconds since InitWindow()
-RLAPI int GetFPS(void);                                           // Get current FPS
-
-// Custom frame control functions
-// NOTE: Those functions are intended for advanced users that want full control over the frame processing
-// By default EndDrawing() does this job: draws everything + SwapScreenBuffer() + manage frame timing + PollInputEvents()
-// To avoid that behaviour and control frame processes manually, enable in config.h: SUPPORT_CUSTOM_FRAME_CONTROL
-RLAPI void SwapScreenBuffer(void);                                // Swap back buffer with front buffer (screen drawing)
-RLAPI void PollInputEvents(void);                                 // Register all input events
-RLAPI void WaitTime(double seconds);                              // Wait for some time (halt program execution)
-
-// Random values generation functions
-RLAPI void SetRandomSeed(unsigned int seed);                      // Set the seed for the random number generator
-RLAPI int GetRandomValue(int min, int max);                       // Get a random value between min and max (both included)
-RLAPI int *LoadRandomSequence(unsigned int count, int min, int max); // Load random values sequence, no values repeated
-RLAPI void UnloadRandomSequence(int *sequence);                   // Unload random values sequence
-
-// Misc. functions
-RLAPI void TakeScreenshot(const char *fileName);                  // Takes a screenshot of current screen (filename extension defines format)
-RLAPI void SetConfigFlags(unsigned int flags);                    // Setup init configuration flags (view FLAGS)
-RLAPI void OpenURL(const char *url);                              // Open URL with default system browser (if available)
-
-// NOTE: Following functions implemented in module [utils]
-//------------------------------------------------------------------
-RLAPI void TraceLog(int logLevel, const char *text, ...);         // Show trace log messages (LOG_DEBUG, LOG_INFO, LOG_WARNING, LOG_ERROR...)
-RLAPI void SetTraceLogLevel(int logLevel);                        // Set the current threshold (minimum) log level
-RLAPI void *MemAlloc(unsigned int size);                          // Internal memory allocator
-RLAPI void *MemRealloc(void *ptr, unsigned int size);             // Internal memory reallocator
-RLAPI void MemFree(void *ptr);                                    // Internal memory free
-
-// Set custom callbacks
-// WARNING: Callbacks setup is intended for advanced users
-RLAPI void SetTraceLogCallback(TraceLogCallback callback);         // Set custom trace log
-RLAPI void SetLoadFileDataCallback(LoadFileDataCallback callback); // Set custom file binary data loader
-RLAPI void SetSaveFileDataCallback(SaveFileDataCallback callback); // Set custom file binary data saver
-RLAPI void SetLoadFileTextCallback(LoadFileTextCallback callback); // Set custom file text data loader
-RLAPI void SetSaveFileTextCallback(SaveFileTextCallback callback); // Set custom file text data saver
-
-// Files management functions
-RLAPI unsigned char *LoadFileData(const char *fileName, int *dataSize); // Load file data as byte array (read)
-RLAPI void UnloadFileData(unsigned char *data);                   // Unload file data allocated by LoadFileData()
-RLAPI bool SaveFileData(const char *fileName, void *data, int dataSize); // Save data to file from byte array (write), returns true on success
-RLAPI bool ExportDataAsCode(const unsigned char *data, int dataSize, const char *fileName); // Export data to code (.h), returns true on success
-RLAPI char *LoadFileText(const char *fileName);                   // Load text data from file (read), returns a '\0' terminated string
-RLAPI void UnloadFileText(char *text);                            // Unload file text data allocated by LoadFileText()
-RLAPI bool SaveFileText(const char *fileName, char *text);        // Save text data to file (write), string must be '\0' terminated, returns true on success
-//------------------------------------------------------------------
-
-// File system functions
-RLAPI bool FileExists(const char *fileName);                      // Check if file exists
-RLAPI bool DirectoryExists(const char *dirPath);                  // Check if a directory path exists
-RLAPI bool IsFileExtension(const char *fileName, const char *ext); // Check file extension (including point: .png, .wav)
-RLAPI int GetFileLength(const char *fileName);                    // Get file length in bytes (NOTE: GetFileSize() conflicts with windows.h)
-RLAPI const char *GetFileExtension(const char *fileName);         // Get pointer to extension for a filename string (includes dot: '.png')
-RLAPI const char *GetFileName(const char *filePath);              // Get pointer to filename for a path string
-RLAPI const char *GetFileNameWithoutExt(const char *filePath);    // Get filename string without extension (uses static string)
-RLAPI const char *GetDirectoryPath(const char *filePath);         // Get full path for a given fileName with path (uses static string)
-RLAPI const char *GetPrevDirectoryPath(const char *dirPath);      // Get previous directory path for a given path (uses static string)
-RLAPI const char *GetWorkingDirectory(void);                      // Get current working directory (uses static string)
-RLAPI const char *GetApplicationDirectory(void);                  // Get the directory of the running application (uses static string)
-RLAPI int MakeDirectory(const char *dirPath);                     // Create directories (including full path requested), returns 0 on success
-RLAPI bool ChangeDirectory(const char *dir);                      // Change working directory, return true on success
-RLAPI bool IsPathFile(const char *path);                          // Check if a given path is a file or a directory
-RLAPI bool IsFileNameValid(const char *fileName);                 // Check if fileName is valid for the platform/OS
-RLAPI FilePathList LoadDirectoryFiles(const char *dirPath);       // Load directory filepaths
-RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan. Use 'DIR' in the filter string to include directories in the result
-RLAPI void UnloadDirectoryFiles(FilePathList files);              // Unload filepaths
-RLAPI bool IsFileDropped(void);                                   // Check if a file has been dropped into window
-RLAPI FilePathList LoadDroppedFiles(void);                        // Load dropped filepaths
-RLAPI void UnloadDroppedFiles(FilePathList files);                // Unload dropped filepaths
-RLAPI long GetFileModTime(const char *fileName);                  // Get file modification time (last write time)
-
-// Compression/Encoding functionality
-RLAPI unsigned char *CompressData(const unsigned char *data, int dataSize, int *compDataSize);        // Compress data (DEFLATE algorithm), memory must be MemFree()
-RLAPI unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize);  // Decompress data (DEFLATE algorithm), memory must be MemFree()
-RLAPI char *EncodeDataBase64(const unsigned char *data, int dataSize, int *outputSize);               // Encode data to Base64 string, memory must be MemFree()
-RLAPI unsigned char *DecodeDataBase64(const unsigned char *data, int *outputSize);                    // Decode Base64 string data, memory must be MemFree()
-RLAPI unsigned int ComputeCRC32(unsigned char *data, int dataSize);     // Compute CRC32 hash code
-RLAPI unsigned int *ComputeMD5(unsigned char *data, int dataSize);      // Compute MD5 hash code, returns static int[4] (16 bytes)
-RLAPI unsigned int *ComputeSHA1(unsigned char *data, int dataSize);     // Compute SHA1 hash code, returns static int[5] (20 bytes)
-
-
-// Automation events functionality
-RLAPI AutomationEventList LoadAutomationEventList(const char *fileName);                // Load automation events list from file, NULL for empty list, capacity = MAX_AUTOMATION_EVENTS
-RLAPI void UnloadAutomationEventList(AutomationEventList list);                         // Unload automation events list from file
-RLAPI bool ExportAutomationEventList(AutomationEventList list, const char *fileName);   // Export automation events list as text file
-RLAPI void SetAutomationEventList(AutomationEventList *list);                           // Set automation event list to record to
-RLAPI void SetAutomationEventBaseFrame(int frame);                                      // Set automation event internal base frame to start recording
-RLAPI void StartAutomationEventRecording(void);                                         // Start recording automation events (AutomationEventList must be set)
-RLAPI void StopAutomationEventRecording(void);                                          // Stop recording automation events
-RLAPI void PlayAutomationEvent(AutomationEvent event);                                  // Play a recorded automation event
-
-//------------------------------------------------------------------------------------
-// Input Handling Functions (Module: core)
-//------------------------------------------------------------------------------------
-
-// Input-related functions: keyboard
-RLAPI bool IsKeyPressed(int key);                             // Check if a key has been pressed once
-RLAPI bool IsKeyPressedRepeat(int key);                       // Check if a key has been pressed again
-RLAPI bool IsKeyDown(int key);                                // Check if a key is being pressed
-RLAPI bool IsKeyReleased(int key);                            // Check if a key has been released once
-RLAPI bool IsKeyUp(int key);                                  // Check if a key is NOT being pressed
-RLAPI int GetKeyPressed(void);                                // Get key pressed (keycode), call it multiple times for keys queued, returns 0 when the queue is empty
-RLAPI int GetCharPressed(void);                               // Get char pressed (unicode), call it multiple times for chars queued, returns 0 when the queue is empty
-RLAPI void SetExitKey(int key);                               // Set a custom key to exit program (default is ESC)
-
-// Input-related functions: gamepads
-RLAPI bool IsGamepadAvailable(int gamepad);                                        // Check if a gamepad is available
-RLAPI const char *GetGamepadName(int gamepad);                                     // Get gamepad internal name id
-RLAPI bool IsGamepadButtonPressed(int gamepad, int button);                        // Check if a gamepad button has been pressed once
-RLAPI bool IsGamepadButtonDown(int gamepad, int button);                           // Check if a gamepad button is being pressed
-RLAPI bool IsGamepadButtonReleased(int gamepad, int button);                       // Check if a gamepad button has been released once
-RLAPI bool IsGamepadButtonUp(int gamepad, int button);                             // Check if a gamepad button is NOT being pressed
-RLAPI int GetGamepadButtonPressed(void);                                           // Get the last gamepad button pressed
-RLAPI int GetGamepadAxisCount(int gamepad);                                        // Get gamepad axis count for a gamepad
-RLAPI float GetGamepadAxisMovement(int gamepad, int axis);                         // Get axis movement value for a gamepad axis
-RLAPI int SetGamepadMappings(const char *mappings);                                // Set internal gamepad mappings (SDL_GameControllerDB)
-RLAPI void SetGamepadVibration(int gamepad, float leftMotor, float rightMotor, float duration); // Set gamepad vibration for both motors (duration in seconds)
-
-// Input-related functions: mouse
-RLAPI bool IsMouseButtonPressed(int button);                  // Check if a mouse button has been pressed once
-RLAPI bool IsMouseButtonDown(int button);                     // Check if a mouse button is being pressed
-RLAPI bool IsMouseButtonReleased(int button);                 // Check if a mouse button has been released once
-RLAPI bool IsMouseButtonUp(int button);                       // Check if a mouse button is NOT being pressed
-RLAPI int GetMouseX(void);                                    // Get mouse position X
-RLAPI int GetMouseY(void);                                    // Get mouse position Y
-RLAPI Vector2 GetMousePosition(void);                         // Get mouse position XY
-RLAPI Vector2 GetMouseDelta(void);                            // Get mouse delta between frames
-RLAPI void SetMousePosition(int x, int y);                    // Set mouse position XY
-RLAPI void SetMouseOffset(int offsetX, int offsetY);          // Set mouse offset
-RLAPI void SetMouseScale(float scaleX, float scaleY);         // Set mouse scaling
-RLAPI float GetMouseWheelMove(void);                          // Get mouse wheel movement for X or Y, whichever is larger
-RLAPI Vector2 GetMouseWheelMoveV(void);                       // Get mouse wheel movement for both X and Y
-RLAPI void SetMouseCursor(int cursor);                        // Set mouse cursor
-
-// Input-related functions: touch
-RLAPI int GetTouchX(void);                                    // Get touch position X for touch point 0 (relative to screen size)
-RLAPI int GetTouchY(void);                                    // Get touch position Y for touch point 0 (relative to screen size)
-RLAPI Vector2 GetTouchPosition(int index);                    // Get touch position XY for a touch point index (relative to screen size)
-RLAPI int GetTouchPointId(int index);                         // Get touch point identifier for given index
-RLAPI int GetTouchPointCount(void);                           // Get number of touch points
-
-//------------------------------------------------------------------------------------
-// Gestures and Touch Handling Functions (Module: rgestures)
-//------------------------------------------------------------------------------------
-RLAPI void SetGesturesEnabled(unsigned int flags);      // Enable a set of gestures using flags
-RLAPI bool IsGestureDetected(unsigned int gesture);     // Check if a gesture have been detected
-RLAPI int GetGestureDetected(void);                     // Get latest detected gesture
-RLAPI float GetGestureHoldDuration(void);               // Get gesture hold time in seconds
-RLAPI Vector2 GetGestureDragVector(void);               // Get gesture drag vector
-RLAPI float GetGestureDragAngle(void);                  // Get gesture drag angle
-RLAPI Vector2 GetGesturePinchVector(void);              // Get gesture pinch delta
-RLAPI float GetGesturePinchAngle(void);                 // Get gesture pinch angle
-
-//------------------------------------------------------------------------------------
-// Camera System Functions (Module: rcamera)
-//------------------------------------------------------------------------------------
-RLAPI void UpdateCamera(Camera *camera, int mode);      // Update camera position for selected mode
-RLAPI void UpdateCameraPro(Camera *camera, Vector3 movement, Vector3 rotation, float zoom); // Update camera movement/rotation
-
-//------------------------------------------------------------------------------------
-// Basic Shapes Drawing Functions (Module: shapes)
-//------------------------------------------------------------------------------------
-// Set texture and rectangle to be used on shapes drawing
-// NOTE: It can be useful when using basic shapes and one single font,
-// defining a font char white rectangle would allow drawing everything in a single draw call
-RLAPI void SetShapesTexture(Texture2D texture, Rectangle source);       // Set texture and rectangle to be used on shapes drawing
-RLAPI Texture2D GetShapesTexture(void);                                 // Get texture that is used for shapes drawing
-RLAPI Rectangle GetShapesTextureRectangle(void);                        // Get texture source rectangle that is used for shapes drawing
-
-// Basic shapes drawing functions
-RLAPI void DrawPixel(int posX, int posY, Color color);                                                   // Draw a pixel using geometry [Can be slow, use with care]
-RLAPI void DrawPixelV(Vector2 position, Color color);                                                    // Draw a pixel using geometry (Vector version) [Can be slow, use with care]
-RLAPI void DrawLine(int startPosX, int startPosY, int endPosX, int endPosY, Color color);                // Draw a line
-RLAPI void DrawLineV(Vector2 startPos, Vector2 endPos, Color color);                                     // Draw a line (using gl lines)
-RLAPI void DrawLineEx(Vector2 startPos, Vector2 endPos, float thick, Color color);                       // Draw a line (using triangles/quads)
-RLAPI void DrawLineStrip(const Vector2 *points, int pointCount, Color color);                            // Draw lines sequence (using gl lines)
-RLAPI void DrawLineBezier(Vector2 startPos, Vector2 endPos, float thick, Color color);                   // Draw line segment cubic-bezier in-out interpolation
-RLAPI void DrawCircle(int centerX, int centerY, float radius, Color color);                              // Draw a color-filled circle
-RLAPI void DrawCircleSector(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color);      // Draw a piece of a circle
-RLAPI void DrawCircleSectorLines(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color); // Draw circle sector outline
-RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color inner, Color outer);         // Draw a gradient-filled circle
-RLAPI void DrawCircleV(Vector2 center, float radius, Color color);                                       // Draw a color-filled circle (Vector version)
-RLAPI void DrawCircleLines(int centerX, int centerY, float radius, Color color);                         // Draw circle outline
-RLAPI void DrawCircleLinesV(Vector2 center, float radius, Color color);                                  // Draw circle outline (Vector version)
-RLAPI void DrawEllipse(int centerX, int centerY, float radiusH, float radiusV, Color color);             // Draw ellipse
-RLAPI void DrawEllipseLines(int centerX, int centerY, float radiusH, float radiusV, Color color);        // Draw ellipse outline
-RLAPI void DrawRing(Vector2 center, float innerRadius, float outerRadius, float startAngle, float endAngle, int segments, Color color); // Draw ring
-RLAPI void DrawRingLines(Vector2 center, float innerRadius, float outerRadius, float startAngle, float endAngle, int segments, Color color);    // Draw ring outline
-RLAPI void DrawRectangle(int posX, int posY, int width, int height, Color color);                        // Draw a color-filled rectangle
-RLAPI void DrawRectangleV(Vector2 position, Vector2 size, Color color);                                  // Draw a color-filled rectangle (Vector version)
-RLAPI void DrawRectangleRec(Rectangle rec, Color color);                                                 // Draw a color-filled rectangle
-RLAPI void DrawRectanglePro(Rectangle rec, Vector2 origin, float rotation, Color color);                 // Draw a color-filled rectangle with pro parameters
-RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color top, Color bottom);   // Draw a vertical-gradient-filled rectangle
-RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color left, Color right);   // Draw a horizontal-gradient-filled rectangle
-RLAPI void DrawRectangleGradientEx(Rectangle rec, Color topLeft, Color bottomLeft, Color topRight, Color bottomRight); // Draw a gradient-filled rectangle with custom vertex colors
-RLAPI void DrawRectangleLines(int posX, int posY, int width, int height, Color color);                   // Draw rectangle outline
-RLAPI void DrawRectangleLinesEx(Rectangle rec, float lineThick, Color color);                            // Draw rectangle outline with extended parameters
-RLAPI void DrawRectangleRounded(Rectangle rec, float roundness, int segments, Color color);              // Draw rectangle with rounded edges
-RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, Color color);         // Draw rectangle lines with rounded edges
-RLAPI void DrawRectangleRoundedLinesEx(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
-RLAPI void DrawTriangle(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                                // Draw a color-filled triangle (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleLines(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                           // Draw triangle outline (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleFan(const Vector2 *points, int pointCount, Color color);                          // Draw a triangle fan defined by points (first vertex is the center)
-RLAPI void DrawTriangleStrip(const Vector2 *points, int pointCount, Color color);                        // Draw a triangle strip defined by points
-RLAPI void DrawPoly(Vector2 center, int sides, float radius, float rotation, Color color);               // Draw a regular polygon (Vector version)
-RLAPI void DrawPolyLines(Vector2 center, int sides, float radius, float rotation, Color color);          // Draw a polygon outline of n sides
-RLAPI void DrawPolyLinesEx(Vector2 center, int sides, float radius, float rotation, float lineThick, Color color); // Draw a polygon outline of n sides with extended parameters
-
-// Splines drawing functions
-RLAPI void DrawSplineLinear(const Vector2 *points, int pointCount, float thick, Color color);                  // Draw spline: Linear, minimum 2 points
-RLAPI void DrawSplineBasis(const Vector2 *points, int pointCount, float thick, Color color);                   // Draw spline: B-Spline, minimum 4 points
-RLAPI void DrawSplineCatmullRom(const Vector2 *points, int pointCount, float thick, Color color);              // Draw spline: Catmull-Rom, minimum 4 points
-RLAPI void DrawSplineBezierQuadratic(const Vector2 *points, int pointCount, float thick, Color color);         // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
-RLAPI void DrawSplineBezierCubic(const Vector2 *points, int pointCount, float thick, Color color);             // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
-RLAPI void DrawSplineSegmentLinear(Vector2 p1, Vector2 p2, float thick, Color color);                    // Draw spline segment: Linear, 2 points
-RLAPI void DrawSplineSegmentBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: B-Spline, 4 points
-RLAPI void DrawSplineSegmentCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: Catmull-Rom, 4 points
-RLAPI void DrawSplineSegmentBezierQuadratic(Vector2 p1, Vector2 c2, Vector2 p3, float thick, Color color); // Draw spline segment: Quadratic Bezier, 2 points, 1 control point
-RLAPI void DrawSplineSegmentBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vector2 p4, float thick, Color color); // Draw spline segment: Cubic Bezier, 2 points, 2 control points
-
-// Spline segment point evaluation functions, for a given t [0.0f .. 1.0f]
-RLAPI Vector2 GetSplinePointLinear(Vector2 startPos, Vector2 endPos, float t);                           // Get (evaluate) spline point: Linear
-RLAPI Vector2 GetSplinePointBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float t);              // Get (evaluate) spline point: B-Spline
-RLAPI Vector2 GetSplinePointCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float t);         // Get (evaluate) spline point: Catmull-Rom
-RLAPI Vector2 GetSplinePointBezierQuad(Vector2 p1, Vector2 c2, Vector2 p3, float t);                     // Get (evaluate) spline point: Quadratic Bezier
-RLAPI Vector2 GetSplinePointBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vector2 p4, float t);        // Get (evaluate) spline point: Cubic Bezier
-
-// Basic shapes collision detection functions
-RLAPI bool CheckCollisionRecs(Rectangle rec1, Rectangle rec2);                                           // Check collision between two rectangles
-RLAPI bool CheckCollisionCircles(Vector2 center1, float radius1, Vector2 center2, float radius2);        // Check collision between two circles
-RLAPI bool CheckCollisionCircleRec(Vector2 center, float radius, Rectangle rec);                         // Check collision between circle and rectangle
-RLAPI bool CheckCollisionCircleLine(Vector2 center, float radius, Vector2 p1, Vector2 p2);               // Check if circle collides with a line created betweeen two points [p1] and [p2]
-RLAPI bool CheckCollisionPointRec(Vector2 point, Rectangle rec);                                         // Check if point is inside rectangle
-RLAPI bool CheckCollisionPointCircle(Vector2 point, Vector2 center, float radius);                       // Check if point is inside circle
-RLAPI bool CheckCollisionPointTriangle(Vector2 point, Vector2 p1, Vector2 p2, Vector2 p3);               // Check if point is inside a triangle
-RLAPI bool CheckCollisionPointLine(Vector2 point, Vector2 p1, Vector2 p2, int threshold);                // Check if point belongs to line created between two points [p1] and [p2] with defined margin in pixels [threshold]
-RLAPI bool CheckCollisionPointPoly(Vector2 point, const Vector2 *points, int pointCount);                // Check if point is within a polygon described by array of vertices
-RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
-RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2);                                         // Get collision rectangle for two rectangles collision
-
-//------------------------------------------------------------------------------------
-// Texture Loading and Drawing Functions (Module: textures)
-//------------------------------------------------------------------------------------
-
-// Image loading functions
-// NOTE: These functions do not require GPU access
-RLAPI Image LoadImage(const char *fileName);                                                             // Load image from file into CPU memory (RAM)
-RLAPI Image LoadImageRaw(const char *fileName, int width, int height, int format, int headerSize);       // Load image from RAW file data
-RLAPI Image LoadImageAnim(const char *fileName, int *frames);                                            // Load image sequence from file (frames appended to image.data)
-RLAPI Image LoadImageAnimFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int *frames); // Load image sequence from memory buffer
-RLAPI Image LoadImageFromMemory(const char *fileType, const unsigned char *fileData, int dataSize);      // Load image from memory buffer, fileType refers to extension: i.e. '.png'
-RLAPI Image LoadImageFromTexture(Texture2D texture);                                                     // Load image from GPU texture data
-RLAPI Image LoadImageFromScreen(void);                                                                   // Load image from screen buffer and (screenshot)
-RLAPI bool IsImageValid(Image image);                                                                    // Check if an image is valid (data and parameters)
-RLAPI void UnloadImage(Image image);                                                                     // Unload image from CPU memory (RAM)
-RLAPI bool ExportImage(Image image, const char *fileName);                                               // Export image data to file, returns true on success
-RLAPI unsigned char *ExportImageToMemory(Image image, const char *fileType, int *fileSize);              // Export image to memory buffer
-RLAPI bool ExportImageAsCode(Image image, const char *fileName);                                         // Export image as code file defining an array of bytes, returns true on success
-
-// Image generation functions
-RLAPI Image GenImageColor(int width, int height, Color color);                                           // Generate image: plain color
-RLAPI Image GenImageGradientLinear(int width, int height, int direction, Color start, Color end);        // Generate image: linear gradient, direction in degrees [0..360], 0=Vertical gradient
-RLAPI Image GenImageGradientRadial(int width, int height, float density, Color inner, Color outer);      // Generate image: radial gradient
-RLAPI Image GenImageGradientSquare(int width, int height, float density, Color inner, Color outer);      // Generate image: square gradient
-RLAPI Image GenImageChecked(int width, int height, int checksX, int checksY, Color col1, Color col2);    // Generate image: checked
-RLAPI Image GenImageWhiteNoise(int width, int height, float factor);                                     // Generate image: white noise
-RLAPI Image GenImagePerlinNoise(int width, int height, int offsetX, int offsetY, float scale);           // Generate image: perlin noise
-RLAPI Image GenImageCellular(int width, int height, int tileSize);                                       // Generate image: cellular algorithm, bigger tileSize means bigger cells
-RLAPI Image GenImageText(int width, int height, const char *text);                                       // Generate image: grayscale image from text data
-
-// Image manipulation functions
-RLAPI Image ImageCopy(Image image);                                                                      // Create an image duplicate (useful for transformations)
-RLAPI Image ImageFromImage(Image image, Rectangle rec);                                                  // Create an image from another image piece
-RLAPI Image ImageFromChannel(Image image, int selectedChannel);                                          // Create an image from a selected channel of another image (GRAYSCALE)
-RLAPI Image ImageText(const char *text, int fontSize, Color color);                                      // Create an image from text (default font)
-RLAPI Image ImageTextEx(Font font, const char *text, float fontSize, float spacing, Color tint);         // Create an image from text (custom sprite font)
-RLAPI void ImageFormat(Image *image, int newFormat);                                                     // Convert image data to desired format
-RLAPI void ImageToPOT(Image *image, Color fill);                                                         // Convert image to POT (power-of-two)
-RLAPI void ImageCrop(Image *image, Rectangle crop);                                                      // Crop an image to a defined rectangle
-RLAPI void ImageAlphaCrop(Image *image, float threshold);                                                // Crop image depending on alpha value
-RLAPI void ImageAlphaClear(Image *image, Color color, float threshold);                                  // Clear alpha channel to desired color
-RLAPI void ImageAlphaMask(Image *image, Image alphaMask);                                                // Apply alpha mask to image
-RLAPI void ImageAlphaPremultiply(Image *image);                                                          // Premultiply alpha channel
-RLAPI void ImageBlurGaussian(Image *image, int blurSize);                                                // Apply Gaussian blur using a box blur approximation
-RLAPI void ImageKernelConvolution(Image *image, const float *kernel, int kernelSize);                    // Apply custom square convolution kernel to image
-RLAPI void ImageResize(Image *image, int newWidth, int newHeight);                                       // Resize image (Bicubic scaling algorithm)
-RLAPI void ImageResizeNN(Image *image, int newWidth,int newHeight);                                      // Resize image (Nearest-Neighbor scaling algorithm)
-RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill); // Resize canvas and fill with color
-RLAPI void ImageMipmaps(Image *image);                                                                   // Compute all mipmap levels for a provided image
-RLAPI void ImageDither(Image *image, int rBpp, int gBpp, int bBpp, int aBpp);                            // Dither image data to 16bpp or lower (Floyd-Steinberg dithering)
-RLAPI void ImageFlipVertical(Image *image);                                                              // Flip image vertically
-RLAPI void ImageFlipHorizontal(Image *image);                                                            // Flip image horizontally
-RLAPI void ImageRotate(Image *image, int degrees);                                                       // Rotate image by input angle in degrees (-359 to 359)
-RLAPI void ImageRotateCW(Image *image);                                                                  // Rotate image clockwise 90deg
-RLAPI void ImageRotateCCW(Image *image);                                                                 // Rotate image counter-clockwise 90deg
-RLAPI void ImageColorTint(Image *image, Color color);                                                    // Modify image color: tint
-RLAPI void ImageColorInvert(Image *image);                                                               // Modify image color: invert
-RLAPI void ImageColorGrayscale(Image *image);                                                            // Modify image color: grayscale
-RLAPI void ImageColorContrast(Image *image, float contrast);                                             // Modify image color: contrast (-100 to 100)
-RLAPI void ImageColorBrightness(Image *image, int brightness);                                           // Modify image color: brightness (-255 to 255)
-RLAPI void ImageColorReplace(Image *image, Color color, Color replace);                                  // Modify image color: replace color
-RLAPI Color *LoadImageColors(Image image);                                                               // Load color data from image as a Color array (RGBA - 32bit)
-RLAPI Color *LoadImagePalette(Image image, int maxPaletteSize, int *colorCount);                         // Load colors palette from image as a Color array (RGBA - 32bit)
-RLAPI void UnloadImageColors(Color *colors);                                                             // Unload color data loaded with LoadImageColors()
-RLAPI void UnloadImagePalette(Color *colors);                                                            // Unload colors palette loaded with LoadImagePalette()
-RLAPI Rectangle GetImageAlphaBorder(Image image, float threshold);                                       // Get image alpha border rectangle
-RLAPI Color GetImageColor(Image image, int x, int y);                                                    // Get image pixel color at (x, y) position
-
-// Image drawing functions
-// NOTE: Image software-rendering functions (CPU)
-RLAPI void ImageClearBackground(Image *dst, Color color);                                                // Clear image background with given color
-RLAPI void ImageDrawPixel(Image *dst, int posX, int posY, Color color);                                  // Draw pixel within an image
-RLAPI void ImageDrawPixelV(Image *dst, Vector2 position, Color color);                                   // Draw pixel within an image (Vector version)
-RLAPI void ImageDrawLine(Image *dst, int startPosX, int startPosY, int endPosX, int endPosY, Color color); // Draw line within an image
-RLAPI void ImageDrawLineV(Image *dst, Vector2 start, Vector2 end, Color color);                          // Draw line within an image (Vector version)
-RLAPI void ImageDrawLineEx(Image *dst, Vector2 start, Vector2 end, int thick, Color color);              // Draw a line defining thickness within an image
-RLAPI void ImageDrawCircle(Image *dst, int centerX, int centerY, int radius, Color color);               // Draw a filled circle within an image
-RLAPI void ImageDrawCircleV(Image *dst, Vector2 center, int radius, Color color);                        // Draw a filled circle within an image (Vector version)
-RLAPI void ImageDrawCircleLines(Image *dst, int centerX, int centerY, int radius, Color color);          // Draw circle outline within an image
-RLAPI void ImageDrawCircleLinesV(Image *dst, Vector2 center, int radius, Color color);                   // Draw circle outline within an image (Vector version)
-RLAPI void ImageDrawRectangle(Image *dst, int posX, int posY, int width, int height, Color color);       // Draw rectangle within an image
-RLAPI void ImageDrawRectangleV(Image *dst, Vector2 position, Vector2 size, Color color);                 // Draw rectangle within an image (Vector version)
-RLAPI void ImageDrawRectangleRec(Image *dst, Rectangle rec, Color color);                                // Draw rectangle within an image
-RLAPI void ImageDrawRectangleLines(Image *dst, Rectangle rec, int thick, Color color);                   // Draw rectangle lines within an image
-RLAPI void ImageDrawTriangle(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);               // Draw triangle within an image
-RLAPI void ImageDrawTriangleEx(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color c1, Color c2, Color c3); // Draw triangle with interpolated colors within an image
-RLAPI void ImageDrawTriangleLines(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);          // Draw triangle outline within an image
-RLAPI void ImageDrawTriangleFan(Image *dst, Vector2 *points, int pointCount, Color color);               // Draw a triangle fan defined by points within an image (first vertex is the center)
-RLAPI void ImageDrawTriangleStrip(Image *dst, Vector2 *points, int pointCount, Color color);             // Draw a triangle strip defined by points within an image
-RLAPI void ImageDraw(Image *dst, Image src, Rectangle srcRec, Rectangle dstRec, Color tint);             // Draw a source image within a destination image (tint applied to source)
-RLAPI void ImageDrawText(Image *dst, const char *text, int posX, int posY, int fontSize, Color color);   // Draw text (using default font) within an image (destination)
-RLAPI void ImageDrawTextEx(Image *dst, Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text (custom sprite font) within an image (destination)
-
-// Texture loading functions
-// NOTE: These functions require GPU access
-RLAPI Texture2D LoadTexture(const char *fileName);                                                       // Load texture from file into GPU memory (VRAM)
-RLAPI Texture2D LoadTextureFromImage(Image image);                                                       // Load texture from image data
-RLAPI TextureCubemap LoadTextureCubemap(Image image, int layout);                                        // Load cubemap from image, multiple image cubemap layouts supported
-RLAPI RenderTexture2D LoadRenderTexture(int width, int height);                                          // Load texture for rendering (framebuffer)
-RLAPI bool IsTextureValid(Texture2D texture);                                                            // Check if a texture is valid (loaded in GPU)
-RLAPI void UnloadTexture(Texture2D texture);                                                             // Unload texture from GPU memory (VRAM)
-RLAPI bool IsRenderTextureValid(RenderTexture2D target);                                                 // Check if a render texture is valid (loaded in GPU)
-RLAPI void UnloadRenderTexture(RenderTexture2D target);                                                  // Unload render texture from GPU memory (VRAM)
-RLAPI void UpdateTexture(Texture2D texture, const void *pixels);                                         // Update GPU texture with new data
-RLAPI void UpdateTextureRec(Texture2D texture, Rectangle rec, const void *pixels);                       // Update GPU texture rectangle with new data
-
-// Texture configuration functions
-RLAPI void GenTextureMipmaps(Texture2D *texture);                                                        // Generate GPU mipmaps for a texture
-RLAPI void SetTextureFilter(Texture2D texture, int filter);                                              // Set texture scaling filter mode
-RLAPI void SetTextureWrap(Texture2D texture, int wrap);                                                  // Set texture wrapping mode
-
-// Texture drawing functions
-RLAPI void DrawTexture(Texture2D texture, int posX, int posY, Color tint);                               // Draw a Texture2D
-RLAPI void DrawTextureV(Texture2D texture, Vector2 position, Color tint);                                // Draw a Texture2D with position defined as Vector2
-RLAPI void DrawTextureEx(Texture2D texture, Vector2 position, float rotation, float scale, Color tint);  // Draw a Texture2D with extended parameters
-RLAPI void DrawTextureRec(Texture2D texture, Rectangle source, Vector2 position, Color tint);            // Draw a part of a texture defined by a rectangle
-RLAPI void DrawTexturePro(Texture2D texture, Rectangle source, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draw a part of a texture defined by a rectangle with 'pro' parameters
-RLAPI void DrawTextureNPatch(Texture2D texture, NPatchInfo nPatchInfo, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draws a texture (or part of it) that stretches or shrinks nicely
-
-// Color/pixel related functions
-RLAPI bool ColorIsEqual(Color col1, Color col2);                            // Check if two colors are equal
-RLAPI Color Fade(Color color, float alpha);                                 // Get color with alpha applied, alpha goes from 0.0f to 1.0f
-RLAPI int ColorToInt(Color color);                                          // Get hexadecimal value for a Color (0xRRGGBBAA)
-RLAPI Vector4 ColorNormalize(Color color);                                  // Get Color normalized as float [0..1]
-RLAPI Color ColorFromNormalized(Vector4 normalized);                        // Get Color from normalized values [0..1]
-RLAPI Vector3 ColorToHSV(Color color);                                      // Get HSV values for a Color, hue [0..360], saturation/value [0..1]
-RLAPI Color ColorFromHSV(float hue, float saturation, float value);         // Get a Color from HSV values, hue [0..360], saturation/value [0..1]
-RLAPI Color ColorTint(Color color, Color tint);                             // Get color multiplied with another color
-RLAPI Color ColorBrightness(Color color, float factor);                     // Get color with brightness correction, brightness factor goes from -1.0f to 1.0f
-RLAPI Color ColorContrast(Color color, float contrast);                     // Get color with contrast correction, contrast values between -1.0f and 1.0f
-RLAPI Color ColorAlpha(Color color, float alpha);                           // Get color with alpha applied, alpha goes from 0.0f to 1.0f
-RLAPI Color ColorAlphaBlend(Color dst, Color src, Color tint);              // Get src alpha-blended into dst color with tint
-RLAPI Color ColorLerp(Color color1, Color color2, float factor);            // Get color lerp interpolation between two colors, factor [0.0f..1.0f]
-RLAPI Color GetColor(unsigned int hexValue);                                // Get Color structure from hexadecimal value
-RLAPI Color GetPixelColor(void *srcPtr, int format);                        // Get Color from a source pixel pointer of certain format
-RLAPI void SetPixelColor(void *dstPtr, Color color, int format);            // Set color formatted into destination pixel pointer
-RLAPI int GetPixelDataSize(int width, int height, int format);              // Get pixel data size in bytes for certain format
-
-//------------------------------------------------------------------------------------
-// Font Loading and Text Drawing Functions (Module: text)
-//------------------------------------------------------------------------------------
-
-// Font loading/unloading functions
-RLAPI Font GetFontDefault(void);                                                            // Get the default Font
-RLAPI Font LoadFont(const char *fileName);                                                  // Load font from file into GPU memory (VRAM)
-RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set, font size is provided in pixels height
-RLAPI Font LoadFontFromImage(Image image, Color key, int firstChar);                        // Load font from Image (XNA style)
-RLAPI Font LoadFontFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount); // Load font from memory buffer, fileType refers to extension: i.e. '.ttf'
-RLAPI bool IsFontValid(Font font);                                                          // Check if a font is valid (font data loaded, WARNING: GPU texture not checked)
-RLAPI GlyphInfo *LoadFontData(const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount, int type); // Load font data for further use
-RLAPI Image GenImageFontAtlas(const GlyphInfo *glyphs, Rectangle **glyphRecs, int glyphCount, int fontSize, int padding, int packMethod); // Generate image font atlas using chars info
-RLAPI void UnloadFontData(GlyphInfo *glyphs, int glyphCount);                               // Unload font chars info data (RAM)
-RLAPI void UnloadFont(Font font);                                                           // Unload font from GPU memory (VRAM)
-RLAPI bool ExportFontAsCode(Font font, const char *fileName);                               // Export font as code file, returns true on success
-
-// Text drawing functions
-RLAPI void DrawFPS(int posX, int posY);                                                     // Draw current FPS
-RLAPI void DrawText(const char *text, int posX, int posY, int fontSize, Color color);       // Draw text (using default font)
-RLAPI void DrawTextEx(Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text using font and additional parameters
-RLAPI void DrawTextPro(Font font, const char *text, Vector2 position, Vector2 origin, float rotation, float fontSize, float spacing, Color tint); // Draw text using Font and pro parameters (rotation)
-RLAPI void DrawTextCodepoint(Font font, int codepoint, Vector2 position, float fontSize, Color tint); // Draw one character (codepoint)
-RLAPI void DrawTextCodepoints(Font font, const int *codepoints, int codepointCount, Vector2 position, float fontSize, float spacing, Color tint); // Draw multiple character (codepoint)
-
-// Text font info functions
-RLAPI void SetTextLineSpacing(int spacing);                                                 // Set vertical line spacing when drawing with line-breaks
-RLAPI int MeasureText(const char *text, int fontSize);                                      // Measure string width for default font
-RLAPI Vector2 MeasureTextEx(Font font, const char *text, float fontSize, float spacing);    // Measure string size for Font
-RLAPI int GetGlyphIndex(Font font, int codepoint);                                          // Get glyph index position in font for a codepoint (unicode character), fallback to '?' if not found
-RLAPI GlyphInfo GetGlyphInfo(Font font, int codepoint);                                     // Get glyph font info data for a codepoint (unicode character), fallback to '?' if not found
-RLAPI Rectangle GetGlyphAtlasRec(Font font, int codepoint);                                 // Get glyph rectangle in font atlas for a codepoint (unicode character), fallback to '?' if not found
-
-// Text codepoints management functions (unicode characters)
-RLAPI char *LoadUTF8(const int *codepoints, int length);                // Load UTF-8 text encoded from codepoints array
-RLAPI void UnloadUTF8(char *text);                                      // Unload UTF-8 text encoded from codepoints array
-RLAPI int *LoadCodepoints(const char *text, int *count);                // Load all codepoints from a UTF-8 text string, codepoints count returned by parameter
-RLAPI void UnloadCodepoints(int *codepoints);                           // Unload codepoints data from memory
-RLAPI int GetCodepointCount(const char *text);                          // Get total number of codepoints in a UTF-8 encoded string
-RLAPI int GetCodepoint(const char *text, int *codepointSize);           // Get next codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI int GetCodepointNext(const char *text, int *codepointSize);       // Get next codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI int GetCodepointPrevious(const char *text, int *codepointSize);   // Get previous codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI const char *CodepointToUTF8(int codepoint, int *utf8Size);        // Encode one codepoint into UTF-8 byte array (array length returned as parameter)
-
-// Text strings management functions (no UTF-8 strings, only byte chars)
-// NOTE: Some strings allocate memory internally for returned strings, just be careful!
-RLAPI int TextCopy(char *dst, const char *src);                                             // Copy one string to another, returns bytes copied
-RLAPI bool TextIsEqual(const char *text1, const char *text2);                               // Check if two text string are equal
-RLAPI unsigned int TextLength(const char *text);                                            // Get text length, checks for '\0' ending
-RLAPI const char *TextFormat(const char *text, ...);                                        // Text formatting with variables (sprintf() style)
-RLAPI const char *TextSubtext(const char *text, int position, int length);                  // Get a piece of a text string
-RLAPI char *TextReplace(const char *text, const char *replace, const char *by);             // Replace text string (WARNING: memory must be freed!)
-RLAPI char *TextInsert(const char *text, const char *insert, int position);                 // Insert text in a position (WARNING: memory must be freed!)
-RLAPI const char *TextJoin(const char **textList, int count, const char *delimiter);        // Join text strings with delimiter
-RLAPI const char **TextSplit(const char *text, char delimiter, int *count);                 // Split text into multiple strings
-RLAPI void TextAppend(char *text, const char *append, int *position);                       // Append text at specific position and move cursor!
-RLAPI int TextFindIndex(const char *text, const char *find);                                // Find first text occurrence within a string
-RLAPI const char *TextToUpper(const char *text);                      // Get upper case version of provided string
-RLAPI const char *TextToLower(const char *text);                      // Get lower case version of provided string
-RLAPI const char *TextToPascal(const char *text);                     // Get Pascal case notation version of provided string
-RLAPI const char *TextToSnake(const char *text);                      // Get Snake case notation version of provided string
-RLAPI const char *TextToCamel(const char *text);                      // Get Camel case notation version of provided string
-
-RLAPI int TextToInteger(const char *text);                            // Get integer value from text (negative values not supported)
-RLAPI float TextToFloat(const char *text);                            // Get float value from text (negative values not supported)
-
-//------------------------------------------------------------------------------------
-// Basic 3d Shapes Drawing Functions (Module: models)
-//------------------------------------------------------------------------------------
-
-// Basic geometric 3D shapes drawing functions
-RLAPI void DrawLine3D(Vector3 startPos, Vector3 endPos, Color color);                                    // Draw a line in 3D world space
-RLAPI void DrawPoint3D(Vector3 position, Color color);                                                   // Draw a point in 3D space, actually a small line
-RLAPI void DrawCircle3D(Vector3 center, float radius, Vector3 rotationAxis, float rotationAngle, Color color); // Draw a circle in 3D world space
-RLAPI void DrawTriangle3D(Vector3 v1, Vector3 v2, Vector3 v3, Color color);                              // Draw a color-filled triangle (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleStrip3D(const Vector3 *points, int pointCount, Color color);                      // Draw a triangle strip defined by points
-RLAPI void DrawCube(Vector3 position, float width, float height, float length, Color color);             // Draw cube
-RLAPI void DrawCubeV(Vector3 position, Vector3 size, Color color);                                       // Draw cube (Vector version)
-RLAPI void DrawCubeWires(Vector3 position, float width, float height, float length, Color color);        // Draw cube wires
-RLAPI void DrawCubeWiresV(Vector3 position, Vector3 size, Color color);                                  // Draw cube wires (Vector version)
-RLAPI void DrawSphere(Vector3 centerPos, float radius, Color color);                                     // Draw sphere
-RLAPI void DrawSphereEx(Vector3 centerPos, float radius, int rings, int slices, Color color);            // Draw sphere with extended parameters
-RLAPI void DrawSphereWires(Vector3 centerPos, float radius, int rings, int slices, Color color);         // Draw sphere wires
-RLAPI void DrawCylinder(Vector3 position, float radiusTop, float radiusBottom, float height, int slices, Color color); // Draw a cylinder/cone
-RLAPI void DrawCylinderEx(Vector3 startPos, Vector3 endPos, float startRadius, float endRadius, int sides, Color color); // Draw a cylinder with base at startPos and top at endPos
-RLAPI void DrawCylinderWires(Vector3 position, float radiusTop, float radiusBottom, float height, int slices, Color color); // Draw a cylinder/cone wires
-RLAPI void DrawCylinderWiresEx(Vector3 startPos, Vector3 endPos, float startRadius, float endRadius, int sides, Color color); // Draw a cylinder wires with base at startPos and top at endPos
-RLAPI void DrawCapsule(Vector3 startPos, Vector3 endPos, float radius, int slices, int rings, Color color); // Draw a capsule with the center of its sphere caps at startPos and endPos
-RLAPI void DrawCapsuleWires(Vector3 startPos, Vector3 endPos, float radius, int slices, int rings, Color color); // Draw capsule wireframe with the center of its sphere caps at startPos and endPos
-RLAPI void DrawPlane(Vector3 centerPos, Vector2 size, Color color);                                      // Draw a plane XZ
-RLAPI void DrawRay(Ray ray, Color color);                                                                // Draw a ray line
-RLAPI void DrawGrid(int slices, float spacing);                                                          // Draw a grid (centered at (0, 0, 0))
-
-//------------------------------------------------------------------------------------
-// Model 3d Loading and Drawing Functions (Module: models)
-//------------------------------------------------------------------------------------
-
-// Model management functions
-RLAPI Model LoadModel(const char *fileName);                                                // Load model from files (meshes and materials)
-RLAPI Model LoadModelFromMesh(Mesh mesh);                                                   // Load model from generated mesh (default material)
-RLAPI bool IsModelValid(Model model);                                                       // Check if a model is valid (loaded in GPU, VAO/VBOs)
-RLAPI void UnloadModel(Model model);                                                        // Unload model (including meshes) from memory (RAM and/or VRAM)
-RLAPI BoundingBox GetModelBoundingBox(Model model);                                         // Compute model bounding box limits (considers all meshes)
-
-// Model drawing functions
-RLAPI void DrawModel(Model model, Vector3 position, float scale, Color tint);               // Draw a model (with texture if set)
-RLAPI void DrawModelEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model with extended parameters
-RLAPI void DrawModelWires(Model model, Vector3 position, float scale, Color tint);          // Draw a model wires (with texture if set)
-RLAPI void DrawModelWiresEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model wires (with texture if set) with extended parameters
-RLAPI void DrawModelPoints(Model model, Vector3 position, float scale, Color tint); // Draw a model as points
-RLAPI void DrawModelPointsEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model as points with extended parameters
-RLAPI void DrawBoundingBox(BoundingBox box, Color color);                                   // Draw bounding box (wires)
-RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float scale, Color tint);   // Draw a billboard texture
-RLAPI void DrawBillboardRec(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector2 size, Color tint); // Draw a billboard texture defined by source
-RLAPI void DrawBillboardPro(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector3 up, Vector2 size, Vector2 origin, float rotation, Color tint); // Draw a billboard texture defined by source and rotation
-
-// Mesh management functions
-RLAPI void UploadMesh(Mesh *mesh, bool dynamic);                                            // Upload mesh vertex data in GPU and provide VAO/VBO ids
-RLAPI void UpdateMeshBuffer(Mesh mesh, int index, const void *data, int dataSize, int offset); // Update mesh vertex data in GPU for a specific buffer index
-RLAPI void UnloadMesh(Mesh mesh);                                                           // Unload mesh data from CPU and GPU
-RLAPI void DrawMesh(Mesh mesh, Material material, Matrix transform);                        // Draw a 3d mesh with material and transform
-RLAPI void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, int instances); // Draw multiple mesh instances with material and different transforms
-RLAPI BoundingBox GetMeshBoundingBox(Mesh mesh);                                            // Compute mesh bounding box limits
-RLAPI void GenMeshTangents(Mesh *mesh);                                                     // Compute mesh tangents
-RLAPI bool ExportMesh(Mesh mesh, const char *fileName);                                     // Export mesh data to file, returns true on success
-RLAPI bool ExportMeshAsCode(Mesh mesh, const char *fileName);                               // Export mesh as code file (.h) defining multiple arrays of vertex attributes
-
-// Mesh generation functions
-RLAPI Mesh GenMeshPoly(int sides, float radius);                                            // Generate polygonal mesh
-RLAPI Mesh GenMeshPlane(float width, float length, int resX, int resZ);                     // Generate plane mesh (with subdivisions)
-RLAPI Mesh GenMeshCube(float width, float height, float length);                            // Generate cuboid mesh
-RLAPI Mesh GenMeshSphere(float radius, int rings, int slices);                              // Generate sphere mesh (standard sphere)
-RLAPI Mesh GenMeshHemiSphere(float radius, int rings, int slices);                          // Generate half-sphere mesh (no bottom cap)
-RLAPI Mesh GenMeshCylinder(float radius, float height, int slices);                         // Generate cylinder mesh
-RLAPI Mesh GenMeshCone(float radius, float height, int slices);                             // Generate cone/pyramid mesh
-RLAPI Mesh GenMeshTorus(float radius, float size, int radSeg, int sides);                   // Generate torus mesh
-RLAPI Mesh GenMeshKnot(float radius, float size, int radSeg, int sides);                    // Generate trefoil knot mesh
-RLAPI Mesh GenMeshHeightmap(Image heightmap, Vector3 size);                                 // Generate heightmap mesh from image data
-RLAPI Mesh GenMeshCubicmap(Image cubicmap, Vector3 cubeSize);                               // Generate cubes-based map mesh from image data
-
-// Material loading/unloading functions
-RLAPI Material *LoadMaterials(const char *fileName, int *materialCount);                    // Load materials from model file
-RLAPI Material LoadMaterialDefault(void);                                                   // Load default material (Supports: DIFFUSE, SPECULAR, NORMAL maps)
-RLAPI bool IsMaterialValid(Material material);                                              // Check if a material is valid (shader assigned, map textures loaded in GPU)
-RLAPI void UnloadMaterial(Material material);                                               // Unload material from GPU memory (VRAM)
-RLAPI void SetMaterialTexture(Material *material, int mapType, Texture2D texture);          // Set texture for a material map type (MATERIAL_MAP_DIFFUSE, MATERIAL_MAP_SPECULAR...)
-RLAPI void SetModelMeshMaterial(Model *model, int meshId, int materialId);                  // Set material for a mesh
-
-// Model animations loading/unloading functions
-RLAPI ModelAnimation *LoadModelAnimations(const char *fileName, int *animCount);            // Load model animations from file
-RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame);               // Update model animation pose (CPU)
-RLAPI void UpdateModelAnimationBones(Model model, ModelAnimation anim, int frame);          // Update model animation mesh bone matrices (GPU skinning)
-RLAPI void UnloadModelAnimation(ModelAnimation anim);                                       // Unload animation data
-RLAPI void UnloadModelAnimations(ModelAnimation *animations, int animCount);                // Unload animation array data
-RLAPI bool IsModelAnimationValid(Model model, ModelAnimation anim);                         // Check model animation skeleton match
-
-// Collision detection functions
-RLAPI bool CheckCollisionSpheres(Vector3 center1, float radius1, Vector3 center2, float radius2);   // Check collision between two spheres
-RLAPI bool CheckCollisionBoxes(BoundingBox box1, BoundingBox box2);                                 // Check collision between two bounding boxes
-RLAPI bool CheckCollisionBoxSphere(BoundingBox box, Vector3 center, float radius);                  // Check collision between box and sphere
-RLAPI RayCollision GetRayCollisionSphere(Ray ray, Vector3 center, float radius);                    // Get collision info between ray and sphere
-RLAPI RayCollision GetRayCollisionBox(Ray ray, BoundingBox box);                                    // Get collision info between ray and box
-RLAPI RayCollision GetRayCollisionMesh(Ray ray, Mesh mesh, Matrix transform);                       // Get collision info between ray and mesh
-RLAPI RayCollision GetRayCollisionTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3);            // Get collision info between ray and triangle
-RLAPI RayCollision GetRayCollisionQuad(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4);    // Get collision info between ray and quad
-
-//------------------------------------------------------------------------------------
-// Audio Loading and Playing Functions (Module: audio)
-//------------------------------------------------------------------------------------
-typedef void (*AudioCallback)(void *bufferData, unsigned int frames);
-
-// Audio device management functions
-RLAPI void InitAudioDevice(void);                                     // Initialize audio device and context
-RLAPI void CloseAudioDevice(void);                                    // Close the audio device and context
-RLAPI bool IsAudioDeviceReady(void);                                  // Check if audio device has been initialized successfully
-RLAPI void SetMasterVolume(float volume);                             // Set master volume (listener)
-RLAPI float GetMasterVolume(void);                                    // Get master volume (listener)
-
-// Wave/Sound loading/unloading functions
-RLAPI Wave LoadWave(const char *fileName);                            // Load wave data from file
-RLAPI Wave LoadWaveFromMemory(const char *fileType, const unsigned char *fileData, int dataSize); // Load wave from memory buffer, fileType refers to extension: i.e. '.wav'
-RLAPI bool IsWaveValid(Wave wave);                                    // Checks if wave data is valid (data loaded and parameters)
-RLAPI Sound LoadSound(const char *fileName);                          // Load sound from file
-RLAPI Sound LoadSoundFromWave(Wave wave);                             // Load sound from wave data
-RLAPI Sound LoadSoundAlias(Sound source);                             // Create a new sound that shares the same sample data as the source sound, does not own the sound data
-RLAPI bool IsSoundValid(Sound sound);                                 // Checks if a sound is valid (data loaded and buffers initialized)
-RLAPI void UpdateSound(Sound sound, const void *data, int sampleCount); // Update sound buffer with new data
-RLAPI void UnloadWave(Wave wave);                                     // Unload wave data
-RLAPI void UnloadSound(Sound sound);                                  // Unload sound
-RLAPI void UnloadSoundAlias(Sound alias);                             // Unload a sound alias (does not deallocate sample data)
-RLAPI bool ExportWave(Wave wave, const char *fileName);               // Export wave data to file, returns true on success
-RLAPI bool ExportWaveAsCode(Wave wave, const char *fileName);         // Export wave sample data to code (.h), returns true on success
-
-// Wave/Sound management functions
-RLAPI void PlaySound(Sound sound);                                    // Play a sound
-RLAPI void StopSound(Sound sound);                                    // Stop playing a sound
-RLAPI void PauseSound(Sound sound);                                   // Pause a sound
-RLAPI void ResumeSound(Sound sound);                                  // Resume a paused sound
-RLAPI bool IsSoundPlaying(Sound sound);                               // Check if a sound is currently playing
-RLAPI void SetSoundVolume(Sound sound, float volume);                 // Set volume for a sound (1.0 is max level)
-RLAPI void SetSoundPitch(Sound sound, float pitch);                   // Set pitch for a sound (1.0 is base level)
-RLAPI void SetSoundPan(Sound sound, float pan);                       // Set pan for a sound (0.5 is center)
-RLAPI Wave WaveCopy(Wave wave);                                       // Copy a wave to a new wave
-RLAPI void WaveCrop(Wave *wave, int initFrame, int finalFrame);       // Crop a wave to defined frames range
-RLAPI void WaveFormat(Wave *wave, int sampleRate, int sampleSize, int channels); // Convert wave data to desired format
-RLAPI float *LoadWaveSamples(Wave wave);                              // Load samples data from wave as a 32bit float data array
-RLAPI void UnloadWaveSamples(float *samples);                         // Unload samples data loaded with LoadWaveSamples()
-
-// Music management functions
-RLAPI Music LoadMusicStream(const char *fileName);                    // Load music stream from file
-RLAPI Music LoadMusicStreamFromMemory(const char *fileType, const unsigned char *data, int dataSize); // Load music stream from data
-RLAPI bool IsMusicValid(Music music);                                 // Checks if a music stream is valid (context and buffers initialized)
-RLAPI void UnloadMusicStream(Music music);                            // Unload music stream
-RLAPI void PlayMusicStream(Music music);                              // Start music playing
-RLAPI bool IsMusicStreamPlaying(Music music);                         // Check if music is playing
-RLAPI void UpdateMusicStream(Music music);                            // Updates buffers for music streaming
-RLAPI void StopMusicStream(Music music);                              // Stop music playing
-RLAPI void PauseMusicStream(Music music);                             // Pause music playing
-RLAPI void ResumeMusicStream(Music music);                            // Resume playing paused music
-RLAPI void SeekMusicStream(Music music, float position);              // Seek music to a position (in seconds)
-RLAPI void SetMusicVolume(Music music, float volume);                 // Set volume for music (1.0 is max level)
-RLAPI void SetMusicPitch(Music music, float pitch);                   // Set pitch for a music (1.0 is base level)
-RLAPI void SetMusicPan(Music music, float pan);                       // Set pan for a music (0.5 is center)
-RLAPI float GetMusicTimeLength(Music music);                          // Get music time length (in seconds)
-RLAPI float GetMusicTimePlayed(Music music);                          // Get current music time played (in seconds)
-
-// AudioStream management functions
-RLAPI AudioStream LoadAudioStream(unsigned int sampleRate, unsigned int sampleSize, unsigned int channels); // Load audio stream (to stream raw audio pcm data)
-RLAPI bool IsAudioStreamValid(AudioStream stream);                    // Checks if an audio stream is valid (buffers initialized)
-RLAPI void UnloadAudioStream(AudioStream stream);                     // Unload audio stream and free memory
-RLAPI void UpdateAudioStream(AudioStream stream, const void *data, int frameCount); // Update audio stream buffers with data
-RLAPI bool IsAudioStreamProcessed(AudioStream stream);                // Check if any audio stream buffers requires refill
-RLAPI void PlayAudioStream(AudioStream stream);                       // Play audio stream
-RLAPI void PauseAudioStream(AudioStream stream);                      // Pause audio stream
-RLAPI void ResumeAudioStream(AudioStream stream);                     // Resume audio stream
-RLAPI bool IsAudioStreamPlaying(AudioStream stream);                  // Check if audio stream is playing
-RLAPI void StopAudioStream(AudioStream stream);                       // Stop audio stream
-RLAPI void SetAudioStreamVolume(AudioStream stream, float volume);    // Set volume for audio stream (1.0 is max level)
-RLAPI void SetAudioStreamPitch(AudioStream stream, float pitch);      // Set pitch for audio stream (1.0 is base level)
-RLAPI void SetAudioStreamPan(AudioStream stream, float pan);          // Set pan for audio stream (0.5 is centered)
-RLAPI void SetAudioStreamBufferSizeDefault(int size);                 // Default size for new audio streams
-RLAPI void SetAudioStreamCallback(AudioStream stream, AudioCallback callback); // Audio thread callback to request new data
-
-RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as 'float'
-RLAPI void DetachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Detach audio stream processor from stream
-
-RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as 'float'
-RLAPI void DetachAudioMixedProcessor(AudioCallback processor); // Detach audio stream processor from the entire audio pipeline
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // RAYLIB_H
diff --git a/third_party/raylib/include/raymath.h b/third_party/raylib/include/raymath.h
deleted file mode 100644
index 5b5e4c74ff..0000000000
--- a/third_party/raylib/include/raymath.h
+++ /dev/null
@@ -1,2949 +0,0 @@
-/**********************************************************************************************
-*
-*   raymath v2.0 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
-*
-*   CONVENTIONS:
-*     - Matrix structure is defined as row-major (memory layout) but parameters naming AND all
-*       math operations performed by the library consider the structure as it was column-major
-*       It is like transposed versions of the matrices are used for all the maths
-*       It benefits some functions making them cache-friendly and also avoids matrix
-*       transpositions sometimes required by OpenGL
-*       Example: In memory order, row0 is [m0 m4 m8 m12] but in semantic math row0 is [m0 m1 m2 m3]
-*     - Functions are always self-contained, no function use another raymath function inside,
-*       required code is directly re-implemented inside
-*     - Functions input parameters are always received by value (2 unavoidable exceptions)
-*     - Functions use always a "result" variable for return (except C++ operators)
-*     - Functions are always defined inline
-*     - Angles are always in radians (DEG2RAD/RAD2DEG macros provided for convenience)
-*     - No compound literals used to make sure libray is compatible with C++
-*
-*   CONFIGURATION:
-*       #define RAYMATH_IMPLEMENTATION
-*           Generates the implementation of the library into the included file.
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation.
-*
-*       #define RAYMATH_STATIC_INLINE
-*           Define static inline functions code, so #include header suffices for use.
-*           This may use up lots of memory.
-*
-*       #define RAYMATH_DISABLE_CPP_OPERATORS
-*           Disables C++ operator overloads for raymath types.
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2015-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYMATH_H
-#define RAYMATH_H
-
-#if defined(RAYMATH_IMPLEMENTATION) && defined(RAYMATH_STATIC_INLINE)
-    #error "Specifying both RAYMATH_IMPLEMENTATION and RAYMATH_STATIC_INLINE is contradictory"
-#endif
-
-// Function specifiers definition
-#if defined(RAYMATH_IMPLEMENTATION)
-    #if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
-        #define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll)
-    #elif defined(BUILD_LIBTYPE_SHARED)
-        #define RMAPI __attribute__((visibility("default"))) // We are building raylib as a Unix shared library (.so/.dylib)
-    #elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
-        #define RMAPI __declspec(dllimport)         // We are using raylib as a Win32 shared library (.dll)
-    #else
-        #define RMAPI extern inline // Provide external definition
-    #endif
-#elif defined(RAYMATH_STATIC_INLINE)
-    #define RMAPI static inline // Functions may be inlined, no external out-of-line definition
-#else
-    #if defined(__TINYC__)
-        #define RMAPI static inline // plain inline not supported by tinycc (See issue #435)
-    #else
-        #define RMAPI inline        // Functions may be inlined or external definition used
-    #endif
-#endif
-
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-
-#ifndef EPSILON
-    #define EPSILON 0.000001f
-#endif
-
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-// Get float vector for Matrix
-#ifndef MatrixToFloat
-    #define MatrixToFloat(mat) (MatrixToFloatV(mat).v)
-#endif
-
-// Get float vector for Vector3
-#ifndef Vector3ToFloat
-    #define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if !defined(RL_VECTOR2_TYPE)
-// Vector2 type
-typedef struct Vector2 {
-    float x;
-    float y;
-} Vector2;
-#define RL_VECTOR2_TYPE
-#endif
-
-#if !defined(RL_VECTOR3_TYPE)
-// Vector3 type
-typedef struct Vector3 {
-    float x;
-    float y;
-    float z;
-} Vector3;
-#define RL_VECTOR3_TYPE
-#endif
-
-#if !defined(RL_VECTOR4_TYPE)
-// Vector4 type
-typedef struct Vector4 {
-    float x;
-    float y;
-    float z;
-    float w;
-} Vector4;
-#define RL_VECTOR4_TYPE
-#endif
-
-#if !defined(RL_QUATERNION_TYPE)
-// Quaternion type
-typedef Vector4 Quaternion;
-#define RL_QUATERNION_TYPE
-#endif
-
-#if !defined(RL_MATRIX_TYPE)
-// Matrix type (OpenGL style 4x4 - right handed, column major)
-typedef struct Matrix {
-    float m0, m4, m8, m12;      // Matrix first row (4 components)
-    float m1, m5, m9, m13;      // Matrix second row (4 components)
-    float m2, m6, m10, m14;     // Matrix third row (4 components)
-    float m3, m7, m11, m15;     // Matrix fourth row (4 components)
-} Matrix;
-#define RL_MATRIX_TYPE
-#endif
-
-// NOTE: Helper types to be used instead of array return types for *ToFloat functions
-typedef struct float3 {
-    float v[3];
-} float3;
-
-typedef struct float16 {
-    float v[16];
-} float16;
-
-#include <math.h>       // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabsf()
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Utils math
-//----------------------------------------------------------------------------------
-
-// Clamp float value
-RMAPI float Clamp(float value, float min, float max)
-{
-    float result = (value < min)? min : value;
-
-    if (result > max) result = max;
-
-    return result;
-}
-
-// Calculate linear interpolation between two floats
-RMAPI float Lerp(float start, float end, float amount)
-{
-    float result = start + amount*(end - start);
-
-    return result;
-}
-
-// Normalize input value within input range
-RMAPI float Normalize(float value, float start, float end)
-{
-    float result = (value - start)/(end - start);
-
-    return result;
-}
-
-// Remap input value within input range to output range
-RMAPI float Remap(float value, float inputStart, float inputEnd, float outputStart, float outputEnd)
-{
-    float result = (value - inputStart)/(inputEnd - inputStart)*(outputEnd - outputStart) + outputStart;
-
-    return result;
-}
-
-// Wrap input value from min to max
-RMAPI float Wrap(float value, float min, float max)
-{
-    float result = value - (max - min)*floorf((value - min)/(max - min));
-
-    return result;
-}
-
-// Check whether two given floats are almost equal
-RMAPI int FloatEquals(float x, float y)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = (fabsf(x - y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(x), fabsf(y))));
-
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector2 math
-//----------------------------------------------------------------------------------
-
-// Vector with components value 0.0f
-RMAPI Vector2 Vector2Zero(void)
-{
-    Vector2 result = { 0.0f, 0.0f };
-
-    return result;
-}
-
-// Vector with components value 1.0f
-RMAPI Vector2 Vector2One(void)
-{
-    Vector2 result = { 1.0f, 1.0f };
-
-    return result;
-}
-
-// Add two vectors (v1 + v2)
-RMAPI Vector2 Vector2Add(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x + v2.x, v1.y + v2.y };
-
-    return result;
-}
-
-// Add vector and float value
-RMAPI Vector2 Vector2AddValue(Vector2 v, float add)
-{
-    Vector2 result = { v.x + add, v.y + add };
-
-    return result;
-}
-
-// Subtract two vectors (v1 - v2)
-RMAPI Vector2 Vector2Subtract(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x - v2.x, v1.y - v2.y };
-
-    return result;
-}
-
-// Subtract vector by float value
-RMAPI Vector2 Vector2SubtractValue(Vector2 v, float sub)
-{
-    Vector2 result = { v.x - sub, v.y - sub };
-
-    return result;
-}
-
-// Calculate vector length
-RMAPI float Vector2Length(Vector2 v)
-{
-    float result = sqrtf((v.x*v.x) + (v.y*v.y));
-
-    return result;
-}
-
-// Calculate vector square length
-RMAPI float Vector2LengthSqr(Vector2 v)
-{
-    float result = (v.x*v.x) + (v.y*v.y);
-
-    return result;
-}
-
-// Calculate two vectors dot product
-RMAPI float Vector2DotProduct(Vector2 v1, Vector2 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y);
-
-    return result;
-}
-
-// Calculate two vectors cross product
-RMAPI float Vector2CrossProduct(Vector2 v1, Vector2 v2)
-{
-    float result = (v1.x*v2.y - v1.y*v2.x);
-
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector2Distance(Vector2 v1, Vector2 v2)
-{
-    float result = sqrtf((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
-
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector2DistanceSqr(Vector2 v1, Vector2 v2)
-{
-    float result = ((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
-
-    return result;
-}
-
-// Calculate angle between two vectors
-// NOTE: Angle is calculated from origin point (0, 0)
-RMAPI float Vector2Angle(Vector2 v1, Vector2 v2)
-{
-    float result = 0.0f;
-
-    float dot = v1.x*v2.x + v1.y*v2.y;
-    float det = v1.x*v2.y - v1.y*v2.x;
-
-    result = atan2f(det, dot);
-
-    return result;
-}
-
-// Calculate angle defined by a two vectors line
-// NOTE: Parameters need to be normalized
-// Current implementation should be aligned with glm::angle
-RMAPI float Vector2LineAngle(Vector2 start, Vector2 end)
-{
-    float result = 0.0f;
-
-    // TODO(10/9/2023): Currently angles move clockwise, determine if this is wanted behavior
-    result = -atan2f(end.y - start.y, end.x - start.x);
-
-    return result;
-}
-
-// Scale vector (multiply by value)
-RMAPI Vector2 Vector2Scale(Vector2 v, float scale)
-{
-    Vector2 result = { v.x*scale, v.y*scale };
-
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector2 Vector2Multiply(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x*v2.x, v1.y*v2.y };
-
-    return result;
-}
-
-// Negate vector
-RMAPI Vector2 Vector2Negate(Vector2 v)
-{
-    Vector2 result = { -v.x, -v.y };
-
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector2 Vector2Divide(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x/v2.x, v1.y/v2.y };
-
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector2 Vector2Normalize(Vector2 v)
-{
-    Vector2 result = { 0 };
-    float length = sqrtf((v.x*v.x) + (v.y*v.y));
-
-    if (length > 0)
-    {
-        float ilength = 1.0f/length;
-        result.x = v.x*ilength;
-        result.y = v.y*ilength;
-    }
-
-    return result;
-}
-
-// Transforms a Vector2 by a given Matrix
-RMAPI Vector2 Vector2Transform(Vector2 v, Matrix mat)
-{
-    Vector2 result = { 0 };
-
-    float x = v.x;
-    float y = v.y;
-    float z = 0;
-
-    result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
-    result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector2 Vector2Lerp(Vector2 v1, Vector2 v2, float amount)
-{
-    Vector2 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-
-    return result;
-}
-
-// Calculate reflected vector to normal
-RMAPI Vector2 Vector2Reflect(Vector2 v, Vector2 normal)
-{
-    Vector2 result = { 0 };
-
-    float dotProduct = (v.x*normal.x + v.y*normal.y); // Dot product
-
-    result.x = v.x - (2.0f*normal.x)*dotProduct;
-    result.y = v.y - (2.0f*normal.y)*dotProduct;
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector2 Vector2Min(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector2 Vector2Max(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-
-    return result;
-}
-
-// Rotate vector by angle
-RMAPI Vector2 Vector2Rotate(Vector2 v, float angle)
-{
-    Vector2 result = { 0 };
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.x = v.x*cosres - v.y*sinres;
-    result.y = v.x*sinres + v.y*cosres;
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector2 Vector2MoveTowards(Vector2 v, Vector2 target, float maxDistance)
-{
-    Vector2 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float value = (dx*dx) + (dy*dy);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-
-    return result;
-}
-
-// Invert the given vector
-RMAPI Vector2 Vector2Invert(Vector2 v)
-{
-    Vector2 result = { 1.0f/v.x, 1.0f/v.y };
-
-    return result;
-}
-
-// Clamp the components of the vector between
-// min and max values specified by the given vectors
-RMAPI Vector2 Vector2Clamp(Vector2 v, Vector2 min, Vector2 max)
-{
-    Vector2 result = { 0 };
-
-    result.x = fminf(max.x, fmaxf(min.x, v.x));
-    result.y = fminf(max.y, fmaxf(min.y, v.y));
-
-    return result;
-}
-
-// Clamp the magnitude of the vector between two min and max values
-RMAPI Vector2 Vector2ClampValue(Vector2 v, float min, float max)
-{
-    Vector2 result = v;
-
-    float length = (v.x*v.x) + (v.y*v.y);
-    if (length > 0.0f)
-    {
-        length = sqrtf(length);
-
-        float scale = 1;    // By default, 1 as the neutral element.
-        if (length < min)
-        {
-            scale = min/length;
-        }
-        else if (length > max)
-        {
-            scale = max/length;
-        }
-
-        result.x = v.x*scale;
-        result.y = v.y*scale;
-    }
-
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector2Equals(Vector2 p, Vector2 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y)))));
-
-    return result;
-}
-
-// Compute the direction of a refracted ray
-// v: normalized direction of the incoming ray
-// n: normalized normal vector of the interface of two optical media
-// r: ratio of the refractive index of the medium from where the ray comes
-//    to the refractive index of the medium on the other side of the surface
-RMAPI Vector2 Vector2Refract(Vector2 v, Vector2 n, float r)
-{
-    Vector2 result = { 0 };
-
-    float dot = v.x*n.x + v.y*n.y;
-    float d = 1.0f - r*r*(1.0f - dot*dot);
-
-    if (d >= 0.0f)
-    {
-        d = sqrtf(d);
-        v.x = r*v.x - (r*dot + d)*n.x;
-        v.y = r*v.y - (r*dot + d)*n.y;
-
-        result = v;
-    }
-
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector3 math
-//----------------------------------------------------------------------------------
-
-// Vector with components value 0.0f
-RMAPI Vector3 Vector3Zero(void)
-{
-    Vector3 result = { 0.0f, 0.0f, 0.0f };
-
-    return result;
-}
-
-// Vector with components value 1.0f
-RMAPI Vector3 Vector3One(void)
-{
-    Vector3 result = { 1.0f, 1.0f, 1.0f };
-
-    return result;
-}
-
-// Add two vectors
-RMAPI Vector3 Vector3Add(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x + v2.x, v1.y + v2.y, v1.z + v2.z };
-
-    return result;
-}
-
-// Add vector and float value
-RMAPI Vector3 Vector3AddValue(Vector3 v, float add)
-{
-    Vector3 result = { v.x + add, v.y + add, v.z + add };
-
-    return result;
-}
-
-// Subtract two vectors
-RMAPI Vector3 Vector3Subtract(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x - v2.x, v1.y - v2.y, v1.z - v2.z };
-
-    return result;
-}
-
-// Subtract vector by float value
-RMAPI Vector3 Vector3SubtractValue(Vector3 v, float sub)
-{
-    Vector3 result = { v.x - sub, v.y - sub, v.z - sub };
-
-    return result;
-}
-
-// Multiply vector by scalar
-RMAPI Vector3 Vector3Scale(Vector3 v, float scalar)
-{
-    Vector3 result = { v.x*scalar, v.y*scalar, v.z*scalar };
-
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector3 Vector3Multiply(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z };
-
-    return result;
-}
-
-// Calculate two vectors cross product
-RMAPI Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
-
-    return result;
-}
-
-// Calculate one vector perpendicular vector
-RMAPI Vector3 Vector3Perpendicular(Vector3 v)
-{
-    Vector3 result = { 0 };
-
-    float min = fabsf(v.x);
-    Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};
-
-    if (fabsf(v.y) < min)
-    {
-        min = fabsf(v.y);
-        Vector3 tmp = {0.0f, 1.0f, 0.0f};
-        cardinalAxis = tmp;
-    }
-
-    if (fabsf(v.z) < min)
-    {
-        Vector3 tmp = {0.0f, 0.0f, 1.0f};
-        cardinalAxis = tmp;
-    }
-
-    // Cross product between vectors
-    result.x = v.y*cardinalAxis.z - v.z*cardinalAxis.y;
-    result.y = v.z*cardinalAxis.x - v.x*cardinalAxis.z;
-    result.z = v.x*cardinalAxis.y - v.y*cardinalAxis.x;
-
-    return result;
-}
-
-// Calculate vector length
-RMAPI float Vector3Length(const Vector3 v)
-{
-    float result = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-
-    return result;
-}
-
-// Calculate vector square length
-RMAPI float Vector3LengthSqr(const Vector3 v)
-{
-    float result = v.x*v.x + v.y*v.y + v.z*v.z;
-
-    return result;
-}
-
-// Calculate two vectors dot product
-RMAPI float Vector3DotProduct(Vector3 v1, Vector3 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector3Distance(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    float dx = v2.x - v1.x;
-    float dy = v2.y - v1.y;
-    float dz = v2.z - v1.z;
-    result = sqrtf(dx*dx + dy*dy + dz*dz);
-
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector3DistanceSqr(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    float dx = v2.x - v1.x;
-    float dy = v2.y - v1.y;
-    float dz = v2.z - v1.z;
-    result = dx*dx + dy*dy + dz*dz;
-
-    return result;
-}
-
-// Calculate angle between two vectors
-RMAPI float Vector3Angle(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    Vector3 cross = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
-    float len = sqrtf(cross.x*cross.x + cross.y*cross.y + cross.z*cross.z);
-    float dot = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    result = atan2f(len, dot);
-
-    return result;
-}
-
-// Negate provided vector (invert direction)
-RMAPI Vector3 Vector3Negate(Vector3 v)
-{
-    Vector3 result = { -v.x, -v.y, -v.z };
-
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector3 Vector3Divide(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z };
-
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector3 Vector3Normalize(Vector3 v)
-{
-    Vector3 result = v;
-
-    float length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length != 0.0f)
-    {
-        float ilength = 1.0f/length;
-
-        result.x *= ilength;
-        result.y *= ilength;
-        result.z *= ilength;
-    }
-
-    return result;
-}
-
-//Calculate the projection of the vector v1 on to v2
-RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
-
-    float mag = v1dv2/v2dv2;
-
-    result.x = v2.x*mag;
-    result.y = v2.y*mag;
-    result.z = v2.z*mag;
-
-    return result;
-}
-
-//Calculate the rejection of the vector v1 on to v2
-RMAPI Vector3 Vector3Reject(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
-
-    float mag = v1dv2/v2dv2;
-
-    result.x = v1.x - (v2.x*mag);
-    result.y = v1.y - (v2.y*mag);
-    result.z = v1.z - (v2.z*mag);
-
-    return result;
-}
-
-// Orthonormalize provided vectors
-// Makes vectors normalized and orthogonal to each other
-// Gram-Schmidt function implementation
-RMAPI void Vector3OrthoNormalize(Vector3 *v1, Vector3 *v2)
-{
-    float length = 0.0f;
-    float ilength = 0.0f;
-
-    // Vector3Normalize(*v1);
-    Vector3 v = *v1;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    v1->x *= ilength;
-    v1->y *= ilength;
-    v1->z *= ilength;
-
-    // Vector3CrossProduct(*v1, *v2)
-    Vector3 vn1 = { v1->y*v2->z - v1->z*v2->y, v1->z*v2->x - v1->x*v2->z, v1->x*v2->y - v1->y*v2->x };
-
-    // Vector3Normalize(vn1);
-    v = vn1;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vn1.x *= ilength;
-    vn1.y *= ilength;
-    vn1.z *= ilength;
-
-    // Vector3CrossProduct(vn1, *v1)
-    Vector3 vn2 = { vn1.y*v1->z - vn1.z*v1->y, vn1.z*v1->x - vn1.x*v1->z, vn1.x*v1->y - vn1.y*v1->x };
-
-    *v2 = vn2;
-}
-
-// Transforms a Vector3 by a given Matrix
-RMAPI Vector3 Vector3Transform(Vector3 v, Matrix mat)
-{
-    Vector3 result = { 0 };
-
-    float x = v.x;
-    float y = v.y;
-    float z = v.z;
-
-    result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
-    result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
-    result.z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14;
-
-    return result;
-}
-
-// Transform a vector by quaternion rotation
-RMAPI Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q)
-{
-    Vector3 result = { 0 };
-
-    result.x = v.x*(q.x*q.x + q.w*q.w - q.y*q.y - q.z*q.z) + v.y*(2*q.x*q.y - 2*q.w*q.z) + v.z*(2*q.x*q.z + 2*q.w*q.y);
-    result.y = v.x*(2*q.w*q.z + 2*q.x*q.y) + v.y*(q.w*q.w - q.x*q.x + q.y*q.y - q.z*q.z) + v.z*(-2*q.w*q.x + 2*q.y*q.z);
-    result.z = v.x*(-2*q.w*q.y + 2*q.x*q.z) + v.y*(2*q.w*q.x + 2*q.y*q.z)+ v.z*(q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z);
-
-    return result;
-}
-
-// Rotates a vector around an axis
-RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
-{
-    // Using Euler-Rodrigues Formula
-    // Ref.: https://en.wikipedia.org/w/index.php?title=Euler%E2%80%93Rodrigues_formula
-
-    Vector3 result = v;
-
-    // Vector3Normalize(axis);
-    float length = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-    axis.x *= ilength;
-    axis.y *= ilength;
-    axis.z *= ilength;
-
-    angle /= 2.0f;
-    float a = sinf(angle);
-    float b = axis.x*a;
-    float c = axis.y*a;
-    float d = axis.z*a;
-    a = cosf(angle);
-    Vector3 w = { b, c, d };
-
-    // Vector3CrossProduct(w, v)
-    Vector3 wv = { w.y*v.z - w.z*v.y, w.z*v.x - w.x*v.z, w.x*v.y - w.y*v.x };
-
-    // Vector3CrossProduct(w, wv)
-    Vector3 wwv = { w.y*wv.z - w.z*wv.y, w.z*wv.x - w.x*wv.z, w.x*wv.y - w.y*wv.x };
-
-    // Vector3Scale(wv, 2*a)
-    a *= 2;
-    wv.x *= a;
-    wv.y *= a;
-    wv.z *= a;
-
-    // Vector3Scale(wwv, 2)
-    wwv.x *= 2;
-    wwv.y *= 2;
-    wwv.z *= 2;
-
-    result.x += wv.x;
-    result.y += wv.y;
-    result.z += wv.z;
-
-    result.x += wwv.x;
-    result.y += wwv.y;
-    result.z += wwv.z;
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector3 Vector3MoveTowards(Vector3 v, Vector3 target, float maxDistance)
-{
-    Vector3 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float dz = target.z - v.z;
-    float value = (dx*dx) + (dy*dy) + (dz*dz);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-    result.z = v.z + dz/dist*maxDistance;
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
-{
-    Vector3 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-    result.z = v1.z + amount*(v2.z - v1.z);
-
-    return result;
-}
-
-// Calculate cubic hermite interpolation between two vectors and their tangents
-// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
-RMAPI Vector3 Vector3CubicHermite(Vector3 v1, Vector3 tangent1, Vector3 v2, Vector3 tangent2, float amount)
-{
-    Vector3 result = { 0 };
-
-    float amountPow2 = amount*amount;
-    float amountPow3 = amount*amount*amount;
-
-    result.x = (2*amountPow3 - 3*amountPow2 + 1)*v1.x + (amountPow3 - 2*amountPow2 + amount)*tangent1.x + (-2*amountPow3 + 3*amountPow2)*v2.x + (amountPow3 - amountPow2)*tangent2.x;
-    result.y = (2*amountPow3 - 3*amountPow2 + 1)*v1.y + (amountPow3 - 2*amountPow2 + amount)*tangent1.y + (-2*amountPow3 + 3*amountPow2)*v2.y + (amountPow3 - amountPow2)*tangent2.y;
-    result.z = (2*amountPow3 - 3*amountPow2 + 1)*v1.z + (amountPow3 - 2*amountPow2 + amount)*tangent1.z + (-2*amountPow3 + 3*amountPow2)*v2.z + (amountPow3 - amountPow2)*tangent2.z;
-
-    return result;
-}
-
-// Calculate reflected vector to normal
-RMAPI Vector3 Vector3Reflect(Vector3 v, Vector3 normal)
-{
-    Vector3 result = { 0 };
-
-    // I is the original vector
-    // N is the normal of the incident plane
-    // R = I - (2*N*(DotProduct[I, N]))
-
-    float dotProduct = (v.x*normal.x + v.y*normal.y + v.z*normal.z);
-
-    result.x = v.x - (2.0f*normal.x)*dotProduct;
-    result.y = v.y - (2.0f*normal.y)*dotProduct;
-    result.z = v.z - (2.0f*normal.z)*dotProduct;
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector3 Vector3Min(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-    result.z = fminf(v1.z, v2.z);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector3 Vector3Max(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-    result.z = fmaxf(v1.z, v2.z);
-
-    return result;
-}
-
-// Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c)
-// NOTE: Assumes P is on the plane of the triangle
-RMAPI Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
-{
-    Vector3 result = { 0 };
-
-    Vector3 v0 = { b.x - a.x, b.y - a.y, b.z - a.z };   // Vector3Subtract(b, a)
-    Vector3 v1 = { c.x - a.x, c.y - a.y, c.z - a.z };   // Vector3Subtract(c, a)
-    Vector3 v2 = { p.x - a.x, p.y - a.y, p.z - a.z };   // Vector3Subtract(p, a)
-    float d00 = (v0.x*v0.x + v0.y*v0.y + v0.z*v0.z);    // Vector3DotProduct(v0, v0)
-    float d01 = (v0.x*v1.x + v0.y*v1.y + v0.z*v1.z);    // Vector3DotProduct(v0, v1)
-    float d11 = (v1.x*v1.x + v1.y*v1.y + v1.z*v1.z);    // Vector3DotProduct(v1, v1)
-    float d20 = (v2.x*v0.x + v2.y*v0.y + v2.z*v0.z);    // Vector3DotProduct(v2, v0)
-    float d21 = (v2.x*v1.x + v2.y*v1.y + v2.z*v1.z);    // Vector3DotProduct(v2, v1)
-
-    float denom = d00*d11 - d01*d01;
-
-    result.y = (d11*d20 - d01*d21)/denom;
-    result.z = (d00*d21 - d01*d20)/denom;
-    result.x = 1.0f - (result.z + result.y);
-
-    return result;
-}
-
-// Projects a Vector3 from screen space into object space
-// NOTE: We are avoiding calling other raymath functions despite available
-RMAPI Vector3 Vector3Unproject(Vector3 source, Matrix projection, Matrix view)
-{
-    Vector3 result = { 0 };
-
-    // Calculate unprojected matrix (multiply view matrix by projection matrix) and invert it
-    Matrix matViewProj = {      // MatrixMultiply(view, projection);
-        view.m0*projection.m0 + view.m1*projection.m4 + view.m2*projection.m8 + view.m3*projection.m12,
-        view.m0*projection.m1 + view.m1*projection.m5 + view.m2*projection.m9 + view.m3*projection.m13,
-        view.m0*projection.m2 + view.m1*projection.m6 + view.m2*projection.m10 + view.m3*projection.m14,
-        view.m0*projection.m3 + view.m1*projection.m7 + view.m2*projection.m11 + view.m3*projection.m15,
-        view.m4*projection.m0 + view.m5*projection.m4 + view.m6*projection.m8 + view.m7*projection.m12,
-        view.m4*projection.m1 + view.m5*projection.m5 + view.m6*projection.m9 + view.m7*projection.m13,
-        view.m4*projection.m2 + view.m5*projection.m6 + view.m6*projection.m10 + view.m7*projection.m14,
-        view.m4*projection.m3 + view.m5*projection.m7 + view.m6*projection.m11 + view.m7*projection.m15,
-        view.m8*projection.m0 + view.m9*projection.m4 + view.m10*projection.m8 + view.m11*projection.m12,
-        view.m8*projection.m1 + view.m9*projection.m5 + view.m10*projection.m9 + view.m11*projection.m13,
-        view.m8*projection.m2 + view.m9*projection.m6 + view.m10*projection.m10 + view.m11*projection.m14,
-        view.m8*projection.m3 + view.m9*projection.m7 + view.m10*projection.m11 + view.m11*projection.m15,
-        view.m12*projection.m0 + view.m13*projection.m4 + view.m14*projection.m8 + view.m15*projection.m12,
-        view.m12*projection.m1 + view.m13*projection.m5 + view.m14*projection.m9 + view.m15*projection.m13,
-        view.m12*projection.m2 + view.m13*projection.m6 + view.m14*projection.m10 + view.m15*projection.m14,
-        view.m12*projection.m3 + view.m13*projection.m7 + view.m14*projection.m11 + view.m15*projection.m15 };
-
-    // Calculate inverted matrix -> MatrixInvert(matViewProj);
-    // Cache the matrix values (speed optimization)
-    float a00 = matViewProj.m0, a01 = matViewProj.m1, a02 = matViewProj.m2, a03 = matViewProj.m3;
-    float a10 = matViewProj.m4, a11 = matViewProj.m5, a12 = matViewProj.m6, a13 = matViewProj.m7;
-    float a20 = matViewProj.m8, a21 = matViewProj.m9, a22 = matViewProj.m10, a23 = matViewProj.m11;
-    float a30 = matViewProj.m12, a31 = matViewProj.m13, a32 = matViewProj.m14, a33 = matViewProj.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    Matrix matViewProjInv = {
-        (a11*b11 - a12*b10 + a13*b09)*invDet,
-        (-a01*b11 + a02*b10 - a03*b09)*invDet,
-        (a31*b05 - a32*b04 + a33*b03)*invDet,
-        (-a21*b05 + a22*b04 - a23*b03)*invDet,
-        (-a10*b11 + a12*b08 - a13*b07)*invDet,
-        (a00*b11 - a02*b08 + a03*b07)*invDet,
-        (-a30*b05 + a32*b02 - a33*b01)*invDet,
-        (a20*b05 - a22*b02 + a23*b01)*invDet,
-        (a10*b10 - a11*b08 + a13*b06)*invDet,
-        (-a00*b10 + a01*b08 - a03*b06)*invDet,
-        (a30*b04 - a31*b02 + a33*b00)*invDet,
-        (-a20*b04 + a21*b02 - a23*b00)*invDet,
-        (-a10*b09 + a11*b07 - a12*b06)*invDet,
-        (a00*b09 - a01*b07 + a02*b06)*invDet,
-        (-a30*b03 + a31*b01 - a32*b00)*invDet,
-        (a20*b03 - a21*b01 + a22*b00)*invDet };
-
-    // Create quaternion from source point
-    Quaternion quat = { source.x, source.y, source.z, 1.0f };
-
-    // Multiply quat point by unprojecte matrix
-    Quaternion qtransformed = {     // QuaternionTransform(quat, matViewProjInv)
-        matViewProjInv.m0*quat.x + matViewProjInv.m4*quat.y + matViewProjInv.m8*quat.z + matViewProjInv.m12*quat.w,
-        matViewProjInv.m1*quat.x + matViewProjInv.m5*quat.y + matViewProjInv.m9*quat.z + matViewProjInv.m13*quat.w,
-        matViewProjInv.m2*quat.x + matViewProjInv.m6*quat.y + matViewProjInv.m10*quat.z + matViewProjInv.m14*quat.w,
-        matViewProjInv.m3*quat.x + matViewProjInv.m7*quat.y + matViewProjInv.m11*quat.z + matViewProjInv.m15*quat.w };
-
-    // Normalized world points in vectors
-    result.x = qtransformed.x/qtransformed.w;
-    result.y = qtransformed.y/qtransformed.w;
-    result.z = qtransformed.z/qtransformed.w;
-
-    return result;
-}
-
-// Get Vector3 as float array
-RMAPI float3 Vector3ToFloatV(Vector3 v)
-{
-    float3 buffer = { 0 };
-
-    buffer.v[0] = v.x;
-    buffer.v[1] = v.y;
-    buffer.v[2] = v.z;
-
-    return buffer;
-}
-
-// Invert the given vector
-RMAPI Vector3 Vector3Invert(Vector3 v)
-{
-    Vector3 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z };
-
-    return result;
-}
-
-// Clamp the components of the vector between
-// min and max values specified by the given vectors
-RMAPI Vector3 Vector3Clamp(Vector3 v, Vector3 min, Vector3 max)
-{
-    Vector3 result = { 0 };
-
-    result.x = fminf(max.x, fmaxf(min.x, v.x));
-    result.y = fminf(max.y, fmaxf(min.y, v.y));
-    result.z = fminf(max.z, fmaxf(min.z, v.z));
-
-    return result;
-}
-
-// Clamp the magnitude of the vector between two values
-RMAPI Vector3 Vector3ClampValue(Vector3 v, float min, float max)
-{
-    Vector3 result = v;
-
-    float length = (v.x*v.x) + (v.y*v.y) + (v.z*v.z);
-    if (length > 0.0f)
-    {
-        length = sqrtf(length);
-
-        float scale = 1;    // By default, 1 as the neutral element.
-        if (length < min)
-        {
-            scale = min/length;
-        }
-        else if (length > max)
-        {
-            scale = max/length;
-        }
-
-        result.x = v.x*scale;
-        result.y = v.y*scale;
-        result.z = v.z*scale;
-    }
-
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector3Equals(Vector3 p, Vector3 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                 ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                 ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z)))));
-
-    return result;
-}
-
-// Compute the direction of a refracted ray
-// v: normalized direction of the incoming ray
-// n: normalized normal vector of the interface of two optical media
-// r: ratio of the refractive index of the medium from where the ray comes
-//    to the refractive index of the medium on the other side of the surface
-RMAPI Vector3 Vector3Refract(Vector3 v, Vector3 n, float r)
-{
-    Vector3 result = { 0 };
-
-    float dot = v.x*n.x + v.y*n.y + v.z*n.z;
-    float d = 1.0f - r*r*(1.0f - dot*dot);
-
-    if (d >= 0.0f)
-    {
-        d = sqrtf(d);
-        v.x = r*v.x - (r*dot + d)*n.x;
-        v.y = r*v.y - (r*dot + d)*n.y;
-        v.z = r*v.z - (r*dot + d)*n.z;
-
-        result = v;
-    }
-
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector4 math
-//----------------------------------------------------------------------------------
-
-RMAPI Vector4 Vector4Zero(void)
-{
-    Vector4 result = { 0.0f, 0.0f, 0.0f, 0.0f };
-    return result;
-}
-
-RMAPI Vector4 Vector4One(void)
-{
-    Vector4 result = { 1.0f, 1.0f, 1.0f, 1.0f };
-    return result;
-}
-
-RMAPI Vector4 Vector4Add(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = {
-        v1.x + v2.x,
-        v1.y + v2.y,
-        v1.z + v2.z,
-        v1.w + v2.w
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4AddValue(Vector4 v, float add)
-{
-    Vector4 result = {
-        v.x + add,
-        v.y + add,
-        v.z + add,
-        v.w + add
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4Subtract(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = {
-        v1.x - v2.x,
-        v1.y - v2.y,
-        v1.z - v2.z,
-        v1.w - v2.w
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4SubtractValue(Vector4 v, float add)
-{
-    Vector4 result = {
-        v.x - add,
-        v.y - add,
-        v.z - add,
-        v.w - add
-    };
-    return result;
-}
-
-RMAPI float Vector4Length(Vector4 v)
-{
-    float result = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
-    return result;
-}
-
-RMAPI float Vector4LengthSqr(Vector4 v)
-{
-    float result = (v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w);
-    return result;
-}
-
-RMAPI float Vector4DotProduct(Vector4 v1, Vector4 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z + v1.w*v2.w);
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector4Distance(Vector4 v1, Vector4 v2)
-{
-    float result = sqrtf(
-        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
-        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w));
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector4DistanceSqr(Vector4 v1, Vector4 v2)
-{
-    float result =
-        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
-        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w);
-
-    return result;
-}
-
-RMAPI Vector4 Vector4Scale(Vector4 v, float scale)
-{
-    Vector4 result = { v.x*scale, v.y*scale, v.z*scale, v.w*scale };
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector4 Vector4Multiply(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z, v1.w*v2.w };
-    return result;
-}
-
-// Negate vector
-RMAPI Vector4 Vector4Negate(Vector4 v)
-{
-    Vector4 result = { -v.x, -v.y, -v.z, -v.w };
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector4 Vector4Divide(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z, v1.w/v2.w };
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector4 Vector4Normalize(Vector4 v)
-{
-    Vector4 result = { 0 };
-    float length = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
-
-    if (length > 0)
-    {
-        float ilength = 1.0f/length;
-        result.x = v.x*ilength;
-        result.y = v.y*ilength;
-        result.z = v.z*ilength;
-        result.w = v.w*ilength;
-    }
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector4 Vector4Min(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-    result.z = fminf(v1.z, v2.z);
-    result.w = fminf(v1.w, v2.w);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector4 Vector4Max(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-    result.z = fmaxf(v1.z, v2.z);
-    result.w = fmaxf(v1.w, v2.w);
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector4 Vector4Lerp(Vector4 v1, Vector4 v2, float amount)
-{
-    Vector4 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-    result.z = v1.z + amount*(v2.z - v1.z);
-    result.w = v1.w + amount*(v2.w - v1.w);
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector4 Vector4MoveTowards(Vector4 v, Vector4 target, float maxDistance)
-{
-    Vector4 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float dz = target.z - v.z;
-    float dw = target.w - v.w;
-    float value = (dx*dx) + (dy*dy) + (dz*dz) + (dw*dw);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-    result.z = v.z + dz/dist*maxDistance;
-    result.w = v.w + dw/dist*maxDistance;
-
-    return result;
-}
-
-// Invert the given vector
-RMAPI Vector4 Vector4Invert(Vector4 v)
-{
-    Vector4 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z, 1.0f/v.w };
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector4Equals(Vector4 p, Vector4 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))));
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Matrix math
-//----------------------------------------------------------------------------------
-
-// Compute matrix determinant
-RMAPI float MatrixDeterminant(Matrix mat)
-{
-    float result = 0.0f;
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    result = a30*a21*a12*a03 - a20*a31*a12*a03 - a30*a11*a22*a03 + a10*a31*a22*a03 +
-             a20*a11*a32*a03 - a10*a21*a32*a03 - a30*a21*a02*a13 + a20*a31*a02*a13 +
-             a30*a01*a22*a13 - a00*a31*a22*a13 - a20*a01*a32*a13 + a00*a21*a32*a13 +
-             a30*a11*a02*a23 - a10*a31*a02*a23 - a30*a01*a12*a23 + a00*a31*a12*a23 +
-             a10*a01*a32*a23 - a00*a11*a32*a23 - a20*a11*a02*a33 + a10*a21*a02*a33 +
-             a20*a01*a12*a33 - a00*a21*a12*a33 - a10*a01*a22*a33 + a00*a11*a22*a33;
-
-    return result;
-}
-
-// Get the trace of the matrix (sum of the values along the diagonal)
-RMAPI float MatrixTrace(Matrix mat)
-{
-    float result = (mat.m0 + mat.m5 + mat.m10 + mat.m15);
-
-    return result;
-}
-
-// Transposes provided matrix
-RMAPI Matrix MatrixTranspose(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    result.m0 = mat.m0;
-    result.m1 = mat.m4;
-    result.m2 = mat.m8;
-    result.m3 = mat.m12;
-    result.m4 = mat.m1;
-    result.m5 = mat.m5;
-    result.m6 = mat.m9;
-    result.m7 = mat.m13;
-    result.m8 = mat.m2;
-    result.m9 = mat.m6;
-    result.m10 = mat.m10;
-    result.m11 = mat.m14;
-    result.m12 = mat.m3;
-    result.m13 = mat.m7;
-    result.m14 = mat.m11;
-    result.m15 = mat.m15;
-
-    return result;
-}
-
-// Invert provided matrix
-RMAPI Matrix MatrixInvert(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
-    result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
-    result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
-    result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
-    result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
-    result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
-    result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
-    result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
-    result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
-    result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
-    result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
-    result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
-    result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
-    result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
-    result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
-    result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
-
-    return result;
-}
-
-// Get identity matrix
-RMAPI Matrix MatrixIdentity(void)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Add two matrices
-RMAPI Matrix MatrixAdd(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0 + right.m0;
-    result.m1 = left.m1 + right.m1;
-    result.m2 = left.m2 + right.m2;
-    result.m3 = left.m3 + right.m3;
-    result.m4 = left.m4 + right.m4;
-    result.m5 = left.m5 + right.m5;
-    result.m6 = left.m6 + right.m6;
-    result.m7 = left.m7 + right.m7;
-    result.m8 = left.m8 + right.m8;
-    result.m9 = left.m9 + right.m9;
-    result.m10 = left.m10 + right.m10;
-    result.m11 = left.m11 + right.m11;
-    result.m12 = left.m12 + right.m12;
-    result.m13 = left.m13 + right.m13;
-    result.m14 = left.m14 + right.m14;
-    result.m15 = left.m15 + right.m15;
-
-    return result;
-}
-
-// Subtract two matrices (left - right)
-RMAPI Matrix MatrixSubtract(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0 - right.m0;
-    result.m1 = left.m1 - right.m1;
-    result.m2 = left.m2 - right.m2;
-    result.m3 = left.m3 - right.m3;
-    result.m4 = left.m4 - right.m4;
-    result.m5 = left.m5 - right.m5;
-    result.m6 = left.m6 - right.m6;
-    result.m7 = left.m7 - right.m7;
-    result.m8 = left.m8 - right.m8;
-    result.m9 = left.m9 - right.m9;
-    result.m10 = left.m10 - right.m10;
-    result.m11 = left.m11 - right.m11;
-    result.m12 = left.m12 - right.m12;
-    result.m13 = left.m13 - right.m13;
-    result.m14 = left.m14 - right.m14;
-    result.m15 = left.m15 - right.m15;
-
-    return result;
-}
-
-// Get two matrix multiplication
-// NOTE: When multiplying matrices... the order matters!
-RMAPI Matrix MatrixMultiply(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
-    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
-    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
-    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
-    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
-    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
-    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
-    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
-    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
-    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
-    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
-    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
-    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
-    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
-    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
-    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
-
-    return result;
-}
-
-// Get translation matrix
-RMAPI Matrix MatrixTranslate(float x, float y, float z)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, x,
-                      0.0f, 1.0f, 0.0f, y,
-                      0.0f, 0.0f, 1.0f, z,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Create rotation matrix from axis and angle
-// NOTE: Angle should be provided in radians
-RMAPI Matrix MatrixRotate(Vector3 axis, float angle)
-{
-    Matrix result = { 0 };
-
-    float x = axis.x, y = axis.y, z = axis.z;
-
-    float lengthSquared = x*x + y*y + z*z;
-
-    if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
-    {
-        float ilength = 1.0f/sqrtf(lengthSquared);
-        x *= ilength;
-        y *= ilength;
-        z *= ilength;
-    }
-
-    float sinres = sinf(angle);
-    float cosres = cosf(angle);
-    float t = 1.0f - cosres;
-
-    result.m0 = x*x*t + cosres;
-    result.m1 = y*x*t + z*sinres;
-    result.m2 = z*x*t - y*sinres;
-    result.m3 = 0.0f;
-
-    result.m4 = x*y*t - z*sinres;
-    result.m5 = y*y*t + cosres;
-    result.m6 = z*y*t + x*sinres;
-    result.m7 = 0.0f;
-
-    result.m8 = x*z*t + y*sinres;
-    result.m9 = y*z*t - x*sinres;
-    result.m10 = z*z*t + cosres;
-    result.m11 = 0.0f;
-
-    result.m12 = 0.0f;
-    result.m13 = 0.0f;
-    result.m14 = 0.0f;
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get x-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateX(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m5 = cosres;
-    result.m6 = sinres;
-    result.m9 = -sinres;
-    result.m10 = cosres;
-
-    return result;
-}
-
-// Get y-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateY(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m0 = cosres;
-    result.m2 = -sinres;
-    result.m8 = sinres;
-    result.m10 = cosres;
-
-    return result;
-}
-
-// Get z-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateZ(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m0 = cosres;
-    result.m1 = sinres;
-    result.m4 = -sinres;
-    result.m5 = cosres;
-
-    return result;
-}
-
-
-// Get xyz-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateXYZ(Vector3 angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosz = cosf(-angle.z);
-    float sinz = sinf(-angle.z);
-    float cosy = cosf(-angle.y);
-    float siny = sinf(-angle.y);
-    float cosx = cosf(-angle.x);
-    float sinx = sinf(-angle.x);
-
-    result.m0 = cosz*cosy;
-    result.m1 = (cosz*siny*sinx) - (sinz*cosx);
-    result.m2 = (cosz*siny*cosx) + (sinz*sinx);
-
-    result.m4 = sinz*cosy;
-    result.m5 = (sinz*siny*sinx) + (cosz*cosx);
-    result.m6 = (sinz*siny*cosx) - (cosz*sinx);
-
-    result.m8 = -siny;
-    result.m9 = cosy*sinx;
-    result.m10= cosy*cosx;
-
-    return result;
-}
-
-// Get zyx-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateZYX(Vector3 angle)
-{
-    Matrix result = { 0 };
-
-    float cz = cosf(angle.z);
-    float sz = sinf(angle.z);
-    float cy = cosf(angle.y);
-    float sy = sinf(angle.y);
-    float cx = cosf(angle.x);
-    float sx = sinf(angle.x);
-
-    result.m0 = cz*cy;
-    result.m4 = cz*sy*sx - cx*sz;
-    result.m8 = sz*sx + cz*cx*sy;
-    result.m12 = 0;
-
-    result.m1 = cy*sz;
-    result.m5 = cz*cx + sz*sy*sx;
-    result.m9 = cx*sz*sy - cz*sx;
-    result.m13 = 0;
-
-    result.m2 = -sy;
-    result.m6 = cy*sx;
-    result.m10 = cy*cx;
-    result.m14 = 0;
-
-    result.m3 = 0;
-    result.m7 = 0;
-    result.m11 = 0;
-    result.m15 = 1;
-
-    return result;
-}
-
-// Get scaling matrix
-RMAPI Matrix MatrixScale(float x, float y, float z)
-{
-    Matrix result = { x, 0.0f, 0.0f, 0.0f,
-                      0.0f, y, 0.0f, 0.0f,
-                      0.0f, 0.0f, z, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Get perspective projection matrix
-RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = ((float)nearPlane*2.0f)/rl;
-    result.m1 = 0.0f;
-    result.m2 = 0.0f;
-    result.m3 = 0.0f;
-
-    result.m4 = 0.0f;
-    result.m5 = ((float)nearPlane*2.0f)/tb;
-    result.m6 = 0.0f;
-    result.m7 = 0.0f;
-
-    result.m8 = ((float)right + (float)left)/rl;
-    result.m9 = ((float)top + (float)bottom)/tb;
-    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m11 = -1.0f;
-
-    result.m12 = 0.0f;
-    result.m13 = 0.0f;
-    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
-    result.m15 = 0.0f;
-
-    return result;
-}
-
-// Get perspective projection matrix
-// NOTE: Fovy angle must be provided in radians
-RMAPI Matrix MatrixPerspective(double fovY, double aspect, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    double top = nearPlane*tan(fovY*0.5);
-    double bottom = -top;
-    double right = top*aspect;
-    double left = -right;
-
-    // MatrixFrustum(-right, right, -top, top, near, far);
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = ((float)nearPlane*2.0f)/rl;
-    result.m5 = ((float)nearPlane*2.0f)/tb;
-    result.m8 = ((float)right + (float)left)/rl;
-    result.m9 = ((float)top + (float)bottom)/tb;
-    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m11 = -1.0f;
-    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
-
-    return result;
-}
-
-// Get orthographic projection matrix
-RMAPI Matrix MatrixOrtho(double left, double right, double bottom, double top, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = 2.0f/rl;
-    result.m1 = 0.0f;
-    result.m2 = 0.0f;
-    result.m3 = 0.0f;
-    result.m4 = 0.0f;
-    result.m5 = 2.0f/tb;
-    result.m6 = 0.0f;
-    result.m7 = 0.0f;
-    result.m8 = 0.0f;
-    result.m9 = 0.0f;
-    result.m10 = -2.0f/fn;
-    result.m11 = 0.0f;
-    result.m12 = -((float)left + (float)right)/rl;
-    result.m13 = -((float)top + (float)bottom)/tb;
-    result.m14 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get camera look-at matrix (view matrix)
-RMAPI Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up)
-{
-    Matrix result = { 0 };
-
-    float length = 0.0f;
-    float ilength = 0.0f;
-
-    // Vector3Subtract(eye, target)
-    Vector3 vz = { eye.x - target.x, eye.y - target.y, eye.z - target.z };
-
-    // Vector3Normalize(vz)
-    Vector3 v = vz;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vz.x *= ilength;
-    vz.y *= ilength;
-    vz.z *= ilength;
-
-    // Vector3CrossProduct(up, vz)
-    Vector3 vx = { up.y*vz.z - up.z*vz.y, up.z*vz.x - up.x*vz.z, up.x*vz.y - up.y*vz.x };
-
-    // Vector3Normalize(x)
-    v = vx;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vx.x *= ilength;
-    vx.y *= ilength;
-    vx.z *= ilength;
-
-    // Vector3CrossProduct(vz, vx)
-    Vector3 vy = { vz.y*vx.z - vz.z*vx.y, vz.z*vx.x - vz.x*vx.z, vz.x*vx.y - vz.y*vx.x };
-
-    result.m0 = vx.x;
-    result.m1 = vy.x;
-    result.m2 = vz.x;
-    result.m3 = 0.0f;
-    result.m4 = vx.y;
-    result.m5 = vy.y;
-    result.m6 = vz.y;
-    result.m7 = 0.0f;
-    result.m8 = vx.z;
-    result.m9 = vy.z;
-    result.m10 = vz.z;
-    result.m11 = 0.0f;
-    result.m12 = -(vx.x*eye.x + vx.y*eye.y + vx.z*eye.z);   // Vector3DotProduct(vx, eye)
-    result.m13 = -(vy.x*eye.x + vy.y*eye.y + vy.z*eye.z);   // Vector3DotProduct(vy, eye)
-    result.m14 = -(vz.x*eye.x + vz.y*eye.y + vz.z*eye.z);   // Vector3DotProduct(vz, eye)
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get float array of matrix data
-RMAPI float16 MatrixToFloatV(Matrix mat)
-{
-    float16 result = { 0 };
-
-    result.v[0] = mat.m0;
-    result.v[1] = mat.m1;
-    result.v[2] = mat.m2;
-    result.v[3] = mat.m3;
-    result.v[4] = mat.m4;
-    result.v[5] = mat.m5;
-    result.v[6] = mat.m6;
-    result.v[7] = mat.m7;
-    result.v[8] = mat.m8;
-    result.v[9] = mat.m9;
-    result.v[10] = mat.m10;
-    result.v[11] = mat.m11;
-    result.v[12] = mat.m12;
-    result.v[13] = mat.m13;
-    result.v[14] = mat.m14;
-    result.v[15] = mat.m15;
-
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Quaternion math
-//----------------------------------------------------------------------------------
-
-// Add two quaternions
-RMAPI Quaternion QuaternionAdd(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = {q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w};
-
-    return result;
-}
-
-// Add quaternion and float value
-RMAPI Quaternion QuaternionAddValue(Quaternion q, float add)
-{
-    Quaternion result = {q.x + add, q.y + add, q.z + add, q.w + add};
-
-    return result;
-}
-
-// Subtract two quaternions
-RMAPI Quaternion QuaternionSubtract(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = {q1.x - q2.x, q1.y - q2.y, q1.z - q2.z, q1.w - q2.w};
-
-    return result;
-}
-
-// Subtract quaternion and float value
-RMAPI Quaternion QuaternionSubtractValue(Quaternion q, float sub)
-{
-    Quaternion result = {q.x - sub, q.y - sub, q.z - sub, q.w - sub};
-
-    return result;
-}
-
-// Get identity quaternion
-RMAPI Quaternion QuaternionIdentity(void)
-{
-    Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Computes the length of a quaternion
-RMAPI float QuaternionLength(Quaternion q)
-{
-    float result = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-
-    return result;
-}
-
-// Normalize provided quaternion
-RMAPI Quaternion QuaternionNormalize(Quaternion q)
-{
-    Quaternion result = { 0 };
-
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Invert provided quaternion
-RMAPI Quaternion QuaternionInvert(Quaternion q)
-{
-    Quaternion result = q;
-
-    float lengthSq = q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w;
-
-    if (lengthSq != 0.0f)
-    {
-        float invLength = 1.0f/lengthSq;
-
-        result.x *= -invLength;
-        result.y *= -invLength;
-        result.z *= -invLength;
-        result.w *= invLength;
-    }
-
-    return result;
-}
-
-// Calculate two quaternion multiplication
-RMAPI Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = { 0 };
-
-    float qax = q1.x, qay = q1.y, qaz = q1.z, qaw = q1.w;
-    float qbx = q2.x, qby = q2.y, qbz = q2.z, qbw = q2.w;
-
-    result.x = qax*qbw + qaw*qbx + qay*qbz - qaz*qby;
-    result.y = qay*qbw + qaw*qby + qaz*qbx - qax*qbz;
-    result.z = qaz*qbw + qaw*qbz + qax*qby - qay*qbx;
-    result.w = qaw*qbw - qax*qbx - qay*qby - qaz*qbz;
-
-    return result;
-}
-
-// Scale quaternion by float value
-RMAPI Quaternion QuaternionScale(Quaternion q, float mul)
-{
-    Quaternion result = { 0 };
-
-    result.x = q.x*mul;
-    result.y = q.y*mul;
-    result.z = q.z*mul;
-    result.w = q.w*mul;
-
-    return result;
-}
-
-// Divide two quaternions
-RMAPI Quaternion QuaternionDivide(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = { q1.x/q2.x, q1.y/q2.y, q1.z/q2.z, q1.w/q2.w };
-
-    return result;
-}
-
-// Calculate linear interpolation between two quaternions
-RMAPI Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-    result.x = q1.x + amount*(q2.x - q1.x);
-    result.y = q1.y + amount*(q2.y - q1.y);
-    result.z = q1.z + amount*(q2.z - q1.z);
-    result.w = q1.w + amount*(q2.w - q1.w);
-
-    return result;
-}
-
-// Calculate slerp-optimized interpolation between two quaternions
-RMAPI Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-    // QuaternionLerp(q1, q2, amount)
-    result.x = q1.x + amount*(q2.x - q1.x);
-    result.y = q1.y + amount*(q2.y - q1.y);
-    result.z = q1.z + amount*(q2.z - q1.z);
-    result.w = q1.w + amount*(q2.w - q1.w);
-
-    // QuaternionNormalize(q);
-    Quaternion q = result;
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Calculates spherical linear interpolation between two quaternions
-RMAPI Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    float cosHalfTheta = q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
-
-    if (cosHalfTheta < 0)
-    {
-        q2.x = -q2.x; q2.y = -q2.y; q2.z = -q2.z; q2.w = -q2.w;
-        cosHalfTheta = -cosHalfTheta;
-    }
-
-    if (fabsf(cosHalfTheta) >= 1.0f) result = q1;
-    else if (cosHalfTheta > 0.95f) result = QuaternionNlerp(q1, q2, amount);
-    else
-    {
-        float halfTheta = acosf(cosHalfTheta);
-        float sinHalfTheta = sqrtf(1.0f - cosHalfTheta*cosHalfTheta);
-
-        if (fabsf(sinHalfTheta) < EPSILON)
-        {
-            result.x = (q1.x*0.5f + q2.x*0.5f);
-            result.y = (q1.y*0.5f + q2.y*0.5f);
-            result.z = (q1.z*0.5f + q2.z*0.5f);
-            result.w = (q1.w*0.5f + q2.w*0.5f);
-        }
-        else
-        {
-            float ratioA = sinf((1 - amount)*halfTheta)/sinHalfTheta;
-            float ratioB = sinf(amount*halfTheta)/sinHalfTheta;
-
-            result.x = (q1.x*ratioA + q2.x*ratioB);
-            result.y = (q1.y*ratioA + q2.y*ratioB);
-            result.z = (q1.z*ratioA + q2.z*ratioB);
-            result.w = (q1.w*ratioA + q2.w*ratioB);
-        }
-    }
-
-    return result;
-}
-
-// Calculate quaternion cubic spline interpolation using Cubic Hermite Spline algorithm
-// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
-RMAPI Quaternion QuaternionCubicHermiteSpline(Quaternion q1, Quaternion outTangent1, Quaternion q2, Quaternion inTangent2, float t)
-{
-    float t2 = t*t;
-    float t3 = t2*t;
-    float h00 = 2*t3 - 3*t2 + 1;
-    float h10 = t3 - 2*t2 + t;
-    float h01 = -2*t3 + 3*t2;
-    float h11 = t3 - t2;
-
-    Quaternion p0 = QuaternionScale(q1, h00);
-    Quaternion m0 = QuaternionScale(outTangent1, h10);
-    Quaternion p1 = QuaternionScale(q2, h01);
-    Quaternion m1 = QuaternionScale(inTangent2, h11);
-
-    Quaternion result = { 0 };
-
-    result = QuaternionAdd(p0, m0);
-    result = QuaternionAdd(result, p1);
-    result = QuaternionAdd(result, m1);
-    result = QuaternionNormalize(result);
-
-    return result;
-}
-
-// Calculate quaternion based on the rotation from one vector to another
-RMAPI Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
-{
-    Quaternion result = { 0 };
-
-    float cos2Theta = (from.x*to.x + from.y*to.y + from.z*to.z);    // Vector3DotProduct(from, to)
-    Vector3 cross = { from.y*to.z - from.z*to.y, from.z*to.x - from.x*to.z, from.x*to.y - from.y*to.x }; // Vector3CrossProduct(from, to)
-
-    result.x = cross.x;
-    result.y = cross.y;
-    result.z = cross.z;
-    result.w = 1.0f + cos2Theta;
-
-    // QuaternionNormalize(q);
-    // NOTE: Normalize to essentially nlerp the original and identity to 0.5
-    Quaternion q = result;
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Get a quaternion for a given rotation matrix
-RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
-{
-    Quaternion result = { 0 };
-
-    float fourWSquaredMinus1 = mat.m0  + mat.m5 + mat.m10;
-    float fourXSquaredMinus1 = mat.m0  - mat.m5 - mat.m10;
-    float fourYSquaredMinus1 = mat.m5  - mat.m0 - mat.m10;
-    float fourZSquaredMinus1 = mat.m10 - mat.m0 - mat.m5;
-
-    int biggestIndex = 0;
-    float fourBiggestSquaredMinus1 = fourWSquaredMinus1;
-    if (fourXSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourXSquaredMinus1;
-        biggestIndex = 1;
-    }
-
-    if (fourYSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourYSquaredMinus1;
-        biggestIndex = 2;
-    }
-
-    if (fourZSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourZSquaredMinus1;
-        biggestIndex = 3;
-    }
-
-    float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f)*0.5f;
-    float mult = 0.25f/biggestVal;
-
-    switch (biggestIndex)
-    {
-        case 0:
-            result.w = biggestVal;
-            result.x = (mat.m6 - mat.m9)*mult;
-            result.y = (mat.m8 - mat.m2)*mult;
-            result.z = (mat.m1 - mat.m4)*mult;
-            break;
-        case 1:
-            result.x = biggestVal;
-            result.w = (mat.m6 - mat.m9)*mult;
-            result.y = (mat.m1 + mat.m4)*mult;
-            result.z = (mat.m8 + mat.m2)*mult;
-            break;
-        case 2:
-            result.y = biggestVal;
-            result.w = (mat.m8 - mat.m2)*mult;
-            result.x = (mat.m1 + mat.m4)*mult;
-            result.z = (mat.m6 + mat.m9)*mult;
-            break;
-        case 3:
-            result.z = biggestVal;
-            result.w = (mat.m1 - mat.m4)*mult;
-            result.x = (mat.m8 + mat.m2)*mult;
-            result.y = (mat.m6 + mat.m9)*mult;
-            break;
-    }
-
-    return result;
-}
-
-// Get a matrix for a given quaternion
-RMAPI Matrix QuaternionToMatrix(Quaternion q)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float a2 = q.x*q.x;
-    float b2 = q.y*q.y;
-    float c2 = q.z*q.z;
-    float ac = q.x*q.z;
-    float ab = q.x*q.y;
-    float bc = q.y*q.z;
-    float ad = q.w*q.x;
-    float bd = q.w*q.y;
-    float cd = q.w*q.z;
-
-    result.m0 = 1 - 2*(b2 + c2);
-    result.m1 = 2*(ab + cd);
-    result.m2 = 2*(ac - bd);
-
-    result.m4 = 2*(ab - cd);
-    result.m5 = 1 - 2*(a2 + c2);
-    result.m6 = 2*(bc + ad);
-
-    result.m8 = 2*(ac + bd);
-    result.m9 = 2*(bc - ad);
-    result.m10 = 1 - 2*(a2 + b2);
-
-    return result;
-}
-
-// Get rotation quaternion for an angle and axis
-// NOTE: Angle must be provided in radians
-RMAPI Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
-{
-    Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
-
-    float axisLength = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
-
-    if (axisLength != 0.0f)
-    {
-        angle *= 0.5f;
-
-        float length = 0.0f;
-        float ilength = 0.0f;
-
-        // Vector3Normalize(axis)
-        length = axisLength;
-        if (length == 0.0f) length = 1.0f;
-        ilength = 1.0f/length;
-        axis.x *= ilength;
-        axis.y *= ilength;
-        axis.z *= ilength;
-
-        float sinres = sinf(angle);
-        float cosres = cosf(angle);
-
-        result.x = axis.x*sinres;
-        result.y = axis.y*sinres;
-        result.z = axis.z*sinres;
-        result.w = cosres;
-
-        // QuaternionNormalize(q);
-        Quaternion q = result;
-        length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-        if (length == 0.0f) length = 1.0f;
-        ilength = 1.0f/length;
-        result.x = q.x*ilength;
-        result.y = q.y*ilength;
-        result.z = q.z*ilength;
-        result.w = q.w*ilength;
-    }
-
-    return result;
-}
-
-// Get the rotation angle and axis for a given quaternion
-RMAPI void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle)
-{
-    if (fabsf(q.w) > 1.0f)
-    {
-        // QuaternionNormalize(q);
-        float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-        if (length == 0.0f) length = 1.0f;
-        float ilength = 1.0f/length;
-
-        q.x = q.x*ilength;
-        q.y = q.y*ilength;
-        q.z = q.z*ilength;
-        q.w = q.w*ilength;
-    }
-
-    Vector3 resAxis = { 0.0f, 0.0f, 0.0f };
-    float resAngle = 2.0f*acosf(q.w);
-    float den = sqrtf(1.0f - q.w*q.w);
-
-    if (den > EPSILON)
-    {
-        resAxis.x = q.x/den;
-        resAxis.y = q.y/den;
-        resAxis.z = q.z/den;
-    }
-    else
-    {
-        // This occurs when the angle is zero.
-        // Not a problem: just set an arbitrary normalized axis.
-        resAxis.x = 1.0f;
-    }
-
-    *outAxis = resAxis;
-    *outAngle = resAngle;
-}
-
-// Get the quaternion equivalent to Euler angles
-// NOTE: Rotation order is ZYX
-RMAPI Quaternion QuaternionFromEuler(float pitch, float yaw, float roll)
-{
-    Quaternion result = { 0 };
-
-    float x0 = cosf(pitch*0.5f);
-    float x1 = sinf(pitch*0.5f);
-    float y0 = cosf(yaw*0.5f);
-    float y1 = sinf(yaw*0.5f);
-    float z0 = cosf(roll*0.5f);
-    float z1 = sinf(roll*0.5f);
-
-    result.x = x1*y0*z0 - x0*y1*z1;
-    result.y = x0*y1*z0 + x1*y0*z1;
-    result.z = x0*y0*z1 - x1*y1*z0;
-    result.w = x0*y0*z0 + x1*y1*z1;
-
-    return result;
-}
-
-// Get the Euler angles equivalent to quaternion (roll, pitch, yaw)
-// NOTE: Angles are returned in a Vector3 struct in radians
-RMAPI Vector3 QuaternionToEuler(Quaternion q)
-{
-    Vector3 result = { 0 };
-
-    // Roll (x-axis rotation)
-    float x0 = 2.0f*(q.w*q.x + q.y*q.z);
-    float x1 = 1.0f - 2.0f*(q.x*q.x + q.y*q.y);
-    result.x = atan2f(x0, x1);
-
-    // Pitch (y-axis rotation)
-    float y0 = 2.0f*(q.w*q.y - q.z*q.x);
-    y0 = y0 > 1.0f ? 1.0f : y0;
-    y0 = y0 < -1.0f ? -1.0f : y0;
-    result.y = asinf(y0);
-
-    // Yaw (z-axis rotation)
-    float z0 = 2.0f*(q.w*q.z + q.x*q.y);
-    float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z);
-    result.z = atan2f(z0, z1);
-
-    return result;
-}
-
-// Transform a quaternion given a transformation matrix
-RMAPI Quaternion QuaternionTransform(Quaternion q, Matrix mat)
-{
-    Quaternion result = { 0 };
-
-    result.x = mat.m0*q.x + mat.m4*q.y + mat.m8*q.z + mat.m12*q.w;
-    result.y = mat.m1*q.x + mat.m5*q.y + mat.m9*q.z + mat.m13*q.w;
-    result.z = mat.m2*q.x + mat.m6*q.y + mat.m10*q.z + mat.m14*q.w;
-    result.w = mat.m3*q.x + mat.m7*q.y + mat.m11*q.z + mat.m15*q.w;
-
-    return result;
-}
-
-// Check whether two given quaternions are almost equal
-RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = (((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))))) ||
-                 (((fabsf(p.x + q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y + q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z + q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w + q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w))))));
-
-    return result;
-}
-
-// Decompose a transformation matrix into its rotational, translational and scaling components
-RMAPI void MatrixDecompose(Matrix mat, Vector3 *translation, Quaternion *rotation, Vector3 *scale)
-{
-    // Extract translation.
-    translation->x = mat.m12;
-    translation->y = mat.m13;
-    translation->z = mat.m14;
-
-    // Extract upper-left for determinant computation
-    const float a = mat.m0;
-    const float b = mat.m4;
-    const float c = mat.m8;
-    const float d = mat.m1;
-    const float e = mat.m5;
-    const float f = mat.m9;
-    const float g = mat.m2;
-    const float h = mat.m6;
-    const float i = mat.m10;
-    const float A = e*i - f*h;
-    const float B = f*g - d*i;
-    const float C = d*h - e*g;
-
-    // Extract scale
-    const float det = a*A + b*B + c*C;
-    Vector3 abc = { a, b, c };
-    Vector3 def = { d, e, f };
-    Vector3 ghi = { g, h, i };
-
-    float scalex = Vector3Length(abc);
-    float scaley = Vector3Length(def);
-    float scalez = Vector3Length(ghi);
-    Vector3 s = { scalex, scaley, scalez };
-
-    if (det < 0) s = Vector3Negate(s);
-
-    *scale = s;
-
-    // Remove scale from the matrix if it is not close to zero
-    Matrix clone = mat;
-    if (!FloatEquals(det, 0))
-    {
-        clone.m0 /= s.x;
-        clone.m4 /= s.x;
-        clone.m8 /= s.x;
-        clone.m1 /= s.y;
-        clone.m5 /= s.y;
-        clone.m9 /= s.y;
-        clone.m2 /= s.z;
-        clone.m6 /= s.z;
-        clone.m10 /= s.z;
-
-        // Extract rotation
-        *rotation = QuaternionFromMatrix(clone);
-    }
-    else
-    {
-        // Set to identity if close to zero
-        *rotation = QuaternionIdentity();
-    }
-}
-
-#if defined(__cplusplus) && !defined(RAYMATH_DISABLE_CPP_OPERATORS)
-
-// Optional C++ math operators
-//-------------------------------------------------------------------------------
-
-// Vector2 operators
-static constexpr Vector2 Vector2Zeros = { 0, 0 };
-static constexpr Vector2 Vector2Ones = { 1, 1 };
-static constexpr Vector2 Vector2UnitX = { 1, 0 };
-static constexpr Vector2 Vector2UnitY = { 0, 1 };
-
-inline Vector2 operator + (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Add(lhs, rhs);
-}
-
-inline const Vector2& operator += (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator - (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Subtract(lhs, rhs);
-}
-
-inline const Vector2& operator -= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const float& rhs)
-{
-    return Vector2Scale(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const float& rhs)
-{
-    lhs = Vector2Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Multiply(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const Matrix& rhs)
-{
-    return Vector2Transform(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const Matrix& rhs)
-{
-    lhs = Vector2Transform(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator / (const Vector2& lhs, const float& rhs)
-{
-    return Vector2Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector2& operator /= (Vector2& lhs, const float& rhs)
-{
-    lhs = Vector2Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector2 operator / (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Divide(lhs, rhs);
-}
-
-inline const Vector2& operator /= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector2& lhs, const Vector2& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y);
-}
-
-inline bool operator != (const Vector2& lhs, const Vector2& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y);
-}
-
-// Vector3 operators
-static constexpr Vector3 Vector3Zeros = { 0, 0, 0 };
-static constexpr Vector3 Vector3Ones = { 1, 1, 1 };
-static constexpr Vector3 Vector3UnitX = { 1, 0, 0 };
-static constexpr Vector3 Vector3UnitY = { 0, 1, 0 };
-static constexpr Vector3 Vector3UnitZ = { 0, 0, 1 };
-
-inline Vector3 operator + (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Add(lhs, rhs);
-}
-
-inline const Vector3& operator += (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator - (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Subtract(lhs, rhs);
-}
-
-inline const Vector3& operator -= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const float& rhs)
-{
-    return Vector3Scale(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const float& rhs)
-{
-    lhs = Vector3Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Multiply(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const Matrix& rhs)
-{
-    return Vector3Transform(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const Matrix& rhs)
-{
-    lhs = Vector3Transform(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator / (const Vector3& lhs, const float& rhs)
-{
-    return Vector3Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector3& operator /= (Vector3& lhs, const float& rhs)
-{
-    lhs = Vector3Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector3 operator / (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Divide(lhs, rhs);
-}
-
-inline const Vector3& operator /= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector3& lhs, const Vector3& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z);
-}
-
-inline bool operator != (const Vector3& lhs, const Vector3& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z);
-}
-
-// Vector4 operators
-static constexpr Vector4 Vector4Zeros = { 0, 0, 0, 0 };
-static constexpr Vector4 Vector4Ones = { 1, 1, 1, 1 };
-static constexpr Vector4 Vector4UnitX = { 1, 0, 0, 0 };
-static constexpr Vector4 Vector4UnitY = { 0, 1, 0, 0 };
-static constexpr Vector4 Vector4UnitZ = { 0, 0, 1, 0 };
-static constexpr Vector4 Vector4UnitW = { 0, 0, 0, 1 };
-
-inline Vector4 operator + (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Add(lhs, rhs);
-}
-
-inline const Vector4& operator += (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator - (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Subtract(lhs, rhs);
-}
-
-inline const Vector4& operator -= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator * (const Vector4& lhs, const float& rhs)
-{
-    return Vector4Scale(lhs, rhs);
-}
-
-inline const Vector4& operator *= (Vector4& lhs, const float& rhs)
-{
-    lhs = Vector4Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator * (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Multiply(lhs, rhs);
-}
-
-inline const Vector4& operator *= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator / (const Vector4& lhs, const float& rhs)
-{
-    return Vector4Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector4& operator /= (Vector4& lhs, const float& rhs)
-{
-    lhs = Vector4Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector4 operator / (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Divide(lhs, rhs);
-}
-
-inline const Vector4& operator /= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector4& lhs, const Vector4& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z) && FloatEquals(lhs.w, rhs.w);
-}
-
-inline bool operator != (const Vector4& lhs, const Vector4& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z) || !FloatEquals(lhs.w, rhs.w);
-}
-
-// Quaternion operators
-static constexpr Quaternion QuaternionZeros = { 0, 0, 0, 0 };
-static constexpr Quaternion QuaternionOnes = { 1, 1, 1, 1 };
-static constexpr Quaternion QuaternionUnitX = { 0, 0, 0, 1 };
-
-inline Quaternion operator + (const Quaternion& lhs, const float& rhs)
-{
-    return QuaternionAddValue(lhs, rhs);
-}
-
-inline const Quaternion& operator += (Quaternion& lhs, const float& rhs)
-{
-    lhs = QuaternionAddValue(lhs, rhs);
-    return lhs;
-}
-
-inline Quaternion operator - (const Quaternion& lhs, const float& rhs)
-{
-    return QuaternionSubtractValue(lhs, rhs);
-}
-
-inline const Quaternion& operator -= (Quaternion& lhs, const float& rhs)
-{
-    lhs = QuaternionSubtractValue(lhs, rhs);
-    return lhs;
-}
-
-inline Quaternion operator * (const Quaternion& lhs, const Matrix& rhs)
-{
-    return QuaternionTransform(lhs, rhs);
-}
-
-inline const Quaternion& operator *= (Quaternion& lhs, const Matrix& rhs)
-{
-    lhs = QuaternionTransform(lhs, rhs);
-    return lhs;
-}
-
-// Matrix operators
-inline Matrix operator + (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixAdd(lhs, rhs);
-}
-
-inline const Matrix& operator += (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixAdd(lhs, rhs);
-    return lhs;
-}
-
-inline Matrix operator - (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixSubtract(lhs, rhs);
-}
-
-inline const Matrix& operator -= (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixSubtract(lhs, rhs);
-    return lhs;
-}
-
-inline Matrix operator * (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixMultiply(lhs, rhs);
-}
-
-inline const Matrix& operator *= (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixMultiply(lhs, rhs);
-    return lhs;
-}
-//-------------------------------------------------------------------------------
-#endif  // C++ operators
-
-#endif  // RAYMATH_H
diff --git a/third_party/raylib/include/rlgl.h b/third_party/raylib/include/rlgl.h
deleted file mode 100644
index 92971df627..0000000000
--- a/third_party/raylib/include/rlgl.h
+++ /dev/null
@@ -1,5262 +0,0 @@
-/**********************************************************************************************
-*
-*   rlgl v5.0 - A multi-OpenGL abstraction layer with an immediate-mode style API
-*
-*   DESCRIPTION:
-*       An abstraction layer for multiple OpenGL versions (1.1, 2.1, 3.3 Core, 4.3 Core, ES 2.0, ES 3.0)
-*       that provides a pseudo-OpenGL 1.1 immediate-mode style API (rlVertex, rlTranslate, rlRotate...)
-*
-*   ADDITIONAL NOTES:
-*       When choosing an OpenGL backend different than OpenGL 1.1, some internal buffer are
-*       initialized on rlglInit() to accumulate vertex data
-*
-*       When an internal state change is required all the stored vertex data is renderer in batch,
-*       additionally, rlDrawRenderBatchActive() could be called to force flushing of the batch
-*
-*       Some resources are also loaded for convenience, here the complete list:
-*          - Default batch (RLGL.defaultBatch): RenderBatch system to accumulate vertex data
-*          - Default texture (RLGL.defaultTextureId): 1x1 white pixel R8G8B8A8
-*          - Default shader (RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs)
-*
-*       Internal buffer (and resources) must be manually unloaded calling rlglClose()
-*
-*   CONFIGURATION:
-*       #define GRAPHICS_API_OPENGL_11
-*       #define GRAPHICS_API_OPENGL_21
-*       #define GRAPHICS_API_OPENGL_33
-*       #define GRAPHICS_API_OPENGL_43
-*       #define GRAPHICS_API_OPENGL_ES2
-*       #define GRAPHICS_API_OPENGL_ES3
-*           Use selected OpenGL graphics backend, should be supported by platform
-*           Those preprocessor defines are only used on rlgl module, if OpenGL version is
-*           required by any other module, use rlGetVersion() to check it
-*
-*       #define RLGL_IMPLEMENTATION
-*           Generates the implementation of the library into the included file
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation
-*
-*       #define RLGL_RENDER_TEXTURES_HINT
-*           Enable framebuffer objects (fbo) support (enabled by default)
-*           Some GPUs could not support them despite the OpenGL version
-*
-*       #define RLGL_SHOW_GL_DETAILS_INFO
-*           Show OpenGL extensions and capabilities detailed logs on init
-*
-*       #define RLGL_ENABLE_OPENGL_DEBUG_CONTEXT
-*           Enable debug context (only available on OpenGL 4.3)
-*
-*       rlgl capabilities could be customized just defining some internal
-*       values before library inclusion (default values listed):
-*
-*       #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS   8192    // Default internal render batch elements limits
-*       #define RL_DEFAULT_BATCH_BUFFERS              1    // Default number of batch buffers (multi-buffering)
-*       #define RL_DEFAULT_BATCH_DRAWCALLS          256    // Default number of batch draw calls (by state changes: mode, texture)
-*       #define RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS    4    // Maximum number of textures units that can be activated on batch drawing (SetShaderValueTexture())
-*
-*       #define RL_MAX_MATRIX_STACK_SIZE             32    // Maximum size of internal Matrix stack
-*       #define RL_MAX_SHADER_LOCATIONS              32    // Maximum number of shader locations supported
-*       #define RL_CULL_DISTANCE_NEAR              0.01    // Default projection matrix near cull distance
-*       #define RL_CULL_DISTANCE_FAR             1000.0    // Default projection matrix far cull distance
-*
-*       When loading a shader, the following vertex attributes and uniform
-*       location names are tried to be set automatically:
-*
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS      "vertexBoneIds"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS  "vertexBoneWeights" // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView)))
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES  "boneMatrices"   // bone matrices
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
-*
-*   DEPENDENCIES:
-*      - OpenGL libraries (depending on platform and OpenGL version selected)
-*      - GLAD OpenGL extensions loading library (only for OpenGL 3.3 Core, 4.3 Core)
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2014-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RLGL_H
-#define RLGL_H
-
-#define RLGL_VERSION  "5.0"
-
-// Function specifiers in case library is build/used as a shared library
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-// NOTE: visibility(default) attribute makes symbols "visible" when compiled with -fvisibility=hidden
-#if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
-    #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-#elif defined(BUILD_LIBTYPE_SHARED)
-    #define RLAPI __attribute__((visibility("default"))) // We are building the library as a Unix shared library (.so/.dylib)
-#elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
-    #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-#endif
-
-// Function specifiers definition
-#ifndef RLAPI
-    #define RLAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-// Support TRACELOG macros
-#ifndef TRACELOG
-    #define TRACELOG(level, ...) (void)0
-    #define TRACELOGD(...) (void)0
-#endif
-
-// Allow custom memory allocators
-#ifndef RL_MALLOC
-    #define RL_MALLOC(sz)     malloc(sz)
-#endif
-#ifndef RL_CALLOC
-    #define RL_CALLOC(n,sz)   calloc(n,sz)
-#endif
-#ifndef RL_REALLOC
-    #define RL_REALLOC(n,sz)  realloc(n,sz)
-#endif
-#ifndef RL_FREE
-    #define RL_FREE(p)        free(p)
-#endif
-
-// Security check in case no GRAPHICS_API_OPENGL_* defined
-#if !defined(GRAPHICS_API_OPENGL_11) && \
-    !defined(GRAPHICS_API_OPENGL_21) && \
-    !defined(GRAPHICS_API_OPENGL_33) && \
-    !defined(GRAPHICS_API_OPENGL_43) && \
-    !defined(GRAPHICS_API_OPENGL_ES2) && \
-    !defined(GRAPHICS_API_OPENGL_ES3)
-        #define GRAPHICS_API_OPENGL_33
-#endif
-
-// Security check in case multiple GRAPHICS_API_OPENGL_* defined
-#if defined(GRAPHICS_API_OPENGL_11)
-    #if defined(GRAPHICS_API_OPENGL_21)
-        #undef GRAPHICS_API_OPENGL_21
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_33)
-        #undef GRAPHICS_API_OPENGL_33
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_43)
-        #undef GRAPHICS_API_OPENGL_43
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-        #undef GRAPHICS_API_OPENGL_ES2
-    #endif
-#endif
-
-// OpenGL 2.1 uses most of OpenGL 3.3 Core functionality
-// WARNING: Specific parts are checked with #if defines
-#if defined(GRAPHICS_API_OPENGL_21)
-    #define GRAPHICS_API_OPENGL_33
-#endif
-
-// OpenGL 4.3 uses OpenGL 3.3 Core functionality
-#if defined(GRAPHICS_API_OPENGL_43)
-    #define GRAPHICS_API_OPENGL_33
-#endif
-
-// OpenGL ES 3.0 uses OpenGL ES 2.0 functionality (and more)
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    #define GRAPHICS_API_OPENGL_ES2
-#endif
-
-// Support framebuffer objects by default
-// NOTE: Some driver implementation do not support it, despite they should
-#define RLGL_RENDER_TEXTURES_HINT
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-
-// Default internal render batch elements limits
-#ifndef RL_DEFAULT_BATCH_BUFFER_ELEMENTS
-    #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-        // This is the maximum amount of elements (quads) per batch
-        // NOTE: Be careful with text, every letter maps to a quad
-        #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS  8192
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-        // We reduce memory sizes for embedded systems (RPI and HTML5)
-        // NOTE: On HTML5 (emscripten) this is allocated on heap,
-        // by default it's only 16MB!...just take care...
-        #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS  2048
-    #endif
-#endif
-#ifndef RL_DEFAULT_BATCH_BUFFERS
-    #define RL_DEFAULT_BATCH_BUFFERS                 1      // Default number of batch buffers (multi-buffering)
-#endif
-#ifndef RL_DEFAULT_BATCH_DRAWCALLS
-    #define RL_DEFAULT_BATCH_DRAWCALLS             256      // Default number of batch draw calls (by state changes: mode, texture)
-#endif
-#ifndef RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS
-    #define RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS       4      // Maximum number of textures units that can be activated on batch drawing (SetShaderValueTexture())
-#endif
-
-// Internal Matrix stack
-#ifndef RL_MAX_MATRIX_STACK_SIZE
-    #define RL_MAX_MATRIX_STACK_SIZE                32      // Maximum size of Matrix stack
-#endif
-
-// Shader limits
-#ifndef RL_MAX_SHADER_LOCATIONS
-    #define RL_MAX_SHADER_LOCATIONS                 32      // Maximum number of shader locations supported
-#endif
-
-// Projection matrix culling
-#ifndef RL_CULL_DISTANCE_NEAR
-    #define RL_CULL_DISTANCE_NEAR                 0.01      // Default near cull distance
-#endif
-#ifndef RL_CULL_DISTANCE_FAR
-    #define RL_CULL_DISTANCE_FAR                1000.0      // Default far cull distance
-#endif
-
-// Texture parameters (equivalent to OpenGL defines)
-#define RL_TEXTURE_WRAP_S                       0x2802      // GL_TEXTURE_WRAP_S
-#define RL_TEXTURE_WRAP_T                       0x2803      // GL_TEXTURE_WRAP_T
-#define RL_TEXTURE_MAG_FILTER                   0x2800      // GL_TEXTURE_MAG_FILTER
-#define RL_TEXTURE_MIN_FILTER                   0x2801      // GL_TEXTURE_MIN_FILTER
-
-#define RL_TEXTURE_FILTER_NEAREST               0x2600      // GL_NEAREST
-#define RL_TEXTURE_FILTER_LINEAR                0x2601      // GL_LINEAR
-#define RL_TEXTURE_FILTER_MIP_NEAREST           0x2700      // GL_NEAREST_MIPMAP_NEAREST
-#define RL_TEXTURE_FILTER_NEAREST_MIP_LINEAR    0x2702      // GL_NEAREST_MIPMAP_LINEAR
-#define RL_TEXTURE_FILTER_LINEAR_MIP_NEAREST    0x2701      // GL_LINEAR_MIPMAP_NEAREST
-#define RL_TEXTURE_FILTER_MIP_LINEAR            0x2703      // GL_LINEAR_MIPMAP_LINEAR
-#define RL_TEXTURE_FILTER_ANISOTROPIC           0x3000      // Anisotropic filter (custom identifier)
-#define RL_TEXTURE_MIPMAP_BIAS_RATIO            0x4000      // Texture mipmap bias, percentage ratio (custom identifier)
-
-#define RL_TEXTURE_WRAP_REPEAT                  0x2901      // GL_REPEAT
-#define RL_TEXTURE_WRAP_CLAMP                   0x812F      // GL_CLAMP_TO_EDGE
-#define RL_TEXTURE_WRAP_MIRROR_REPEAT           0x8370      // GL_MIRRORED_REPEAT
-#define RL_TEXTURE_WRAP_MIRROR_CLAMP            0x8742      // GL_MIRROR_CLAMP_EXT
-
-// Matrix modes (equivalent to OpenGL)
-#define RL_MODELVIEW                            0x1700      // GL_MODELVIEW
-#define RL_PROJECTION                           0x1701      // GL_PROJECTION
-#define RL_TEXTURE                              0x1702      // GL_TEXTURE
-
-// Primitive assembly draw modes
-#define RL_LINES                                0x0001      // GL_LINES
-#define RL_TRIANGLES                            0x0004      // GL_TRIANGLES
-#define RL_QUADS                                0x0007      // GL_QUADS
-
-// GL equivalent data types
-#define RL_UNSIGNED_BYTE                        0x1401      // GL_UNSIGNED_BYTE
-#define RL_FLOAT                                0x1406      // GL_FLOAT
-
-// GL buffer usage hint
-#define RL_STREAM_DRAW                          0x88E0      // GL_STREAM_DRAW
-#define RL_STREAM_READ                          0x88E1      // GL_STREAM_READ
-#define RL_STREAM_COPY                          0x88E2      // GL_STREAM_COPY
-#define RL_STATIC_DRAW                          0x88E4      // GL_STATIC_DRAW
-#define RL_STATIC_READ                          0x88E5      // GL_STATIC_READ
-#define RL_STATIC_COPY                          0x88E6      // GL_STATIC_COPY
-#define RL_DYNAMIC_DRAW                         0x88E8      // GL_DYNAMIC_DRAW
-#define RL_DYNAMIC_READ                         0x88E9      // GL_DYNAMIC_READ
-#define RL_DYNAMIC_COPY                         0x88EA      // GL_DYNAMIC_COPY
-
-// GL Shader type
-#define RL_FRAGMENT_SHADER                      0x8B30      // GL_FRAGMENT_SHADER
-#define RL_VERTEX_SHADER                        0x8B31      // GL_VERTEX_SHADER
-#define RL_COMPUTE_SHADER                       0x91B9      // GL_COMPUTE_SHADER
-
-// GL blending factors
-#define RL_ZERO                                 0           // GL_ZERO
-#define RL_ONE                                  1           // GL_ONE
-#define RL_SRC_COLOR                            0x0300      // GL_SRC_COLOR
-#define RL_ONE_MINUS_SRC_COLOR                  0x0301      // GL_ONE_MINUS_SRC_COLOR
-#define RL_SRC_ALPHA                            0x0302      // GL_SRC_ALPHA
-#define RL_ONE_MINUS_SRC_ALPHA                  0x0303      // GL_ONE_MINUS_SRC_ALPHA
-#define RL_DST_ALPHA                            0x0304      // GL_DST_ALPHA
-#define RL_ONE_MINUS_DST_ALPHA                  0x0305      // GL_ONE_MINUS_DST_ALPHA
-#define RL_DST_COLOR                            0x0306      // GL_DST_COLOR
-#define RL_ONE_MINUS_DST_COLOR                  0x0307      // GL_ONE_MINUS_DST_COLOR
-#define RL_SRC_ALPHA_SATURATE                   0x0308      // GL_SRC_ALPHA_SATURATE
-#define RL_CONSTANT_COLOR                       0x8001      // GL_CONSTANT_COLOR
-#define RL_ONE_MINUS_CONSTANT_COLOR             0x8002      // GL_ONE_MINUS_CONSTANT_COLOR
-#define RL_CONSTANT_ALPHA                       0x8003      // GL_CONSTANT_ALPHA
-#define RL_ONE_MINUS_CONSTANT_ALPHA             0x8004      // GL_ONE_MINUS_CONSTANT_ALPHA
-
-// GL blending functions/equations
-#define RL_FUNC_ADD                             0x8006      // GL_FUNC_ADD
-#define RL_MIN                                  0x8007      // GL_MIN
-#define RL_MAX                                  0x8008      // GL_MAX
-#define RL_FUNC_SUBTRACT                        0x800A      // GL_FUNC_SUBTRACT
-#define RL_FUNC_REVERSE_SUBTRACT                0x800B      // GL_FUNC_REVERSE_SUBTRACT
-#define RL_BLEND_EQUATION                       0x8009      // GL_BLEND_EQUATION
-#define RL_BLEND_EQUATION_RGB                   0x8009      // GL_BLEND_EQUATION_RGB   // (Same as BLEND_EQUATION)
-#define RL_BLEND_EQUATION_ALPHA                 0x883D      // GL_BLEND_EQUATION_ALPHA
-#define RL_BLEND_DST_RGB                        0x80C8      // GL_BLEND_DST_RGB
-#define RL_BLEND_SRC_RGB                        0x80C9      // GL_BLEND_SRC_RGB
-#define RL_BLEND_DST_ALPHA                      0x80CA      // GL_BLEND_DST_ALPHA
-#define RL_BLEND_SRC_ALPHA                      0x80CB      // GL_BLEND_SRC_ALPHA
-#define RL_BLEND_COLOR                          0x8005      // GL_BLEND_COLOR
-
-#define RL_READ_FRAMEBUFFER                     0x8CA8      // GL_READ_FRAMEBUFFER
-#define RL_DRAW_FRAMEBUFFER                     0x8CA9      // GL_DRAW_FRAMEBUFFER
-
-// Default shader vertex attribute locations
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION    0
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD    1
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL      2
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR       3
-#endif
-    #ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT
-#define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT         4
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2   5
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_INDICES
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_INDICES     6
-#endif
-#ifdef RL_SUPPORT_MESH_GPU_SKINNING
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS     7
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS 8
-#endif
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if (defined(__STDC__) && __STDC_VERSION__ >= 199901L) || (defined(_MSC_VER) && _MSC_VER >= 1800)
-    #include <stdbool.h>
-#elif !defined(__cplusplus) && !defined(bool) && !defined(RL_BOOL_TYPE)
-    // Boolean type
-typedef enum bool { false = 0, true = !false } bool;
-#endif
-
-#if !defined(RL_MATRIX_TYPE)
-// Matrix, 4x4 components, column major, OpenGL style, right handed
-typedef struct Matrix {
-    float m0, m4, m8, m12;      // Matrix first row (4 components)
-    float m1, m5, m9, m13;      // Matrix second row (4 components)
-    float m2, m6, m10, m14;     // Matrix third row (4 components)
-    float m3, m7, m11, m15;     // Matrix fourth row (4 components)
-} Matrix;
-#define RL_MATRIX_TYPE
-#endif
-
-// Dynamic vertex buffers (position + texcoords + colors + indices arrays)
-typedef struct rlVertexBuffer {
-    int elementCount;           // Number of elements in the buffer (QUADS)
-
-    float *vertices;            // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
-    float *texcoords;           // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
-    float *normals;             // Vertex normal (XYZ - 3 components per vertex) (shader-location = 2)
-    unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    unsigned int *indices;      // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned short *indices;    // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
-#endif
-    unsigned int vaoId;         // OpenGL Vertex Array Object id
-    unsigned int vboId[5];      // OpenGL Vertex Buffer Objects id (5 types of vertex data)
-} rlVertexBuffer;
-
-// Draw call type
-// NOTE: Only texture changes register a new draw, other state-change-related elements are not
-// used at this moment (vaoId, shaderId, matrices), raylib just forces a batch draw call if any
-// of those state-change happens (this is done in core module)
-typedef struct rlDrawCall {
-    int mode;                   // Drawing mode: LINES, TRIANGLES, QUADS
-    int vertexCount;            // Number of vertex of the draw
-    int vertexAlignment;        // Number of vertex required for index alignment (LINES, TRIANGLES)
-    //unsigned int vaoId;       // Vertex array id to be used on the draw -> Using RLGL.currentBatch->vertexBuffer.vaoId
-    //unsigned int shaderId;    // Shader id to be used on the draw -> Using RLGL.currentShaderId
-    unsigned int textureId;     // Texture id to be used on the draw -> Use to create new draw call if changes
-
-    //Matrix projection;        // Projection matrix for this draw -> Using RLGL.projection by default
-    //Matrix modelview;         // Modelview matrix for this draw -> Using RLGL.modelview by default
-} rlDrawCall;
-
-// rlRenderBatch type
-typedef struct rlRenderBatch {
-    int bufferCount;            // Number of vertex buffers (multi-buffering support)
-    int currentBuffer;          // Current buffer tracking in case of multi-buffering
-    rlVertexBuffer *vertexBuffer; // Dynamic buffer(s) for vertex data
-
-    rlDrawCall *draws;          // Draw calls array, depends on textureId
-    int drawCounter;            // Draw calls counter
-    float currentDepth;         // Current depth value for next draw
-} rlRenderBatch;
-
-// OpenGL version
-typedef enum {
-    RL_OPENGL_11 = 1,           // OpenGL 1.1
-    RL_OPENGL_21,               // OpenGL 2.1 (GLSL 120)
-    RL_OPENGL_33,               // OpenGL 3.3 (GLSL 330)
-    RL_OPENGL_43,               // OpenGL 4.3 (using GLSL 330)
-    RL_OPENGL_ES_20,            // OpenGL ES 2.0 (GLSL 100)
-    RL_OPENGL_ES_30             // OpenGL ES 3.0 (GLSL 300 es)
-} rlGlVersion;
-
-// Trace log level
-// NOTE: Organized by priority level
-typedef enum {
-    RL_LOG_ALL = 0,             // Display all logs
-    RL_LOG_TRACE,               // Trace logging, intended for internal use only
-    RL_LOG_DEBUG,               // Debug logging, used for internal debugging, it should be disabled on release builds
-    RL_LOG_INFO,                // Info logging, used for program execution info
-    RL_LOG_WARNING,             // Warning logging, used on recoverable failures
-    RL_LOG_ERROR,               // Error logging, used on unrecoverable failures
-    RL_LOG_FATAL,               // Fatal logging, used to abort program: exit(EXIT_FAILURE)
-    RL_LOG_NONE                 // Disable logging
-} rlTraceLogLevel;
-
-// Texture pixel formats
-// NOTE: Support depends on OpenGL version
-typedef enum {
-    RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE = 1,     // 8 bit per pixel (no alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA,        // 8*2 bpp (2 channels)
-    RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5,            // 16 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8,            // 24 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1,          // 16 bpp (1 bit alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4,          // 16 bpp (4 bit alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8,          // 32 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R32,               // 32 bpp (1 channel - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32,         // 32*3 bpp (3 channels - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32,      // 32*4 bpp (4 channels - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16,               // 16 bpp (1 channel - half float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16,         // 16*3 bpp (3 channels - half float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16,      // 16*4 bpp (4 channels - half float)
-    RL_PIXELFORMAT_COMPRESSED_DXT1_RGB,            // 4 bpp (no alpha)
-    RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA,           // 4 bpp (1 bit alpha)
-    RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA,           // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA,           // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC1_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC2_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA,       // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_PVRT_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA,           // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA,       // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA        // 2 bpp
-} rlPixelFormat;
-
-// Texture parameters: filter mode
-// NOTE 1: Filtering considers mipmaps if available in the texture
-// NOTE 2: Filter is accordingly set for minification and magnification
-typedef enum {
-    RL_TEXTURE_FILTER_POINT = 0,        // No filter, just pixel approximation
-    RL_TEXTURE_FILTER_BILINEAR,         // Linear filtering
-    RL_TEXTURE_FILTER_TRILINEAR,        // Trilinear filtering (linear with mipmaps)
-    RL_TEXTURE_FILTER_ANISOTROPIC_4X,   // Anisotropic filtering 4x
-    RL_TEXTURE_FILTER_ANISOTROPIC_8X,   // Anisotropic filtering 8x
-    RL_TEXTURE_FILTER_ANISOTROPIC_16X,  // Anisotropic filtering 16x
-} rlTextureFilter;
-
-// Color blending modes (pre-defined)
-typedef enum {
-    RL_BLEND_ALPHA = 0,                 // Blend textures considering alpha (default)
-    RL_BLEND_ADDITIVE,                  // Blend textures adding colors
-    RL_BLEND_MULTIPLIED,                // Blend textures multiplying colors
-    RL_BLEND_ADD_COLORS,                // Blend textures adding colors (alternative)
-    RL_BLEND_SUBTRACT_COLORS,           // Blend textures subtracting colors (alternative)
-    RL_BLEND_ALPHA_PREMULTIPLY,         // Blend premultiplied textures considering alpha
-    RL_BLEND_CUSTOM,                    // Blend textures using custom src/dst factors (use rlSetBlendFactors())
-    RL_BLEND_CUSTOM_SEPARATE            // Blend textures using custom src/dst factors (use rlSetBlendFactorsSeparate())
-} rlBlendMode;
-
-// Shader location point type
-typedef enum {
-    RL_SHADER_LOC_VERTEX_POSITION = 0,  // Shader location: vertex attribute: position
-    RL_SHADER_LOC_VERTEX_TEXCOORD01,    // Shader location: vertex attribute: texcoord01
-    RL_SHADER_LOC_VERTEX_TEXCOORD02,    // Shader location: vertex attribute: texcoord02
-    RL_SHADER_LOC_VERTEX_NORMAL,        // Shader location: vertex attribute: normal
-    RL_SHADER_LOC_VERTEX_TANGENT,       // Shader location: vertex attribute: tangent
-    RL_SHADER_LOC_VERTEX_COLOR,         // Shader location: vertex attribute: color
-    RL_SHADER_LOC_MATRIX_MVP,           // Shader location: matrix uniform: model-view-projection
-    RL_SHADER_LOC_MATRIX_VIEW,          // Shader location: matrix uniform: view (camera transform)
-    RL_SHADER_LOC_MATRIX_PROJECTION,    // Shader location: matrix uniform: projection
-    RL_SHADER_LOC_MATRIX_MODEL,         // Shader location: matrix uniform: model (transform)
-    RL_SHADER_LOC_MATRIX_NORMAL,        // Shader location: matrix uniform: normal
-    RL_SHADER_LOC_VECTOR_VIEW,          // Shader location: vector uniform: view
-    RL_SHADER_LOC_COLOR_DIFFUSE,        // Shader location: vector uniform: diffuse color
-    RL_SHADER_LOC_COLOR_SPECULAR,       // Shader location: vector uniform: specular color
-    RL_SHADER_LOC_COLOR_AMBIENT,        // Shader location: vector uniform: ambient color
-    RL_SHADER_LOC_MAP_ALBEDO,           // Shader location: sampler2d texture: albedo (same as: RL_SHADER_LOC_MAP_DIFFUSE)
-    RL_SHADER_LOC_MAP_METALNESS,        // Shader location: sampler2d texture: metalness (same as: RL_SHADER_LOC_MAP_SPECULAR)
-    RL_SHADER_LOC_MAP_NORMAL,           // Shader location: sampler2d texture: normal
-    RL_SHADER_LOC_MAP_ROUGHNESS,        // Shader location: sampler2d texture: roughness
-    RL_SHADER_LOC_MAP_OCCLUSION,        // Shader location: sampler2d texture: occlusion
-    RL_SHADER_LOC_MAP_EMISSION,         // Shader location: sampler2d texture: emission
-    RL_SHADER_LOC_MAP_HEIGHT,           // Shader location: sampler2d texture: height
-    RL_SHADER_LOC_MAP_CUBEMAP,          // Shader location: samplerCube texture: cubemap
-    RL_SHADER_LOC_MAP_IRRADIANCE,       // Shader location: samplerCube texture: irradiance
-    RL_SHADER_LOC_MAP_PREFILTER,        // Shader location: samplerCube texture: prefilter
-    RL_SHADER_LOC_MAP_BRDF              // Shader location: sampler2d texture: brdf
-} rlShaderLocationIndex;
-
-#define RL_SHADER_LOC_MAP_DIFFUSE       RL_SHADER_LOC_MAP_ALBEDO
-#define RL_SHADER_LOC_MAP_SPECULAR      RL_SHADER_LOC_MAP_METALNESS
-
-// Shader uniform data type
-typedef enum {
-    RL_SHADER_UNIFORM_FLOAT = 0,        // Shader uniform type: float
-    RL_SHADER_UNIFORM_VEC2,             // Shader uniform type: vec2 (2 float)
-    RL_SHADER_UNIFORM_VEC3,             // Shader uniform type: vec3 (3 float)
-    RL_SHADER_UNIFORM_VEC4,             // Shader uniform type: vec4 (4 float)
-    RL_SHADER_UNIFORM_INT,              // Shader uniform type: int
-    RL_SHADER_UNIFORM_IVEC2,            // Shader uniform type: ivec2 (2 int)
-    RL_SHADER_UNIFORM_IVEC3,            // Shader uniform type: ivec3 (3 int)
-    RL_SHADER_UNIFORM_IVEC4,            // Shader uniform type: ivec4 (4 int)
-    RL_SHADER_UNIFORM_UINT,             // Shader uniform type: unsigned int
-    RL_SHADER_UNIFORM_UIVEC2,           // Shader uniform type: uivec2 (2 unsigned int)
-    RL_SHADER_UNIFORM_UIVEC3,           // Shader uniform type: uivec3 (3 unsigned int)
-    RL_SHADER_UNIFORM_UIVEC4,           // Shader uniform type: uivec4 (4 unsigned int)
-    RL_SHADER_UNIFORM_SAMPLER2D         // Shader uniform type: sampler2d
-} rlShaderUniformDataType;
-
-// Shader attribute data types
-typedef enum {
-    RL_SHADER_ATTRIB_FLOAT = 0,         // Shader attribute type: float
-    RL_SHADER_ATTRIB_VEC2,              // Shader attribute type: vec2 (2 float)
-    RL_SHADER_ATTRIB_VEC3,              // Shader attribute type: vec3 (3 float)
-    RL_SHADER_ATTRIB_VEC4               // Shader attribute type: vec4 (4 float)
-} rlShaderAttributeDataType;
-
-// Framebuffer attachment type
-// NOTE: By default up to 8 color channels defined, but it can be more
-typedef enum {
-    RL_ATTACHMENT_COLOR_CHANNEL0 = 0,       // Framebuffer attachment type: color 0
-    RL_ATTACHMENT_COLOR_CHANNEL1 = 1,       // Framebuffer attachment type: color 1
-    RL_ATTACHMENT_COLOR_CHANNEL2 = 2,       // Framebuffer attachment type: color 2
-    RL_ATTACHMENT_COLOR_CHANNEL3 = 3,       // Framebuffer attachment type: color 3
-    RL_ATTACHMENT_COLOR_CHANNEL4 = 4,       // Framebuffer attachment type: color 4
-    RL_ATTACHMENT_COLOR_CHANNEL5 = 5,       // Framebuffer attachment type: color 5
-    RL_ATTACHMENT_COLOR_CHANNEL6 = 6,       // Framebuffer attachment type: color 6
-    RL_ATTACHMENT_COLOR_CHANNEL7 = 7,       // Framebuffer attachment type: color 7
-    RL_ATTACHMENT_DEPTH = 100,              // Framebuffer attachment type: depth
-    RL_ATTACHMENT_STENCIL = 200,            // Framebuffer attachment type: stencil
-} rlFramebufferAttachType;
-
-// Framebuffer texture attachment type
-typedef enum {
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_X = 0,   // Framebuffer texture attachment type: cubemap, +X side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_X = 1,   // Framebuffer texture attachment type: cubemap, -X side
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_Y = 2,   // Framebuffer texture attachment type: cubemap, +Y side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_Y = 3,   // Framebuffer texture attachment type: cubemap, -Y side
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_Z = 4,   // Framebuffer texture attachment type: cubemap, +Z side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_Z = 5,   // Framebuffer texture attachment type: cubemap, -Z side
-    RL_ATTACHMENT_TEXTURE2D = 100,          // Framebuffer texture attachment type: texture2d
-    RL_ATTACHMENT_RENDERBUFFER = 200,       // Framebuffer texture attachment type: renderbuffer
-} rlFramebufferAttachTextureType;
-
-// Face culling mode
-typedef enum {
-    RL_CULL_FACE_FRONT = 0,
-    RL_CULL_FACE_BACK
-} rlCullMode;
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - Matrix operations
-//------------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-RLAPI void rlMatrixMode(int mode);                      // Choose the current matrix to be transformed
-RLAPI void rlPushMatrix(void);                          // Push the current matrix to stack
-RLAPI void rlPopMatrix(void);                           // Pop latest inserted matrix from stack
-RLAPI void rlLoadIdentity(void);                        // Reset current matrix to identity matrix
-RLAPI void rlTranslatef(float x, float y, float z);     // Multiply the current matrix by a translation matrix
-RLAPI void rlRotatef(float angle, float x, float y, float z); // Multiply the current matrix by a rotation matrix
-RLAPI void rlScalef(float x, float y, float z);         // Multiply the current matrix by a scaling matrix
-RLAPI void rlMultMatrixf(const float *matf);            // Multiply the current matrix by another matrix
-RLAPI void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar);
-RLAPI void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar);
-RLAPI void rlViewport(int x, int y, int width, int height); // Set the viewport area
-RLAPI void rlSetClipPlanes(double nearPlane, double farPlane);    // Set clip planes distances
-RLAPI double rlGetCullDistanceNear(void);               // Get cull plane distance near
-RLAPI double rlGetCullDistanceFar(void);                // Get cull plane distance far
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - Vertex level operations
-//------------------------------------------------------------------------------------
-RLAPI void rlBegin(int mode);                           // Initialize drawing mode (how to organize vertex)
-RLAPI void rlEnd(void);                                 // Finish vertex providing
-RLAPI void rlVertex2i(int x, int y);                    // Define one vertex (position) - 2 int
-RLAPI void rlVertex2f(float x, float y);                // Define one vertex (position) - 2 float
-RLAPI void rlVertex3f(float x, float y, float z);       // Define one vertex (position) - 3 float
-RLAPI void rlTexCoord2f(float x, float y);              // Define one vertex (texture coordinate) - 2 float
-RLAPI void rlNormal3f(float x, float y, float z);       // Define one vertex (normal) - 3 float
-RLAPI void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a); // Define one vertex (color) - 4 byte
-RLAPI void rlColor3f(float x, float y, float z);        // Define one vertex (color) - 3 float
-RLAPI void rlColor4f(float x, float y, float z, float w); // Define one vertex (color) - 4 float
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - OpenGL style functions (common to 1.1, 3.3+, ES2)
-// NOTE: This functions are used to completely abstract raylib code from OpenGL layer,
-// some of them are direct wrappers over OpenGL calls, some others are custom
-//------------------------------------------------------------------------------------
-
-// Vertex buffers state
-RLAPI bool rlEnableVertexArray(unsigned int vaoId);     // Enable vertex array (VAO, if supported)
-RLAPI void rlDisableVertexArray(void);                  // Disable vertex array (VAO, if supported)
-RLAPI void rlEnableVertexBuffer(unsigned int id);       // Enable vertex buffer (VBO)
-RLAPI void rlDisableVertexBuffer(void);                 // Disable vertex buffer (VBO)
-RLAPI void rlEnableVertexBufferElement(unsigned int id); // Enable vertex buffer element (VBO element)
-RLAPI void rlDisableVertexBufferElement(void);          // Disable vertex buffer element (VBO element)
-RLAPI void rlEnableVertexAttribute(unsigned int index); // Enable vertex attribute index
-RLAPI void rlDisableVertexAttribute(unsigned int index); // Disable vertex attribute index
-#if defined(GRAPHICS_API_OPENGL_11)
-RLAPI void rlEnableStatePointer(int vertexAttribType, void *buffer); // Enable attribute state pointer
-RLAPI void rlDisableStatePointer(int vertexAttribType); // Disable attribute state pointer
-#endif
-
-// Textures state
-RLAPI void rlActiveTextureSlot(int slot);               // Select and active a texture slot
-RLAPI void rlEnableTexture(unsigned int id);            // Enable texture
-RLAPI void rlDisableTexture(void);                      // Disable texture
-RLAPI void rlEnableTextureCubemap(unsigned int id);     // Enable texture cubemap
-RLAPI void rlDisableTextureCubemap(void);               // Disable texture cubemap
-RLAPI void rlTextureParameters(unsigned int id, int param, int value); // Set texture parameters (filter, wrap)
-RLAPI void rlCubemapParameters(unsigned int id, int param, int value); // Set cubemap parameters (filter, wrap)
-
-// Shader state
-RLAPI void rlEnableShader(unsigned int id);             // Enable shader program
-RLAPI void rlDisableShader(void);                       // Disable shader program
-
-// Framebuffer state
-RLAPI void rlEnableFramebuffer(unsigned int id);        // Enable render texture (fbo)
-RLAPI void rlDisableFramebuffer(void);                  // Disable render texture (fbo), return to default framebuffer
-RLAPI unsigned int rlGetActiveFramebuffer(void);        // Get the currently active render texture (fbo), 0 for default framebuffer
-RLAPI void rlActiveDrawBuffers(int count);              // Activate multiple draw color buffers
-RLAPI void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask); // Blit active framebuffer to main framebuffer
-RLAPI void rlBindFramebuffer(unsigned int target, unsigned int framebuffer); // Bind framebuffer (FBO)
-
-// General render state
-RLAPI void rlEnableColorBlend(void);                    // Enable color blending
-RLAPI void rlDisableColorBlend(void);                   // Disable color blending
-RLAPI void rlEnableDepthTest(void);                     // Enable depth test
-RLAPI void rlDisableDepthTest(void);                    // Disable depth test
-RLAPI void rlEnableDepthMask(void);                     // Enable depth write
-RLAPI void rlDisableDepthMask(void);                    // Disable depth write
-RLAPI void rlEnableBackfaceCulling(void);               // Enable backface culling
-RLAPI void rlDisableBackfaceCulling(void);              // Disable backface culling
-RLAPI void rlColorMask(bool r, bool g, bool b, bool a); // Color mask control
-RLAPI void rlSetCullFace(int mode);                     // Set face culling mode
-RLAPI void rlEnableScissorTest(void);                   // Enable scissor test
-RLAPI void rlDisableScissorTest(void);                  // Disable scissor test
-RLAPI void rlScissor(int x, int y, int width, int height); // Scissor test
-RLAPI void rlEnableWireMode(void);                      // Enable wire mode
-RLAPI void rlEnablePointMode(void);                     // Enable point mode
-RLAPI void rlDisableWireMode(void);                     // Disable wire (and point) mode
-RLAPI void rlSetLineWidth(float width);                 // Set the line drawing width
-RLAPI float rlGetLineWidth(void);                       // Get the line drawing width
-RLAPI void rlEnableSmoothLines(void);                   // Enable line aliasing
-RLAPI void rlDisableSmoothLines(void);                  // Disable line aliasing
-RLAPI void rlEnableStereoRender(void);                  // Enable stereo rendering
-RLAPI void rlDisableStereoRender(void);                 // Disable stereo rendering
-RLAPI bool rlIsStereoRenderEnabled(void);               // Check if stereo render is enabled
-
-RLAPI void rlClearColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a); // Clear color buffer with color
-RLAPI void rlClearScreenBuffers(void);                  // Clear used screen buffers (color and depth)
-RLAPI void rlCheckErrors(void);                         // Check and log OpenGL error codes
-RLAPI void rlSetBlendMode(int mode);                    // Set blending mode
-RLAPI void rlSetBlendFactors(int glSrcFactor, int glDstFactor, int glEquation); // Set blending mode factor and equation (using OpenGL factors)
-RLAPI void rlSetBlendFactorsSeparate(int glSrcRGB, int glDstRGB, int glSrcAlpha, int glDstAlpha, int glEqRGB, int glEqAlpha); // Set blending mode factors and equations separately (using OpenGL factors)
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - rlgl functionality
-//------------------------------------------------------------------------------------
-// rlgl initialization functions
-RLAPI void rlglInit(int width, int height);             // Initialize rlgl (buffers, shaders, textures, states)
-RLAPI void rlglClose(void);                             // De-initialize rlgl (buffers, shaders, textures)
-RLAPI void rlLoadExtensions(void *loader);              // Load OpenGL extensions (loader function required)
-RLAPI int rlGetVersion(void);                           // Get current OpenGL version
-RLAPI void rlSetFramebufferWidth(int width);            // Set current framebuffer width
-RLAPI int rlGetFramebufferWidth(void);                  // Get default framebuffer width
-RLAPI void rlSetFramebufferHeight(int height);          // Set current framebuffer height
-RLAPI int rlGetFramebufferHeight(void);                 // Get default framebuffer height
-
-RLAPI unsigned int rlGetTextureIdDefault(void);         // Get default texture id
-RLAPI unsigned int rlGetShaderIdDefault(void);          // Get default shader id
-RLAPI int *rlGetShaderLocsDefault(void);                // Get default shader locations
-
-// Render batch management
-// NOTE: rlgl provides a default render batch to behave like OpenGL 1.1 immediate mode
-// but this render batch API is exposed in case of custom batches are required
-RLAPI rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements); // Load a render batch system
-RLAPI void rlUnloadRenderBatch(rlRenderBatch batch);    // Unload render batch system
-RLAPI void rlDrawRenderBatch(rlRenderBatch *batch);     // Draw render batch data (Update->Draw->Reset)
-RLAPI void rlSetRenderBatchActive(rlRenderBatch *batch); // Set the active render batch for rlgl (NULL for default internal)
-RLAPI void rlDrawRenderBatchActive(void);               // Update and draw internal render batch
-RLAPI bool rlCheckRenderBatchLimit(int vCount);         // Check internal buffer overflow for a given number of vertex
-
-RLAPI void rlSetTexture(unsigned int id);               // Set current texture for render batch and check buffers limits
-
-//------------------------------------------------------------------------------------------------------------------------
-
-// Vertex buffers management
-RLAPI unsigned int rlLoadVertexArray(void);             // Load vertex array (vao) if supported
-RLAPI unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic); // Load a vertex buffer object
-RLAPI unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic); // Load vertex buffer elements object
-RLAPI void rlUpdateVertexBuffer(unsigned int bufferId, const void *data, int dataSize, int offset); // Update vertex buffer object data on GPU buffer
-RLAPI void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset); // Update vertex buffer elements data on GPU buffer
-RLAPI void rlUnloadVertexArray(unsigned int vaoId);     // Unload vertex array (vao)
-RLAPI void rlUnloadVertexBuffer(unsigned int vboId);    // Unload vertex buffer object
-RLAPI void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, int offset); // Set vertex attribute data configuration
-RLAPI void rlSetVertexAttributeDivisor(unsigned int index, int divisor); // Set vertex attribute data divisor
-RLAPI void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count); // Set vertex attribute default value, when attribute to provided
-RLAPI void rlDrawVertexArray(int offset, int count);    // Draw vertex array (currently active vao)
-RLAPI void rlDrawVertexArrayElements(int offset, int count, const void *buffer); // Draw vertex array elements
-RLAPI void rlDrawVertexArrayInstanced(int offset, int count, int instances); // Draw vertex array (currently active vao) with instancing
-RLAPI void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances); // Draw vertex array elements with instancing
-
-// Textures management
-RLAPI unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount); // Load texture data
-RLAPI unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer); // Load depth texture/renderbuffer (to be attached to fbo)
-RLAPI unsigned int rlLoadTextureCubemap(const void *data, int size, int format, int mipmapCount); // Load texture cubemap data
-RLAPI void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data); // Update texture with new data on GPU
-RLAPI void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType); // Get OpenGL internal formats
-RLAPI const char *rlGetPixelFormatName(unsigned int format);              // Get name string for pixel format
-RLAPI void rlUnloadTexture(unsigned int id);                              // Unload texture from GPU memory
-RLAPI void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps); // Generate mipmap data for selected texture
-RLAPI void *rlReadTexturePixels(unsigned int id, int width, int height, int format); // Read texture pixel data
-RLAPI unsigned char *rlReadScreenPixels(int width, int height);           // Read screen pixel data (color buffer)
-
-// Framebuffer management (fbo)
-RLAPI unsigned int rlLoadFramebuffer(void);                               // Load an empty framebuffer
-RLAPI void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel); // Attach texture/renderbuffer to a framebuffer
-RLAPI bool rlFramebufferComplete(unsigned int id);                        // Verify framebuffer is complete
-RLAPI void rlUnloadFramebuffer(unsigned int id);                          // Delete framebuffer from GPU
-
-// Shaders management
-RLAPI unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode);    // Load shader from code strings
-RLAPI unsigned int rlCompileShader(const char *shaderCode, int type);           // Compile custom shader and return shader id (type: RL_VERTEX_SHADER, RL_FRAGMENT_SHADER, RL_COMPUTE_SHADER)
-RLAPI unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId); // Load custom shader program
-RLAPI void rlUnloadShaderProgram(unsigned int id);                              // Unload shader program
-RLAPI int rlGetLocationUniform(unsigned int shaderId, const char *uniformName); // Get shader location uniform
-RLAPI int rlGetLocationAttrib(unsigned int shaderId, const char *attribName);   // Get shader location attribute
-RLAPI void rlSetUniform(int locIndex, const void *value, int uniformType, int count); // Set shader value uniform
-RLAPI void rlSetUniformMatrix(int locIndex, Matrix mat);                        // Set shader value matrix
-RLAPI void rlSetUniformMatrices(int locIndex, const Matrix *mat, int count);    // Set shader value matrices
-RLAPI void rlSetUniformSampler(int locIndex, unsigned int textureId);           // Set shader value sampler
-RLAPI void rlSetShader(unsigned int id, int *locs);                             // Set shader currently active (id and locations)
-
-// Compute shader management
-RLAPI unsigned int rlLoadComputeShaderProgram(unsigned int shaderId);           // Load compute shader program
-RLAPI void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ); // Dispatch compute shader (equivalent to *draw* for graphics pipeline)
-
-// Shader buffer storage object management (ssbo)
-RLAPI unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint); // Load shader storage buffer object (SSBO)
-RLAPI void rlUnloadShaderBuffer(unsigned int ssboId);                           // Unload shader storage buffer object (SSBO)
-RLAPI void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSize, unsigned int offset); // Update SSBO buffer data
-RLAPI void rlBindShaderBuffer(unsigned int id, unsigned int index);             // Bind SSBO buffer
-RLAPI void rlReadShaderBuffer(unsigned int id, void *dest, unsigned int count, unsigned int offset); // Read SSBO buffer data (GPU->CPU)
-RLAPI void rlCopyShaderBuffer(unsigned int destId, unsigned int srcId, unsigned int destOffset, unsigned int srcOffset, unsigned int count); // Copy SSBO data between buffers
-RLAPI unsigned int rlGetShaderBufferSize(unsigned int id);                      // Get SSBO buffer size
-
-// Buffer management
-RLAPI void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool readonly);  // Bind image texture
-
-// Matrix state management
-RLAPI Matrix rlGetMatrixModelview(void);                                  // Get internal modelview matrix
-RLAPI Matrix rlGetMatrixProjection(void);                                 // Get internal projection matrix
-RLAPI Matrix rlGetMatrixTransform(void);                                  // Get internal accumulated transform matrix
-RLAPI Matrix rlGetMatrixProjectionStereo(int eye);                        // Get internal projection matrix for stereo render (selected eye)
-RLAPI Matrix rlGetMatrixViewOffsetStereo(int eye);                        // Get internal view offset matrix for stereo render (selected eye)
-RLAPI void rlSetMatrixProjection(Matrix proj);                            // Set a custom projection matrix (replaces internal projection matrix)
-RLAPI void rlSetMatrixModelview(Matrix view);                             // Set a custom modelview matrix (replaces internal modelview matrix)
-RLAPI void rlSetMatrixProjectionStereo(Matrix right, Matrix left);        // Set eyes projection matrices for stereo rendering
-RLAPI void rlSetMatrixViewOffsetStereo(Matrix right, Matrix left);        // Set eyes view offsets matrices for stereo rendering
-
-// Quick and dirty cube/quad buffers load->draw->unload
-RLAPI void rlLoadDrawCube(void);     // Load and draw a cube
-RLAPI void rlLoadDrawQuad(void);     // Load and draw a quad
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // RLGL_H
-
-/***********************************************************************************
-*
-*   RLGL IMPLEMENTATION
-*
-************************************************************************************/
-
-#if defined(RLGL_IMPLEMENTATION)
-
-// Expose OpenGL functions from glad in raylib
-#if defined(BUILD_LIBTYPE_SHARED)
-    #define GLAD_API_CALL_EXPORT
-    #define GLAD_API_CALL_EXPORT_BUILD
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    #if defined(__APPLE__)
-        #include <OpenGL/gl.h>          // OpenGL 1.1 library for OSX
-        #include <OpenGL/glext.h>       // OpenGL extensions library
-    #else
-        // APIENTRY for OpenGL function pointer declarations is required
-        #if !defined(APIENTRY)
-            #if defined(_WIN32)
-                #define APIENTRY __stdcall
-            #else
-                #define APIENTRY
-            #endif
-        #endif
-        // WINGDIAPI definition. Some Windows OpenGL headers need it
-        #if !defined(WINGDIAPI) && defined(_WIN32)
-            #define WINGDIAPI __declspec(dllimport)
-        #endif
-
-        #include <GL/gl.h>              // OpenGL 1.1 library
-    #endif
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33)
-    #define GLAD_MALLOC RL_MALLOC
-    #define GLAD_FREE RL_FREE
-
-    #define GLAD_GL_IMPLEMENTATION
-    #include "external/glad.h"          // GLAD extensions loading library, includes OpenGL headers
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    #include <GLES3/gl3.h>              // OpenGL ES 3.0 library
-    #define GL_GLEXT_PROTOTYPES
-    #include <GLES2/gl2ext.h>           // OpenGL ES 2.0 extensions library
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: OpenGL ES 2.0 can be enabled on Desktop platforms,
-    // in that case, functions are loaded from a custom glad for OpenGL ES 2.0
-    #if defined(PLATFORM_DESKTOP_GLFW) || defined(PLATFORM_DESKTOP_SDL)
-        #define GLAD_GLES2_IMPLEMENTATION
-        #include "external/glad_gles2.h"
-    #else
-        #define GL_GLEXT_PROTOTYPES
-        //#include <EGL/egl.h>          // EGL library -> not required, platform layer
-        #include <GLES2/gl2.h>          // OpenGL ES 2.0 library
-        #include <GLES2/gl2ext.h>       // OpenGL ES 2.0 extensions library
-    #endif
-
-    // It seems OpenGL ES 2.0 instancing entry points are not defined on Raspberry Pi
-    // provided headers (despite being defined in official Khronos GLES2 headers)
-    #if defined(PLATFORM_DRM)
-    typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDEXTPROC) (GLenum mode, GLint start, GLsizei count, GLsizei primcount);
-    typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount);
-    typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISOREXTPROC) (GLuint index, GLuint divisor);
-    #endif
-#endif
-
-#include <stdlib.h>                     // Required for: malloc(), free()
-#include <string.h>                     // Required for: strcmp(), strlen() [Used in rlglInit(), on extensions loading]
-#include <math.h>                       // Required for: sqrtf(), sinf(), cosf(), floor(), log()
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-#ifndef GL_SHADING_LANGUAGE_VERSION
-    #define GL_SHADING_LANGUAGE_VERSION         0x8B8C
-#endif
-
-#ifndef GL_COMPRESSED_RGB_S3TC_DXT1_EXT
-    #define GL_COMPRESSED_RGB_S3TC_DXT1_EXT     0x83F0
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT1_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT    0x83F1
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT3_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT    0x83F2
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT5_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT    0x83F3
-#endif
-#ifndef GL_ETC1_RGB8_OES
-    #define GL_ETC1_RGB8_OES                    0x8D64
-#endif
-#ifndef GL_COMPRESSED_RGB8_ETC2
-    #define GL_COMPRESSED_RGB8_ETC2             0x9274
-#endif
-#ifndef GL_COMPRESSED_RGBA8_ETC2_EAC
-    #define GL_COMPRESSED_RGBA8_ETC2_EAC        0x9278
-#endif
-#ifndef GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG
-    #define GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG  0x8C00
-#endif
-#ifndef GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG
-    #define GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG 0x8C02
-#endif
-#ifndef GL_COMPRESSED_RGBA_ASTC_4x4_KHR
-    #define GL_COMPRESSED_RGBA_ASTC_4x4_KHR     0x93b0
-#endif
-#ifndef GL_COMPRESSED_RGBA_ASTC_8x8_KHR
-    #define GL_COMPRESSED_RGBA_ASTC_8x8_KHR     0x93b7
-#endif
-
-#ifndef GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT
-    #define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT   0x84FF
-#endif
-#ifndef GL_TEXTURE_MAX_ANISOTROPY_EXT
-    #define GL_TEXTURE_MAX_ANISOTROPY_EXT       0x84FE
-#endif
-
-#ifndef GL_PROGRAM_POINT_SIZE
-    #define GL_PROGRAM_POINT_SIZE               0x8642
-#endif
-
-#ifndef GL_LINE_WIDTH
-    #define GL_LINE_WIDTH                       0x0B21
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    #define GL_UNSIGNED_SHORT_5_6_5             0x8363
-    #define GL_UNSIGNED_SHORT_5_5_5_1           0x8034
-    #define GL_UNSIGNED_SHORT_4_4_4_4           0x8033
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_21)
-    #define GL_LUMINANCE                        0x1909
-    #define GL_LUMINANCE_ALPHA                  0x190A
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    #define glClearDepth                 glClearDepthf
-    #if !defined(GRAPHICS_API_OPENGL_ES3)
-        #define GL_READ_FRAMEBUFFER         GL_FRAMEBUFFER
-        #define GL_DRAW_FRAMEBUFFER         GL_FRAMEBUFFER
-    #endif
-#endif
-
-// Default shader vertex attribute names to set location points
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS      "vertexBoneIds"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS  "vertexBoneWeights" // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS
-#endif
-
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MVP
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView))
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES  "boneMatrices"   // bone matrices
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-typedef struct rlglData {
-    rlRenderBatch *currentBatch;            // Current render batch
-    rlRenderBatch defaultBatch;             // Default internal render batch
-
-    struct {
-        int vertexCounter;                  // Current active render batch vertex counter (generic, used for all batches)
-        float texcoordx, texcoordy;         // Current active texture coordinate (added on glVertex*())
-        float normalx, normaly, normalz;    // Current active normal (added on glVertex*())
-        unsigned char colorr, colorg, colorb, colora;   // Current active color (added on glVertex*())
-
-        int currentMatrixMode;              // Current matrix mode
-        Matrix *currentMatrix;              // Current matrix pointer
-        Matrix modelview;                   // Default modelview matrix
-        Matrix projection;                  // Default projection matrix
-        Matrix transform;                   // Transform matrix to be used with rlTranslate, rlRotate, rlScale
-        bool transformRequired;             // Require transform matrix application to current draw-call vertex (if required)
-        Matrix stack[RL_MAX_MATRIX_STACK_SIZE];// Matrix stack for push/pop
-        int stackCounter;                   // Matrix stack counter
-
-        unsigned int defaultTextureId;      // Default texture used on shapes/poly drawing (required by shader)
-        unsigned int activeTextureId[RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS];    // Active texture ids to be enabled on batch drawing (0 active by default)
-        unsigned int defaultVShaderId;      // Default vertex shader id (used by default shader program)
-        unsigned int defaultFShaderId;      // Default fragment shader id (used by default shader program)
-        unsigned int defaultShaderId;       // Default shader program id, supports vertex color and diffuse texture
-        int *defaultShaderLocs;             // Default shader locations pointer to be used on rendering
-        unsigned int currentShaderId;       // Current shader id to be used on rendering (by default, defaultShaderId)
-        int *currentShaderLocs;             // Current shader locations pointer to be used on rendering (by default, defaultShaderLocs)
-
-        bool stereoRender;                  // Stereo rendering flag
-        Matrix projectionStereo[2];         // VR stereo rendering eyes projection matrices
-        Matrix viewOffsetStereo[2];         // VR stereo rendering eyes view offset matrices
-
-        // Blending variables
-        int currentBlendMode;               // Blending mode active
-        int glBlendSrcFactor;               // Blending source factor
-        int glBlendDstFactor;               // Blending destination factor
-        int glBlendEquation;                // Blending equation
-        int glBlendSrcFactorRGB;            // Blending source RGB factor
-        int glBlendDestFactorRGB;           // Blending destination RGB factor
-        int glBlendSrcFactorAlpha;          // Blending source alpha factor
-        int glBlendDestFactorAlpha;         // Blending destination alpha factor
-        int glBlendEquationRGB;             // Blending equation for RGB
-        int glBlendEquationAlpha;           // Blending equation for alpha
-        bool glCustomBlendModeModified;     // Custom blending factor and equation modification status
-
-        int framebufferWidth;               // Current framebuffer width
-        int framebufferHeight;              // Current framebuffer height
-
-    } State;            // Renderer state
-    struct {
-        bool vao;                           // VAO support (OpenGL ES2 could not support VAO extension) (GL_ARB_vertex_array_object)
-        bool instancing;                    // Instancing supported (GL_ANGLE_instanced_arrays, GL_EXT_draw_instanced + GL_EXT_instanced_arrays)
-        bool texNPOT;                       // NPOT textures full support (GL_ARB_texture_non_power_of_two, GL_OES_texture_npot)
-        bool texDepth;                      // Depth textures supported (GL_ARB_depth_texture, GL_OES_depth_texture)
-        bool texDepthWebGL;                 // Depth textures supported WebGL specific (GL_WEBGL_depth_texture)
-        bool texFloat32;                    // float textures support (32 bit per channel) (GL_OES_texture_float)
-        bool texFloat16;                    // half float textures support (16 bit per channel) (GL_OES_texture_half_float)
-        bool texCompDXT;                    // DDS texture compression support (GL_EXT_texture_compression_s3tc, GL_WEBGL_compressed_texture_s3tc, GL_WEBKIT_WEBGL_compressed_texture_s3tc)
-        bool texCompETC1;                   // ETC1 texture compression support (GL_OES_compressed_ETC1_RGB8_texture, GL_WEBGL_compressed_texture_etc1)
-        bool texCompETC2;                   // ETC2/EAC texture compression support (GL_ARB_ES3_compatibility)
-        bool texCompPVRT;                   // PVR texture compression support (GL_IMG_texture_compression_pvrtc)
-        bool texCompASTC;                   // ASTC texture compression support (GL_KHR_texture_compression_astc_hdr, GL_KHR_texture_compression_astc_ldr)
-        bool texMirrorClamp;                // Clamp mirror wrap mode supported (GL_EXT_texture_mirror_clamp)
-        bool texAnisoFilter;                // Anisotropic texture filtering support (GL_EXT_texture_filter_anisotropic)
-        bool computeShader;                 // Compute shaders support (GL_ARB_compute_shader)
-        bool ssbo;                          // Shader storage buffer object support (GL_ARB_shader_storage_buffer_object)
-
-        float maxAnisotropyLevel;           // Maximum anisotropy level supported (minimum is 2.0f)
-        int maxDepthBits;                   // Maximum bits for depth component
-
-    } ExtSupported;     // Extensions supported flags
-} rlglData;
-
-typedef void *(*rlglLoadProc)(const char *name);   // OpenGL extension functions loader signature (same as GLADloadproc)
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-static double rlCullDistanceNear = RL_CULL_DISTANCE_NEAR;
-static double rlCullDistanceFar = RL_CULL_DISTANCE_FAR;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-static rlglData RLGL = { 0 };
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-#if defined(GRAPHICS_API_OPENGL_ES2) && !defined(GRAPHICS_API_OPENGL_ES3)
-// NOTE: VAO functionality is exposed through extensions (OES)
-static PFNGLGENVERTEXARRAYSOESPROC glGenVertexArrays = NULL;
-static PFNGLBINDVERTEXARRAYOESPROC glBindVertexArray = NULL;
-static PFNGLDELETEVERTEXARRAYSOESPROC glDeleteVertexArrays = NULL;
-
-// NOTE: Instancing functionality could also be available through extension
-static PFNGLDRAWARRAYSINSTANCEDEXTPROC glDrawArraysInstanced = NULL;
-static PFNGLDRAWELEMENTSINSTANCEDEXTPROC glDrawElementsInstanced = NULL;
-static PFNGLVERTEXATTRIBDIVISOREXTPROC glVertexAttribDivisor = NULL;
-#endif
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Declaration
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-static void rlLoadShaderDefault(void);      // Load default shader
-static void rlUnloadShaderDefault(void);    // Unload default shader
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-static const char *rlGetCompressedFormatName(int format); // Get compressed format official GL identifier name
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-static int rlGetPixelDataSize(int width, int height, int format);   // Get pixel data size in bytes (image or texture)
-
-// Auxiliar matrix math functions
-typedef struct rl_float16 {
-    float v[16];
-} rl_float16;
-static rl_float16 rlMatrixToFloatV(Matrix mat);             // Get float array of matrix data
-#define rlMatrixToFloat(mat) (rlMatrixToFloatV(mat).v)      // Get float vector for Matrix
-static Matrix rlMatrixIdentity(void);                       // Get identity matrix
-static Matrix rlMatrixMultiply(Matrix left, Matrix right);  // Multiply two matrices
-static Matrix rlMatrixTranspose(Matrix mat);                // Transposes provided matrix
-static Matrix rlMatrixInvert(Matrix mat);                   // Invert provided matrix
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Matrix operations
-//----------------------------------------------------------------------------------
-
-#if defined(GRAPHICS_API_OPENGL_11)
-// Fallback to OpenGL 1.1 function calls
-//---------------------------------------
-void rlMatrixMode(int mode)
-{
-    switch (mode)
-    {
-        case RL_PROJECTION: glMatrixMode(GL_PROJECTION); break;
-        case RL_MODELVIEW: glMatrixMode(GL_MODELVIEW); break;
-        case RL_TEXTURE: glMatrixMode(GL_TEXTURE); break;
-        default: break;
-    }
-}
-
-void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    glFrustum(left, right, bottom, top, znear, zfar);
-}
-
-void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    glOrtho(left, right, bottom, top, znear, zfar);
-}
-
-void rlPushMatrix(void) { glPushMatrix(); }
-void rlPopMatrix(void) { glPopMatrix(); }
-void rlLoadIdentity(void) { glLoadIdentity(); }
-void rlTranslatef(float x, float y, float z) { glTranslatef(x, y, z); }
-void rlRotatef(float angle, float x, float y, float z) { glRotatef(angle, x, y, z); }
-void rlScalef(float x, float y, float z) { glScalef(x, y, z); }
-void rlMultMatrixf(const float *matf) { glMultMatrixf(matf); }
-#endif
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Choose the current matrix to be transformed
-void rlMatrixMode(int mode)
-{
-    if (mode == RL_PROJECTION) RLGL.State.currentMatrix = &RLGL.State.projection;
-    else if (mode == RL_MODELVIEW) RLGL.State.currentMatrix = &RLGL.State.modelview;
-    //else if (mode == RL_TEXTURE) // Not supported
-
-    RLGL.State.currentMatrixMode = mode;
-}
-
-// Push the current matrix into RLGL.State.stack
-void rlPushMatrix(void)
-{
-    if (RLGL.State.stackCounter >= RL_MAX_MATRIX_STACK_SIZE) TRACELOG(RL_LOG_ERROR, "RLGL: Matrix stack overflow (RL_MAX_MATRIX_STACK_SIZE)");
-
-    if (RLGL.State.currentMatrixMode == RL_MODELVIEW)
-    {
-        RLGL.State.transformRequired = true;
-        RLGL.State.currentMatrix = &RLGL.State.transform;
-    }
-
-    RLGL.State.stack[RLGL.State.stackCounter] = *RLGL.State.currentMatrix;
-    RLGL.State.stackCounter++;
-}
-
-// Pop lattest inserted matrix from RLGL.State.stack
-void rlPopMatrix(void)
-{
-    if (RLGL.State.stackCounter > 0)
-    {
-        Matrix mat = RLGL.State.stack[RLGL.State.stackCounter - 1];
-        *RLGL.State.currentMatrix = mat;
-        RLGL.State.stackCounter--;
-    }
-
-    if ((RLGL.State.stackCounter == 0) && (RLGL.State.currentMatrixMode == RL_MODELVIEW))
-    {
-        RLGL.State.currentMatrix = &RLGL.State.modelview;
-        RLGL.State.transformRequired = false;
-    }
-}
-
-// Reset current matrix to identity matrix
-void rlLoadIdentity(void)
-{
-    *RLGL.State.currentMatrix = rlMatrixIdentity();
-}
-
-// Multiply the current matrix by a translation matrix
-void rlTranslatef(float x, float y, float z)
-{
-    Matrix matTranslation = {
-        1.0f, 0.0f, 0.0f, x,
-        0.0f, 1.0f, 0.0f, y,
-        0.0f, 0.0f, 1.0f, z,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matTranslation, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a rotation matrix
-// NOTE: The provided angle must be in degrees
-void rlRotatef(float angle, float x, float y, float z)
-{
-    Matrix matRotation = rlMatrixIdentity();
-
-    // Axis vector (x, y, z) normalization
-    float lengthSquared = x*x + y*y + z*z;
-    if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
-    {
-        float inverseLength = 1.0f/sqrtf(lengthSquared);
-        x *= inverseLength;
-        y *= inverseLength;
-        z *= inverseLength;
-    }
-
-    // Rotation matrix generation
-    float sinres = sinf(DEG2RAD*angle);
-    float cosres = cosf(DEG2RAD*angle);
-    float t = 1.0f - cosres;
-
-    matRotation.m0 = x*x*t + cosres;
-    matRotation.m1 = y*x*t + z*sinres;
-    matRotation.m2 = z*x*t - y*sinres;
-    matRotation.m3 = 0.0f;
-
-    matRotation.m4 = x*y*t - z*sinres;
-    matRotation.m5 = y*y*t + cosres;
-    matRotation.m6 = z*y*t + x*sinres;
-    matRotation.m7 = 0.0f;
-
-    matRotation.m8 = x*z*t + y*sinres;
-    matRotation.m9 = y*z*t - x*sinres;
-    matRotation.m10 = z*z*t + cosres;
-    matRotation.m11 = 0.0f;
-
-    matRotation.m12 = 0.0f;
-    matRotation.m13 = 0.0f;
-    matRotation.m14 = 0.0f;
-    matRotation.m15 = 1.0f;
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matRotation, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a scaling matrix
-void rlScalef(float x, float y, float z)
-{
-    Matrix matScale = {
-        x, 0.0f, 0.0f, 0.0f,
-        0.0f, y, 0.0f, 0.0f,
-        0.0f, 0.0f, z, 0.0f,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matScale, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by another matrix
-void rlMultMatrixf(const float *matf)
-{
-    // Matrix creation from array
-    Matrix mat = { matf[0], matf[4], matf[8], matf[12],
-                   matf[1], matf[5], matf[9], matf[13],
-                   matf[2], matf[6], matf[10], matf[14],
-                   matf[3], matf[7], matf[11], matf[15] };
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(mat, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a perspective matrix generated by parameters
-void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    Matrix matFrustum = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(zfar - znear);
-
-    matFrustum.m0 = ((float) znear*2.0f)/rl;
-    matFrustum.m1 = 0.0f;
-    matFrustum.m2 = 0.0f;
-    matFrustum.m3 = 0.0f;
-
-    matFrustum.m4 = 0.0f;
-    matFrustum.m5 = ((float) znear*2.0f)/tb;
-    matFrustum.m6 = 0.0f;
-    matFrustum.m7 = 0.0f;
-
-    matFrustum.m8 = ((float)right + (float)left)/rl;
-    matFrustum.m9 = ((float)top + (float)bottom)/tb;
-    matFrustum.m10 = -((float)zfar + (float)znear)/fn;
-    matFrustum.m11 = -1.0f;
-
-    matFrustum.m12 = 0.0f;
-    matFrustum.m13 = 0.0f;
-    matFrustum.m14 = -((float)zfar*(float)znear*2.0f)/fn;
-    matFrustum.m15 = 0.0f;
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, matFrustum);
-}
-
-// Multiply the current matrix by an orthographic matrix generated by parameters
-void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    // NOTE: If left-right and top-botton values are equal it could create a division by zero,
-    // response to it is platform/compiler dependant
-    Matrix matOrtho = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(zfar - znear);
-
-    matOrtho.m0 = 2.0f/rl;
-    matOrtho.m1 = 0.0f;
-    matOrtho.m2 = 0.0f;
-    matOrtho.m3 = 0.0f;
-    matOrtho.m4 = 0.0f;
-    matOrtho.m5 = 2.0f/tb;
-    matOrtho.m6 = 0.0f;
-    matOrtho.m7 = 0.0f;
-    matOrtho.m8 = 0.0f;
-    matOrtho.m9 = 0.0f;
-    matOrtho.m10 = -2.0f/fn;
-    matOrtho.m11 = 0.0f;
-    matOrtho.m12 = -((float)left + (float)right)/rl;
-    matOrtho.m13 = -((float)top + (float)bottom)/tb;
-    matOrtho.m14 = -((float)zfar + (float)znear)/fn;
-    matOrtho.m15 = 1.0f;
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, matOrtho);
-}
-#endif
-
-// Set the viewport area (transformation from normalized device coordinates to window coordinates)
-// NOTE: We store current viewport dimensions
-void rlViewport(int x, int y, int width, int height)
-{
-    glViewport(x, y, width, height);
-}
-
-// Set clip planes distances
-void rlSetClipPlanes(double nearPlane, double farPlane)
-{
-    rlCullDistanceNear = nearPlane;
-    rlCullDistanceFar = farPlane;
-}
-
-// Get cull plane distance near
-double rlGetCullDistanceNear(void)
-{
-    return rlCullDistanceNear;
-}
-
-// Get cull plane distance far
-double rlGetCullDistanceFar(void)
-{
-    return rlCullDistanceFar;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vertex level operations
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_11)
-// Fallback to OpenGL 1.1 function calls
-//---------------------------------------
-void rlBegin(int mode)
-{
-    switch (mode)
-    {
-        case RL_LINES: glBegin(GL_LINES); break;
-        case RL_TRIANGLES: glBegin(GL_TRIANGLES); break;
-        case RL_QUADS: glBegin(GL_QUADS); break;
-        default: break;
-    }
-}
-
-void rlEnd(void) { glEnd(); }
-void rlVertex2i(int x, int y) { glVertex2i(x, y); }
-void rlVertex2f(float x, float y) { glVertex2f(x, y); }
-void rlVertex3f(float x, float y, float z) { glVertex3f(x, y, z); }
-void rlTexCoord2f(float x, float y) { glTexCoord2f(x, y); }
-void rlNormal3f(float x, float y, float z) { glNormal3f(x, y, z); }
-void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a) { glColor4ub(r, g, b, a); }
-void rlColor3f(float x, float y, float z) { glColor3f(x, y, z); }
-void rlColor4f(float x, float y, float z, float w) { glColor4f(x, y, z, w); }
-#endif
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Initialize drawing mode (how to organize vertex)
-void rlBegin(int mode)
-{
-    // Draw mode can be RL_LINES, RL_TRIANGLES and RL_QUADS
-    // NOTE: In all three cases, vertex are accumulated over default internal vertex buffer
-    if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode != mode)
-    {
-        if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount > 0)
-        {
-            // Make sure current RLGL.currentBatch->draws[i].vertexCount is aligned a multiple of 4,
-            // that way, following QUADS drawing will keep aligned with index processing
-            // It implies adding some extra alignment vertex at the end of the draw,
-            // those vertex are not processed but they are considered as an additional offset
-            // for the next set of vertex to be drawn
-            if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount : RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4);
-            else if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? 1 : (4 - (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4)));
-            else RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = 0;
-
-            if (!rlCheckRenderBatchLimit(RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment))
-            {
-                RLGL.State.vertexCounter += RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment;
-                RLGL.currentBatch->drawCounter++;
-            }
-        }
-
-        if (RLGL.currentBatch->drawCounter >= RL_DEFAULT_BATCH_DRAWCALLS) rlDrawRenderBatch(RLGL.currentBatch);
-
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode = mode;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount = 0;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = RLGL.State.defaultTextureId;
-    }
-}
-
-// Finish vertex providing
-void rlEnd(void)
-{
-    // NOTE: Depth increment is dependant on rlOrtho(): z-near and z-far values,
-    // as well as depth buffer bit-depth (16bit or 24bit or 32bit)
-    // Correct increment formula would be: depthInc = (zfar - znear)/pow(2, bits)
-    RLGL.currentBatch->currentDepth += (1.0f/20000.0f);
-}
-
-// Define one vertex (position)
-// NOTE: Vertex position data is the basic information required for drawing
-void rlVertex3f(float x, float y, float z)
-{
-    float tx = x;
-    float ty = y;
-    float tz = z;
-
-    // Transform provided vector if required
-    if (RLGL.State.transformRequired)
-    {
-        tx = RLGL.State.transform.m0*x + RLGL.State.transform.m4*y + RLGL.State.transform.m8*z + RLGL.State.transform.m12;
-        ty = RLGL.State.transform.m1*x + RLGL.State.transform.m5*y + RLGL.State.transform.m9*z + RLGL.State.transform.m13;
-        tz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z + RLGL.State.transform.m14;
-    }
-
-    // WARNING: We can't break primitives when launching a new batch
-    // RL_LINES comes in pairs, RL_TRIANGLES come in groups of 3 vertices and RL_QUADS come in groups of 4 vertices
-    // We must check current draw.mode when a new vertex is required and finish the batch only if the draw.mode draw.vertexCount is %2, %3 or %4
-    if (RLGL.State.vertexCounter > (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4 - 4))
-    {
-        if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%2 == 0))
-        {
-            // Reached the maximum number of vertices for RL_LINES drawing
-            // Launch a draw call but keep current state for next vertices comming
-            // NOTE: We add +1 vertex to the check for security
-            rlCheckRenderBatchLimit(2 + 1);
-        }
-        else if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%3 == 0))
-        {
-            rlCheckRenderBatchLimit(3 + 1);
-        }
-        else if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_QUADS) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4 == 0))
-        {
-            rlCheckRenderBatchLimit(4 + 1);
-        }
-    }
-
-    // Add vertices
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter] = tx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter + 1] = ty;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter + 2] = tz;
-
-    // Add current texcoord
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter] = RLGL.State.texcoordx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter + 1] = RLGL.State.texcoordy;
-
-    // Add current normal
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter] = RLGL.State.normalx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter + 1] = RLGL.State.normaly;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter + 2] = RLGL.State.normalz;
-
-    // Add current color
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter] = RLGL.State.colorr;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 1] = RLGL.State.colorg;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 2] = RLGL.State.colorb;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 3] = RLGL.State.colora;
-
-    RLGL.State.vertexCounter++;
-    RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount++;
-}
-
-// Define one vertex (position)
-void rlVertex2f(float x, float y)
-{
-    rlVertex3f(x, y, RLGL.currentBatch->currentDepth);
-}
-
-// Define one vertex (position)
-void rlVertex2i(int x, int y)
-{
-    rlVertex3f((float)x, (float)y, RLGL.currentBatch->currentDepth);
-}
-
-// Define one vertex (texture coordinate)
-// NOTE: Texture coordinates are limited to QUADS only
-void rlTexCoord2f(float x, float y)
-{
-    RLGL.State.texcoordx = x;
-    RLGL.State.texcoordy = y;
-}
-
-// Define one vertex (normal)
-// NOTE: Normals limited to TRIANGLES only?
-void rlNormal3f(float x, float y, float z)
-{
-    float normalx = x;
-    float normaly = y;
-    float normalz = z;
-    if (RLGL.State.transformRequired)
-    {
-        normalx = RLGL.State.transform.m0*x + RLGL.State.transform.m4*y + RLGL.State.transform.m8*z;
-        normaly = RLGL.State.transform.m1*x + RLGL.State.transform.m5*y + RLGL.State.transform.m9*z;
-        normalz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z;
-    }
-    float length = sqrtf(normalx*normalx + normaly*normaly + normalz*normalz);
-    if (length != 0.0f)
-    {
-        float ilength = 1.0f/length;
-        normalx *= ilength;
-        normaly *= ilength;
-        normalz *= ilength;
-    }
-    RLGL.State.normalx = normalx;
-    RLGL.State.normaly = normaly;
-    RLGL.State.normalz = normalz;
-}
-
-// Define one vertex (color)
-void rlColor4ub(unsigned char x, unsigned char y, unsigned char z, unsigned char w)
-{
-    RLGL.State.colorr = x;
-    RLGL.State.colorg = y;
-    RLGL.State.colorb = z;
-    RLGL.State.colora = w;
-}
-
-// Define one vertex (color)
-void rlColor4f(float r, float g, float b, float a)
-{
-    rlColor4ub((unsigned char)(r*255), (unsigned char)(g*255), (unsigned char)(b*255), (unsigned char)(a*255));
-}
-
-// Define one vertex (color)
-void rlColor3f(float x, float y, float z)
-{
-    rlColor4ub((unsigned char)(x*255), (unsigned char)(y*255), (unsigned char)(z*255), 255);
-}
-
-#endif
-
-//--------------------------------------------------------------------------------------
-// Module Functions Definition - OpenGL style functions (common to 1.1, 3.3+, ES2)
-//--------------------------------------------------------------------------------------
-
-// Set current texture to use
-void rlSetTexture(unsigned int id)
-{
-    if (id == 0)
-    {
-#if defined(GRAPHICS_API_OPENGL_11)
-        rlDisableTexture();
-#else
-        // NOTE: If quads batch limit is reached, we force a draw call and next batch starts
-        if (RLGL.State.vertexCounter >=
-            RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4)
-        {
-            rlDrawRenderBatch(RLGL.currentBatch);
-        }
-#endif
-    }
-    else
-    {
-#if defined(GRAPHICS_API_OPENGL_11)
-        rlEnableTexture(id);
-#else
-        if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId != id)
-        {
-            if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount > 0)
-            {
-                // Make sure current RLGL.currentBatch->draws[i].vertexCount is aligned a multiple of 4,
-                // that way, following QUADS drawing will keep aligned with index processing
-                // It implies adding some extra alignment vertex at the end of the draw,
-                // those vertex are not processed but they are considered as an additional offset
-                // for the next set of vertex to be drawn
-                if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount : RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4);
-                else if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? 1 : (4 - (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4)));
-                else RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = 0;
-
-                if (!rlCheckRenderBatchLimit(RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment))
-                {
-                    RLGL.State.vertexCounter += RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment;
-
-                    RLGL.currentBatch->drawCounter++;
-                }
-            }
-
-            if (RLGL.currentBatch->drawCounter >= RL_DEFAULT_BATCH_DRAWCALLS) rlDrawRenderBatch(RLGL.currentBatch);
-
-            RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = id;
-            RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount = 0;
-        }
-#endif
-    }
-}
-
-// Select and active a texture slot
-void rlActiveTextureSlot(int slot)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glActiveTexture(GL_TEXTURE0 + slot);
-#endif
-}
-
-// Enable texture
-void rlEnableTexture(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    glEnable(GL_TEXTURE_2D);
-#endif
-    glBindTexture(GL_TEXTURE_2D, id);
-}
-
-// Disable texture
-void rlDisableTexture(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    glDisable(GL_TEXTURE_2D);
-#endif
-    glBindTexture(GL_TEXTURE_2D, 0);
-}
-
-// Enable texture cubemap
-void rlEnableTextureCubemap(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-#endif
-}
-
-// Disable texture cubemap
-void rlDisableTextureCubemap(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-}
-
-// Set texture parameters (wrap mode/filter mode)
-void rlTextureParameters(unsigned int id, int param, int value)
-{
-    glBindTexture(GL_TEXTURE_2D, id);
-
-#if !defined(GRAPHICS_API_OPENGL_11)
-    // Reset anisotropy filter, in case it was set
-    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, 1.0f);
-#endif
-
-    switch (param)
-    {
-        case RL_TEXTURE_WRAP_S:
-        case RL_TEXTURE_WRAP_T:
-        {
-            if (value == RL_TEXTURE_WRAP_MIRROR_CLAMP)
-            {
-#if !defined(GRAPHICS_API_OPENGL_11)
-                if (RLGL.ExtSupported.texMirrorClamp) glTexParameteri(GL_TEXTURE_2D, param, value);
-                else TRACELOG(RL_LOG_WARNING, "GL: Clamp mirror wrap mode not supported (GL_MIRROR_CLAMP_EXT)");
-#endif
-            }
-            else glTexParameteri(GL_TEXTURE_2D, param, value);
-
-        } break;
-        case RL_TEXTURE_MAG_FILTER:
-        case RL_TEXTURE_MIN_FILTER: glTexParameteri(GL_TEXTURE_2D, param, value); break;
-        case RL_TEXTURE_FILTER_ANISOTROPIC:
-        {
-#if !defined(GRAPHICS_API_OPENGL_11)
-            if (value <= RLGL.ExtSupported.maxAnisotropyLevel) glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            else if (RLGL.ExtSupported.maxAnisotropyLevel > 0.0f)
-            {
-                TRACELOG(RL_LOG_WARNING, "GL: Maximum anisotropic filter level supported is %iX", id, (int)RLGL.ExtSupported.maxAnisotropyLevel);
-                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            }
-            else TRACELOG(RL_LOG_WARNING, "GL: Anisotropic filtering not supported");
-#endif
-        } break;
-#if defined(GRAPHICS_API_OPENGL_33)
-        case RL_TEXTURE_MIPMAP_BIAS_RATIO: glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_LOD_BIAS, value/100.0f);
-#endif
-        default: break;
-    }
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-}
-
-// Set cubemap parameters (wrap mode/filter mode)
-void rlCubemapParameters(unsigned int id, int param, int value)
-{
-#if !defined(GRAPHICS_API_OPENGL_11)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-
-    // Reset anisotropy filter, in case it was set
-    glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, 1.0f);
-
-    switch (param)
-    {
-        case RL_TEXTURE_WRAP_S:
-        case RL_TEXTURE_WRAP_T:
-        {
-            if (value == RL_TEXTURE_WRAP_MIRROR_CLAMP)
-            {
-                if (RLGL.ExtSupported.texMirrorClamp) glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value);
-                else TRACELOG(RL_LOG_WARNING, "GL: Clamp mirror wrap mode not supported (GL_MIRROR_CLAMP_EXT)");
-            }
-            else glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value);
-
-        } break;
-        case RL_TEXTURE_MAG_FILTER:
-        case RL_TEXTURE_MIN_FILTER: glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value); break;
-        case RL_TEXTURE_FILTER_ANISOTROPIC:
-        {
-            if (value <= RLGL.ExtSupported.maxAnisotropyLevel) glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            else if (RLGL.ExtSupported.maxAnisotropyLevel > 0.0f)
-            {
-                TRACELOG(RL_LOG_WARNING, "GL: Maximum anisotropic filter level supported is %iX", id, (int)RLGL.ExtSupported.maxAnisotropyLevel);
-                glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            }
-            else TRACELOG(RL_LOG_WARNING, "GL: Anisotropic filtering not supported");
-        } break;
-#if defined(GRAPHICS_API_OPENGL_33)
-        case RL_TEXTURE_MIPMAP_BIAS_RATIO: glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_LOD_BIAS, value/100.0f);
-#endif
-        default: break;
-    }
-
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-}
-
-// Enable shader program
-void rlEnableShader(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    glUseProgram(id);
-#endif
-}
-
-// Disable shader program
-void rlDisableShader(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    glUseProgram(0);
-#endif
-}
-
-// Enable rendering to texture (fbo)
-void rlEnableFramebuffer(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, id);
-#endif
-}
-
-// return the active render texture (fbo)
-unsigned int rlGetActiveFramebuffer(void)
-{
-    GLint fboId = 0;
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glGetIntegerv(GL_DRAW_FRAMEBUFFER_BINDING, &fboId);
-#endif
-    return fboId;
-}
-
-// Disable rendering to texture
-void rlDisableFramebuffer(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-#endif
-}
-
-// Blit active framebuffer to main framebuffer
-void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBlitFramebuffer(srcX, srcY, srcWidth, srcHeight, dstX, dstY, dstWidth, dstHeight, bufferMask, GL_NEAREST);
-#endif
-}
-
-// Bind framebuffer object (fbo)
-void rlBindFramebuffer(unsigned int target, unsigned int framebuffer)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(target, framebuffer);
-#endif
-}
-
-// Activate multiple draw color buffers
-// NOTE: One color buffer is always active by default
-void rlActiveDrawBuffers(int count)
-{
-#if ((defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT))
-    // NOTE: Maximum number of draw buffers supported is implementation dependant,
-    // it can be queried with glGet*() but it must be at least 8
-    //GLint maxDrawBuffers = 0;
-    //glGetIntegerv(GL_MAX_DRAW_BUFFERS, &maxDrawBuffers);
-
-    if (count > 0)
-    {
-        if (count > 8) TRACELOG(LOG_WARNING, "GL: Max color buffers limited to 8");
-        else
-        {
-            unsigned int buffers[8] = {
-#if defined(GRAPHICS_API_OPENGL_ES3)
-                GL_COLOR_ATTACHMENT0_EXT,
-                GL_COLOR_ATTACHMENT1_EXT,
-                GL_COLOR_ATTACHMENT2_EXT,
-                GL_COLOR_ATTACHMENT3_EXT,
-                GL_COLOR_ATTACHMENT4_EXT,
-                GL_COLOR_ATTACHMENT5_EXT,
-                GL_COLOR_ATTACHMENT6_EXT,
-                GL_COLOR_ATTACHMENT7_EXT,
-#else
-                GL_COLOR_ATTACHMENT0,
-                GL_COLOR_ATTACHMENT1,
-                GL_COLOR_ATTACHMENT2,
-                GL_COLOR_ATTACHMENT3,
-                GL_COLOR_ATTACHMENT4,
-                GL_COLOR_ATTACHMENT5,
-                GL_COLOR_ATTACHMENT6,
-                GL_COLOR_ATTACHMENT7,
-#endif
-            };
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-            glDrawBuffersEXT(count, buffers);
-#else
-            glDrawBuffers(count, buffers);
-#endif
-        }
-    }
-    else TRACELOG(LOG_WARNING, "GL: One color buffer active by default");
-#endif
-}
-
-//----------------------------------------------------------------------------------
-// General render state configuration
-//----------------------------------------------------------------------------------
-
-// Enable color blending
-void rlEnableColorBlend(void) { glEnable(GL_BLEND); }
-
-// Disable color blending
-void rlDisableColorBlend(void) { glDisable(GL_BLEND); }
-
-// Enable depth test
-void rlEnableDepthTest(void) { glEnable(GL_DEPTH_TEST); }
-
-// Disable depth test
-void rlDisableDepthTest(void) { glDisable(GL_DEPTH_TEST); }
-
-// Enable depth write
-void rlEnableDepthMask(void) { glDepthMask(GL_TRUE); }
-
-// Disable depth write
-void rlDisableDepthMask(void) { glDepthMask(GL_FALSE); }
-
-// Enable backface culling
-void rlEnableBackfaceCulling(void) { glEnable(GL_CULL_FACE); }
-
-// Disable backface culling
-void rlDisableBackfaceCulling(void) { glDisable(GL_CULL_FACE); }
-
-// Set color mask active for screen read/draw
-void rlColorMask(bool r, bool g, bool b, bool a) { glColorMask(r, g, b, a); }
-
-// Set face culling mode
-void rlSetCullFace(int mode)
-{
-    switch (mode)
-    {
-        case RL_CULL_FACE_BACK: glCullFace(GL_BACK); break;
-        case RL_CULL_FACE_FRONT: glCullFace(GL_FRONT); break;
-        default: break;
-    }
-}
-
-// Enable scissor test
-void rlEnableScissorTest(void) { glEnable(GL_SCISSOR_TEST); }
-
-// Disable scissor test
-void rlDisableScissorTest(void) { glDisable(GL_SCISSOR_TEST); }
-
-// Scissor test
-void rlScissor(int x, int y, int width, int height) { glScissor(x, y, width, height); }
-
-// Enable wire mode
-void rlEnableWireMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
-#endif
-}
-
-// Enable point mode
-void rlEnablePointMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_POINT);
-    glEnable(GL_PROGRAM_POINT_SIZE);
-#endif
-}
-
-// Disable wire mode
-void rlDisableWireMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-#endif
-}
-
-// Set the line drawing width
-void rlSetLineWidth(float width) { glLineWidth(width); }
-
-// Get the line drawing width
-float rlGetLineWidth(void)
-{
-    float width = 0;
-    glGetFloatv(GL_LINE_WIDTH, &width);
-    return width;
-}
-
-// Enable line aliasing
-void rlEnableSmoothLines(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_11)
-    glEnable(GL_LINE_SMOOTH);
-#endif
-}
-
-// Disable line aliasing
-void rlDisableSmoothLines(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_11)
-    glDisable(GL_LINE_SMOOTH);
-#endif
-}
-
-// Enable stereo rendering
-void rlEnableStereoRender(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    RLGL.State.stereoRender = true;
-#endif
-}
-
-// Disable stereo rendering
-void rlDisableStereoRender(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    RLGL.State.stereoRender = false;
-#endif
-}
-
-// Check if stereo render is enabled
-bool rlIsStereoRenderEnabled(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    return RLGL.State.stereoRender;
-#else
-    return false;
-#endif
-}
-
-// Clear color buffer with color
-void rlClearColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a)
-{
-    // Color values clamp to 0.0f(0) and 1.0f(255)
-    float cr = (float)r/255;
-    float cg = (float)g/255;
-    float cb = (float)b/255;
-    float ca = (float)a/255;
-
-    glClearColor(cr, cg, cb, ca);
-}
-
-// Clear used screen buffers (color and depth)
-void rlClearScreenBuffers(void)
-{
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear used buffers: Color and Depth (Depth is used for 3D)
-    //glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);     // Stencil buffer not used...
-}
-
-// Check and log OpenGL error codes
-void rlCheckErrors(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    int check = 1;
-    while (check)
-    {
-        const GLenum err = glGetError();
-        switch (err)
-        {
-            case GL_NO_ERROR: check = 0; break;
-            case 0x0500: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_ENUM"); break;
-            case 0x0501: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_VALUE"); break;
-            case 0x0502: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_OPERATION"); break;
-            case 0x0503: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_STACK_OVERFLOW"); break;
-            case 0x0504: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_STACK_UNDERFLOW"); break;
-            case 0x0505: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_OUT_OF_MEMORY"); break;
-            case 0x0506: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_FRAMEBUFFER_OPERATION"); break;
-            default: TRACELOG(RL_LOG_WARNING, "GL: Error detected: Unknown error code: %x", err); break;
-        }
-    }
-#endif
-}
-
-// Set blend mode
-void rlSetBlendMode(int mode)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.currentBlendMode != mode) || ((mode == RL_BLEND_CUSTOM || mode == RL_BLEND_CUSTOM_SEPARATE) && RLGL.State.glCustomBlendModeModified))
-    {
-        rlDrawRenderBatch(RLGL.currentBatch);
-
-        switch (mode)
-        {
-            case RL_BLEND_ALPHA: glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_ADDITIVE: glBlendFunc(GL_SRC_ALPHA, GL_ONE); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_MULTIPLIED: glBlendFunc(GL_DST_COLOR, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_ADD_COLORS: glBlendFunc(GL_ONE, GL_ONE); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_SUBTRACT_COLORS: glBlendFunc(GL_ONE, GL_ONE); glBlendEquation(GL_FUNC_SUBTRACT); break;
-            case RL_BLEND_ALPHA_PREMULTIPLY: glBlendFunc(GL_ONE, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_CUSTOM:
-            {
-                // NOTE: Using GL blend src/dst factors and GL equation configured with rlSetBlendFactors()
-                glBlendFunc(RLGL.State.glBlendSrcFactor, RLGL.State.glBlendDstFactor); glBlendEquation(RLGL.State.glBlendEquation);
-
-            } break;
-            case RL_BLEND_CUSTOM_SEPARATE:
-            {
-                // NOTE: Using GL blend src/dst factors and GL equation configured with rlSetBlendFactorsSeparate()
-                glBlendFuncSeparate(RLGL.State.glBlendSrcFactorRGB, RLGL.State.glBlendDestFactorRGB, RLGL.State.glBlendSrcFactorAlpha, RLGL.State.glBlendDestFactorAlpha);
-                glBlendEquationSeparate(RLGL.State.glBlendEquationRGB, RLGL.State.glBlendEquationAlpha);
-
-            } break;
-            default: break;
-        }
-
-        RLGL.State.currentBlendMode = mode;
-        RLGL.State.glCustomBlendModeModified = false;
-    }
-#endif
-}
-
-// Set blending mode factor and equation
-void rlSetBlendFactors(int glSrcFactor, int glDstFactor, int glEquation)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.glBlendSrcFactor != glSrcFactor) ||
-        (RLGL.State.glBlendDstFactor != glDstFactor) ||
-        (RLGL.State.glBlendEquation != glEquation))
-    {
-        RLGL.State.glBlendSrcFactor = glSrcFactor;
-        RLGL.State.glBlendDstFactor = glDstFactor;
-        RLGL.State.glBlendEquation = glEquation;
-
-        RLGL.State.glCustomBlendModeModified = true;
-    }
-#endif
-}
-
-// Set blending mode factor and equation separately for RGB and alpha
-void rlSetBlendFactorsSeparate(int glSrcRGB, int glDstRGB, int glSrcAlpha, int glDstAlpha, int glEqRGB, int glEqAlpha)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.glBlendSrcFactorRGB != glSrcRGB) ||
-        (RLGL.State.glBlendDestFactorRGB != glDstRGB) ||
-        (RLGL.State.glBlendSrcFactorAlpha != glSrcAlpha) ||
-        (RLGL.State.glBlendDestFactorAlpha != glDstAlpha) ||
-        (RLGL.State.glBlendEquationRGB != glEqRGB) ||
-        (RLGL.State.glBlendEquationAlpha != glEqAlpha))
-    {
-        RLGL.State.glBlendSrcFactorRGB = glSrcRGB;
-        RLGL.State.glBlendDestFactorRGB = glDstRGB;
-        RLGL.State.glBlendSrcFactorAlpha = glSrcAlpha;
-        RLGL.State.glBlendDestFactorAlpha = glDstAlpha;
-        RLGL.State.glBlendEquationRGB = glEqRGB;
-        RLGL.State.glBlendEquationAlpha = glEqAlpha;
-
-        RLGL.State.glCustomBlendModeModified = true;
-    }
-#endif
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - OpenGL Debug
-//----------------------------------------------------------------------------------
-#if defined(RLGL_ENABLE_OPENGL_DEBUG_CONTEXT) && defined(GRAPHICS_API_OPENGL_43)
-static void GLAPIENTRY rlDebugMessageCallback(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *message, const void *userParam)
-{
-    // Ignore non-significant error/warning codes (NVidia drivers)
-    // NOTE: Here there are the details with a sample output:
-    // - #131169 - Framebuffer detailed info: The driver allocated storage for renderbuffer 2. (severity: low)
-    // - #131185 - Buffer detailed info: Buffer object 1 (bound to GL_ELEMENT_ARRAY_BUFFER_ARB, usage hint is GL_ENUM_88e4)
-    //             will use VIDEO memory as the source for buffer object operations. (severity: low)
-    // - #131218 - Program/shader state performance warning: Vertex shader in program 7 is being recompiled based on GL state. (severity: medium)
-    // - #131204 - Texture state usage warning: The texture object (0) bound to texture image unit 0 does not have
-    //             a defined base level and cannot be used for texture mapping. (severity: low)
-    if ((id == 131169) || (id == 131185) || (id == 131218) || (id == 131204)) return;
-
-    const char *msgSource = NULL;
-    switch (source)
-    {
-        case GL_DEBUG_SOURCE_API: msgSource = "API"; break;
-        case GL_DEBUG_SOURCE_WINDOW_SYSTEM: msgSource = "WINDOW_SYSTEM"; break;
-        case GL_DEBUG_SOURCE_SHADER_COMPILER: msgSource = "SHADER_COMPILER"; break;
-        case GL_DEBUG_SOURCE_THIRD_PARTY: msgSource = "THIRD_PARTY"; break;
-        case GL_DEBUG_SOURCE_APPLICATION: msgSource = "APPLICATION"; break;
-        case GL_DEBUG_SOURCE_OTHER: msgSource = "OTHER"; break;
-        default: break;
-    }
-
-    const char *msgType = NULL;
-    switch (type)
-    {
-        case GL_DEBUG_TYPE_ERROR: msgType = "ERROR"; break;
-        case GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR: msgType = "DEPRECATED_BEHAVIOR"; break;
-        case GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR: msgType = "UNDEFINED_BEHAVIOR"; break;
-        case GL_DEBUG_TYPE_PORTABILITY: msgType = "PORTABILITY"; break;
-        case GL_DEBUG_TYPE_PERFORMANCE: msgType = "PERFORMANCE"; break;
-        case GL_DEBUG_TYPE_MARKER: msgType = "MARKER"; break;
-        case GL_DEBUG_TYPE_PUSH_GROUP: msgType = "PUSH_GROUP"; break;
-        case GL_DEBUG_TYPE_POP_GROUP: msgType = "POP_GROUP"; break;
-        case GL_DEBUG_TYPE_OTHER: msgType = "OTHER"; break;
-        default: break;
-    }
-
-    const char *msgSeverity = "DEFAULT";
-    switch (severity)
-    {
-        case GL_DEBUG_SEVERITY_LOW: msgSeverity = "LOW"; break;
-        case GL_DEBUG_SEVERITY_MEDIUM: msgSeverity = "MEDIUM"; break;
-        case GL_DEBUG_SEVERITY_HIGH: msgSeverity = "HIGH"; break;
-        case GL_DEBUG_SEVERITY_NOTIFICATION: msgSeverity = "NOTIFICATION"; break;
-        default: break;
-    }
-
-    TRACELOG(LOG_WARNING, "GL: OpenGL debug message: %s", message);
-    TRACELOG(LOG_WARNING, "    > Type: %s", msgType);
-    TRACELOG(LOG_WARNING, "    > Source = %s", msgSource);
-    TRACELOG(LOG_WARNING, "    > Severity = %s", msgSeverity);
-}
-#endif
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - rlgl functionality
-//----------------------------------------------------------------------------------
-
-// Initialize rlgl: OpenGL extensions, default buffers/shaders/textures, OpenGL states
-void rlglInit(int width, int height)
-{
-    // Enable OpenGL debug context if required
-#if defined(RLGL_ENABLE_OPENGL_DEBUG_CONTEXT) && defined(GRAPHICS_API_OPENGL_43)
-    if ((glDebugMessageCallback != NULL) && (glDebugMessageControl != NULL))
-    {
-        glDebugMessageCallback(rlDebugMessageCallback, 0);
-        // glDebugMessageControl(GL_DEBUG_SOURCE_API, GL_DEBUG_TYPE_ERROR, GL_DEBUG_SEVERITY_HIGH, 0, 0, GL_TRUE);
-
-        // Debug context options:
-        //  - GL_DEBUG_OUTPUT - Faster version but not useful for breakpoints
-        //  - GL_DEBUG_OUTPUT_SYNCHRONUS - Callback is in sync with errors, so a breakpoint can be placed on the callback in order to get a stacktrace for the GL error
-        glEnable(GL_DEBUG_OUTPUT);
-        glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
-    }
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Init default white texture
-    unsigned char pixels[4] = { 255, 255, 255, 255 };   // 1 pixel RGBA (4 bytes)
-    RLGL.State.defaultTextureId = rlLoadTexture(pixels, 1, 1, RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8, 1);
-
-    if (RLGL.State.defaultTextureId != 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Default texture loaded successfully", RLGL.State.defaultTextureId);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load default texture");
-
-    // Init default Shader (customized for GL 3.3 and ES2)
-    // Loaded: RLGL.State.defaultShaderId + RLGL.State.defaultShaderLocs
-    rlLoadShaderDefault();
-    RLGL.State.currentShaderId = RLGL.State.defaultShaderId;
-    RLGL.State.currentShaderLocs = RLGL.State.defaultShaderLocs;
-
-    // Init default vertex arrays buffers
-    // Simulate that the default shader has the location RL_SHADER_LOC_VERTEX_NORMAL to bind the normal buffer for the default render batch
-    RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL] = RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL;
-    RLGL.defaultBatch = rlLoadRenderBatch(RL_DEFAULT_BATCH_BUFFERS, RL_DEFAULT_BATCH_BUFFER_ELEMENTS);
-    RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL] = -1;
-    RLGL.currentBatch = &RLGL.defaultBatch;
-
-    // Init stack matrices (emulating OpenGL 1.1)
-    for (int i = 0; i < RL_MAX_MATRIX_STACK_SIZE; i++) RLGL.State.stack[i] = rlMatrixIdentity();
-
-    // Init internal matrices
-    RLGL.State.transform = rlMatrixIdentity();
-    RLGL.State.projection = rlMatrixIdentity();
-    RLGL.State.modelview = rlMatrixIdentity();
-    RLGL.State.currentMatrix = &RLGL.State.modelview;
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-    // Initialize OpenGL default states
-    //----------------------------------------------------------
-    // Init state: Depth test
-    glDepthFunc(GL_LEQUAL);                                 // Type of depth testing to apply
-    glDisable(GL_DEPTH_TEST);                               // Disable depth testing for 2D (only used for 3D)
-
-    // Init state: Blending mode
-    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);      // Color blending function (how colors are mixed)
-    glEnable(GL_BLEND);                                     // Enable color blending (required to work with transparencies)
-
-    // Init state: Culling
-    // NOTE: All shapes/models triangles are drawn CCW
-    glCullFace(GL_BACK);                                    // Cull the back face (default)
-    glFrontFace(GL_CCW);                                    // Front face are defined counter clockwise (default)
-    glEnable(GL_CULL_FACE);                                 // Enable backface culling
-
-    // Init state: Cubemap seamless
-#if defined(GRAPHICS_API_OPENGL_33)
-    glEnable(GL_TEXTURE_CUBE_MAP_SEAMLESS);                 // Seamless cubemaps (not supported on OpenGL ES 2.0)
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    // Init state: Color hints (deprecated in OpenGL 3.0+)
-    glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);      // Improve quality of color and texture coordinate interpolation
-    glShadeModel(GL_SMOOTH);                                // Smooth shading between vertex (vertex colors interpolation)
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Store screen size into global variables
-    RLGL.State.framebufferWidth = width;
-    RLGL.State.framebufferHeight = height;
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Default OpenGL state initialized successfully");
-    //----------------------------------------------------------
-#endif
-
-    // Init state: Color/Depth buffers clear
-    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);                   // Set clear color (black)
-    glClearDepth(1.0f);                                     // Set clear depth value (default)
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear color and depth buffers (depth buffer required for 3D)
-}
-
-// Vertex Buffer Object deinitialization (memory free)
-void rlglClose(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlUnloadRenderBatch(RLGL.defaultBatch);
-
-    rlUnloadShaderDefault();          // Unload default shader
-
-    glDeleteTextures(1, &RLGL.State.defaultTextureId); // Unload default texture
-    TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Default texture unloaded successfully", RLGL.State.defaultTextureId);
-#endif
-}
-
-// Load OpenGL extensions
-// NOTE: External loader function must be provided
-void rlLoadExtensions(void *loader)
-{
-#if defined(GRAPHICS_API_OPENGL_33)     // Also defined for GRAPHICS_API_OPENGL_21
-    // NOTE: glad is generated and contains only required OpenGL 3.3 Core extensions (and lower versions)
-    if (gladLoadGL((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL extensions");
-    else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL extensions loaded successfully");
-
-    // Get number of supported extensions
-    GLint numExt = 0;
-    glGetIntegerv(GL_NUM_EXTENSIONS, &numExt);
-    TRACELOG(RL_LOG_INFO, "GL: Supported extensions count: %i", numExt);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    // Get supported extensions list
-    // WARNING: glGetStringi() not available on OpenGL 2.1
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL extensions:");
-    for (int i = 0; i < numExt; i++) TRACELOG(RL_LOG_INFO, "    %s", glGetStringi(GL_EXTENSIONS, i));
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_21)
-    // Register supported extensions flags
-    // Optional OpenGL 2.1 extensions
-    RLGL.ExtSupported.vao = GLAD_GL_ARB_vertex_array_object;
-    RLGL.ExtSupported.instancing = (GLAD_GL_EXT_draw_instanced && GLAD_GL_ARB_instanced_arrays);
-    RLGL.ExtSupported.texNPOT = GLAD_GL_ARB_texture_non_power_of_two;
-    RLGL.ExtSupported.texFloat32 = GLAD_GL_ARB_texture_float;
-    RLGL.ExtSupported.texFloat16 = GLAD_GL_ARB_texture_float;
-    RLGL.ExtSupported.texDepth = GLAD_GL_ARB_depth_texture;
-    RLGL.ExtSupported.maxDepthBits = 32;
-    RLGL.ExtSupported.texAnisoFilter = GLAD_GL_EXT_texture_filter_anisotropic;
-    RLGL.ExtSupported.texMirrorClamp = GLAD_GL_EXT_texture_mirror_clamp;
-#else
-    // Register supported extensions flags
-    // OpenGL 3.3 extensions supported by default (core)
-    RLGL.ExtSupported.vao = true;
-    RLGL.ExtSupported.instancing = true;
-    RLGL.ExtSupported.texNPOT = true;
-    RLGL.ExtSupported.texFloat32 = true;
-    RLGL.ExtSupported.texFloat16 = true;
-    RLGL.ExtSupported.texDepth = true;
-    RLGL.ExtSupported.maxDepthBits = 32;
-    RLGL.ExtSupported.texAnisoFilter = true;
-    RLGL.ExtSupported.texMirrorClamp = true;
-#endif
-
-    // Optional OpenGL 3.3 extensions
-    RLGL.ExtSupported.texCompASTC = GLAD_GL_KHR_texture_compression_astc_hdr && GLAD_GL_KHR_texture_compression_astc_ldr;
-    RLGL.ExtSupported.texCompDXT = GLAD_GL_EXT_texture_compression_s3tc;  // Texture compression: DXT
-    RLGL.ExtSupported.texCompETC2 = GLAD_GL_ARB_ES3_compatibility;        // Texture compression: ETC2/EAC
-    #if defined(GRAPHICS_API_OPENGL_43)
-    RLGL.ExtSupported.computeShader = GLAD_GL_ARB_compute_shader;
-    RLGL.ExtSupported.ssbo = GLAD_GL_ARB_shader_storage_buffer_object;
-    #endif
-
-#endif  // GRAPHICS_API_OPENGL_33
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    // Register supported extensions flags
-    // OpenGL ES 3.0 extensions supported by default (or it should be)
-    RLGL.ExtSupported.vao = true;
-    RLGL.ExtSupported.instancing = true;
-    RLGL.ExtSupported.texNPOT = true;
-    RLGL.ExtSupported.texFloat32 = true;
-    RLGL.ExtSupported.texFloat16 = true;
-    RLGL.ExtSupported.texDepth = true;
-    RLGL.ExtSupported.texDepthWebGL = true;
-    RLGL.ExtSupported.maxDepthBits = 24;
-    RLGL.ExtSupported.texAnisoFilter = true;
-    RLGL.ExtSupported.texMirrorClamp = true;
-    // TODO: Check for additional OpenGL ES 3.0 supported extensions:
-    //RLGL.ExtSupported.texCompDXT = true;
-    //RLGL.ExtSupported.texCompETC1 = true;
-    //RLGL.ExtSupported.texCompETC2 = true;
-    //RLGL.ExtSupported.texCompPVRT = true;
-    //RLGL.ExtSupported.texCompASTC = true;
-    //RLGL.ExtSupported.maxAnisotropyLevel = true;
-    //RLGL.ExtSupported.computeShader = true;
-    //RLGL.ExtSupported.ssbo = true;
-
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-
-    #if defined(PLATFORM_DESKTOP_GLFW) || defined(PLATFORM_DESKTOP_SDL)
-    // TODO: Support GLAD loader for OpenGL ES 3.0
-    if (gladLoadGLES2((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL ES2.0 functions");
-    else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL ES 2.0 loaded successfully");
-    #endif
-
-    // Get supported extensions list
-    GLint numExt = 0;
-    const char **extList = RL_MALLOC(512*sizeof(const char *)); // Allocate 512 strings pointers (2 KB)
-    const char *extensions = (const char *)glGetString(GL_EXTENSIONS);  // One big const string
-
-    // NOTE: We have to duplicate string because glGetString() returns a const string
-    int size = strlen(extensions) + 1;      // Get extensions string size in bytes
-    char *extensionsDup = (char *)RL_CALLOC(size, sizeof(char));
-    strcpy(extensionsDup, extensions);
-    extList[numExt] = extensionsDup;
-
-    for (int i = 0; i < size; i++)
-    {
-        if (extensionsDup[i] == ' ')
-        {
-            extensionsDup[i] = '\0';
-            numExt++;
-            extList[numExt] = &extensionsDup[i + 1];
-        }
-    }
-
-    TRACELOG(RL_LOG_INFO, "GL: Supported extensions count: %i", numExt);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL extensions:");
-    for (int i = 0; i < numExt; i++) TRACELOG(RL_LOG_INFO, "    %s", extList[i]);
-#endif
-
-    // Check required extensions
-    for (int i = 0; i < numExt; i++)
-    {
-        // Check VAO support
-        // NOTE: Only check on OpenGL ES, OpenGL 3.3 has VAO support as core feature
-        if (strcmp(extList[i], (const char *)"GL_OES_vertex_array_object") == 0)
-        {
-            // The extension is supported by our hardware and driver, try to get related functions pointers
-            // NOTE: emscripten does not support VAOs natively, it uses emulation and it reduces overall performance...
-            glGenVertexArrays = (PFNGLGENVERTEXARRAYSOESPROC)((rlglLoadProc)loader)("glGenVertexArraysOES");
-            glBindVertexArray = (PFNGLBINDVERTEXARRAYOESPROC)((rlglLoadProc)loader)("glBindVertexArrayOES");
-            glDeleteVertexArrays = (PFNGLDELETEVERTEXARRAYSOESPROC)((rlglLoadProc)loader)("glDeleteVertexArraysOES");
-            //glIsVertexArray = (PFNGLISVERTEXARRAYOESPROC)loader("glIsVertexArrayOES");     // NOTE: Fails in WebGL, omitted
-
-            if ((glGenVertexArrays != NULL) && (glBindVertexArray != NULL) && (glDeleteVertexArrays != NULL)) RLGL.ExtSupported.vao = true;
-        }
-
-        // Check instanced rendering support
-        if (strstr(extList[i], (const char*)"instanced_arrays") != NULL)   // Broad check for instanced_arrays
-        {
-            // Specific check
-            if (strcmp(extList[i], (const char *)"GL_ANGLE_instanced_arrays") == 0)      // ANGLE
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedANGLE");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedANGLE");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorANGLE");
-            }
-            else if (strcmp(extList[i], (const char *)"GL_EXT_instanced_arrays") == 0)   // EXT
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorEXT");
-            }
-            else if (strcmp(extList[i], (const char *)"GL_NV_instanced_arrays") == 0)    // NVIDIA GLES
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedNV");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedNV");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorNV");
-            }
-
-            // The feature will only be marked as supported if the elements from GL_XXX_instanced_arrays are present
-            if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
-        }
-        else if (strstr(extList[i], (const char *)"draw_instanced") != NULL)
-        {
-            // GL_ANGLE_draw_instanced doesn't exist
-            if (strcmp(extList[i], (const char *)"GL_EXT_draw_instanced") == 0)
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
-            }
-            else if (strcmp(extList[i], (const char*)"GL_NV_draw_instanced") == 0)
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedNV");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedNV");
-            }
-
-            // But the functions will at least be loaded if only GL_XX_EXT_draw_instanced exist
-            if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
-        }
-
-        // Check NPOT textures support
-        // NOTE: Only check on OpenGL ES, OpenGL 3.3 has NPOT textures full support as core feature
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_npot") == 0) RLGL.ExtSupported.texNPOT = true;
-
-        // Check texture float support
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_float") == 0) RLGL.ExtSupported.texFloat32 = true;
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_half_float") == 0) RLGL.ExtSupported.texFloat16 = true;
-
-        // Check depth texture support
-        if (strcmp(extList[i], (const char *)"GL_OES_depth_texture") == 0) RLGL.ExtSupported.texDepth = true;
-        if (strcmp(extList[i], (const char *)"GL_WEBGL_depth_texture") == 0) RLGL.ExtSupported.texDepthWebGL = true;    // WebGL requires unsized internal format
-        if (RLGL.ExtSupported.texDepthWebGL) RLGL.ExtSupported.texDepth = true;
-
-        if (strcmp(extList[i], (const char *)"GL_OES_depth24") == 0) RLGL.ExtSupported.maxDepthBits = 24;   // Not available on WebGL
-        if (strcmp(extList[i], (const char *)"GL_OES_depth32") == 0) RLGL.ExtSupported.maxDepthBits = 32;   // Not available on WebGL
-
-        // Check texture compression support: DXT
-        if ((strcmp(extList[i], (const char *)"GL_EXT_texture_compression_s3tc") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBGL_compressed_texture_s3tc") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBKIT_WEBGL_compressed_texture_s3tc") == 0)) RLGL.ExtSupported.texCompDXT = true;
-
-        // Check texture compression support: ETC1
-        if ((strcmp(extList[i], (const char *)"GL_OES_compressed_ETC1_RGB8_texture") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBGL_compressed_texture_etc1") == 0)) RLGL.ExtSupported.texCompETC1 = true;
-
-        // Check texture compression support: ETC2/EAC
-        if (strcmp(extList[i], (const char *)"GL_ARB_ES3_compatibility") == 0) RLGL.ExtSupported.texCompETC2 = true;
-
-        // Check texture compression support: PVR
-        if (strcmp(extList[i], (const char *)"GL_IMG_texture_compression_pvrtc") == 0) RLGL.ExtSupported.texCompPVRT = true;
-
-        // Check texture compression support: ASTC
-        if (strcmp(extList[i], (const char *)"GL_KHR_texture_compression_astc_hdr") == 0) RLGL.ExtSupported.texCompASTC = true;
-
-        // Check anisotropic texture filter support
-        if (strcmp(extList[i], (const char *)"GL_EXT_texture_filter_anisotropic") == 0) RLGL.ExtSupported.texAnisoFilter = true;
-
-        // Check clamp mirror wrap mode support
-        if (strcmp(extList[i], (const char *)"GL_EXT_texture_mirror_clamp") == 0) RLGL.ExtSupported.texMirrorClamp = true;
-    }
-
-    // Free extensions pointers
-    RL_FREE(extList);
-    RL_FREE(extensionsDup);    // Duplicated string must be deallocated
-#endif  // GRAPHICS_API_OPENGL_ES2
-
-    // Check OpenGL information and capabilities
-    //------------------------------------------------------------------------------
-    // Show current OpenGL and GLSL version
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL device information:");
-    TRACELOG(RL_LOG_INFO, "    > Vendor:   %s", glGetString(GL_VENDOR));
-    TRACELOG(RL_LOG_INFO, "    > Renderer: %s", glGetString(GL_RENDERER));
-    TRACELOG(RL_LOG_INFO, "    > Version:  %s", glGetString(GL_VERSION));
-    TRACELOG(RL_LOG_INFO, "    > GLSL:     %s", glGetString(GL_SHADING_LANGUAGE_VERSION));
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Anisotropy levels capability is an extension
-    #ifndef GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT
-        #define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF
-    #endif
-    glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &RLGL.ExtSupported.maxAnisotropyLevel);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    // Show some OpenGL GPU capabilities
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL capabilities:");
-    GLint capability = 0;
-    glGetIntegerv(GL_MAX_TEXTURE_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_CUBE_MAP_TEXTURE_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_CUBE_MAP_TEXTURE_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_TEXTURE_IMAGE_UNITS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_IMAGE_UNITS: %i", capability);
-    glGetIntegerv(GL_MAX_VERTEX_ATTRIBS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_VERTEX_ATTRIBS: %i", capability);
-    #if !defined(GRAPHICS_API_OPENGL_ES2)
-    glGetIntegerv(GL_MAX_UNIFORM_BLOCK_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_UNIFORM_BLOCK_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_DRAW_BUFFERS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_DRAW_BUFFERS: %i", capability);
-    if (RLGL.ExtSupported.texAnisoFilter) TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_MAX_ANISOTROPY: %.0f", RLGL.ExtSupported.maxAnisotropyLevel);
-    #endif
-    glGetIntegerv(GL_NUM_COMPRESSED_TEXTURE_FORMATS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_NUM_COMPRESSED_TEXTURE_FORMATS: %i", capability);
-    GLint *compFormats = (GLint *)RL_CALLOC(capability, sizeof(GLint));
-    glGetIntegerv(GL_COMPRESSED_TEXTURE_FORMATS, compFormats);
-    for (int i = 0; i < capability; i++) TRACELOG(RL_LOG_INFO, "        %s", rlGetCompressedFormatName(compFormats[i]));
-    RL_FREE(compFormats);
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    glGetIntegerv(GL_MAX_VERTEX_ATTRIB_BINDINGS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_VERTEX_ATTRIB_BINDINGS: %i", capability);
-    glGetIntegerv(GL_MAX_UNIFORM_LOCATIONS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_UNIFORM_LOCATIONS: %i", capability);
-#endif  // GRAPHICS_API_OPENGL_43
-#else   // RLGL_SHOW_GL_DETAILS_INFO
-
-    // Show some basic info about GL supported features
-    if (RLGL.ExtSupported.vao) TRACELOG(RL_LOG_INFO, "GL: VAO extension detected, VAO functions loaded successfully");
-    else TRACELOG(RL_LOG_WARNING, "GL: VAO extension not found, VAO not supported");
-    if (RLGL.ExtSupported.texNPOT) TRACELOG(RL_LOG_INFO, "GL: NPOT textures extension detected, full NPOT textures supported");
-    else TRACELOG(RL_LOG_WARNING, "GL: NPOT textures extension not found, limited NPOT support (no-mipmaps, no-repeat)");
-    if (RLGL.ExtSupported.texCompDXT) TRACELOG(RL_LOG_INFO, "GL: DXT compressed textures supported");
-    if (RLGL.ExtSupported.texCompETC1) TRACELOG(RL_LOG_INFO, "GL: ETC1 compressed textures supported");
-    if (RLGL.ExtSupported.texCompETC2) TRACELOG(RL_LOG_INFO, "GL: ETC2/EAC compressed textures supported");
-    if (RLGL.ExtSupported.texCompPVRT) TRACELOG(RL_LOG_INFO, "GL: PVRT compressed textures supported");
-    if (RLGL.ExtSupported.texCompASTC) TRACELOG(RL_LOG_INFO, "GL: ASTC compressed textures supported");
-    if (RLGL.ExtSupported.computeShader) TRACELOG(RL_LOG_INFO, "GL: Compute shaders supported");
-    if (RLGL.ExtSupported.ssbo) TRACELOG(RL_LOG_INFO, "GL: Shader storage buffer objects supported");
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-}
-
-// Get current OpenGL version
-int rlGetVersion(void)
-{
-    int glVersion = 0;
-#if defined(GRAPHICS_API_OPENGL_11)
-    glVersion = RL_OPENGL_11;
-#endif
-#if defined(GRAPHICS_API_OPENGL_21)
-    glVersion = RL_OPENGL_21;
-#elif defined(GRAPHICS_API_OPENGL_43)
-    glVersion = RL_OPENGL_43;
-#elif defined(GRAPHICS_API_OPENGL_33)
-    glVersion = RL_OPENGL_33;
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    glVersion = RL_OPENGL_ES_30;
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    glVersion = RL_OPENGL_ES_20;
-#endif
-
-    return glVersion;
-}
-
-// Set current framebuffer width
-void rlSetFramebufferWidth(int width)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.framebufferWidth = width;
-#endif
-}
-
-// Set current framebuffer height
-void rlSetFramebufferHeight(int height)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.framebufferHeight = height;
-#endif
-}
-
-// Get default framebuffer width
-int rlGetFramebufferWidth(void)
-{
-    int width = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    width = RLGL.State.framebufferWidth;
-#endif
-    return width;
-}
-
-// Get default framebuffer height
-int rlGetFramebufferHeight(void)
-{
-    int height = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    height = RLGL.State.framebufferHeight;
-#endif
-    return height;
-}
-
-// Get default internal texture (white texture)
-// NOTE: Default texture is a 1x1 pixel UNCOMPRESSED_R8G8B8A8
-unsigned int rlGetTextureIdDefault(void)
-{
-    unsigned int id = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    id = RLGL.State.defaultTextureId;
-#endif
-    return id;
-}
-
-// Get default shader id
-unsigned int rlGetShaderIdDefault(void)
-{
-    unsigned int id = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    id = RLGL.State.defaultShaderId;
-#endif
-    return id;
-}
-
-// Get default shader locs
-int *rlGetShaderLocsDefault(void)
-{
-    int *locs = NULL;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    locs = RLGL.State.defaultShaderLocs;
-#endif
-    return locs;
-}
-
-// Render batch management
-//------------------------------------------------------------------------------------------------
-// Load render batch
-rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements)
-{
-    rlRenderBatch batch = { 0 };
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Initialize CPU (RAM) vertex buffers (position, texcoord, color data and indexes)
-    //--------------------------------------------------------------------------------------------
-    batch.vertexBuffer = (rlVertexBuffer *)RL_MALLOC(numBuffers*sizeof(rlVertexBuffer));
-
-    for (int i = 0; i < numBuffers; i++)
-    {
-        batch.vertexBuffer[i].elementCount = bufferElements;
-
-        batch.vertexBuffer[i].vertices = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
-        batch.vertexBuffer[i].texcoords = (float *)RL_MALLOC(bufferElements*2*4*sizeof(float));       // 2 float by texcoord, 4 texcoord by quad
-        batch.vertexBuffer[i].normals = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
-        batch.vertexBuffer[i].colors = (unsigned char *)RL_MALLOC(bufferElements*4*4*sizeof(unsigned char));   // 4 float by color, 4 colors by quad
-#if defined(GRAPHICS_API_OPENGL_33)
-        batch.vertexBuffer[i].indices = (unsigned int *)RL_MALLOC(bufferElements*6*sizeof(unsigned int));      // 6 int by quad (indices)
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-        batch.vertexBuffer[i].indices = (unsigned short *)RL_MALLOC(bufferElements*6*sizeof(unsigned short));  // 6 int by quad (indices)
-#endif
-
-        for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].vertices[j] = 0.0f;
-        for (int j = 0; j < (2*4*bufferElements); j++) batch.vertexBuffer[i].texcoords[j] = 0.0f;
-        for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].normals[j] = 0.0f;
-        for (int j = 0; j < (4*4*bufferElements); j++) batch.vertexBuffer[i].colors[j] = 0;
-
-        int k = 0;
-
-        // Indices can be initialized right now
-        for (int j = 0; j < (6*bufferElements); j += 6)
-        {
-            batch.vertexBuffer[i].indices[j] = 4*k;
-            batch.vertexBuffer[i].indices[j + 1] = 4*k + 1;
-            batch.vertexBuffer[i].indices[j + 2] = 4*k + 2;
-            batch.vertexBuffer[i].indices[j + 3] = 4*k;
-            batch.vertexBuffer[i].indices[j + 4] = 4*k + 2;
-            batch.vertexBuffer[i].indices[j + 5] = 4*k + 3;
-
-            k++;
-        }
-
-        RLGL.State.vertexCounter = 0;
-    }
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Render batch vertex buffers loaded successfully in RAM (CPU)");
-    //--------------------------------------------------------------------------------------------
-
-    // Upload to GPU (VRAM) vertex data and initialize VAOs/VBOs
-    //--------------------------------------------------------------------------------------------
-    for (int i = 0; i < numBuffers; i++)
-    {
-        if (RLGL.ExtSupported.vao)
-        {
-            // Initialize Quads VAO
-            glGenVertexArrays(1, &batch.vertexBuffer[i].vaoId);
-            glBindVertexArray(batch.vertexBuffer[i].vaoId);
-        }
-
-        // Quads - Vertex buffers binding and attributes enable
-        // Vertex position buffer (shader-location = 0)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[0]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[0]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*3*4*sizeof(float), batch.vertexBuffer[i].vertices, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION], 3, GL_FLOAT, 0, 0, 0);
-
-        // Vertex texcoord buffer (shader-location = 1)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[1]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[1]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*2*4*sizeof(float), batch.vertexBuffer[i].texcoords, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
-
-        // Vertex normal buffer (shader-location = 2)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[2]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[2]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*3*4*sizeof(float), batch.vertexBuffer[i].normals, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL], 3, GL_FLOAT, 0, 0, 0);
-
-        // Vertex color buffer (shader-location = 3)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[3]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[3]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*4*4*sizeof(unsigned char), batch.vertexBuffer[i].colors, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
-
-        // Fill index buffer
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[4]);
-        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[4]);
-#if defined(GRAPHICS_API_OPENGL_33)
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(int), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(short), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
-#endif
-    }
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Render batch vertex buffers loaded successfully in VRAM (GPU)");
-
-    // Unbind the current VAO
-    if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-    //--------------------------------------------------------------------------------------------
-
-    // Init draw calls tracking system
-    //--------------------------------------------------------------------------------------------
-    batch.draws = (rlDrawCall *)RL_MALLOC(RL_DEFAULT_BATCH_DRAWCALLS*sizeof(rlDrawCall));
-
-    for (int i = 0; i < RL_DEFAULT_BATCH_DRAWCALLS; i++)
-    {
-        batch.draws[i].mode = RL_QUADS;
-        batch.draws[i].vertexCount = 0;
-        batch.draws[i].vertexAlignment = 0;
-        //batch.draws[i].vaoId = 0;
-        //batch.draws[i].shaderId = 0;
-        batch.draws[i].textureId = RLGL.State.defaultTextureId;
-        //batch.draws[i].RLGL.State.projection = rlMatrixIdentity();
-        //batch.draws[i].RLGL.State.modelview = rlMatrixIdentity();
-    }
-
-    batch.bufferCount = numBuffers;    // Record buffer count
-    batch.drawCounter = 1;             // Reset draws counter
-    batch.currentDepth = -1.0f;         // Reset depth value
-    //--------------------------------------------------------------------------------------------
-#endif
-
-    return batch;
-}
-
-// Unload default internal buffers vertex data from CPU and GPU
-void rlUnloadRenderBatch(rlRenderBatch batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Unbind everything
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-
-    // Unload all vertex buffers data
-    for (int i = 0; i < batch.bufferCount; i++)
-    {
-        // Unbind VAO attribs data
-        if (RLGL.ExtSupported.vao)
-        {
-            glBindVertexArray(batch.vertexBuffer[i].vaoId);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR);
-            glBindVertexArray(0);
-        }
-
-        // Delete VBOs from GPU (VRAM)
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[0]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[1]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[2]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[3]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[4]);
-
-        // Delete VAOs from GPU (VRAM)
-        if (RLGL.ExtSupported.vao) glDeleteVertexArrays(1, &batch.vertexBuffer[i].vaoId);
-
-        // Free vertex arrays memory from CPU (RAM)
-        RL_FREE(batch.vertexBuffer[i].vertices);
-        RL_FREE(batch.vertexBuffer[i].texcoords);
-        RL_FREE(batch.vertexBuffer[i].normals);
-        RL_FREE(batch.vertexBuffer[i].colors);
-        RL_FREE(batch.vertexBuffer[i].indices);
-    }
-
-    // Unload arrays
-    RL_FREE(batch.vertexBuffer);
-    RL_FREE(batch.draws);
-#endif
-}
-
-// Draw render batch
-// NOTE: We require a pointer to reset batch and increase current buffer (multi-buffer)
-void rlDrawRenderBatch(rlRenderBatch *batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Update batch vertex buffers
-    //------------------------------------------------------------------------------------------------------------
-    // NOTE: If there is not vertex data, buffers doesn't need to be updated (vertexCount > 0)
-    // TODO: If no data changed on the CPU arrays --> No need to re-update GPU arrays (use a change detector flag?)
-    if (RLGL.State.vertexCounter > 0)
-    {
-        // Activate elements VAO
-        if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
-
-        // Vertex positions buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[0]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*3*sizeof(float), batch->vertexBuffer[batch->currentBuffer].vertices);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*3*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].vertices, GL_DYNAMIC_DRAW);  // Update all buffer
-
-        // Texture coordinates buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[1]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*2*sizeof(float), batch->vertexBuffer[batch->currentBuffer].texcoords);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*2*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].texcoords, GL_DYNAMIC_DRAW); // Update all buffer
-
-        // Normals buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*3*sizeof(float), batch->vertexBuffer[batch->currentBuffer].normals);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*3*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].normals, GL_DYNAMIC_DRAW); // Update all buffer
-
-        // Colors buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*4*sizeof(unsigned char), batch->vertexBuffer[batch->currentBuffer].colors);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*4*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].colors, GL_DYNAMIC_DRAW);    // Update all buffer
-
-        // NOTE: glMapBuffer() causes sync issue
-        // If GPU is working with this buffer, glMapBuffer() will wait(stall) until GPU to finish its job
-        // To avoid waiting (idle), you can call first glBufferData() with NULL pointer before glMapBuffer()
-        // If you do that, the previous data in PBO will be discarded and glMapBuffer() returns a new
-        // allocated pointer immediately even if GPU is still working with the previous data
-
-        // Another option: map the buffer object into client's memory
-        // Probably this code could be moved somewhere else...
-        // batch->vertexBuffer[batch->currentBuffer].vertices = (float *)glMapBuffer(GL_ARRAY_BUFFER, GL_READ_WRITE);
-        // if (batch->vertexBuffer[batch->currentBuffer].vertices)
-        // {
-            // Update vertex data
-        // }
-        // glUnmapBuffer(GL_ARRAY_BUFFER);
-
-        // Unbind the current VAO
-        if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-    }
-    //------------------------------------------------------------------------------------------------------------
-
-    // Draw batch vertex buffers (considering VR stereo if required)
-    //------------------------------------------------------------------------------------------------------------
-    Matrix matProjection = RLGL.State.projection;
-    Matrix matModelView = RLGL.State.modelview;
-
-    int eyeCount = 1;
-    if (RLGL.State.stereoRender) eyeCount = 2;
-
-    for (int eye = 0; eye < eyeCount; eye++)
-    {
-        if (eyeCount == 2)
-        {
-            // Setup current eye viewport (half screen width)
-            rlViewport(eye*RLGL.State.framebufferWidth/2, 0, RLGL.State.framebufferWidth/2, RLGL.State.framebufferHeight);
-
-            // Set current eye view offset to modelview matrix
-            rlSetMatrixModelview(rlMatrixMultiply(matModelView, RLGL.State.viewOffsetStereo[eye]));
-            // Set current eye projection matrix
-            rlSetMatrixProjection(RLGL.State.projectionStereo[eye]);
-        }
-
-        // Draw buffers
-        if (RLGL.State.vertexCounter > 0)
-        {
-            // Set current shader and upload current MVP matrix
-            glUseProgram(RLGL.State.currentShaderId);
-
-            // Create modelview-projection matrix and upload to shader
-            Matrix matMVP = rlMatrixMultiply(RLGL.State.modelview, RLGL.State.projection);
-            glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MVP], 1, false, rlMatrixToFloat(matMVP));
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_PROJECTION] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_PROJECTION], 1, false, rlMatrixToFloat(RLGL.State.projection));
-            }
-
-            // WARNING: For the following setup of the view, model, and normal matrices, it is expected that
-            // transformations and rendering occur between rlPushMatrix() and rlPopMatrix()
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_VIEW] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_VIEW], 1, false, rlMatrixToFloat(RLGL.State.modelview));
-            }
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MODEL] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MODEL], 1, false, rlMatrixToFloat(RLGL.State.transform));
-            }
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_NORMAL] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_NORMAL], 1, false, rlMatrixToFloat(rlMatrixTranspose(rlMatrixInvert(RLGL.State.transform))));
-            }
-
-            if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
-            else
-            {
-                // Bind vertex attrib: position (shader-location = 0)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[0]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION], 3, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION]);
-
-                // Bind vertex attrib: texcoord (shader-location = 1)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[1]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
-
-                // Bind vertex attrib: normal (shader-location = 2)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL], 3, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL]);
-
-                // Bind vertex attrib: color (shader-location = 3)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
-
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[4]);
-            }
-
-            // Setup some default shader values
-            glUniform4f(RLGL.State.currentShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE], 1.0f, 1.0f, 1.0f, 1.0f);
-            glUniform1i(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE], 0);  // Active default sampler2D: texture0
-
-            // Activate additional sampler textures
-            // Those additional textures will be common for all draw calls of the batch
-            for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-            {
-                if (RLGL.State.activeTextureId[i] > 0)
-                {
-                    glActiveTexture(GL_TEXTURE0 + 1 + i);
-                    glBindTexture(GL_TEXTURE_2D, RLGL.State.activeTextureId[i]);
-                }
-            }
-
-            // Activate default sampler2D texture0 (one texture is always active for default batch shader)
-            // NOTE: Batch system accumulates calls by texture0 changes, additional textures are enabled for all the draw calls
-            glActiveTexture(GL_TEXTURE0);
-
-            for (int i = 0, vertexOffset = 0; i < batch->drawCounter; i++)
-            {
-                // Bind current draw call texture, activated as GL_TEXTURE0 and Bound to sampler2D texture0 by default
-                glBindTexture(GL_TEXTURE_2D, batch->draws[i].textureId);
-
-                if ((batch->draws[i].mode == RL_LINES) || (batch->draws[i].mode == RL_TRIANGLES)) glDrawArrays(batch->draws[i].mode, vertexOffset, batch->draws[i].vertexCount);
-                else
-                {
-    #if defined(GRAPHICS_API_OPENGL_33)
-                    // We need to define the number of indices to be processed: elementCount*6
-                    // NOTE: The final parameter tells the GPU the offset in bytes from the
-                    // start of the index buffer to the location of the first index to process
-                    glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_INT, (GLvoid *)(vertexOffset/4*6*sizeof(GLuint)));
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-                    glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_SHORT, (GLvoid *)(vertexOffset/4*6*sizeof(GLushort)));
-    #endif
-                }
-
-                vertexOffset += (batch->draws[i].vertexCount + batch->draws[i].vertexAlignment);
-            }
-
-            if (!RLGL.ExtSupported.vao)
-            {
-                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-            }
-
-            glBindTexture(GL_TEXTURE_2D, 0);    // Unbind textures
-        }
-
-        if (RLGL.ExtSupported.vao) glBindVertexArray(0); // Unbind VAO
-
-        glUseProgram(0);    // Unbind shader program
-    }
-
-    // Restore viewport to default measures
-    if (eyeCount == 2) rlViewport(0, 0, RLGL.State.framebufferWidth, RLGL.State.framebufferHeight);
-    //------------------------------------------------------------------------------------------------------------
-
-    // Reset batch buffers
-    //------------------------------------------------------------------------------------------------------------
-    // Reset vertex counter for next frame
-    RLGL.State.vertexCounter = 0;
-
-    // Reset depth for next draw
-    batch->currentDepth = -1.0f;
-
-    // Restore projection/modelview matrices
-    RLGL.State.projection = matProjection;
-    RLGL.State.modelview = matModelView;
-
-    // Reset RLGL.currentBatch->draws array
-    for (int i = 0; i < RL_DEFAULT_BATCH_DRAWCALLS; i++)
-    {
-        batch->draws[i].mode = RL_QUADS;
-        batch->draws[i].vertexCount = 0;
-        batch->draws[i].textureId = RLGL.State.defaultTextureId;
-    }
-
-    // Reset active texture units for next batch
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++) RLGL.State.activeTextureId[i] = 0;
-
-    // Reset draws counter to one draw for the batch
-    batch->drawCounter = 1;
-    //------------------------------------------------------------------------------------------------------------
-
-    // Change to next buffer in the list (in case of multi-buffering)
-    batch->currentBuffer++;
-    if (batch->currentBuffer >= batch->bufferCount) batch->currentBuffer = 0;
-#endif
-}
-
-// Set the active render batch for rlgl
-void rlSetRenderBatchActive(rlRenderBatch *batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlDrawRenderBatch(RLGL.currentBatch);
-
-    if (batch != NULL) RLGL.currentBatch = batch;
-    else RLGL.currentBatch = &RLGL.defaultBatch;
-#endif
-}
-
-// Update and draw internal render batch
-void rlDrawRenderBatchActive(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlDrawRenderBatch(RLGL.currentBatch);    // NOTE: Stereo rendering is checked inside
-#endif
-}
-
-// Check internal buffer overflow for a given number of vertex
-// and force a rlRenderBatch draw call if required
-bool rlCheckRenderBatchLimit(int vCount)
-{
-    bool overflow = false;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.vertexCounter + vCount) >=
-        (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4))
-    {
-        overflow = true;
-
-        // Store current primitive drawing mode and texture id
-        int currentMode = RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode;
-        int currentTexture = RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId;
-
-        rlDrawRenderBatch(RLGL.currentBatch);    // NOTE: Stereo rendering is checked inside
-
-        // Restore state of last batch so we can continue adding vertices
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode = currentMode;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = currentTexture;
-    }
-#endif
-
-    return overflow;
-}
-
-// Textures data management
-//-----------------------------------------------------------------------------------------
-// Convert image data to OpenGL texture (returns OpenGL valid Id)
-unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount)
-{
-    unsigned int id = 0;
-
-    glBindTexture(GL_TEXTURE_2D, 0);    // Free any old binding
-
-    // Check texture format support by OpenGL 1.1 (compressed textures not supported)
-#if defined(GRAPHICS_API_OPENGL_11)
-    if (format >= RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: OpenGL 1.1 does not support GPU compressed texture formats");
-        return id;
-    }
-#else
-    if ((!RLGL.ExtSupported.texCompDXT) && ((format == RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA) ||
-        (format == RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA) || (format == RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: DXT compressed texture format not supported");
-        return id;
-    }
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((!RLGL.ExtSupported.texCompETC1) && (format == RL_PIXELFORMAT_COMPRESSED_ETC1_RGB))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ETC1 compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompETC2) && ((format == RL_PIXELFORMAT_COMPRESSED_ETC2_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ETC2 compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompPVRT) && ((format == RL_PIXELFORMAT_COMPRESSED_PVRT_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: PVRT compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompASTC) && ((format == RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA) || (format == RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ASTC compressed texture format not supported");
-        return id;
-    }
-#endif
-#endif  // GRAPHICS_API_OPENGL_11
-
-    glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-
-    glGenTextures(1, &id);              // Generate texture id
-
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    int mipWidth = width;
-    int mipHeight = height;
-    int mipOffset = 0;          // Mipmap data offset, only used for tracelog
-
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned char *dataPtr = NULL;
-    if (data != NULL) dataPtr = (unsigned char *)data;
-
-    // Load the different mipmap levels
-    for (int i = 0; i < mipmapCount; i++)
-    {
-        unsigned int mipSize = rlGetPixelDataSize(mipWidth, mipHeight, format);
-
-        unsigned int glInternalFormat, glFormat, glType;
-        rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-        TRACELOGD("TEXTURE: Load mipmap level %i (%i x %i), size: %i, offset: %i", i, mipWidth, mipHeight, mipSize, mipOffset);
-
-        if (glInternalFormat != 0)
-        {
-            if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_2D, i, glInternalFormat, mipWidth, mipHeight, 0, glFormat, glType, dataPtr);
-#if !defined(GRAPHICS_API_OPENGL_11)
-            else glCompressedTexImage2D(GL_TEXTURE_2D, i, glInternalFormat, mipWidth, mipHeight, 0, mipSize, dataPtr);
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33)
-            if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)
-            {
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ONE };
-                glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-            else if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)
-            {
-#if defined(GRAPHICS_API_OPENGL_21)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ALPHA };
-#elif defined(GRAPHICS_API_OPENGL_33)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_GREEN };
-#endif
-                glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-#endif
-        }
-
-        mipWidth /= 2;
-        mipHeight /= 2;
-        mipOffset += mipSize;       // Increment offset position to next mipmap
-        if (data != NULL) dataPtr += mipSize;         // Increment data pointer to next mipmap
-
-        // Security check for NPOT textures
-        if (mipWidth < 1) mipWidth = 1;
-        if (mipHeight < 1) mipHeight = 1;
-    }
-
-    // Texture parameters configuration
-    // NOTE: glTexParameteri does NOT affect texture uploading, just the way it's used
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: OpenGL ES 2.0 with no GL_OES_texture_npot support (i.e. WebGL) has limited NPOT support, so CLAMP_TO_EDGE must be used
-    if (RLGL.ExtSupported.texNPOT)
-    {
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);       // Set texture to repeat on x-axis
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);       // Set texture to repeat on y-axis
-    }
-    else
-    {
-        // NOTE: If using negative texture coordinates (LoadOBJ()), it does not work!
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);       // Set texture to clamp on x-axis
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);       // Set texture to clamp on y-axis
-    }
-#else
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);       // Set texture to repeat on x-axis
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);       // Set texture to repeat on y-axis
-#endif
-
-    // Magnification and minification filters
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);  // Alternative: GL_LINEAR
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);  // Alternative: GL_LINEAR
-
-#if defined(GRAPHICS_API_OPENGL_33)
-    if (mipmapCount > 1)
-    {
-        // Activate Trilinear filtering if mipmaps are available
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-    }
-#endif
-
-    // At this point we have the texture loaded in GPU and texture parameters configured
-
-    // NOTE: If mipmaps were not in data, they are not generated automatically
-
-    // Unbind current texture
-    glBindTexture(GL_TEXTURE_2D, 0);
-
-    if (id > 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Texture loaded successfully (%ix%i | %s | %i mipmaps)", id, width, height, rlGetPixelFormatName(format), mipmapCount);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load texture");
-
-    return id;
-}
-
-// Load depth texture/renderbuffer (to be attached to fbo)
-// WARNING: OpenGL ES 2.0 requires GL_OES_depth_texture and WebGL requires WEBGL_depth_texture extensions
-unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // In case depth textures not supported, we force renderbuffer usage
-    if (!RLGL.ExtSupported.texDepth) useRenderBuffer = true;
-
-    // NOTE: We let the implementation to choose the best bit-depth
-    // Possible formats: GL_DEPTH_COMPONENT16, GL_DEPTH_COMPONENT24, GL_DEPTH_COMPONENT32 and GL_DEPTH_COMPONENT32F
-    unsigned int glInternalFormat = GL_DEPTH_COMPONENT;
-
-#if (defined(GRAPHICS_API_OPENGL_ES2) || defined(GRAPHICS_API_OPENGL_ES3))
-    // WARNING: WebGL platform requires unsized internal format definition (GL_DEPTH_COMPONENT)
-    // while other platforms using OpenGL ES 2.0 require/support sized internal formats depending on the GPU capabilities
-    if (!RLGL.ExtSupported.texDepthWebGL || useRenderBuffer)
-    {
-        if (RLGL.ExtSupported.maxDepthBits == 32) glInternalFormat = GL_DEPTH_COMPONENT32_OES;
-        else if (RLGL.ExtSupported.maxDepthBits == 24) glInternalFormat = GL_DEPTH_COMPONENT24_OES;
-        else glInternalFormat = GL_DEPTH_COMPONENT16;
-    }
-#endif
-
-    if (!useRenderBuffer && RLGL.ExtSupported.texDepth)
-    {
-        glGenTextures(1, &id);
-        glBindTexture(GL_TEXTURE_2D, id);
-        glTexImage2D(GL_TEXTURE_2D, 0, glInternalFormat, width, height, 0, GL_DEPTH_COMPONENT, GL_UNSIGNED_INT, NULL);
-
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-
-        glBindTexture(GL_TEXTURE_2D, 0);
-
-        TRACELOG(RL_LOG_INFO, "TEXTURE: Depth texture loaded successfully");
-    }
-    else
-    {
-        // Create the renderbuffer that will serve as the depth attachment for the framebuffer
-        // NOTE: A renderbuffer is simpler than a texture and could offer better performance on embedded devices
-        glGenRenderbuffers(1, &id);
-        glBindRenderbuffer(GL_RENDERBUFFER, id);
-        glRenderbufferStorage(GL_RENDERBUFFER, glInternalFormat, width, height);
-
-        glBindRenderbuffer(GL_RENDERBUFFER, 0);
-
-        TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Depth renderbuffer loaded successfully (%i bits)", id, (RLGL.ExtSupported.maxDepthBits >= 24)? RLGL.ExtSupported.maxDepthBits : 16);
-    }
-#endif
-
-    return id;
-}
-
-// Load texture cubemap
-// NOTE: Cubemap data is expected to be 6 images in a single data array (one after the other),
-// expected the following convention: +X, -X, +Y, -Y, +Z, -Z
-unsigned int rlLoadTextureCubemap(const void *data, int size, int format, int mipmapCount)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    int mipSize = size;
-
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned char *dataPtr = NULL;
-    if (data != NULL) dataPtr = (unsigned char *)data;
-
-    unsigned int dataSize = rlGetPixelDataSize(size, size, format);
-
-    glGenTextures(1, &id);
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-    if (glInternalFormat != 0)
-    {
-        // Load cubemap faces/mipmaps
-        for (int i = 0; i < 6*mipmapCount; i++)
-        {
-            int mipmapLevel = i/6;
-            int face = i%6;
-
-            if (data == NULL)
-            {
-                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
-                {
-                    if ((format == RL_PIXELFORMAT_UNCOMPRESSED_R32) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R16) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16)) TRACELOG(RL_LOG_WARNING, "TEXTURES: Cubemap requested format not supported");
-                    else glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, glFormat, glType, NULL);
-                }
-                else TRACELOG(RL_LOG_WARNING, "TEXTURES: Empty cubemap creation does not support compressed format");
-            }
-            else
-            {
-                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, glFormat, glType, (unsigned char *)dataPtr + face*dataSize);
-                else glCompressedTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, dataSize, (unsigned char *)dataPtr + face*dataSize);
-            }
-
-#if defined(GRAPHICS_API_OPENGL_33)
-            if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)
-            {
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ONE };
-                glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-            else if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)
-            {
-#if defined(GRAPHICS_API_OPENGL_21)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ALPHA };
-#elif defined(GRAPHICS_API_OPENGL_33)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_GREEN };
-#endif
-                glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-#endif
-            if (face == 5)
-            {
-                mipSize /= 2;
-                if (data != NULL) dataPtr += dataSize*6; // Increment data pointer to next mipmap
-
-                // Security check for NPOT textures
-                if (mipSize < 1) mipSize = 1;
-
-                dataSize = rlGetPixelDataSize(mipSize, mipSize, format);
-            }
-        }
-    }
-
-    // Set cubemap texture sampling parameters
-    if (mipmapCount > 1) glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-    else glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-#if defined(GRAPHICS_API_OPENGL_33)
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);  // Flag not supported on OpenGL ES 2.0
-#endif
-
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-
-    if (id > 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Cubemap texture loaded successfully (%ix%i)", id, size, size);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load cubemap texture");
-
-    return id;
-}
-
-// Update already loaded texture in GPU with new data
-// NOTE: We don't know safely if internal texture format is the expected one...
-void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data)
-{
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-    if ((glInternalFormat != 0) && (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB))
-    {
-        glTexSubImage2D(GL_TEXTURE_2D, 0, offsetX, offsetY, width, height, glFormat, glType, data);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Failed to update for current texture format (%i)", id, format);
-}
-
-// Get OpenGL internal formats and data type from raylib PixelFormat
-void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType)
-{
-    *glInternalFormat = 0;
-    *glFormat = 0;
-    *glType = 0;
-
-    switch (format)
-    {
-    #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_21) || defined(GRAPHICS_API_OPENGL_ES2)
-        // NOTE: on OpenGL ES 2.0 (WebGL), internalFormat must match format and options allowed are: GL_LUMINANCE, GL_RGB, GL_RGBA
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: *glInternalFormat = GL_LUMINANCE_ALPHA; *glFormat = GL_LUMINANCE_ALPHA; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_UNSIGNED_SHORT_5_6_5; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_5_5_5_1; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_4_4_4_4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_BYTE; break;
-        #if !defined(GRAPHICS_API_OPENGL_11)
-        #if defined(GRAPHICS_API_OPENGL_ES3)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_R32F_EXT; *glFormat = GL_RED_EXT; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB32F_EXT; *glFormat = GL_RGB; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA32F_EXT; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_R16F_EXT; *glFormat = GL_RED_EXT; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB16F_EXT; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA16F_EXT; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT; break;
-        #else
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_FLOAT; break;            // NOTE: Requires extension OES_texture_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_FLOAT; break;                  // NOTE: Requires extension OES_texture_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;             // NOTE: Requires extension OES_texture_float
-        #if defined(GRAPHICS_API_OPENGL_21)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_HALF_FLOAT_ARB; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT_ARB; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT_ARB; break;
-        #else // defined(GRAPHICS_API_OPENGL_ES2)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_HALF_FLOAT_OES; break;   // NOTE: Requires extension OES_texture_half_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT_OES; break;         // NOTE: Requires extension OES_texture_half_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT_OES; break;    // NOTE: Requires extension OES_texture_half_float
-        #endif
-        #endif
-        #endif
-    #elif defined(GRAPHICS_API_OPENGL_33)
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: *glInternalFormat = GL_R8; *glFormat = GL_RED; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: *glInternalFormat = GL_RG8; *glFormat = GL_RG; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: *glInternalFormat = GL_RGB565; *glFormat = GL_RGB; *glType = GL_UNSIGNED_SHORT_5_6_5; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: *glInternalFormat = GL_RGB8; *glFormat = GL_RGB; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: *glInternalFormat = GL_RGB5_A1; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_5_5_5_1; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: *glInternalFormat = GL_RGBA4; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_4_4_4_4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: *glInternalFormat = GL_RGBA8; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_R32F; *glFormat = GL_RED; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB32F; *glFormat = GL_RGB; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA32F; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_R16F; *glFormat = GL_RED; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB16F; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA16F; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT; break;
-    #endif
-    #if !defined(GRAPHICS_API_OPENGL_11)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGB_S3TC_DXT1_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT1_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT3_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT5_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB: if (RLGL.ExtSupported.texCompETC1) *glInternalFormat = GL_ETC1_RGB8_OES; break;                      // NOTE: Requires OpenGL ES 2.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB: if (RLGL.ExtSupported.texCompETC2) *glInternalFormat = GL_COMPRESSED_RGB8_ETC2; break;               // NOTE: Requires OpenGL ES 3.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA: if (RLGL.ExtSupported.texCompETC2) *glInternalFormat = GL_COMPRESSED_RGBA8_ETC2_EAC; break;     // NOTE: Requires OpenGL ES 3.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB: if (RLGL.ExtSupported.texCompPVRT) *glInternalFormat = GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG; break;    // NOTE: Requires PowerVR GPU
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: if (RLGL.ExtSupported.texCompPVRT) *glInternalFormat = GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG; break;  // NOTE: Requires PowerVR GPU
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: if (RLGL.ExtSupported.texCompASTC) *glInternalFormat = GL_COMPRESSED_RGBA_ASTC_4x4_KHR; break;  // NOTE: Requires OpenGL ES 3.1 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: if (RLGL.ExtSupported.texCompASTC) *glInternalFormat = GL_COMPRESSED_RGBA_ASTC_8x8_KHR; break;  // NOTE: Requires OpenGL ES 3.1 or OpenGL 4.3
-    #endif
-        default: TRACELOG(RL_LOG_WARNING, "TEXTURE: Current format not supported (%i)", format); break;
-    }
-}
-
-// Unload texture from GPU memory
-void rlUnloadTexture(unsigned int id)
-{
-    glDeleteTextures(1, &id);
-}
-
-// Generate mipmap data for selected texture
-// NOTE: Only supports GPU mipmap generation
-void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    // Check if texture is power-of-two (POT)
-    bool texIsPOT = false;
-
-    if (((width > 0) && ((width & (width - 1)) == 0)) &&
-        ((height > 0) && ((height & (height - 1)) == 0))) texIsPOT = true;
-
-    if ((texIsPOT) || (RLGL.ExtSupported.texNPOT))
-    {
-        //glHint(GL_GENERATE_MIPMAP_HINT, GL_DONT_CARE);   // Hint for mipmaps generation algorithm: GL_FASTEST, GL_NICEST, GL_DONT_CARE
-        glGenerateMipmap(GL_TEXTURE_2D);    // Generate mipmaps automatically
-
-        #define MIN(a,b) (((a)<(b))? (a):(b))
-        #define MAX(a,b) (((a)>(b))? (a):(b))
-
-        *mipmaps = 1 + (int)floor(log(MAX(width, height))/log(2));
-        TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Mipmaps generated automatically, total: %i", id, *mipmaps);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Failed to generate mipmaps", id);
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-#else
-    TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] GPU mipmap generation not supported", id);
-#endif
-}
-
-// Read texture pixel data
-void *rlReadTexturePixels(unsigned int id, int width, int height, int format)
-{
-    void *pixels = NULL;
-
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    // NOTE: Using texture id, we can retrieve some texture info (but not on OpenGL ES 2.0)
-    // Possible texture info: GL_TEXTURE_RED_SIZE, GL_TEXTURE_GREEN_SIZE, GL_TEXTURE_BLUE_SIZE, GL_TEXTURE_ALPHA_SIZE
-    //int width, height, format;
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_WIDTH, &width);
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_HEIGHT, &height);
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_INTERNAL_FORMAT, &format);
-
-    // NOTE: Each row written to or read from by OpenGL pixel operations like glGetTexImage are aligned to a 4 byte boundary by default, which may add some padding
-    // Use glPixelStorei to modify padding with the GL_[UN]PACK_ALIGNMENT setting
-    // GL_PACK_ALIGNMENT affects operations that read from OpenGL memory (glReadPixels, glGetTexImage, etc.)
-    // GL_UNPACK_ALIGNMENT affects operations that write to OpenGL memory (glTexImage, etc.)
-    glPixelStorei(GL_PACK_ALIGNMENT, 1);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-    unsigned int size = rlGetPixelDataSize(width, height, format);
-
-    if ((glInternalFormat != 0) && (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB))
-    {
-        pixels = RL_MALLOC(size);
-        glGetTexImage(GL_TEXTURE_2D, 0, glFormat, glType, pixels);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Data retrieval not suported for pixel format (%i)", id, format);
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    // glGetTexImage() is not available on OpenGL ES 2.0
-    // Texture width and height are required on OpenGL ES 2.0, there is no way to get it from texture id
-    // Two possible Options:
-    // 1 - Bind texture to color fbo attachment and glReadPixels()
-    // 2 - Create an fbo, activate it, render quad with texture, glReadPixels()
-    // We are using Option 1, just need to care for texture format on retrieval
-    // NOTE: This behaviour could be conditioned by graphic driver...
-    unsigned int fboId = rlLoadFramebuffer();
-
-    glBindFramebuffer(GL_FRAMEBUFFER, fboId);
-    glBindTexture(GL_TEXTURE_2D, 0);
-
-    // Attach our texture to FBO
-    glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, id, 0);
-
-    // We read data as RGBA because FBO texture is configured as RGBA, despite binding another texture format
-    pixels = (unsigned char *)RL_MALLOC(rlGetPixelDataSize(width, height, RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8));
-    glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
-    // Clean up temporal fbo
-    rlUnloadFramebuffer(fboId);
-#endif
-
-    return pixels;
-}
-
-// Read screen pixel data (color buffer)
-unsigned char *rlReadScreenPixels(int width, int height)
-{
-    unsigned char *screenData = (unsigned char *)RL_CALLOC(width*height*4, sizeof(unsigned char));
-
-    // NOTE 1: glReadPixels returns image flipped vertically -> (0,0) is the bottom left corner of the framebuffer
-    // NOTE 2: We are getting alpha channel! Be careful, it can be transparent if not cleared properly!
-    glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, screenData);
-
-    // Flip image vertically!
-    unsigned char *imgData = (unsigned char *)RL_MALLOC(width*height*4*sizeof(unsigned char));
-
-    for (int y = height - 1; y >= 0; y--)
-    {
-        for (int x = 0; x < (width*4); x++)
-        {
-            imgData[((height - 1) - y)*width*4 + x] = screenData[(y*width*4) + x];  // Flip line
-
-            // Set alpha component value to 255 (no trasparent image retrieval)
-            // NOTE: Alpha value has already been applied to RGB in framebuffer, we don't need it!
-            if (((x + 1)%4) == 0) imgData[((height - 1) - y)*width*4 + x] = 255;
-        }
-    }
-
-    RL_FREE(screenData);
-
-    return imgData;     // NOTE: image data should be freed
-}
-
-// Framebuffer management (fbo)
-//-----------------------------------------------------------------------------------------
-// Load a framebuffer to be used for rendering
-// NOTE: No textures attached
-unsigned int rlLoadFramebuffer(void)
-{
-    unsigned int fboId = 0;
-
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glGenFramebuffers(1, &fboId);       // Create the framebuffer object
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);   // Unbind any framebuffer
-#endif
-
-    return fboId;
-}
-
-// Attach color buffer texture to an fbo (unloads previous attachment)
-// NOTE: Attach type: 0-Color, 1-Depth renderbuffer, 2-Depth texture
-void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, fboId);
-
-    switch (attachType)
-    {
-        case RL_ATTACHMENT_COLOR_CHANNEL0:
-        case RL_ATTACHMENT_COLOR_CHANNEL1:
-        case RL_ATTACHMENT_COLOR_CHANNEL2:
-        case RL_ATTACHMENT_COLOR_CHANNEL3:
-        case RL_ATTACHMENT_COLOR_CHANNEL4:
-        case RL_ATTACHMENT_COLOR_CHANNEL5:
-        case RL_ATTACHMENT_COLOR_CHANNEL6:
-        case RL_ATTACHMENT_COLOR_CHANNEL7:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER) glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_RENDERBUFFER, texId);
-            else if (texType >= RL_ATTACHMENT_CUBEMAP_POSITIVE_X) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_TEXTURE_CUBE_MAP_POSITIVE_X + texType, texId, mipLevel);
-
-        } break;
-        case RL_ATTACHMENT_DEPTH:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER)  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, texId);
-
-        } break;
-        case RL_ATTACHMENT_STENCIL:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER)  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_RENDERBUFFER, texId);
-
-        } break;
-        default: break;
-    }
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-#endif
-}
-
-// Verify render texture is complete
-bool rlFramebufferComplete(unsigned int id)
-{
-    bool result = false;
-
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, id);
-
-    GLenum status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-
-    if (status != GL_FRAMEBUFFER_COMPLETE)
-    {
-        switch (status)
-        {
-            case GL_FRAMEBUFFER_UNSUPPORTED: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer is unsupported", id); break;
-            case GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has incomplete attachment", id); break;
-#if defined(GRAPHICS_API_OPENGL_ES2)
-            case GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has incomplete dimensions", id); break;
-#endif
-            case GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has a missing attachment", id); break;
-            default: break;
-        }
-    }
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
-    result = (status == GL_FRAMEBUFFER_COMPLETE);
-#endif
-
-    return result;
-}
-
-// Unload framebuffer from GPU memory
-// NOTE: All attached textures/cubemaps/renderbuffers are also deleted
-void rlUnloadFramebuffer(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    // Query depth attachment to automatically delete texture/renderbuffer
-    int depthType = 0, depthId = 0;
-    glBindFramebuffer(GL_FRAMEBUFFER, id);   // Bind framebuffer to query depth texture type
-    glGetFramebufferAttachmentParameteriv(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE, &depthType);
-
-    // TODO: Review warning retrieving object name in WebGL
-    // WARNING: WebGL: INVALID_ENUM: getFramebufferAttachmentParameter: invalid parameter name
-    // https://registry.khronos.org/webgl/specs/latest/1.0/
-    glGetFramebufferAttachmentParameteriv(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME, &depthId);
-
-    unsigned int depthIdU = (unsigned int)depthId;
-    if (depthType == GL_RENDERBUFFER) glDeleteRenderbuffers(1, &depthIdU);
-    else if (depthType == GL_TEXTURE) glDeleteTextures(1, &depthIdU);
-
-    // NOTE: If a texture object is deleted while its image is attached to the *currently bound* framebuffer,
-    // the texture image is automatically detached from the currently bound framebuffer
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-    glDeleteFramebuffers(1, &id);
-
-    TRACELOG(RL_LOG_INFO, "FBO: [ID %i] Unloaded framebuffer from VRAM (GPU)", id);
-#endif
-}
-
-// Vertex data management
-//-----------------------------------------------------------------------------------------
-// Load a new attributes buffer
-unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glGenBuffers(1, &id);
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-    glBufferData(GL_ARRAY_BUFFER, size, buffer, dynamic? GL_DYNAMIC_DRAW : GL_STATIC_DRAW);
-#endif
-
-    return id;
-}
-
-// Load a new attributes element buffer
-unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glGenBuffers(1, &id);
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-    glBufferData(GL_ELEMENT_ARRAY_BUFFER, size, buffer, dynamic? GL_DYNAMIC_DRAW : GL_STATIC_DRAW);
-#endif
-
-    return id;
-}
-
-// Enable vertex buffer (VBO)
-void rlEnableVertexBuffer(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-#endif
-}
-
-// Disable vertex buffer (VBO)
-void rlDisableVertexBuffer(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-#endif
-}
-
-// Enable vertex buffer element (VBO element)
-void rlEnableVertexBufferElement(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-#endif
-}
-
-// Disable vertex buffer element (VBO element)
-void rlDisableVertexBufferElement(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-#endif
-}
-
-// Update vertex buffer with new data
-// NOTE: dataSize and offset must be provided in bytes
-void rlUpdateVertexBuffer(unsigned int id, const void *data, int dataSize, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-    glBufferSubData(GL_ARRAY_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Update vertex buffer elements with new data
-// NOTE: dataSize and offset must be provided in bytes
-void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-    glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Enable vertex array object (VAO)
-bool rlEnableVertexArray(unsigned int vaoId)
-{
-    bool result = false;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glBindVertexArray(vaoId);
-        result = true;
-    }
-#endif
-    return result;
-}
-
-// Disable vertex array object (VAO)
-void rlDisableVertexArray(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-#endif
-}
-
-// Enable vertex attribute index
-void rlEnableVertexAttribute(unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glEnableVertexAttribArray(index);
-#endif
-}
-
-// Disable vertex attribute index
-void rlDisableVertexAttribute(unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDisableVertexAttribArray(index);
-#endif
-}
-
-// Draw vertex array
-void rlDrawVertexArray(int offset, int count)
-{
-    glDrawArrays(GL_TRIANGLES, offset, count);
-}
-
-// Draw vertex array elements
-void rlDrawVertexArrayElements(int offset, int count, const void *buffer)
-{
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned short *bufferPtr = (unsigned short *)buffer;
-    if (offset > 0) bufferPtr += offset;
-
-    glDrawElements(GL_TRIANGLES, count, GL_UNSIGNED_SHORT, (const unsigned short *)bufferPtr);
-}
-
-// Draw vertex array instanced
-void rlDrawVertexArrayInstanced(int offset, int count, int instances)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDrawArraysInstanced(GL_TRIANGLES, 0, count, instances);
-#endif
-}
-
-// Draw vertex array elements instanced
-void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned short *bufferPtr = (unsigned short *)buffer;
-    if (offset > 0) bufferPtr += offset;
-
-    glDrawElementsInstanced(GL_TRIANGLES, count, GL_UNSIGNED_SHORT, (const unsigned short *)bufferPtr, instances);
-#endif
-}
-
-#if defined(GRAPHICS_API_OPENGL_11)
-// Enable vertex state pointer
-void rlEnableStatePointer(int vertexAttribType, void *buffer)
-{
-    if (buffer != NULL) glEnableClientState(vertexAttribType);
-    switch (vertexAttribType)
-    {
-        case GL_VERTEX_ARRAY: glVertexPointer(3, GL_FLOAT, 0, buffer); break;
-        case GL_TEXTURE_COORD_ARRAY: glTexCoordPointer(2, GL_FLOAT, 0, buffer); break;
-        case GL_NORMAL_ARRAY: if (buffer != NULL) glNormalPointer(GL_FLOAT, 0, buffer); break;
-        case GL_COLOR_ARRAY: if (buffer != NULL) glColorPointer(4, GL_UNSIGNED_BYTE, 0, buffer); break;
-        //case GL_INDEX_ARRAY: if (buffer != NULL) glIndexPointer(GL_SHORT, 0, buffer); break; // Indexed colors
-        default: break;
-    }
-}
-
-// Disable vertex state pointer
-void rlDisableStatePointer(int vertexAttribType)
-{
-    glDisableClientState(vertexAttribType);
-}
-#endif
-
-// Load vertex array object (VAO)
-unsigned int rlLoadVertexArray(void)
-{
-    unsigned int vaoId = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glGenVertexArrays(1, &vaoId);
-    }
-#endif
-    return vaoId;
-}
-
-// Set vertex attribute
-void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Data type could be: GL_BYTE, GL_UNSIGNED_BYTE, GL_SHORT, GL_UNSIGNED_SHORT, GL_INT, GL_UNSIGNED_INT
-    // Additional types (depends on OpenGL version or extensions):
-    //  - GL_HALF_FLOAT, GL_FLOAT, GL_DOUBLE, GL_FIXED,
-    //  - GL_INT_2_10_10_10_REV, GL_UNSIGNED_INT_2_10_10_10_REV, GL_UNSIGNED_INT_10F_11F_11F_REV
-
-    size_t offsetNative = offset;
-    glVertexAttribPointer(index, compSize, type, normalized, stride, (void *)offsetNative);
-#endif
-}
-
-// Set vertex attribute divisor
-void rlSetVertexAttributeDivisor(unsigned int index, int divisor)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glVertexAttribDivisor(index, divisor);
-#endif
-}
-
-// Unload vertex array object (VAO)
-void rlUnloadVertexArray(unsigned int vaoId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glBindVertexArray(0);
-        glDeleteVertexArrays(1, &vaoId);
-        TRACELOG(RL_LOG_INFO, "VAO: [ID %i] Unloaded vertex array data from VRAM (GPU)", vaoId);
-    }
-#endif
-}
-
-// Unload vertex buffer (VBO)
-void rlUnloadVertexBuffer(unsigned int vboId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDeleteBuffers(1, &vboId);
-    //TRACELOG(RL_LOG_INFO, "VBO: Unloaded vertex data from VRAM (GPU)");
-#endif
-}
-
-// Shaders management
-//-----------------------------------------------------------------------------------------------
-// Load shader from code strings
-// NOTE: If shader string is NULL, using default vertex/fragment shaders
-unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int vertexShaderId = 0;
-    unsigned int fragmentShaderId = 0;
-
-    // Compile vertex shader (if provided)
-    // NOTE: If not vertex shader is provided, use default one
-    if (vsCode != NULL) vertexShaderId = rlCompileShader(vsCode, GL_VERTEX_SHADER);
-    else vertexShaderId = RLGL.State.defaultVShaderId;
-
-    // Compile fragment shader (if provided)
-    // NOTE: If not vertex shader is provided, use default one
-    if (fsCode != NULL) fragmentShaderId = rlCompileShader(fsCode, GL_FRAGMENT_SHADER);
-    else fragmentShaderId = RLGL.State.defaultFShaderId;
-
-    // In case vertex and fragment shader are the default ones, no need to recompile, we can just assign the default shader program id
-    if ((vertexShaderId == RLGL.State.defaultVShaderId) && (fragmentShaderId == RLGL.State.defaultFShaderId)) id = RLGL.State.defaultShaderId;
-    else if ((vertexShaderId > 0) && (fragmentShaderId > 0))
-    {
-        // One of or both shader are new, we need to compile a new shader program
-        id = rlLoadShaderProgram(vertexShaderId, fragmentShaderId);
-
-        // We can detach and delete vertex/fragment shaders (if not default ones)
-        // NOTE: We detach shader before deletion to make sure memory is freed
-        if (vertexShaderId != RLGL.State.defaultVShaderId)
-        {
-            // WARNING: Shader program linkage could fail and returned id is 0
-            if (id > 0) glDetachShader(id, vertexShaderId);
-            glDeleteShader(vertexShaderId);
-        }
-        if (fragmentShaderId != RLGL.State.defaultFShaderId)
-        {
-            // WARNING: Shader program linkage could fail and returned id is 0
-            if (id > 0) glDetachShader(id, fragmentShaderId);
-            glDeleteShader(fragmentShaderId);
-        }
-
-        // In case shader program loading failed, we assign default shader
-        if (id == 0)
-        {
-            // In case shader loading fails, we return the default shader
-            TRACELOG(RL_LOG_WARNING, "SHADER: Failed to load custom shader code, using default shader");
-            id = RLGL.State.defaultShaderId;
-        }
-        /*
-        else
-        {
-            // Get available shader uniforms
-            // NOTE: This information is useful for debug...
-            int uniformCount = -1;
-            glGetProgramiv(id, GL_ACTIVE_UNIFORMS, &uniformCount);
-
-            for (int i = 0; i < uniformCount; i++)
-            {
-                int namelen = -1;
-                int num = -1;
-                char name[256] = { 0 };     // Assume no variable names longer than 256
-                GLenum type = GL_ZERO;
-
-                // Get the name of the uniforms
-                glGetActiveUniform(id, i, sizeof(name) - 1, &namelen, &num, &type, name);
-
-                name[namelen] = 0;
-                TRACELOGD("SHADER: [ID %i] Active uniform (%s) set at location: %i", id, name, glGetUniformLocation(id, name));
-            }
-        }
-        */
-    }
-#endif
-
-    return id;
-}
-
-// Compile custom shader and return shader id
-unsigned int rlCompileShader(const char *shaderCode, int type)
-{
-    unsigned int shader = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    shader = glCreateShader(type);
-    glShaderSource(shader, 1, &shaderCode, NULL);
-
-    GLint success = 0;
-    glCompileShader(shader);
-    glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        switch (type)
-        {
-            case GL_VERTEX_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile vertex shader code", shader); break;
-            case GL_FRAGMENT_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile fragment shader code", shader); break;
-            //case GL_GEOMETRY_SHADER:
-        #if defined(GRAPHICS_API_OPENGL_43)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile compute shader code", shader); break;
-        #elif defined(GRAPHICS_API_OPENGL_33)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43", shader); break;
-        #endif
-            default: break;
-        }
-
-        int maxLength = 0;
-        glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetShaderInfoLog(shader, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Compile error: %s", shader, log);
-            RL_FREE(log);
-        }
-
-        shader = 0;
-    }
-    else
-    {
-        switch (type)
-        {
-            case GL_VERTEX_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Vertex shader compiled successfully", shader); break;
-            case GL_FRAGMENT_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Fragment shader compiled successfully", shader); break;
-            //case GL_GEOMETRY_SHADER:
-        #if defined(GRAPHICS_API_OPENGL_43)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader compiled successfully", shader); break;
-        #elif defined(GRAPHICS_API_OPENGL_33)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43", shader); break;
-        #endif
-            default: break;
-        }
-    }
-#endif
-
-    return shader;
-}
-
-// Load custom shader strings and return program id
-unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId)
-{
-    unsigned int program = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    GLint success = 0;
-    program = glCreateProgram();
-
-    glAttachShader(program, vShaderId);
-    glAttachShader(program, fShaderId);
-
-    // NOTE: Default attribute shader locations must be Bound before linking
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL, RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT, RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2);
-
-#ifdef RL_SUPPORT_MESH_GPU_SKINNING
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS, RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS, RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS);
-#endif
-
-    // NOTE: If some attrib name is no found on the shader, it locations becomes -1
-
-    glLinkProgram(program);
-
-    // NOTE: All uniform variables are intitialised to 0 when a program links
-
-    glGetProgramiv(program, GL_LINK_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to link shader program", program);
-
-        int maxLength = 0;
-        glGetProgramiv(program, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetProgramInfoLog(program, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Link error: %s", program, log);
-            RL_FREE(log);
-        }
-
-        glDeleteProgram(program);
-
-        program = 0;
-    }
-    else
-    {
-        // Get the size of compiled shader program (not available on OpenGL ES 2.0)
-        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero
-        //GLint binarySize = 0;
-        //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
-
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Program shader loaded successfully", program);
-    }
-#endif
-    return program;
-}
-
-// Unload shader program
-void rlUnloadShaderProgram(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDeleteProgram(id);
-
-    TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Unloaded shader program data from VRAM (GPU)", id);
-#endif
-}
-
-// Get shader location uniform
-int rlGetLocationUniform(unsigned int shaderId, const char *uniformName)
-{
-    int location = -1;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    location = glGetUniformLocation(shaderId, uniformName);
-
-    //if (location == -1) TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to find shader uniform: %s", shaderId, uniformName);
-    //else TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Shader uniform (%s) set at location: %i", shaderId, uniformName, location);
-#endif
-    return location;
-}
-
-// Get shader location attribute
-int rlGetLocationAttrib(unsigned int shaderId, const char *attribName)
-{
-    int location = -1;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    location = glGetAttribLocation(shaderId, attribName);
-
-    //if (location == -1) TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to find shader attribute: %s", shaderId, attribName);
-    //else TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Shader attribute (%s) set at location: %i", shaderId, attribName, location);
-#endif
-    return location;
-}
-
-// Set shader value uniform
-void rlSetUniform(int locIndex, const void *value, int uniformType, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    switch (uniformType)
-    {
-        case RL_SHADER_UNIFORM_FLOAT: glUniform1fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC2: glUniform2fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC3: glUniform3fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC4: glUniform4fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_INT: glUniform1iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC2: glUniform2iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC3: glUniform3iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC4: glUniform4iv(locIndex, count, (int *)value); break;
-    #if !defined(GRAPHICS_API_OPENGL_ES2)
-        case RL_SHADER_UNIFORM_UINT: glUniform1uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC2: glUniform2uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC3: glUniform3uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC4: glUniform4uiv(locIndex, count, (unsigned int *)value); break;
-    #endif
-        case RL_SHADER_UNIFORM_SAMPLER2D: glUniform1iv(locIndex, count, (int *)value); break;
-        default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set uniform value, data type not recognized");
-
-        // TODO: Support glUniform1uiv(), glUniform2uiv(), glUniform3uiv(), glUniform4uiv()
-    }
-#endif
-}
-
-// Set shader value attribute
-void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    switch (attribType)
-    {
-        case RL_SHADER_ATTRIB_FLOAT: if (count == 1) glVertexAttrib1fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC2: if (count == 2) glVertexAttrib2fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC3: if (count == 3) glVertexAttrib3fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC4: if (count == 4) glVertexAttrib4fv(locIndex, (float *)value); break;
-        default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set attrib default value, data type not recognized");
-    }
-#endif
-}
-
-// Set shader value uniform matrix
-void rlSetUniformMatrix(int locIndex, Matrix mat)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    float matfloat[16] = {
-        mat.m0, mat.m1, mat.m2, mat.m3,
-        mat.m4, mat.m5, mat.m6, mat.m7,
-        mat.m8, mat.m9, mat.m10, mat.m11,
-        mat.m12, mat.m13, mat.m14, mat.m15
-    };
-    glUniformMatrix4fv(locIndex, 1, false, matfloat);
-#endif
-}
-
-// Set shader value uniform matrix
-void rlSetUniformMatrices(int locIndex, const Matrix *matrices, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33)
-    glUniformMatrix4fv(locIndex, count, true, (const float *)matrices);
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    // WARNING: WebGL does not support Matrix transpose ("true" parameter)
-    // REF: https://developer.mozilla.org/en-US/docs/Web/API/WebGLRenderingContext/uniformMatrix
-    glUniformMatrix4fv(locIndex, count, false, (const float *)matrices);
-#endif
-}
-
-// Set shader value uniform sampler
-void rlSetUniformSampler(int locIndex, unsigned int textureId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Check if texture is already active
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-    {
-        if (RLGL.State.activeTextureId[i] == textureId)
-        {
-            glUniform1i(locIndex, 1 + i);
-            return;
-        }
-    }
-
-    // Register a new active texture for the internal batch system
-    // NOTE: Default texture is always activated as GL_TEXTURE0
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-    {
-        if (RLGL.State.activeTextureId[i] == 0)
-        {
-            glUniform1i(locIndex, 1 + i);              // Activate new texture unit
-            RLGL.State.activeTextureId[i] = textureId; // Save texture id for binding on drawing
-            break;
-        }
-    }
-#endif
-}
-
-// Set shader currently active (id and locations)
-void rlSetShader(unsigned int id, int *locs)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.State.currentShaderId != id)
-    {
-        rlDrawRenderBatch(RLGL.currentBatch);
-        RLGL.State.currentShaderId = id;
-        RLGL.State.currentShaderLocs = locs;
-    }
-#endif
-}
-
-// Load compute shader program
-unsigned int rlLoadComputeShaderProgram(unsigned int shaderId)
-{
-    unsigned int program = 0;
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    GLint success = 0;
-    program = glCreateProgram();
-    glAttachShader(program, shaderId);
-    glLinkProgram(program);
-
-    // NOTE: All uniform variables are intitialised to 0 when a program links
-
-    glGetProgramiv(program, GL_LINK_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to link compute shader program", program);
-
-        int maxLength = 0;
-        glGetProgramiv(program, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetProgramInfoLog(program, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Link error: %s", program, log);
-            RL_FREE(log);
-        }
-
-        glDeleteProgram(program);
-
-        program = 0;
-    }
-    else
-    {
-        // Get the size of compiled shader program (not available on OpenGL ES 2.0)
-        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero
-        //GLint binarySize = 0;
-        //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
-
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader program loaded successfully", program);
-    }
-#else
-    TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-    return program;
-}
-
-// Dispatch compute shader (equivalent to *draw* for graphics pilepine)
-void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glDispatchCompute(groupX, groupY, groupZ);
-#endif
-}
-
-// Load shader storage buffer object (SSBO)
-unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint)
-{
-    unsigned int ssbo = 0;
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    glGenBuffers(1, &ssbo);
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, ssbo);
-    glBufferData(GL_SHADER_STORAGE_BUFFER, size, data, usageHint? usageHint : RL_STREAM_COPY);
-    if (data == NULL) glClearBufferData(GL_SHADER_STORAGE_BUFFER, GL_R8UI, GL_RED_INTEGER, GL_UNSIGNED_BYTE, NULL);    // Clear buffer data to 0
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, 0);
-#else
-    TRACELOG(RL_LOG_WARNING, "SSBO: SSBO not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-    return ssbo;
-}
-
-// Unload shader storage buffer object (SSBO)
-void rlUnloadShaderBuffer(unsigned int ssboId)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glDeleteBuffers(1, &ssboId);
-#else
-    TRACELOG(RL_LOG_WARNING, "SSBO: SSBO not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-}
-
-// Update SSBO buffer data
-void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSize, unsigned int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glBufferSubData(GL_SHADER_STORAGE_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Get SSBO buffer size
-unsigned int rlGetShaderBufferSize(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    GLint64 size = 0;
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glGetBufferParameteri64v(GL_SHADER_STORAGE_BUFFER, GL_BUFFER_SIZE, &size);
-    return (size > 0)? (unsigned int)size : 0;
-#else
-    return 0;
-#endif
-}
-
-// Read SSBO buffer data (GPU->CPU)
-void rlReadShaderBuffer(unsigned int id, void *dest, unsigned int count, unsigned int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glGetBufferSubData(GL_SHADER_STORAGE_BUFFER, offset, count, dest);
-#endif
-}
-
-// Bind SSBO buffer
-void rlBindShaderBuffer(unsigned int id, unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBufferBase(GL_SHADER_STORAGE_BUFFER, index, id);
-#endif
-}
-
-// Copy SSBO buffer data
-void rlCopyShaderBuffer(unsigned int destId, unsigned int srcId, unsigned int destOffset, unsigned int srcOffset, unsigned int count)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_COPY_READ_BUFFER, srcId);
-    glBindBuffer(GL_COPY_WRITE_BUFFER, destId);
-    glCopyBufferSubData(GL_COPY_READ_BUFFER, GL_COPY_WRITE_BUFFER, srcOffset, destOffset, count);
-#endif
-}
-
-// Bind image texture
-void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool readonly)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    unsigned int glInternalFormat = 0, glFormat = 0, glType = 0;
-
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-    glBindImageTexture(index, id, 0, 0, 0, readonly? GL_READ_ONLY : GL_READ_WRITE, glInternalFormat);
-#else
-    TRACELOG(RL_LOG_WARNING, "TEXTURE: Image texture binding not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-}
-
-// Matrix state management
-//-----------------------------------------------------------------------------------------
-// Get internal modelview matrix
-Matrix rlGetMatrixModelview(void)
-{
-    Matrix matrix = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_11)
-    float mat[16];
-    glGetFloatv(GL_MODELVIEW_MATRIX, mat);
-    matrix.m0 = mat[0];
-    matrix.m1 = mat[1];
-    matrix.m2 = mat[2];
-    matrix.m3 = mat[3];
-    matrix.m4 = mat[4];
-    matrix.m5 = mat[5];
-    matrix.m6 = mat[6];
-    matrix.m7 = mat[7];
-    matrix.m8 = mat[8];
-    matrix.m9 = mat[9];
-    matrix.m10 = mat[10];
-    matrix.m11 = mat[11];
-    matrix.m12 = mat[12];
-    matrix.m13 = mat[13];
-    matrix.m14 = mat[14];
-    matrix.m15 = mat[15];
-#else
-    matrix = RLGL.State.modelview;
-#endif
-    return matrix;
-}
-
-// Get internal projection matrix
-Matrix rlGetMatrixProjection(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    float mat[16];
-    glGetFloatv(GL_PROJECTION_MATRIX,mat);
-    Matrix m;
-    m.m0 = mat[0];
-    m.m1 = mat[1];
-    m.m2 = mat[2];
-    m.m3 = mat[3];
-    m.m4 = mat[4];
-    m.m5 = mat[5];
-    m.m6 = mat[6];
-    m.m7 = mat[7];
-    m.m8 = mat[8];
-    m.m9 = mat[9];
-    m.m10 = mat[10];
-    m.m11 = mat[11];
-    m.m12 = mat[12];
-    m.m13 = mat[13];
-    m.m14 = mat[14];
-    m.m15 = mat[15];
-    return m;
-#else
-    return RLGL.State.projection;
-#endif
-}
-
-// Get internal accumulated transform matrix
-Matrix rlGetMatrixTransform(void)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // TODO: Consider possible transform matrices in the RLGL.State.stack
-    // Is this the right order? or should we start with the first stored matrix instead of the last one?
-    //Matrix matStackTransform = rlMatrixIdentity();
-    //for (int i = RLGL.State.stackCounter; i > 0; i--) matStackTransform = rlMatrixMultiply(RLGL.State.stack[i], matStackTransform);
-    mat = RLGL.State.transform;
-#endif
-    return mat;
-}
-
-// Get internal projection matrix for stereo render (selected eye)
-Matrix rlGetMatrixProjectionStereo(int eye)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    mat = RLGL.State.projectionStereo[eye];
-#endif
-    return mat;
-}
-
-// Get internal view offset matrix for stereo render (selected eye)
-Matrix rlGetMatrixViewOffsetStereo(int eye)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    mat = RLGL.State.viewOffsetStereo[eye];
-#endif
-    return mat;
-}
-
-// Set a custom modelview matrix (replaces internal modelview matrix)
-void rlSetMatrixModelview(Matrix view)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.modelview = view;
-#endif
-}
-
-// Set a custom projection matrix (replaces internal projection matrix)
-void rlSetMatrixProjection(Matrix projection)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.projection = projection;
-#endif
-}
-
-// Set eyes projection matrices for stereo rendering
-void rlSetMatrixProjectionStereo(Matrix right, Matrix left)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.projectionStereo[0] = right;
-    RLGL.State.projectionStereo[1] = left;
-#endif
-}
-
-// Set eyes view offsets matrices for stereo rendering
-void rlSetMatrixViewOffsetStereo(Matrix right, Matrix left)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.viewOffsetStereo[0] = right;
-    RLGL.State.viewOffsetStereo[1] = left;
-#endif
-}
-
-// Load and draw a quad in NDC
-void rlLoadDrawQuad(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int quadVAO = 0;
-    unsigned int quadVBO = 0;
-
-    float vertices[] = {
-         // Positions         Texcoords
-        -1.0f,  1.0f, 0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f, 0.0f,   0.0f, 0.0f,
-         1.0f,  1.0f, 0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, 0.0f,   1.0f, 0.0f,
-    };
-
-    // Gen VAO to contain VBO
-    glGenVertexArrays(1, &quadVAO);
-    glBindVertexArray(quadVAO);
-
-    // Gen and fill vertex buffer (VBO)
-    glGenBuffers(1, &quadVBO);
-    glBindBuffer(GL_ARRAY_BUFFER, quadVBO);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), &vertices, GL_STATIC_DRAW);
-
-    // Bind vertex attributes (position, texcoords)
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, 3, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)0); // Positions
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, 2, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)(3*sizeof(float))); // Texcoords
-
-    // Draw quad
-    glBindVertexArray(quadVAO);
-    glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
-    glBindVertexArray(0);
-
-    // Delete buffers (VBO and VAO)
-    glDeleteBuffers(1, &quadVBO);
-    glDeleteVertexArrays(1, &quadVAO);
-#endif
-}
-
-// Load and draw a cube in NDC
-void rlLoadDrawCube(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int cubeVAO = 0;
-    unsigned int cubeVBO = 0;
-
-    float vertices[] = {
-         // Positions          Normals               Texcoords
-        -1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 0.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 1.0f,
-        -1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f,  1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 0.0f
-    };
-
-    // Gen VAO to contain VBO
-    glGenVertexArrays(1, &cubeVAO);
-    glBindVertexArray(cubeVAO);
-
-    // Gen and fill vertex buffer (VBO)
-    glGenBuffers(1, &cubeVBO);
-    glBindBuffer(GL_ARRAY_BUFFER, cubeVBO);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
-
-    // Bind vertex attributes (position, normals, texcoords)
-    glBindVertexArray(cubeVAO);
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)0); // Positions
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(3*sizeof(float))); // Normals
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, 2, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(6*sizeof(float))); // Texcoords
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-    glBindVertexArray(0);
-
-    // Draw cube
-    glBindVertexArray(cubeVAO);
-    glDrawArrays(GL_TRIANGLES, 0, 36);
-    glBindVertexArray(0);
-
-    // Delete VBO and VAO
-    glDeleteBuffers(1, &cubeVBO);
-    glDeleteVertexArrays(1, &cubeVAO);
-#endif
-}
-
-// Get name string for pixel format
-const char *rlGetPixelFormatName(unsigned int format)
-{
-    switch (format)
-    {
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: return "GRAYSCALE"; break;         // 8 bit per pixel (no alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: return "GRAY_ALPHA"; break;       // 8*2 bpp (2 channels)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: return "R5G6B5"; break;               // 16 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: return "R8G8B8"; break;               // 24 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: return "R5G5B5A1"; break;           // 16 bpp (1 bit alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: return "R4G4B4A4"; break;           // 16 bpp (4 bit alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: return "R8G8B8A8"; break;           // 32 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: return "R32"; break;                     // 32 bpp (1 channel - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: return "R32G32B32"; break;         // 32*3 bpp (3 channels - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: return "R32G32B32A32"; break;   // 32*4 bpp (4 channels - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: return "R16"; break;                     // 16 bpp (1 channel - half float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: return "R16G16B16"; break;         // 16*3 bpp (3 channels - half float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: return "R16G16B16A16"; break;   // 16*4 bpp (4 channels - half float)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB: return "DXT1_RGB"; break;             // 4 bpp (no alpha)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA: return "DXT1_RGBA"; break;           // 4 bpp (1 bit alpha)
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA: return "DXT3_RGBA"; break;           // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA: return "DXT5_RGBA"; break;           // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB: return "ETC1_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB: return "ETC2_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA: return "ETC2_RGBA"; break;       // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB: return "PVRT_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: return "PVRT_RGBA"; break;           // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: return "ASTC_4x4_RGBA"; break;   // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: return "ASTC_8x8_RGBA"; break;   // 2 bpp
-        default: return "UNKNOWN"; break;
-    }
-}
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Definition
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Load default shader (just vertex positioning and texture coloring)
-// NOTE: This shader program is used for internal buffers
-// NOTE: Loaded: RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs
-static void rlLoadShaderDefault(void)
-{
-    RLGL.State.defaultShaderLocs = (int *)RL_CALLOC(RL_MAX_SHADER_LOCATIONS, sizeof(int));
-
-    // NOTE: All locations must be reseted to -1 (no location)
-    for (int i = 0; i < RL_MAX_SHADER_LOCATIONS; i++) RLGL.State.defaultShaderLocs[i] = -1;
-
-    // Vertex shader directly defined, no external file required
-    const char *defaultVShaderCode =
-#if defined(GRAPHICS_API_OPENGL_21)
-    "#version 120                       \n"
-    "attribute vec3 vertexPosition;     \n"
-    "attribute vec2 vertexTexCoord;     \n"
-    "attribute vec4 vertexColor;        \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-#elif defined(GRAPHICS_API_OPENGL_33)
-    "#version 330                       \n"
-    "in vec3 vertexPosition;            \n"
-    "in vec2 vertexTexCoord;            \n"
-    "in vec4 vertexColor;               \n"
-    "out vec2 fragTexCoord;             \n"
-    "out vec4 fragColor;                \n"
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    "#version 300 es                    \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES3 (WebGL 2) (on some browsers)
-    "in vec3 vertexPosition;            \n"
-    "in vec2 vertexTexCoord;            \n"
-    "in vec4 vertexColor;               \n"
-    "out vec2 fragTexCoord;             \n"
-    "out vec4 fragColor;                \n"
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    "#version 100                       \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL) (on some browsers)
-    "attribute vec3 vertexPosition;     \n"
-    "attribute vec2 vertexTexCoord;     \n"
-    "attribute vec4 vertexColor;        \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-#endif
-
-    "uniform mat4 mvp;                  \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    fragTexCoord = vertexTexCoord; \n"
-    "    fragColor = vertexColor;       \n"
-    "    gl_Position = mvp*vec4(vertexPosition, 1.0); \n"
-    "}                                  \n";
-
-    // Fragment shader directly defined, no external file required
-    const char *defaultFShaderCode =
-#if defined(GRAPHICS_API_OPENGL_21)
-    "#version 120                       \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture2D(texture0, fragTexCoord); \n"
-    "    gl_FragColor = texelColor*colDiffuse*fragColor;      \n"
-    "}                                  \n";
-#elif defined(GRAPHICS_API_OPENGL_33)
-    "#version 330       \n"
-    "in vec2 fragTexCoord;              \n"
-    "in vec4 fragColor;                 \n"
-    "out vec4 finalColor;               \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture(texture0, fragTexCoord);   \n"
-    "    finalColor = texelColor*colDiffuse*fragColor;        \n"
-    "}                                  \n";
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    "#version 300 es                    \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES3 (WebGL 2)
-    "in vec2 fragTexCoord;              \n"
-    "in vec4 fragColor;                 \n"
-    "out vec4 finalColor;               \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture(texture0, fragTexCoord);   \n"
-    "    finalColor = texelColor*colDiffuse*fragColor;        \n"
-    "}                                  \n";
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    "#version 100                       \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL)
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture2D(texture0, fragTexCoord); \n"
-    "    gl_FragColor = texelColor*colDiffuse*fragColor;      \n"
-    "}                                  \n";
-#endif
-
-    // NOTE: Compiled vertex/fragment shaders are not deleted,
-    // they are kept for re-use as default shaders in case some shader loading fails
-    RLGL.State.defaultVShaderId = rlCompileShader(defaultVShaderCode, GL_VERTEX_SHADER);     // Compile default vertex shader
-    RLGL.State.defaultFShaderId = rlCompileShader(defaultFShaderCode, GL_FRAGMENT_SHADER);   // Compile default fragment shader
-
-    RLGL.State.defaultShaderId = rlLoadShaderProgram(RLGL.State.defaultVShaderId, RLGL.State.defaultFShaderId);
-
-    if (RLGL.State.defaultShaderId > 0)
-    {
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader loaded successfully", RLGL.State.defaultShaderId);
-
-        // Set default shader locations: attributes locations
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_POSITION] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_COLOR] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
-
-        // Set default shader locations: uniform locations
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MATRIX_MVP] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_UNIFORM_NAME_MVP);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0);
-    }
-    else TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to load default shader", RLGL.State.defaultShaderId);
-}
-
-// Unload default shader
-// NOTE: Unloads: RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs
-static void rlUnloadShaderDefault(void)
-{
-    glUseProgram(0);
-
-    glDetachShader(RLGL.State.defaultShaderId, RLGL.State.defaultVShaderId);
-    glDetachShader(RLGL.State.defaultShaderId, RLGL.State.defaultFShaderId);
-    glDeleteShader(RLGL.State.defaultVShaderId);
-    glDeleteShader(RLGL.State.defaultFShaderId);
-
-    glDeleteProgram(RLGL.State.defaultShaderId);
-
-    RL_FREE(RLGL.State.defaultShaderLocs);
-
-    TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader unloaded successfully", RLGL.State.defaultShaderId);
-}
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-// Get compressed format official GL identifier name
-static const char *rlGetCompressedFormatName(int format)
-{
-    switch (format)
-    {
-        // GL_EXT_texture_compression_s3tc
-        case 0x83F0: return "GL_COMPRESSED_RGB_S3TC_DXT1_EXT"; break;
-        case 0x83F1: return "GL_COMPRESSED_RGBA_S3TC_DXT1_EXT"; break;
-        case 0x83F2: return "GL_COMPRESSED_RGBA_S3TC_DXT3_EXT"; break;
-        case 0x83F3: return "GL_COMPRESSED_RGBA_S3TC_DXT5_EXT"; break;
-        // GL_3DFX_texture_compression_FXT1
-        case 0x86B0: return "GL_COMPRESSED_RGB_FXT1_3DFX"; break;
-        case 0x86B1: return "GL_COMPRESSED_RGBA_FXT1_3DFX"; break;
-        // GL_IMG_texture_compression_pvrtc
-        case 0x8C00: return "GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG"; break;
-        case 0x8C01: return "GL_COMPRESSED_RGB_PVRTC_2BPPV1_IMG"; break;
-        case 0x8C02: return "GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG"; break;
-        case 0x8C03: return "GL_COMPRESSED_RGBA_PVRTC_2BPPV1_IMG"; break;
-        // GL_OES_compressed_ETC1_RGB8_texture
-        case 0x8D64: return "GL_ETC1_RGB8_OES"; break;
-        // GL_ARB_texture_compression_rgtc
-        case 0x8DBB: return "GL_COMPRESSED_RED_RGTC1"; break;
-        case 0x8DBC: return "GL_COMPRESSED_SIGNED_RED_RGTC1"; break;
-        case 0x8DBD: return "GL_COMPRESSED_RG_RGTC2"; break;
-        case 0x8DBE: return "GL_COMPRESSED_SIGNED_RG_RGTC2"; break;
-        // GL_ARB_texture_compression_bptc
-        case 0x8E8C: return "GL_COMPRESSED_RGBA_BPTC_UNORM_ARB"; break;
-        case 0x8E8D: return "GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM_ARB"; break;
-        case 0x8E8E: return "GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT_ARB"; break;
-        case 0x8E8F: return "GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_ARB"; break;
-        // GL_ARB_ES3_compatibility
-        case 0x9274: return "GL_COMPRESSED_RGB8_ETC2"; break;
-        case 0x9275: return "GL_COMPRESSED_SRGB8_ETC2"; break;
-        case 0x9276: return "GL_COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2"; break;
-        case 0x9277: return "GL_COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2"; break;
-        case 0x9278: return "GL_COMPRESSED_RGBA8_ETC2_EAC"; break;
-        case 0x9279: return "GL_COMPRESSED_SRGB8_ALPHA8_ETC2_EAC"; break;
-        case 0x9270: return "GL_COMPRESSED_R11_EAC"; break;
-        case 0x9271: return "GL_COMPRESSED_SIGNED_R11_EAC"; break;
-        case 0x9272: return "GL_COMPRESSED_RG11_EAC"; break;
-        case 0x9273: return "GL_COMPRESSED_SIGNED_RG11_EAC"; break;
-        // GL_KHR_texture_compression_astc_hdr
-        case 0x93B0: return "GL_COMPRESSED_RGBA_ASTC_4x4_KHR"; break;
-        case 0x93B1: return "GL_COMPRESSED_RGBA_ASTC_5x4_KHR"; break;
-        case 0x93B2: return "GL_COMPRESSED_RGBA_ASTC_5x5_KHR"; break;
-        case 0x93B3: return "GL_COMPRESSED_RGBA_ASTC_6x5_KHR"; break;
-        case 0x93B4: return "GL_COMPRESSED_RGBA_ASTC_6x6_KHR"; break;
-        case 0x93B5: return "GL_COMPRESSED_RGBA_ASTC_8x5_KHR"; break;
-        case 0x93B6: return "GL_COMPRESSED_RGBA_ASTC_8x6_KHR"; break;
-        case 0x93B7: return "GL_COMPRESSED_RGBA_ASTC_8x8_KHR"; break;
-        case 0x93B8: return "GL_COMPRESSED_RGBA_ASTC_10x5_KHR"; break;
-        case 0x93B9: return "GL_COMPRESSED_RGBA_ASTC_10x6_KHR"; break;
-        case 0x93BA: return "GL_COMPRESSED_RGBA_ASTC_10x8_KHR"; break;
-        case 0x93BB: return "GL_COMPRESSED_RGBA_ASTC_10x10_KHR"; break;
-        case 0x93BC: return "GL_COMPRESSED_RGBA_ASTC_12x10_KHR"; break;
-        case 0x93BD: return "GL_COMPRESSED_RGBA_ASTC_12x12_KHR"; break;
-        case 0x93D0: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR"; break;
-        case 0x93D1: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR"; break;
-        case 0x93D2: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR"; break;
-        case 0x93D3: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR"; break;
-        case 0x93D4: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR"; break;
-        case 0x93D5: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR"; break;
-        case 0x93D6: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR"; break;
-        case 0x93D7: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR"; break;
-        case 0x93D8: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR"; break;
-        case 0x93D9: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR"; break;
-        case 0x93DA: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR"; break;
-        case 0x93DB: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR"; break;
-        case 0x93DC: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR"; break;
-        case 0x93DD: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR"; break;
-        default: return "GL_COMPRESSED_UNKNOWN"; break;
-    }
-}
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-// Get pixel data size in bytes (image or texture)
-// NOTE: Size depends on pixel format
-static int rlGetPixelDataSize(int width, int height, int format)
-{
-    int dataSize = 0;       // Size in bytes
-    int bpp = 0;            // Bits per pixel
-
-    switch (format)
-    {
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: bpp = 8; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: bpp = 16; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: bpp = 32; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: bpp = 24; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: bpp = 32; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: bpp = 32*3; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: bpp = 32*4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: bpp = 16; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: bpp = 16*3; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: bpp = 16*4; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: bpp = 4; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: bpp = 8; break;
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: bpp = 2; break;
-        default: break;
-    }
-
-    double bytesPerPixel = (double)bpp/8.0;
-    dataSize = (int)(bytesPerPixel*width*height); // Total data size in bytes
-
-    // Most compressed formats works on 4x4 blocks,
-    // if texture is smaller, minimum dataSize is 8 or 16
-    if ((width < 4) && (height < 4))
-    {
-        if ((format >= RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) && (format < RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA)) dataSize = 8;
-        else if ((format >= RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA) && (format < RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA)) dataSize = 16;
-    }
-
-    return dataSize;
-}
-
-// Auxiliar math functions
-
-// Get float array of matrix data
-static rl_float16 rlMatrixToFloatV(Matrix mat)
-{
-    rl_float16 result = { 0 };
-
-    result.v[0] = mat.m0;
-    result.v[1] = mat.m1;
-    result.v[2] = mat.m2;
-    result.v[3] = mat.m3;
-    result.v[4] = mat.m4;
-    result.v[5] = mat.m5;
-    result.v[6] = mat.m6;
-    result.v[7] = mat.m7;
-    result.v[8] = mat.m8;
-    result.v[9] = mat.m9;
-    result.v[10] = mat.m10;
-    result.v[11] = mat.m11;
-    result.v[12] = mat.m12;
-    result.v[13] = mat.m13;
-    result.v[14] = mat.m14;
-    result.v[15] = mat.m15;
-
-    return result;
-}
-
-// Get identity matrix
-static Matrix rlMatrixIdentity(void)
-{
-    Matrix result = {
-        1.0f, 0.0f, 0.0f, 0.0f,
-        0.0f, 1.0f, 0.0f, 0.0f,
-        0.0f, 0.0f, 1.0f, 0.0f,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    return result;
-}
-
-// Get two matrix multiplication
-// NOTE: When multiplying matrices... the order matters!
-static Matrix rlMatrixMultiply(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
-    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
-    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
-    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
-    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
-    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
-    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
-    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
-    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
-    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
-    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
-    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
-    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
-    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
-    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
-    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
-
-    return result;
-}
-
-// Transposes provided matrix
-static Matrix rlMatrixTranspose(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    result.m0 = mat.m0;
-    result.m1 = mat.m4;
-    result.m2 = mat.m8;
-    result.m3 = mat.m12;
-    result.m4 = mat.m1;
-    result.m5 = mat.m5;
-    result.m6 = mat.m9;
-    result.m7 = mat.m13;
-    result.m8 = mat.m2;
-    result.m9 = mat.m6;
-    result.m10 = mat.m10;
-    result.m11 = mat.m14;
-    result.m12 = mat.m3;
-    result.m13 = mat.m7;
-    result.m14 = mat.m11;
-    result.m15 = mat.m15;
-
-    return result;
-}
-
-// Invert provided matrix
-static Matrix rlMatrixInvert(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
-    result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
-    result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
-    result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
-    result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
-    result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
-    result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
-    result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
-    result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
-    result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
-    result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
-    result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
-    result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
-    result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
-    result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
-    result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
-
-    return result;
-}
-
-#endif  // RLGL_IMPLEMENTATION
diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a
deleted file mode 100644
index fa538e5214..0000000000
--- a/third_party/raylib/larch64/libraylib.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f760af8b4693cf60e3760341e5275890d78d933da2354c4bad0572ec575b970a
-size 2001860
diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a
deleted file mode 100644
index ea124c1bcf..0000000000
--- a/third_party/raylib/x86_64/libraylib.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3c928e849b51b04d8e3603cd649184299efed0e9e0fb02201612b967b31efd73
-size 2771092
diff --git a/tinygrad_repo b/tinygrad_repo
index 3501a71478..ac1632ab96 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 3501a714785ff370cffb966a45d5f9cdf6c9ea7a
+Subproject commit ac1632ab966c77ba96a7048b893a30f1a714dc87
diff --git a/tools/README.md b/tools/README.md
index 90696ab4e6..1ea42bbe1d 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -29,7 +29,7 @@ source .venv/bin/activate
 
 **4. Build openpilot**
 ``` bash
-scons -u -j$(nproc)
+scons -u
 ```
 
 ## WSL on Windows
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index f91d6a1441..d357561b22 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -56,7 +56,7 @@ async def ping(request: 'web.Request'):
 
 async def offer(request: 'web.Request'):
   params = await request.json()
-  body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
+  body = StreamRequestBody(params["sdp"], "driver", ["testJoystick"], ["carState"])
   body_json = json.dumps(dataclasses.asdict(body))
 
   logger.info("Sending offer to webrtcd...")
@@ -69,7 +69,7 @@ async def offer(request: 'web.Request'):
 
 def main():
   # Enable joystick debug mode
-  Params().put_bool("JoystickDebugMode", True)
+  Params().put_bool("JoystickDebugMode", True, block=True)
 
   # App needs to be HTTPS for WebRTC to work on the browser
   ssl_context = create_ssl_context()
diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index 1ee6c92236..927b05e34a 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -1,5 +1,6 @@
 moc_*
 *.moc
+*.generated.qrc
 
 assets.cc
 
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index f5ef0f4393..04389a9ebf 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -2,6 +2,7 @@ import subprocess
 import os
 import shutil
 
+import bootstrap_icons
 import libusb
 
 Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
@@ -80,10 +81,21 @@ if arch != "Darwin":
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
+def write_assets_qrc(target, source, env):
+  with open(str(source[0])) as f:
+    qrc = f.read()
+  with open(str(target[0]), "w") as f:
+    f.write(qrc.replace("@BOOTSTRAP_ICONS_SVG@", str(bootstrap_icons.SVG_PATH)))
+
 # build assets
 assets = "assets/assets.cc"
-assets_src = "assets/assets.qrc"
+assets_src = cabana_env.Command(
+  "assets/assets.generated.qrc",
+  "assets/assets.qrc",
+  write_assets_qrc,
+)
 cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
+cabana_env.Depends(assets_src, str(bootstrap_icons.SVG_PATH))
 cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
 
 cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
diff --git a/tools/cabana/assets/assets.qrc b/tools/cabana/assets/assets.qrc
index 6a8e5a3414..f5880e5580 100644
--- a/tools/cabana/assets/assets.qrc
+++ b/tools/cabana/assets/assets.qrc
@@ -1,6 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">../../../third_party/bootstrap/bootstrap-icons.svg</file>
+  <file alias="bootstrap-icons.svg">@BOOTSTRAP_ICONS_SVG@</file>
   <file>cabana-icon.png</file>
 </qresource>
 </RCC>
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 0be28f06b7..c86b3ebdae 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -40,14 +40,14 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   addShortcuts();
   setWhatsThis(R"(
     <b>Binary View</b><br/>
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Shortcuts</span><br />
     Delete Signal:
       <span style="background-color:lightGray;color:gray">&nbsp;x&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;Backspace&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;Delete&nbsp;</span><br />
     Change endianness: <span style="background-color:lightGray;color:gray">&nbsp;e&nbsp; </span><br />
-    Change singedness: <span style="background-color:lightGray;color:gray">&nbsp;s&nbsp;</span><br />
+    Change signedness: <span style="background-color:lightGray;color:gray">&nbsp;s&nbsp;</span><br />
     Open chart:
       <span style="background-color:lightGray;color:gray">&nbsp;c&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;p&nbsp;</span>,
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
index cd9bf1dd79..5eb15eabf0 100755
--- a/tools/cabana/cabana
+++ b/tools/cabana/cabana
@@ -33,6 +33,6 @@ fi
 
 # Build _cabana
 cd "$ROOT"
-scons -j4 tools/cabana/_cabana cereal/messaging/bridge
+scons tools/cabana/_cabana cereal/messaging/bridge
 
 exec "$DIR/_cabana" "$@"
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index ec8c82dd98..75cdaa7cc3 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -64,7 +64,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
 
   setWhatsThis(tr(R"(
     <b>Message View</b><br/>
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Byte color</span><br />
     <span style="color:gray;">■ </span> constant changing<br />
     <span style="color:blue;">■ </span> increasing<br />
@@ -146,7 +146,7 @@ void MessagesWidget::menuAboutToShow() {
   action->setCheckable(true);
   action->setChecked(settings.multiple_lines_hex);
 
-  action = menu->addAction(tr("Show inactive Messages"), model, &MessageListModel::showInactivemessages);
+  action = menu->addAction(tr("Show inactive messages"), model, &MessageListModel::showInactiveMessages);
   action->setCheckable(true);
   action->setChecked(model->show_inactive_messages);
 }
@@ -216,7 +216,7 @@ void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
   filterAndSort();
 }
 
-void MessageListModel::showInactivemessages(bool show) {
+void MessageListModel::showInactiveMessages(bool show) {
   show_inactive_messages = show;
   filterAndSort();
 }
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 0fc09519a3..9ffb156604 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -36,7 +36,7 @@ public:
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
   void setFilterStrings(const QMap<int, QString> &filters);
-  void showInactivemessages(bool show);
+  void showInactiveMessages(bool show);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   bool filterAndSort();
   void dbcModified();
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 15baabe512..a204512e83 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -495,7 +495,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 
   setWhatsThis(tr(R"(
     <b>Signal view</b><br />
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
   )"));
 }
 
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index f203ec663e..87d3cbec95 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -51,7 +51,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   updatePlayBtnState();
   setWhatsThis(tr(R"(
     <b>Video</b><br />
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Timeline color</span>
     <table>
     <tr><td><span style="color:%1;">■ </span>Disengaged </td>
diff --git a/tools/clip/run.py b/tools/clip/run.py
index ed2a5075b4..d3a0496b1e 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -219,7 +219,7 @@ def load_route_metadata(route):
   params = Params()
   for entry in init_data.params.entries:
     try:
-      params.put(entry.key, params.cpp2python(entry.key, entry.value))
+      params.put(entry.key, params.cpp2python(entry.key, entry.value), block=True)
     except UnknownKeyName:
       pass
 
@@ -326,7 +326,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
 
     frame_idx = 0
     with tqdm.tqdm(total=len(message_chunks), desc="Rendering", unit="frame") as pbar:
-      for should_render in gui_app.render():
+      for should_render, _, _ in gui_app.render():
         if frame_idx >= len(message_chunks):
           break
         _, frame_bytes = frame_queue.get()
diff --git a/tools/jotpluggler/.gitignore b/tools/jotpluggler/.gitignore
index 7cb98300fe..5f5f9dbdec 100644
--- a/tools/jotpluggler/.gitignore
+++ b/tools/jotpluggler/.gitignore
@@ -3,6 +3,7 @@ jot_*.o
 *.o
 jotpluggler
 car_fingerprint_to_dbc.h
+generated_event_extractors.h
 generated_dbcs/.stamp
 generated_dbcs/*.dbc
 layouts/.jotpluggler_autosave/
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
index 122d502341..078e173959 100644
--- a/tools/jotpluggler/SConscript
+++ b/tools/jotpluggler/SConscript
@@ -1,4 +1,6 @@
 import os
+import subprocess
+import bootstrap_icons
 import imgui
 import libusb
 from opendbc import get_generated_dbcs
@@ -15,6 +17,7 @@ jot_env["CPPPATH"] += [imgui.INCLUDE_DIR, libusb.INCLUDE_DIR]
 jot_env["CXXFLAGS"] += [
   "-DGLFW_INCLUDE_NONE",
   '-DJOTP_REPO_ROOT=\'"%s"\'' % os.path.realpath(BASEDIR),
+  '-DBOOTSTRAP_ICONS_TTF=\'"%s"\'' % bootstrap_icons.TTF_PATH,
 ]
 
 def materialize_generated_dbcs(target, source, env):
@@ -77,8 +80,24 @@ def write_car_fingerprint_to_dbc_header(target, source, env):
 
   return None
 
+def generate_event_extractors(target, source, env):
+  subprocess.check_call([
+    "python3",
+    "tools/jotpluggler/generate_event_extractors.py",
+    os.path.realpath(BASEDIR),
+    str(target[0]),
+  ])
+  return None
+
 generated_dbc_stamp = jot_env.Command(f"generated_dbcs/.stamp", [], materialize_generated_dbcs)
 car_fingerprint_to_dbc = jot_env.Command("car_fingerprint_to_dbc.h", [], write_car_fingerprint_to_dbc_header)
+event_extractors = jot_env.Command("generated_event_extractors.h", [
+    "generate_event_extractors.py",
+    jot_env.Glob("#cereal/*.capnp"),
+    jot_env.Glob("#cereal/include/*.capnp"),
+  ],
+  generate_event_extractors,
+)
 
 libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a"),
         "avformat", "avcodec", "avutil", "x264", "yuv", "z", "bz2", "zstd", "m", "pthread", "usb-1.0"]
@@ -90,3 +109,4 @@ else:
 program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs)
 jot_env.Depends(program, generated_dbc_stamp)
 jot_env.Depends(program, car_fingerprint_to_dbc)
+jot_env.Depends(program, event_extractors)
diff --git a/tools/jotpluggler/app.cc b/tools/jotpluggler/app.cc
index 4b56299ead..22a9f9021c 100644
--- a/tools/jotpluggler/app.cc
+++ b/tools/jotpluggler/app.cc
@@ -27,7 +27,7 @@
 #include <unordered_set>
 #include <unistd.h>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
@@ -324,7 +324,7 @@ void configure_style() {
   plot_style.LegendInnerPadding = ImVec2(6.0f, 3.0f);
   plot_style.LegendSpacing = ImVec2(7.0f, 2.0f);
   plot_style.PlotPadding = ImVec2(4.0f, 8.0f);
-  plot_style.FitPadding = ImVec2(0.02f, 0.4f);
+  plot_style.FitPadding = ImVec2(0.02f, static_cast<float>(PLOT_Y_PADDING_FRACTION));
 
   ImPlot::MapInputDefault();
   ImPlotInputMap &input_map = ImPlot::GetInputMap();
@@ -1334,20 +1334,6 @@ bool apply_pane_menu_action(AppSession *session, UiState *state, int pane_index,
       layout_changed = true;
       success_status = "Plot view reset";
       break;
-    case PaneMenuActionKind::ResetHorizontal:
-      reset_shared_range(state, *session);
-      state->follow_latest = session->data_mode == SessionDataMode::Stream;
-      state->suppress_range_side_effects = true;
-      clamp_shared_range(state, *session);
-      persist_shared_range_to_tab(tab, *state);
-      layout_changed = true;
-      success_status = "Horizontal zoom reset";
-      break;
-    case PaneMenuActionKind::ResetVertical:
-      clear_pane_vertical_limits(&tab->panes[static_cast<size_t>(pane_index)]);
-      layout_changed = true;
-      success_status = "Vertical zoom reset";
-      break;
     case PaneMenuActionKind::Clear:
       clear_pane(tab, pane_index);
       tab_state->active_pane_index = pane_index;
diff --git a/tools/jotpluggler/browser.cc b/tools/jotpluggler/browser.cc
index 27378b4b6b..91e4a707da 100644
--- a/tools/jotpluggler/browser.cc
+++ b/tools/jotpluggler/browser.cc
@@ -377,20 +377,16 @@ void draw_browser_node(AppSession *session,
   }
 
   if (node.children.empty()) {
-    const bool selected = browser_selection_contains(*state, node.full_path);
     const std::string value_text = browser_series_value_text(*session, *state, node.full_path);
     const ImGuiStyle &style = ImGui::GetStyle();
     const ImVec2 row_size(std::max(1.0f, ImGui::GetContentRegionAvail().x), ImGui::GetFrameHeight());
     ImGui::PushID(node.full_path.c_str());
     const bool clicked = ImGui::InvisibleButton("##browser_leaf", row_size);
     const bool hovered = ImGui::IsItemHovered();
-    const bool held = ImGui::IsItemActive();
     const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
     ImDrawList *draw_list = ImGui::GetWindowDrawList();
-    if (selected || hovered) {
-      const ImU32 bg = ImGui::GetColorU32(selected
-        ? (held ? ImGuiCol_HeaderActive : ImGuiCol_Header)
-        : ImGuiCol_HeaderHovered);
+    if (hovered) {
+      const ImU32 bg = ImGui::GetColorU32(ImGuiCol_HeaderHovered);
       draw_list->AddRectFilled(rect.Min, rect.Max, bg, 0.0f);
     }
 
@@ -409,7 +405,7 @@ void draw_browser_node(AppSession *session,
                               nullptr);
     if (!value_text.empty()) {
       app_push_mono_font();
-      ImGui::PushStyleColor(ImGuiCol_Text, selected ? color_rgb(70, 77, 86) : color_rgb(116, 124, 133));
+      ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(116, 124, 133));
       ImGui::RenderTextClipped(ImVec2(value_left, rect.Min.y + style.FramePadding.y),
                                ImVec2(value_right, rect.Max.y),
                                value_text.c_str(),
@@ -452,9 +448,6 @@ void draw_browser_node(AppSession *session,
   }
 
   ImGuiTreeNodeFlags flags = ImGuiTreeNodeFlags_SpanAvailWidth;
-  if (!filter.empty()) {
-    flags |= ImGuiTreeNodeFlags_DefaultOpen;
-  }
   const bool open = ImGui::TreeNodeEx(node.label.c_str(), flags);
   if (open) {
     for (const BrowserNode &child : node.children) {
diff --git a/tools/jotpluggler/common.cc b/tools/jotpluggler/common.cc
index 9bd6c18cea..8f696657bd 100644
--- a/tools/jotpluggler/common.cc
+++ b/tools/jotpluggler/common.cc
@@ -139,6 +139,14 @@ bool env_flag_enabled(const char *name, bool default_value) {
   return !(value == "0" || value == "false" || value == "no" || value == "off");
 }
 
+bool app_begin_popup(const char *str_id, ImGuiWindowFlags flags) {
+  return ImGui::BeginPopup(str_id, flags | ImGuiWindowFlags_NoMove);
+}
+
+bool app_begin_popup_modal(const char *name, bool *p_open, ImGuiWindowFlags flags) {
+  return ImGui::BeginPopupModal(name, p_open, flags | ImGuiWindowFlags_NoMove);
+}
+
 void open_external_url(std::string_view url) {
 #ifdef __APPLE__
   const std::string command = "open " + shell_quote(url) + " &";
diff --git a/tools/jotpluggler/common.h b/tools/jotpluggler/common.h
index 25b1f91e89..14db83fd33 100644
--- a/tools/jotpluggler/common.h
+++ b/tools/jotpluggler/common.h
@@ -57,6 +57,10 @@ const char *stream_source_kind_label(StreamSourceKind kind);
 std::string stream_source_target_label(const StreamSourceConfig &source);
 
 bool env_flag_enabled(const char *name, bool default_value = false);
+bool app_begin_popup(const char *str_id, ImGuiWindowFlags flags = 0);
+bool app_begin_popup_modal(const char *name,
+                           bool *p_open = nullptr,
+                           ImGuiWindowFlags flags = ImGuiWindowFlags_AlwaysAutoResize);
 void open_external_url(std::string_view url);
 std::string route_useradmin_url(const RouteIdentifier &route_id);
 std::string route_connect_url(const RouteIdentifier &route_id);
diff --git a/tools/jotpluggler/custom_series.cc b/tools/jotpluggler/custom_series.cc
index bd2a3f36d1..aabf78a0db 100644
--- a/tools/jotpluggler/custom_series.cc
+++ b/tools/jotpluggler/custom_series.cc
@@ -11,7 +11,7 @@
 #include <stdexcept>
 #include <unistd.h>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
@@ -292,7 +292,7 @@ void draw_custom_series_help_popup(CustomSeriesEditorState *editor) {
     ImGui::OpenPopup("Custom Series Help");
     editor->open_help = false;
   }
-  if (!ImGui::BeginPopupModal("Custom Series Help", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Custom Series Help")) {
     return;
   }
   ImGui::TextUnformatted("Available variables");
diff --git a/tools/jotpluggler/generate_event_extractors.py b/tools/jotpluggler/generate_event_extractors.py
new file mode 100644
index 0000000000..1aba9578cd
--- /dev/null
+++ b/tools/jotpluggler/generate_event_extractors.py
@@ -0,0 +1,327 @@
+import sys
+import capnp
+from pathlib import Path
+
+NO_DISCRIMINANT = 65535
+SCALAR_KINDS = {
+  "bool": "Bool",
+  "int8": "Int",
+  "int16": "Int",
+  "int32": "Int",
+  "int64": "Int",
+  "uint8": "UInt",
+  "uint16": "UInt",
+  "uint32": "UInt",
+  "uint64": "UInt",
+  "float32": "Float",
+  "float64": "Float",
+  "enum": "Enum",
+}
+NESTED_TYPE_KINDS = {"struct", "list"}
+IGNORED_TYPE_KINDS = {"void", "text", "data", "interface", "anyPointer"}
+
+
+def cxx_string(value):
+  return '"' + value.replace("\\", "\\\\").replace('"', '\\"') + '"'
+
+
+def accessor(prefix, name):
+  return prefix + name[:1].upper() + name[1:]
+
+
+def field_type(field):
+  if field.proto.which() == "group":
+    return "struct"
+  return field.proto.slot.type.which()
+
+
+def field_type_proto(field):
+  return field.proto.slot.type if field.proto.which() == "slot" else None
+
+
+def scalar_kind(type_proto):
+  if type_proto is None:
+    return None
+  return SCALAR_KINDS.get(type_proto.which())
+
+
+def enum_names(schema):
+  if schema is None:
+    return []
+  names_by_ordinal = schema.enumerants
+  if not names_by_ordinal:
+    return []
+  max_ordinal = max(names_by_ordinal.values())
+  out = [""] * (max_ordinal + 1)
+  for name, ordinal in names_by_ordinal.items():
+    out[ordinal] = name
+  return out
+
+
+class Generator:
+  def __init__(self, event_schema):
+    self.event_schema = event_schema
+    self.fixed_paths = []
+    self.tmp_index = 0
+    self.lines = []
+    self.emits_memo = {}
+
+  def tmp(self, prefix):
+    self.tmp_index += 1
+    return f"{prefix}_{self.tmp_index}"
+
+  def add_fixed_path(self, path):
+    slot = len(self.fixed_paths)
+    self.fixed_paths.append(path)
+    return slot
+
+  def emit(self, indent, text=""):
+    self.lines.append(" " * indent + text)
+
+  def scalar_double_expr(self, value_expr, kind):
+    if kind == "Bool":
+      return f"({value_expr} ? 1.0 : 0.0)"
+    if kind == "Enum":
+      return f"static_cast<double>(static_cast<uint16_t>({value_expr}))"
+    return f"static_cast<double>({value_expr})"
+
+  def emit_enum_capture(self, indent, path_expr, names):
+    if not names:
+      return
+    names_expr = "{" + ", ".join(cxx_string(name) for name in names) + "}"
+    self.emit(indent, f"capture_static_enum_info({path_expr}, {names_expr}, series);")
+
+  def emit_node(self, indent, type_kind, type_proto, schema, expr, path, path_expr, dynamic_path):
+    if not self.node_emits(type_kind, type_proto, schema):
+      return
+    kind = scalar_kind(type_proto)
+    if kind is not None:
+      double_expr = self.scalar_double_expr(expr, kind)
+      if dynamic_path:
+        if kind == "Enum":
+          self.emit_enum_capture(indent, path_expr, enum_names(schema))
+        self.emit(indent, f"append_dynamic_scalar_point({path_expr}, tm, {double_expr}, series);")
+      else:
+        slot = self.add_fixed_path(path)
+        if kind == "Enum":
+          self.emit_enum_capture(indent, cxx_string(path), enum_names(schema))
+        self.emit(indent, f"append_fixed_scalar_point(&series->fixed_series[{slot}], tm, {double_expr});")
+      return
+
+    if type_kind == "struct":
+      self.emit_struct(indent, schema, expr, path, path_expr, dynamic_path)
+      return
+
+    if type_kind == "list":
+      self.emit_list(indent, type_proto, schema, expr, path, path_expr, dynamic_path)
+
+  def emit_field(self, indent, struct_schema, reader_expr, field_name, base_path, base_path_expr, dynamic_path):
+    field = struct_schema.fields[field_name]
+    proto = field.proto
+    type_kind = field_type(field)
+    type_proto = field_type_proto(field)
+    kind = scalar_kind(type_proto)
+    value_schema = field.schema if kind == "Enum" or type_kind in NESTED_TYPE_KINDS else None
+    if not self.node_emits(type_kind, type_proto, value_schema):
+      return
+
+    field_path = f"{base_path}/{field_name}"
+    field_path_expr = None
+    if dynamic_path:
+      field_path_var = self.tmp("path")
+      self.emit(indent, f"const std::string {field_path_var} = {base_path_expr} + {cxx_string('/' + field_name)};")
+      field_path_expr = field_path_var
+
+    get_call = f"{reader_expr}.{accessor('get', field_name)}()"
+    has_call = f"{reader_expr}.{accessor('has', field_name)}()"
+    conditions = []
+    if proto.discriminantValue != NO_DISCRIMINANT:
+      conditions.append(f"{reader_expr}.which() == static_cast<decltype({reader_expr}.which())>({proto.discriminantValue})")
+    if proto.which() == "slot" and type_kind in NESTED_TYPE_KINDS:
+      conditions.append(has_call)
+
+    if conditions:
+      self.emit(indent, f"if ({' && '.join(conditions)}) {{")
+      indent += 2
+
+    value_var = self.tmp("value")
+    self.emit(indent, f"const auto {value_var} = {get_call};")
+    self.emit_node(indent, type_kind, type_proto, value_schema, value_var, field_path, field_path_expr, dynamic_path)
+
+    if conditions:
+      indent -= 2
+      self.emit(indent, "}")
+
+  def emit_struct(self, indent, schema, reader_expr, path, path_expr, dynamic_path):
+    if schema is None:
+      return
+    for field_name in schema.fieldnames:
+      self.emit_field(indent, schema, reader_expr, field_name, path, path_expr, dynamic_path)
+
+  def emit_list(self, indent, type_proto, schema, list_expr, path, path_expr, dynamic_path):
+    elem_type = type_proto.list.elementType
+    elem_kind = elem_type.which()
+    if elem_kind in IGNORED_TYPE_KINDS:
+      return
+
+    base_path_var = path_expr
+    if base_path_var is None:
+      base_path_var = self.tmp("base_path")
+      self.emit(indent, f"const std::string {base_path_var} = {cxx_string(path)};")
+
+    elem_scalar = scalar_kind(elem_type)
+    if elem_scalar is not None:
+      self.emit(indent, f"if ({list_expr}.size() <= 16) {{")
+      index_var = self.tmp("i")
+      self.emit(indent + 2, f"for (uint {index_var} = 0; {index_var} < {list_expr}.size(); ++{index_var}) {{")
+      item_series = self.tmp("item_series")
+      self.emit(indent + 4, f"RouteSeries *{item_series} = ensure_list_scalar_series({base_path_var}, {index_var}, series);")
+      if elem_scalar == "Enum":
+        self.emit_enum_capture(indent + 4, f"{item_series}->path", enum_names(schema.elementType))
+      self.emit(indent + 4, f"append_fixed_scalar_point({item_series}, tm, {self.scalar_double_expr(f'{list_expr}[{index_var}]', elem_scalar)});")
+      self.emit(indent + 2, "}")
+      self.emit(indent, "}")
+      return
+
+    if elem_kind in {"struct", "list"}:
+      index_var = self.tmp("i")
+      self.emit(indent, f"for (uint {index_var} = 0; {index_var} < {list_expr}.size(); ++{index_var}) {{")
+      item_path = self.tmp("item_path")
+      self.emit(indent + 2, f"const std::string {item_path} = {base_path_var} + \"/\" + std::to_string({index_var});")
+      item = self.tmp("item")
+      self.emit(indent + 2, f"const auto {item} = {list_expr}[{index_var}];")
+      if elem_kind == "struct":
+        self.emit_struct(indent + 2, schema.elementType, item, path, item_path, True)
+      else:
+        self.emit_list(indent + 2, elem_type, schema.elementType, item, path, item_path, True)
+      self.emit(indent, "}")
+
+  def node_emits(self, type_kind, type_proto, schema, seen=frozenset()):
+    if scalar_kind(type_proto) is not None:
+      return True
+    if type_kind == "struct":
+      if schema is None:
+        return False
+      schema_id = int(schema.node.id)
+      if schema_id in seen:
+        return False
+      if schema_id in self.emits_memo:
+        return self.emits_memo[schema_id]
+      next_seen = seen | {schema_id}
+      for field_name in schema.fieldnames:
+        field = schema.fields[field_name]
+        ft = field_type(field)
+        ftp = field_type_proto(field)
+        fkind = scalar_kind(ftp)
+        if ft in IGNORED_TYPE_KINDS:
+          continue
+        fschema = field.schema if fkind == "Enum" or ft in NESTED_TYPE_KINDS else None
+        if self.node_emits(ft, ftp, fschema, next_seen):
+          self.emits_memo[schema_id] = True
+          return True
+      self.emits_memo[schema_id] = False
+      return False
+    if type_kind == "list":
+      if type_proto is None or schema is None:
+        return False
+      elem_type = type_proto.list.elementType
+      elem_kind = elem_type.which()
+      if elem_kind in IGNORED_TYPE_KINDS:
+        return False
+      if scalar_kind(elem_type) is not None:
+        return True
+      if elem_kind == "struct":
+        return self.node_emits("struct", None, schema.elementType, seen)
+      if elem_kind == "list":
+        return self.node_emits("list", elem_type, schema.elementType, seen)
+    return False
+
+  def emit_can_special(self, indent, service_name):
+    service_kind = "CanServiceKind::Can" if service_name == "can" else "CanServiceKind::Sendcan"
+    self.emit(indent, f"const CanServiceKind can_service = {service_kind};")
+    self.emit(indent, f"for (const auto &msg : event.{accessor('get', service_name)}()) {{")
+    self.emit(indent + 2, "append_can_frame(can_service, static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDeprecated().getBusTime(), msg.getDat(), tm, series);")  # noqa: E501
+    self.emit(indent + 2, "if (skip_raw_can) {")
+    self.emit(indent + 4, "const auto dat = msg.getDat();")
+    self.emit(indent + 4, f"decode_can_frame(can_dbc, {cxx_string(service_name)}, static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), dat.begin(), dat.size(), tm, series);")  # noqa: E501
+    self.emit(indent + 2, "}")
+    self.emit(indent, "}")
+    self.emit(indent, "if (skip_raw_can) {")
+    self.emit(indent + 2, "return true;")
+    self.emit(indent, "}")
+
+  def emit_event_case(self, field_name):
+    field = self.event_schema.fields[field_name]
+    proto = field.proto
+    type_kind = field_type(field)
+    type_proto = field_type_proto(field)
+    kind = scalar_kind(type_proto)
+    schema = field.schema if kind == "Enum" or type_kind in NESTED_TYPE_KINDS else None
+    self.emit(4, f"case static_cast<cereal::Event::Which>({proto.discriminantValue}): {{")
+    valid_slot = self.add_fixed_path(f"/{field_name}/valid")
+    mono_slot = self.add_fixed_path(f"/{field_name}/logMonoTime")
+    seconds_slot = self.add_fixed_path(f"/{field_name}/t")
+    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{valid_slot}], tm, event.getValid() ? 1.0 : 0.0);")
+    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{mono_slot}], tm, static_cast<double>(event.getLogMonoTime()));")
+    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{seconds_slot}], tm, tm);")
+    if field_name in {"can", "sendcan"}:
+      self.emit_can_special(6, field_name)
+    if self.node_emits(type_kind, type_proto, schema):
+      payload = self.tmp("payload")
+      self.emit(6, f"const auto {payload} = event.{accessor('get', field_name)}();")
+      self.emit_node(6, type_kind, type_proto, schema, payload, f"/{field_name}", None, False)
+    self.emit(6, "return true;")
+    self.emit(4, "}")
+
+  def generate(self):
+    self.lines = []
+    self.emit(0, "// Generated by tools/jotpluggler/generate_event_extractors.py; do not edit.")
+    self.emit(0, "")
+    self.emit(0, "const std::vector<std::string> &static_event_fixed_paths() {")
+    self.emit(2, "static const std::vector<std::string> paths = {")
+    path_insert_at = len(self.lines)
+    self.emit(2, "};")
+    self.emit(2, "return paths;")
+    self.emit(0, "}")
+    self.emit(0, "")
+    self.emit(0, "void capture_static_enum_info(const std::string &path, std::initializer_list<std::string_view> names, SeriesAccumulator *series) {")
+    self.emit(2, "if (series->enum_info.find(path) != series->enum_info.end()) {")
+    self.emit(4, "return;")
+    self.emit(2, "}")
+    self.emit(2, "EnumInfo info;")
+    self.emit(2, "info.names.reserve(names.size());")
+    self.emit(2, "for (std::string_view name : names) {")
+    self.emit(4, "info.names.emplace_back(name);")
+    self.emit(2, "}")
+    self.emit(2, "if (!info.names.empty()) {")
+    self.emit(4, "series->enum_info.emplace(path, std::move(info));")
+    self.emit(2, "}")
+    self.emit(0, "}")
+    self.emit(0, "")
+    self.emit(0, "bool append_event_static_reader(cereal::Event::Which which, const cereal::Event::Reader &event, const dbc::Database *can_dbc, bool skip_raw_can, double time_offset, SeriesAccumulator *series) {")  # noqa: E501
+    self.emit(2, "const double tm = static_cast<double>(event.getLogMonoTime()) / 1.0e9 - time_offset;")
+    self.emit(2, "switch (which) {")
+    for field_name in self.event_schema.union_fields:
+      self.emit_event_case(field_name)
+    self.emit(4, "default:")
+    self.emit(6, "return false;")
+    self.emit(2, "}")
+    self.emit(0, "}")
+
+    path_lines = ["    " + cxx_string(path) + "," for path in self.fixed_paths]
+    self.lines[path_insert_at:path_insert_at] = path_lines
+    return "\n".join(self.lines) + "\n"
+
+
+if __name__ == "__main__":
+  if len(sys.argv) != 3:
+    print(f"usage: {sys.argv[0]} <repo-root> <output>", file=sys.stderr)
+    sys.exit(2)
+
+  repo_root = Path(sys.argv[1]).resolve()
+  output = Path(sys.argv[2])
+  capnp.remove_import_hook()
+  log = capnp.load(str(repo_root / "cereal" / "log.capnp"))
+  generated = Generator(log.Event.schema).generate()
+  output.parent.mkdir(parents=True, exist_ok=True)
+  output.write_text(generated)
diff --git a/tools/jotpluggler/icons.cc b/tools/jotpluggler/icons.cc
index 9507090e03..29edabad4e 100644
--- a/tools/jotpluggler/icons.cc
+++ b/tools/jotpluggler/icons.cc
@@ -4,7 +4,7 @@
 #include <cmath>
 
 void icon_add_font(float size, bool merge, const ImFont *base_font) {
-  const std::filesystem::path ttf = repo_root() / "third_party" / "bootstrap" / "bootstrap-icons.ttf";
+  const std::filesystem::path ttf = BOOTSTRAP_ICONS_TTF;
   ImGuiIO &io = ImGui::GetIO();
   ImFontConfig config;
   config.MergeMode = merge;
diff --git a/tools/jotpluggler/internal.h b/tools/jotpluggler/internal.h
index 22a5c1dd95..7b898f0461 100644
--- a/tools/jotpluggler/internal.h
+++ b/tools/jotpluggler/internal.h
@@ -26,8 +26,6 @@ enum class PaneMenuActionKind {
   SplitTop,
   SplitBottom,
   ResetView,
-  ResetHorizontal,
-  ResetVertical,
   Clear,
   Close,
 };
@@ -58,6 +56,7 @@ inline constexpr float SIDEBAR_MAX_WIDTH = 520.0f;
 inline constexpr float TIMELINE_BAR_HEIGHT = 14.0f;
 inline constexpr float STATUS_BAR_HEIGHT = 52.0f;
 inline constexpr double MIN_HORIZONTAL_ZOOM_SECONDS = 2.0;
+inline constexpr double PLOT_Y_PADDING_FRACTION = 0.05;
 
 struct UiMetrics {
   float width = 0.0f;
diff --git a/tools/jotpluggler/layout.cc b/tools/jotpluggler/layout.cc
index 8a58ef7cd6..0d3b82c254 100644
--- a/tools/jotpluggler/layout.cc
+++ b/tools/jotpluggler/layout.cc
@@ -92,7 +92,7 @@ bool open_find_signal_result(UiState *state, const std::string &path) {
 }
 
 void draw_open_route_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Open Route", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Open Route")) {
     return;
   }
   ImGui::TextUnformatted("Load a route into the current layout.");
@@ -116,7 +116,7 @@ void draw_open_route_popup(AppSession *session, UiState *state) {
 }
 
 void draw_stream_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Live Stream", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Live Stream")) {
     return;
   }
 
@@ -153,7 +153,7 @@ void draw_stream_popup(AppSession *session, UiState *state) {
 }
 
 void draw_load_layout_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Load Layout", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Load Layout")) {
     return;
   }
   ImGui::TextUnformatted("Load a JotPlugger JSON layout.");
@@ -177,7 +177,7 @@ void draw_load_layout_popup(AppSession *session, UiState *state) {
 }
 
 void draw_save_layout_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Save Layout", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Save Layout")) {
     return;
   }
   ImGui::TextUnformatted("Save the current workspace as a JotPlugger JSON layout.");
@@ -201,7 +201,7 @@ void draw_save_layout_popup(AppSession *session, UiState *state) {
 }
 
 void draw_preferences_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Preferences", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Preferences")) {
     return;
   }
   if (session->map_data) {
@@ -234,7 +234,7 @@ void draw_preferences_popup(AppSession *session, UiState *state) {
 }
 
 void draw_find_signal_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Find Signal", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Find Signal")) {
     return;
   }
   ImGui::TextUnformatted("Search decoded signals across the loaded route.");
@@ -353,7 +353,7 @@ bool save_dbc_editor_contents(AppSession *session, UiState *state) {
 }
 
 void draw_dbc_editor_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("DBC Editor", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("DBC Editor")) {
     return;
   }
   DbcEditorState &editor = state->dbc_editor;
@@ -392,7 +392,7 @@ void draw_dbc_editor_popup(AppSession *session, UiState *state) {
 }
 
 void draw_axis_limits_popup(AppSession *session, UiState *state) {
-  if (!ImGui::BeginPopupModal("Edit Axis Limits", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Edit Axis Limits")) {
     return;
   }
   const WorkspaceTab *tab = app_active_tab(session->layout, *state);
@@ -452,7 +452,7 @@ void draw_error_popup(UiState *state) {
     ImGui::OpenPopup("Error");
     state->open_error_popup = false;
   }
-  if (!ImGui::BeginPopupModal("Error", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) {
+  if (!app_begin_popup_modal("Error")) {
     return;
   }
   ImGui::TextWrapped("%s", state->error_text.c_str());
diff --git a/tools/jotpluggler/layout_io.cc b/tools/jotpluggler/layout_io.cc
index f984c0f0e8..5c70f7a42a 100644
--- a/tools/jotpluggler/layout_io.cc
+++ b/tools/jotpluggler/layout_io.cc
@@ -6,7 +6,7 @@
 #include <sstream>
 #include <stdexcept>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/layouts/driver-monitoring-debug.json b/tools/jotpluggler/layouts/driver-monitoring-debug.json
new file mode 100644
index 0000000000..07a5c2fd6e
--- /dev/null
+++ b/tools/jotpluggler/layouts/driver-monitoring-debug.json
@@ -0,0 +1 @@
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"camera_view": "driver", "curves": [], "kind": "camera", "title": "Driver Camera"}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/alertLevel"}], "title": "..."}], "sizes": [0.5, 0.5], "split": "vertical"}, {"children": [{"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/activePolicy"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/faceDetected"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/eye"}, {"color": "#dc5234", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/phone"}, {"color": "#43a047", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/pose"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/awarenessPercent"}], "title": "..."}], "sizes": [0.25, 0.25, 0.25, 0.25], "split": "vertical"}], "sizes": [0.5, 0.5], "split": "horizontal"}}]}
diff --git a/tools/jotpluggler/map.cc b/tools/jotpluggler/map.cc
index 8725908ea0..fb4e03c912 100644
--- a/tools/jotpluggler/map.cc
+++ b/tools/jotpluggler/map.cc
@@ -25,7 +25,7 @@ extern "C" {
 #include <vector>
 
 #include "common/util.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 
 namespace fs = std::filesystem;
 
diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
index 5d9d644808..019eff7070 100644
--- a/tools/jotpluggler/plot.cc
+++ b/tools/jotpluggler/plot.cc
@@ -7,8 +7,6 @@
 #include <cstdio>
 #include <limits>
 
-constexpr double PLOT_Y_PAD_FRACTION = 0.4;
-
 struct PlotBounds {
   double x_min = 0.0;
   double x_max = 1.0;
@@ -484,7 +482,7 @@ PlotBounds compute_plot_bounds(const Pane &pane,
     min_value = std::min(min_value, 0.0);
     max_value = std::max(max_value, 1.0);
   }
-  ensure_non_degenerate_range(&min_value, &max_value, PLOT_Y_PAD_FRACTION, 0.1);
+  ensure_non_degenerate_range(&min_value, &max_value, PLOT_Y_PADDING_FRACTION, 0.1);
   if (pane.range.has_y_limit_min) {
     min_value = pane.range.y_limit_min;
   }
@@ -848,7 +846,7 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
     } else {
       for (size_t i = 0; i < prepared_curves.size(); ++i) {
         const PreparedCurve &curve = prepared_curves[i];
-        std::string series_id = curve_legend_label(curve, has_cursor_time, max_legend_label_width) + "##curve" + std::to_string(i);
+        std::string series_id = curve_legend_label(curve, has_cursor_time, max_legend_label_width) + "###curve" + std::to_string(curve.pane_curve_index);
         ImPlotSpec spec;
         spec.LineColor = color_rgb(curve.color);
         spec.LineWeight = curve.line_weight;
@@ -923,28 +921,15 @@ std::optional<PaneMenuAction> draw_pane_context_menu(const WorkspaceTab &tab, in
   ImGui::Separator();
   if (icon_menu_item(icon::ZOOM_OUT, "Zoom Out", nullptr, false, is_plot)) {
     action.kind = PaneMenuActionKind::ResetView;
-  } else if (icon_menu_item(icon::ARROW_LEFT_RIGHT, "Zoom Out Horizontally", nullptr, false, is_plot)) {
-    action.kind = PaneMenuActionKind::ResetHorizontal;
-  } else if (icon_menu_item(icon::ARROW_DOWN_UP, "Zoom Out Vertically", nullptr, false, is_plot)) {
-    action.kind = PaneMenuActionKind::ResetVertical;
   }
   ImGui::Separator();
   if (icon_menu_item(icon::TRASH, "Remove ALL curves", nullptr, false, is_plot)) {
     action.kind = PaneMenuActionKind::Clear;
   }
   ImGui::Separator();
-  icon_menu_item(icon::ARROW_LEFT_RIGHT, "Flip Horizontal Axis", nullptr, false, false);
-  icon_menu_item(icon::ARROW_DOWN_UP, "Flip Vertical Axis", nullptr, false, false);
-  ImGui::Separator();
-  icon_menu_item(icon::FILES, "Copy", nullptr, false, false);
-  icon_menu_item(icon::CLIPBOARD2, "Paste", nullptr, false, false);
   icon_menu_item(icon::FILE_EARMARK_IMAGE, "Copy image to clipboard", nullptr, false, false);
   icon_menu_item(icon::SAVE, "Save plot to file", nullptr, false, false);
   icon_menu_item(icon::BAR_CHART, "Show data statistics", nullptr, false, false);
-  ImGui::Separator();
-  if (icon_menu_item(icon::X_SQUARE, "Close Pane")) {
-    action.kind = PaneMenuActionKind::Close;
-  }
   ImGui::EndPopup();
   if (action.kind == PaneMenuActionKind::None) return std::nullopt;
   return action;
diff --git a/tools/jotpluggler/runtime.cc b/tools/jotpluggler/runtime.cc
index 6eb2be80e8..3247a5d01d 100644
--- a/tools/jotpluggler/runtime.cc
+++ b/tools/jotpluggler/runtime.cc
@@ -71,7 +71,6 @@ bool should_subscribe_stream_service(const std::string &name) {
     "livestreamRoadEncodeIdx",
     "livestreamDriverEncodeIdx",
     "thumbnail",
-    "navThumbnail",
   }};
   if (name == "rawAudioData") return false;
   for (std::string_view skipped : kSkippedServices) {
diff --git a/tools/jotpluggler/session.cc b/tools/jotpluggler/session.cc
index 173df7bc04..beb0a292be 100644
--- a/tools/jotpluggler/session.cc
+++ b/tools/jotpluggler/session.cc
@@ -444,8 +444,7 @@ void draw_route_info_popup(AppSession *session, UiState *state, ImVec2 anchor) {
   }
   ImGui::SetNextWindowPos(anchor, ImGuiCond_Appearing);
   ImGui::SetNextWindowSizeConstraints(ImVec2(300.0f, 0.0f), ImVec2(420.0f, FLT_MAX));
-  if (!ImGui::BeginPopup("##route_info_popup",
-                         ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings)) {
+  if (!app_begin_popup("##route_info_popup", ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings)) {
     return;
   }
 
@@ -643,7 +642,7 @@ void draw_route_id_chip(AppSession *session, UiState *state) {
   }
 
   ImGui::SetNextWindowPos(ImVec2(chip_max.x - 60.0f, chip_max.y + 4.0f), ImGuiCond_Appearing);
-  if (ImGui::BeginPopup("##route_selector_popup")) {
+  if (app_begin_popup("##route_selector_popup")) {
     for (LogSelector selector : {LogSelector::Auto, LogSelector::RLog, LogSelector::QLog}) {
       const bool selected = route_id.selector == selector;
       const std::string label = std::string(log_selector_name(selector)) + "  " + log_selector_description(selector);
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index d9622dde6d..2091280169 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -2,7 +2,6 @@
 #include "tools/jotpluggler/car_fingerprint_to_dbc.h"
 #include "tools/jotpluggler/common.h"
 
-#include <capnp/dynamic.h>
 #include <kj/exception.h>
 
 #include <chrono>
@@ -10,6 +9,7 @@
 #include <cstdlib>
 #include <cstring>
 #include <iostream>
+#include <initializer_list>
 #include <map>
 #include <mutex>
 #include <limits>
@@ -23,7 +23,7 @@
 #include <utility>
 
 #include "common/util.h"
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "tools/replay/logreader.h"
 #include "tools/replay/py_downloader.h"
 
@@ -51,47 +51,7 @@ struct SegmentLogs {
   std::string qcamera;
 };
 
-enum class ScalarKind {
-  None,
-  Bool,
-  Int,
-  UInt,
-  Float,
-  Enum,
-};
-
-enum class ResolvedNodeKind {
-  Ignore,
-  Scalar,
-  Struct,
-  List,
-};
-
-struct ResolvedNode {
-  ResolvedNodeKind kind = ResolvedNodeKind::Ignore;
-  ScalarKind scalar_kind = ScalarKind::None;
-  int fixed_slot = -1;
-  bool has_field = false;
-  capnp::StructSchema::Field field;
-  std::string segment;
-  std::string path;
-  bool skip_large_scalar_list = false;
-  std::vector<ResolvedNode> children;
-  std::unique_ptr<ResolvedNode> element;
-};
-
-struct ResolvedService {
-  uint16_t event_which = 0;
-  capnp::StructSchema::Field union_field;
-  std::string service_name;
-  int valid_slot = -1;
-  int log_mono_time_slot = -1;
-  int seconds_slot = -1;
-  ResolvedNode payload;
-};
-
 struct SchemaIndex {
-  std::vector<std::optional<ResolvedService>> by_which;
   size_t fixed_series_count = 0;
   std::vector<std::string> fixed_paths;
 
@@ -112,6 +72,27 @@ struct SeriesAccumulator {
   std::unordered_map<std::string, EnumInfo> enum_info;
 };
 
+void append_fixed_scalar_point(RouteSeries *series, double tm, double value);
+void append_dynamic_scalar_point(const std::string &path, double tm, double value, SeriesAccumulator *series);
+RouteSeries *ensure_list_scalar_series(const std::string &base_path, size_t index, SeriesAccumulator *series);
+void append_can_frame(CanServiceKind service,
+                      uint8_t bus,
+                      uint32_t address,
+                      uint16_t bus_time,
+                      capnp::Data::Reader dat,
+                      double tm,
+                      SeriesAccumulator *series);
+void decode_can_frame(const dbc::Database *can_dbc,
+                      const std::string &service_name,
+                      uint8_t bus,
+                      uint32_t address,
+                      const uint8_t *raw,
+                      size_t data_size,
+                      double tm,
+                      SeriesAccumulator *series);
+
+#include "tools/jotpluggler/generated_event_extractors.h"
+
 struct LoadedRouteArtifacts {
   std::vector<RouteSeries> series;
   std::vector<CanMessageData> can_messages;
@@ -898,125 +879,11 @@ SketchLayout parse_layout(const fs::path &layout_path) {
   return layout;
 }
 
-ScalarKind scalar_kind_for_type(const capnp::Type &type) {
-  if (type.isBool()) return ScalarKind::Bool;
-  if (type.isInt8() || type.isInt16() || type.isInt32() || type.isInt64()) {
-    return ScalarKind::Int;
-  }
-  if (type.isUInt8() || type.isUInt16() || type.isUInt32() || type.isUInt64()) {
-    return ScalarKind::UInt;
-  }
-  if (type.isFloat32() || type.isFloat64()) {
-    return ScalarKind::Float;
-  }
-  if (type.isEnum()) return ScalarKind::Enum;
-  return ScalarKind::None;
-}
-
-ResolvedNode build_resolved_type(const capnp::Type &type,
-                                 bool has_field,
-                                 capnp::StructSchema::Field field,
-                                 std::string segment,
-                                 std::string path,
-                                 size_t *next_fixed_slot,
-                                 std::vector<std::string> *fixed_paths,
-                                 bool dynamic_path = false) {
-  ResolvedNode node;
-  node.has_field = has_field;
-  node.field = field;
-  node.segment = std::move(segment);
-  node.path = std::move(path);
-  node.scalar_kind = scalar_kind_for_type(type);
-  if (node.scalar_kind != ScalarKind::None) {
-    node.kind = ResolvedNodeKind::Scalar;
-    if (!dynamic_path) {
-      node.fixed_slot = static_cast<int>((*next_fixed_slot)++);
-      fixed_paths->push_back(node.path);
-    }
-    return node;
-  }
-
-  if (type.isStruct()) {
-    node.kind = ResolvedNodeKind::Struct;
-    for (auto child : type.asStruct().getFields()) {
-      const std::string child_segment = child.getProto().getName().cStr();
-      node.children.push_back(build_resolved_type(
-        child.getType(),
-        true,
-        child,
-        child_segment,
-        node.path + "/" + child_segment,
-        next_fixed_slot,
-        fixed_paths,
-        dynamic_path));
-    }
-    return node;
-  }
-
-  if (type.isList()) {
-    const capnp::Type element_type = type.asList().getElementType();
-    if (element_type.isText() || element_type.isData() || element_type.isInterface() || element_type.isAnyPointer()) {
-      node.kind = ResolvedNodeKind::Ignore;
-      return node;
-    }
-    node.kind = ResolvedNodeKind::List;
-    node.skip_large_scalar_list = scalar_kind_for_type(element_type) != ScalarKind::None;
-    node.element = std::make_unique<ResolvedNode>(
-      build_resolved_type(element_type,
-                          false,
-                          capnp::StructSchema::Field(),
-                          "",
-                          node.path,
-                          next_fixed_slot,
-                          fixed_paths,
-                          true));
-    return node;
-  }
-
-  node.kind = ResolvedNodeKind::Ignore;
-  return node;
-}
-
-int register_fixed_series_path(const std::string &path,
-                               size_t *next_fixed_slot,
-                               std::vector<std::string> *fixed_paths) {
-  const int slot = static_cast<int>((*next_fixed_slot)++);
-  fixed_paths->push_back(path);
-  return slot;
-}
-
 const SchemaIndex &SchemaIndex::instance() {
   static const SchemaIndex index = [] {
     SchemaIndex out;
-    const auto event_schema = capnp::Schema::from<cereal::Event>().asStruct();
-    uint16_t max_discriminant = 0;
-    for (auto union_field : event_schema.getUnionFields()) {
-      max_discriminant = std::max<uint16_t>(max_discriminant, union_field.getProto().getDiscriminantValue());
-    }
-    out.by_which.resize(static_cast<size_t>(max_discriminant) + 1);
-    size_t next_fixed_slot = 0;
-    for (auto union_field : event_schema.getUnionFields()) {
-      ResolvedService service;
-      service.event_which = union_field.getProto().getDiscriminantValue();
-      service.union_field = union_field;
-      service.service_name = union_field.getProto().getName().cStr();
-      service.valid_slot = register_fixed_series_path(
-        "/" + service.service_name + "/valid", &next_fixed_slot, &out.fixed_paths);
-      service.log_mono_time_slot = register_fixed_series_path(
-        "/" + service.service_name + "/logMonoTime", &next_fixed_slot, &out.fixed_paths);
-      service.seconds_slot = register_fixed_series_path(
-        "/" + service.service_name + "/t", &next_fixed_slot, &out.fixed_paths);
-      service.payload = build_resolved_type(
-        union_field.getType(),
-        false,
-        capnp::StructSchema::Field(),
-        service.service_name,
-        "/" + service.service_name,
-        &next_fixed_slot,
-        &out.fixed_paths);
-      out.by_which[service.event_which] = std::move(service);
-    }
-    out.fixed_series_count = next_fixed_slot;
+    out.fixed_paths = static_event_fixed_paths();
+    out.fixed_series_count = out.fixed_paths.size();
     return out;
   }();
   return index;
@@ -1026,45 +893,6 @@ bool is_absolute_curve(const std::string &name) {
   return !name.empty() && name.front() == '/';
 }
 
-std::optional<double> scalar_value_to_double(const capnp::DynamicValue::Reader &value, ScalarKind kind) {
-  switch (kind) {
-    case ScalarKind::Bool:
-      return value.as<bool>() ? 1.0 : 0.0;
-    case ScalarKind::Int:
-      return static_cast<double>(value.as<int64_t>());
-    case ScalarKind::UInt:
-      return static_cast<double>(value.as<uint64_t>());
-    case ScalarKind::Float:
-      return value.as<double>();
-    case ScalarKind::Enum:
-      return static_cast<double>(value.as<capnp::DynamicEnum>().getRaw());
-    case ScalarKind::None:
-      return std::nullopt;
-  }
-  return std::nullopt;
-}
-
-void capture_enum_info(const std::string &path,
-                       const capnp::DynamicValue::Reader &value,
-                       SeriesAccumulator *series) {
-  if (series->enum_info.find(path) != series->enum_info.end()) {
-    return;
-  }
-
-  const auto dynamic_enum = value.as<capnp::DynamicEnum>();
-  EnumInfo info;
-  for (auto enumerant : dynamic_enum.getSchema().getEnumerants()) {
-    const uint16_t ordinal = enumerant.getOrdinal();
-    if (ordinal >= info.names.size()) {
-      info.names.resize(static_cast<size_t>(ordinal) + 1);
-    }
-    info.names[ordinal] = enumerant.getProto().getName().cStr();
-  }
-  if (!info.names.empty()) {
-    series->enum_info.emplace(path, std::move(info));
-  }
-}
-
 void append_scalar_point(RouteSeries *series,
                          const std::string &path,
                          double tm,
@@ -1195,156 +1023,9 @@ void append_dynamic_scalar_point(const std::string &path, double tm, double valu
   append_scalar_point(ensure_dynamic_series(path, series), path, tm, value);
 }
 
-void append_scalar_value(const ResolvedNode &node,
-                         const std::string *path_override,
-                         const capnp::DynamicValue::Reader &raw_value,
-                         double tm,
-                         double value,
-                         SeriesAccumulator *series) {
-  if (path_override == nullptr && node.fixed_slot >= 0) {
-    if (node.scalar_kind == ScalarKind::Enum) {
-      capture_enum_info(node.path, raw_value, series);
-    }
-    append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(node.fixed_slot)], tm, value);
-    return;
-  }
-
-  const std::string &path = path_override != nullptr ? *path_override : node.path;
-  if (node.scalar_kind == ScalarKind::Enum) {
-    capture_enum_info(path, raw_value, series);
-  }
-  append_dynamic_scalar_point(path, tm, value, series);
-}
-
-void append_fast_node(const ResolvedNode &node,
-                      const capnp::DynamicValue::Reader &value,
-                      double tm,
-                      SeriesAccumulator *series,
-                      const std::string *path_override = nullptr) {
-  switch (node.kind) {
-    case ResolvedNodeKind::Scalar: {
-      if (std::optional<double> scalar = scalar_value_to_double(value, node.scalar_kind); scalar.has_value()) {
-        append_scalar_value(node, path_override, value, tm, *scalar, series);
-      }
-      return;
-    }
-    case ResolvedNodeKind::Struct: {
-      const capnp::DynamicStruct::Reader reader = value.as<capnp::DynamicStruct>();
-      for (const ResolvedNode &child : node.children) {
-        if (!child.has_field || !reader.has(child.field)) continue;
-        if (path_override == nullptr) {
-          append_fast_node(child, reader.get(child.field), tm, series, nullptr);
-        } else {
-          const std::string child_path = child.segment.empty() ? *path_override : (*path_override + "/" + child.segment);
-          append_fast_node(child, reader.get(child.field), tm, series, &child_path);
-        }
-      }
-      return;
-    }
-    case ResolvedNodeKind::List: {
-      if (!node.element) {
-        return;
-      }
-      const capnp::DynamicList::Reader list = value.as<capnp::DynamicList>();
-      if (list.size() == 0) {
-        return;
-      }
-      if (node.skip_large_scalar_list && list.size() > 16) {
-        return;
-      }
-      const std::string &base_path = path_override != nullptr ? *path_override : node.path;
-      if (node.element->kind == ResolvedNodeKind::Scalar) {
-        for (uint i = 0; i < list.size(); ++i) {
-          if (std::optional<double> scalar = scalar_value_to_double(list[i], node.element->scalar_kind); scalar.has_value()) {
-            RouteSeries *item_series = ensure_list_scalar_series(base_path, i, series);
-            if (node.element->scalar_kind == ScalarKind::Enum && !item_series->path.empty()) {
-              capture_enum_info(item_series->path, list[i], series);
-            }
-            append_fixed_scalar_point(item_series, tm, *scalar);
-          }
-        }
-        return;
-      }
-      for (uint i = 0; i < list.size(); ++i) {
-        const std::string item_path = base_path + "/" + std::to_string(i);
-        append_fast_node(*node.element, list[i], tm, series, &item_path);
-      }
-      return;
-    }
-    case ResolvedNodeKind::Ignore:
-      return;
-  }
-}
-
-void append_event_fast_reader(cereal::Event::Which which,
-                              const cereal::Event::Reader &event,
-                              const SchemaIndex &schema,
-                              const dbc::Database *can_dbc,
-                              bool skip_raw_can,
-                              double time_offset,
-                              SeriesAccumulator *series) {
-  const uint16_t which_index = static_cast<uint16_t>(which);
-  if (which_index >= schema.by_which.size() || !schema.by_which[which_index].has_value()) {
-    return;
-  }
-  const ResolvedService &service = *schema.by_which[which_index];
-  const capnp::DynamicStruct::Reader dynamic_event(event);
-  const capnp::DynamicValue::Reader payload = dynamic_event.get(service.union_field);
-  const double tm = static_cast<double>(event.getLogMonoTime()) / 1.0e9 - time_offset;
-  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.valid_slot)],
-                            tm,
-                            event.getValid() ? 1.0 : 0.0);
-  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.log_mono_time_slot)],
-                            tm,
-                            static_cast<double>(event.getLogMonoTime()));
-  append_fixed_scalar_point(&series->fixed_series[static_cast<size_t>(service.seconds_slot)],
-                            tm,
-                            tm);
-  if (service.service_name == "can" || service.service_name == "sendcan") {
-    const CanServiceKind can_service = service.service_name == "can"
-      ? CanServiceKind::Can
-      : CanServiceKind::Sendcan;
-    auto decode_message = [&](uint8_t bus, uint32_t address, const auto &dat_reader) {
-      const auto bytes = dat_reader.begin();
-      decode_can_frame(can_dbc, service.service_name, bus, address, bytes, dat_reader.size(), tm, series);
-    };
-    if (service.service_name == "can") {
-      for (const auto &msg : event.getCan()) {
-        append_can_frame(can_service,
-                         static_cast<uint8_t>(msg.getSrc()),
-                         msg.getAddress(),
-                         msg.getDeprecated().getBusTime(),
-                         msg.getDat(),
-                         tm,
-                         series);
-        if (!skip_raw_can) continue;
-        decode_message(static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDat());
-      }
-    } else {
-      for (const auto &msg : event.getSendcan()) {
-        append_can_frame(can_service,
-                         static_cast<uint8_t>(msg.getSrc()),
-                         msg.getAddress(),
-                         msg.getDeprecated().getBusTime(),
-                         msg.getDat(),
-                         tm,
-                         series);
-        if (!skip_raw_can) continue;
-        decode_message(static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDat());
-      }
-    }
-    if (skip_raw_can) {
-      return;
-    }
-  }
-
-  append_fast_node(service.payload, payload, tm, series);
-}
-
 void append_event_fast(cereal::Event::Which which,
                        int32_t eidx_segnum,
                        kj::ArrayPtr<const capnp::word> data,
-                       const SchemaIndex &schema,
                        const dbc::Database *can_dbc,
                        bool skip_raw_can,
                        double time_offset,
@@ -1353,14 +1034,13 @@ void append_event_fast(cereal::Event::Which which,
     return;
   }
   with_parseable_event(data, [&](const cereal::Event::Reader &event) {
-    append_event_fast_reader(which, event, schema, can_dbc, skip_raw_can, time_offset, series);
+    append_event_static_reader(which, event, can_dbc, skip_raw_can, time_offset, series);
   });
 }
 
 void append_events_fast_range(const std::vector<Event> &events,
                               size_t begin,
                               size_t end,
-                              const SchemaIndex &schema,
                               const dbc::Database *can_dbc,
                               bool skip_raw_can,
                               SeriesAccumulator *series) {
@@ -1369,7 +1049,6 @@ void append_events_fast_range(const std::vector<Event> &events,
     append_event_fast(event_record.which,
                       event_record.eidx_segnum,
                       event_record.data,
-                      schema,
                       can_dbc,
                       skip_raw_can,
                       0.0,
@@ -1802,7 +1481,7 @@ SeriesAccumulator extract_segment_series(const std::vector<Event> &events,
   const size_t chunk_count = extract_chunk_count(events.size(), worker_budget, segment_workers);
   if (chunk_count <= 1 || events.empty()) {
     SeriesAccumulator series = make_series_accumulator(schema);
-    append_events_fast_range(events, 0, events.size(), schema, can_dbc, skip_raw_can, &series);
+    append_events_fast_range(events, 0, events.size(), can_dbc, skip_raw_can, &series);
     return series;
   }
 
@@ -1819,10 +1498,10 @@ SeriesAccumulator extract_segment_series(const std::vector<Event> &events,
     workers.emplace_back([&, chunk]() {
       const size_t begin = chunk * events_per_chunk;
       const size_t end = std::min(events.size(), begin + events_per_chunk);
-      append_events_fast_range(events, begin, end, schema, can_dbc, skip_raw_can, &chunk_results[chunk]);
+      append_events_fast_range(events, begin, end, can_dbc, skip_raw_can, &chunk_results[chunk]);
     });
   }
-  append_events_fast_range(events, 0, std::min(events.size(), events_per_chunk), schema, can_dbc, skip_raw_can, &chunk_results[0]);
+  append_events_fast_range(events, 0, std::min(events.size(), events_per_chunk), can_dbc, skip_raw_can, &chunk_results[0]);
   for (std::thread &worker : workers) {
     worker.join();
   }
@@ -2044,13 +1723,12 @@ void StreamAccumulator::appendEvent(kj::ArrayPtr<const capnp::word> data) {
       }
     }
 
-    append_event_fast_reader(which,
-                             event,
-                             impl_->schema,
-                             impl_->can_dbc ? &*impl_->can_dbc : nullptr,
-                             impl_->can_dbc.has_value(),
-                             *impl_->time_offset,
-                             &impl_->series);
+    append_event_static_reader(which,
+                               event,
+                               impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+                               impl_->can_dbc.has_value(),
+                               *impl_->time_offset,
+                               &impl_->series);
     append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
     if (which == cereal::Event::Which::SELFDRIVE_STATE) {
       const auto sd = event.getSelfdriveState();
diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index 11d17e587e..b1f14043b7 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -110,7 +110,7 @@ def send_thread(joystick):
 
 
 def joystick_control_thread(joystick):
-  Params().put_bool('JoystickDebugMode', True)
+  Params().put_bool('JoystickDebugMode', True, block=True)
   threading.Thread(target=send_thread, args=(joystick,), daemon=True).start()
   while True:
     joystick.update()
diff --git a/tools/lateral_maneuvers/lateral_maneuversd.py b/tools/lateral_maneuvers/lateral_maneuversd.py
index d8a7185410..4f68d9be08 100755
--- a/tools/lateral_maneuvers/lateral_maneuversd.py
+++ b/tools/lateral_maneuvers/lateral_maneuversd.py
@@ -13,7 +13,7 @@ from openpilot.tools.longitudinal_maneuvers.maneuversd import Action, Maneuver a
 # thresholds for starting maneuvers
 MAX_SPEED_DEV = 0.7 # deviation in m/s
 MAX_CURV = 0.002 # 500 m radius
-MAX_ROLL = 0.08 # 4.56°
+MAX_ROLL = 0.12 # 6.8°
 TIMER = 2.0 # sec stable conditions before starting maneuver
 
 @dataclass
diff --git a/tools/op.sh b/tools/op.sh
index dccf080829..538d689569 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -21,8 +21,14 @@ if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
 fi
 function op_install() {
   echo "Installing op system-wide..."
-  CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
-  grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
+  OP_SH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh"
+  CMD=$(cat <<EOF
+alias op='$OP_SH "\$@"'
+_op_completions() { [ "\$COMP_CWORD" -eq 1 ] && COMPREPLY=(\$(compgen -W "\$(awk '/shift 1; op_/{print \$1}' $OP_SH)" -- "\${COMP_WORDS[1]}")); }
+[ -n "\$BASH_VERSION" ] && complete -F _op_completions -o default op
+EOF
+)
+  grep -q "alias op=" "$RC_FILE" 2>/dev/null || printf '\n%s\n' "$CMD" >> "$RC_FILE"
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
 }
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index c86945ef6b..a31c62c940 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -29,6 +29,18 @@ MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2)
 MAX_STREAMING_BUFFER_SIZE = 1000
 
 
+def print_jotpluggler_banner():
+  purple = "\033[95m" if sys.stdout.isatty() else ""
+  reset = "\033[0m" if purple else ""
+  print(f"{purple}+-------------------------------------------------------------+{reset}")
+  print(f"{purple}|{reset} JotPluggler is the future! Try it like this:                {purple}|{reset}")
+  print(f"{purple}|{reset}   ./tools/jotpluggler/jotpluggler --demo --layout tuning    {purple}|{reset}")
+  print(f"{purple}|{reset}                                                             {purple}|{reset}")
+  print(f"{purple}|{reset} PlotJuggler will be deleted soon.                           {purple}|{reset}")
+  print(f"{purple}|{reset} Missing a feature? Open an issue or post in #dev-openpilot. {purple}|{reset}")
+  print(f"{purple}+-------------------------------------------------------------+{reset}")
+
+
 def install():
   m = f"{platform.system()}-{platform.machine()}"
   supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64")
@@ -118,10 +130,15 @@ if __name__ == "__main__":
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)")
 
   if len(sys.argv) == 1:
+    print_jotpluggler_banner()
+    print()
     parser.print_help()
     sys.exit()
   args = parser.parse_args()
 
+  print_jotpluggler_banner()
+  print()
+
   if args.install:
     install()
     sys.exit()
diff --git a/tools/replay/py_downloader.cc b/tools/replay/py_downloader.cc
index 5063d6947c..d27a77e6ee 100644
--- a/tools/replay/py_downloader.cc
+++ b/tools/replay/py_downloader.cc
@@ -5,6 +5,7 @@
 #include <mutex>
 #include <sys/wait.h>
 #include <unistd.h>
+#include <vector>
 
 #include "tools/replay/util.h"
 
@@ -13,9 +14,9 @@ namespace {
 static std::mutex handler_mutex;
 static DownloadProgressHandler progress_handler = nullptr;
 
-// Run a Python command and capture stdout. Optionally parse stderr for PROGRESS lines.
+// Run a Python command and capture stdout. Stderr is left attached to the parent.
 // Returns stdout content. If abort is signaled, kills the child process.
-std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *abort = nullptr, bool parse_progress = false) {
+std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *abort = nullptr) {
   // Build argv for execvp
   std::vector<const char *> argv;
   argv.push_back("python3");
@@ -27,22 +28,15 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
   argv.push_back(nullptr);
 
   int stdout_pipe[2];
-  int stderr_pipe[2];
   if (pipe(stdout_pipe) != 0) {
     rWarning("py_downloader: pipe() failed");
     return {};
   }
-  if (pipe(stderr_pipe) != 0) {
-    rWarning("py_downloader: pipe() failed");
-    close(stdout_pipe[0]); close(stdout_pipe[1]);
-    return {};
-  }
 
   pid_t pid = fork();
   if (pid < 0) {
     rWarning("py_downloader: fork() failed");
     close(stdout_pipe[0]); close(stdout_pipe[1]);
-    close(stderr_pipe[0]); close(stderr_pipe[1]);
     return {};
   }
 
@@ -61,11 +55,8 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
     unsetenv("OPENPILOT_PREFIX");
 
     close(stdout_pipe[0]);
-    close(stderr_pipe[0]);
     dup2(stdout_pipe[1], STDOUT_FILENO);
-    dup2(stderr_pipe[1], STDERR_FILENO);
     close(stdout_pipe[1]);
-    close(stderr_pipe[1]);
 
     execvp("python3", const_cast<char *const *>(argv.data()));
     _exit(127);
@@ -73,32 +64,28 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
 
   // Parent process
   close(stdout_pipe[1]);
-  close(stderr_pipe[1]);
 
   std::string stdout_data;
-  std::string stderr_buf;
   char buf[4096];
 
-  // Use select() to read from both pipes
+  // Use select() so abort can interrupt while waiting for Python output.
   fd_set rfds;
-  int max_fd = std::max(stdout_pipe[0], stderr_pipe[0]);
-  bool stdout_open = true, stderr_open = true;
+  bool stdout_open = true;
 
-  while (stdout_open || stderr_open) {
+  while (stdout_open) {
     if (abort && *abort) {
       kill(pid, SIGTERM);
       break;
     }
 
     FD_ZERO(&rfds);
-    if (stdout_open) FD_SET(stdout_pipe[0], &rfds);
-    if (stderr_open) FD_SET(stderr_pipe[0], &rfds);
+    FD_SET(stdout_pipe[0], &rfds);
 
     struct timeval tv = {0, 100000};  // 100ms timeout
-    int ret = select(max_fd + 1, &rfds, nullptr, nullptr, &tv);
+    int ret = select(stdout_pipe[0] + 1, &rfds, nullptr, nullptr, &tv);
     if (ret < 0) break;
 
-    if (stdout_open && FD_ISSET(stdout_pipe[0], &rfds)) {
+    if (FD_ISSET(stdout_pipe[0], &rfds)) {
       ssize_t n = read(stdout_pipe[0], buf, sizeof(buf));
       if (n <= 0) {
         stdout_open = false;
@@ -106,45 +93,15 @@ std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *a
         stdout_data.append(buf, n);
       }
     }
-
-    if (stderr_open && FD_ISSET(stderr_pipe[0], &rfds)) {
-      ssize_t n = read(stderr_pipe[0], buf, sizeof(buf));
-      if (n <= 0) {
-        stderr_open = false;
-      } else {
-        stderr_buf.append(buf, n);
-        // Parse complete lines from stderr
-        size_t pos;
-        while ((pos = stderr_buf.find('\n')) != std::string::npos) {
-          std::string line = stderr_buf.substr(0, pos);
-          stderr_buf.erase(0, pos + 1);
-
-          if (parse_progress && line.rfind("PROGRESS:", 0) == 0) {
-            // Parse "PROGRESS:<cur>:<total>"
-            auto colon1 = line.find(':', 9);
-            if (colon1 != std::string::npos) {
-              try {
-                uint64_t cur = std::stoull(line.c_str() + 9);
-                uint64_t total = std::stoull(line.c_str() + colon1 + 1);
-                std::lock_guard<std::mutex> lk(handler_mutex);
-                if (progress_handler) {
-                  progress_handler(cur, total, true);
-                }
-              } catch (...) {}
-            }
-          } else if (line.rfind("ERROR:", 0) == 0) {
-            rWarning("py_downloader: %s", line.c_str() + 6);
-          }
-        }
-      }
-    }
   }
 
   // Drain remaining pipe data to prevent child from blocking on write
-  for (int fd : {stdout_pipe[0], stderr_pipe[0]}) {
-    while (read(fd, buf, sizeof(buf)) > 0) {}
-    close(fd);
+  while (true) {
+    ssize_t n = read(stdout_pipe[0], buf, sizeof(buf));
+    if (n <= 0) break;
+    stdout_data.append(buf, n);
   }
+  close(stdout_pipe[0]);
 
   int status;
   waitpid(pid, &status, 0);
@@ -192,7 +149,7 @@ std::string download(const std::string &url, bool use_cache, std::atomic<bool> *
   if (!use_cache) {
     args.push_back("--no-cache");
   }
-  return runPython(args, abort, true);
+  return runPython(args, abort);
 }
 
 std::string getRouteFiles(const std::string &route) {
diff --git a/tools/replay/qcom_decoder.cc b/tools/replay/qcom_decoder.cc
index 44ff16ce4f..b7f04a063b 100644
--- a/tools/replay/qcom_decoder.cc
+++ b/tools/replay/qcom_decoder.cc
@@ -1,7 +1,7 @@
 #include "qcom_decoder.h"
 
 #include <assert.h>
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 
 
@@ -343,4 +343,4 @@ bool MsmVidc::handleEvent() {
       break;
   }
   return true;
-}
\ No newline at end of file
+}
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index e7b8ed6bba..df4fa813cf 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -4,7 +4,7 @@
 #include <filesystem>
 #include <regex>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "system/hardware/hw.h"
 #include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 119a81152e..50f3eba854 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -8,7 +8,7 @@
 #include <thread>
 #include <vector>
 
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
diff --git a/tools/scripts/devsync.py b/tools/scripts/devsync.py
new file mode 100755
index 0000000000..98312dd545
--- /dev/null
+++ b/tools/scripts/devsync.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+import argparse
+import shlex
+import subprocess
+import threading
+import time
+
+from watchdog.events import FileSystemEventHandler
+from watchdog.observers import Observer
+
+from openpilot.common.basedir import BASEDIR
+
+
+def build_rsync_cmd(args) -> list[str]:
+  ssh = [
+    "ssh",
+    "-o", "ControlMaster=auto",
+    "-o", f"ControlPath=/tmp/devsync-{args.ip}.ctl",
+    "-o", "ControlPersist=10m",
+    "-o", "StrictHostKeyChecking=accept-new",
+  ]
+  if args.identity:
+    ssh += ["-i", args.identity]
+
+  return [
+    "rsync", "-az",
+    "--files-from=-", "--from0",
+    "-e", " ".join(shlex.quote(p) for p in ssh),
+    "--out-format=%n",
+    BASEDIR + "/", f"comma@{args.ip}:{args.remote}/",
+  ]
+
+
+def git_tracked_files() -> bytes:
+  return subprocess.check_output(
+    ["git", "-C", BASEDIR, "ls-files", "--recurse-submodules", "-z"]
+  )
+
+
+class Handler(FileSystemEventHandler):
+  def __init__(self, sync_fn):
+    self.dirty = threading.Event()
+    self.sync_fn = sync_fn
+
+  def on_any_event(self, event):
+    if not event.is_directory:
+      self.dirty.set()
+
+  def run(self):
+    while True:
+      time.sleep(1)
+      if self.dirty.is_set():
+        self.dirty.clear()
+        self.sync_fn()
+
+
+def main():
+  p = argparse.ArgumentParser()
+  p.add_argument("ip", help="device IP / hostname")
+  p.add_argument("--remote", default="/data/openpilot", help="remote path on device")
+  p.add_argument("-i", "--identity", default=None, help="ssh identity file")
+  args = p.parse_args()
+
+  print(f"[devsync] watching {BASEDIR}")
+  print(f"[devsync] target   comma@{args.ip}:{args.remote}")
+
+  def run_sync():
+    file_list = git_tracked_files()
+    cmd = build_rsync_cmd(args)
+    t0 = time.monotonic()
+    r = subprocess.run(cmd, input=file_list, capture_output=True)
+    dt = time.monotonic() - t0
+    if r.returncode:
+      print(f"[devsync] ERR rc={r.returncode} in {dt:.2f}s")
+      return
+    files = [ln for ln in r.stdout.decode().splitlines() if ln.strip()]
+    msg = f"{len(files)} files: {', '.join(files)}" if files else "no changes"
+    print(f"[devsync] {dt:.2f}s · {msg}")
+
+  run_sync()
+
+  handler = Handler(run_sync)
+  obs = Observer()
+  obs.schedule(handler, BASEDIR, recursive=True)
+  obs.start()
+  handler.run()
+
+
+if __name__ == "__main__":
+  try:
+    main()
+  except KeyboardInterrupt:
+    print("\n[devsync] stopping")
diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py
index 45dc0aa977..e599dd3c5d 100755
--- a/tools/scripts/setup_ssh_keys.py
+++ b/tools/scripts/setup_ssh_keys.py
@@ -15,9 +15,9 @@ if __name__ == "__main__":
 
   if keys.status_code == 200:
     params = Params()
-    params.put_bool("SshEnabled", True)
-    params.put("GithubSshKeys", keys.text)
-    params.put("GithubUsername", username)
+    params.put_bool("SshEnabled", True, block=True)
+    params.put("GithubSshKeys", keys.text, block=True)
+    params.put("GithubUsername", username, block=True)
     print("Set up ssh keys successfully")
   else:
     print("Error getting public keys from github")
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 8132cd16dc..6cfd75ce17 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -19,7 +19,7 @@ function retry() {
   return 1
 }
 
-function install_ubuntu_deps() {
+function install_linux_deps() {
   SUDO=""
 
   if [[ ! $(id -u) -eq 0 ]]; then
@@ -30,61 +30,60 @@ function install_ubuntu_deps() {
     SUDO="sudo"
   fi
 
-  # Detect OS using /etc/os-release file
-  if [ -f "/etc/os-release" ]; then
-    source /etc/os-release
-    case "$VERSION_CODENAME" in
-      "jammy" | "kinetic" | "noble")
-        ;;
-      *)
-        echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
-        read -p "Would you like to attempt installation anyway? " -n 1 -r
-        echo ""
-        if [[ ! $REPLY =~ ^[Yy]$ ]]; then
-          exit 1
-        fi
-        ;;
-    esac
+  local missing_linux_deps=0
+  for cmd in gcc g++ make curl curl-config git; do
+    if ! command -v "$cmd" > /dev/null 2>&1; then
+      missing_linux_deps=1
+      break
+    fi
+  done
+
+  # normal stuff, this mostly for bare docker images
+  if [[ "$missing_linux_deps" -eq 0 ]]; then
+    # the native package managers are slow, so skip if we can
+    echo "[ ] system packages already installed t=$SECONDS"
+  elif command -v apt-get > /dev/null 2>&1; then
+    $SUDO apt-get update
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
+  elif command -v dnf > /dev/null 2>&1; then
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
+  elif command -v yum > /dev/null 2>&1; then
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
+  elif command -v pacman > /dev/null 2>&1; then
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git
+  elif command -v zypper > /dev/null 2>&1; then
+    $SUDO zypper --non-interactive refresh
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git
+  elif command -v apk > /dev/null 2>&1; then
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git
+  elif command -v xbps-install > /dev/null 2>&1; then
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales
   else
-    echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
+    echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
     exit 1
   fi
 
-  $SUDO apt-get update
-
-  # normal stuff, mostly for the bare docker image
-  $SUDO apt-get install -y --no-install-recommends \
-    ca-certificates \
-    build-essential \
-    curl \
-    libcurl4-openssl-dev \
-    locales \
-    git \
-    xvfb
-
   if [[ -d "/etc/udev/rules.d/" ]]; then
-    # Setup jungle udev rules
-    $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
+    $SUDO tee /etc/udev/rules.d/11-openpilot.rules > /dev/null <<-EOF
+	# Panda Jungle devices
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
 
-EOF
+	# Panda devices
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
 
-    # Setup panda udev rules
-    $SUDO tee /etc/udev/rules.d/11-panda.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
-EOF
+	# comma devices over ADB
+	SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
+	EOF
 
-    # Setup adb udev rules
-    $SUDO tee /etc/udev/rules.d/50-comma-adb.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
-EOF
+    # delete the old ones
+    $SUDO rm -f /etc/udev/rules.d/11-panda.rules /etc/udev/rules.d/12-panda_jungle.rules /etc/udev/rules.d/50-comma-adb.rules
 
     $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
   fi
@@ -116,7 +115,7 @@ function install_python_deps() {
 # --- Main ---
 
 if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-  install_ubuntu_deps
+  install_linux_deps
   echo "[ ] installed system dependencies t=$SECONDS"
 elif [[ "$OSTYPE" == "darwin"* ]]; then
   if [[ $SHELL == "/bin/zsh" ]]; then
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 69dec173ca..499420ec4b 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -40,7 +40,7 @@ class SimulatorBridge(ABC):
   def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
-    self.params.put_bool("AlphaLongitudinalEnabled", True)
+    self.params.put_bool("AlphaLongitudinalEnabled", True, block=True)
 
     self.rk = Ratekeeper(100, None)
 
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 1567c20ef9..950879d394 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -84,7 +84,7 @@ class SimulatedCar:
 
     if self.params.get_bool("ObdMultiplexingEnabled") != self.obd_multiplexing:
       self.obd_multiplexing = not self.obd_multiplexing
-      self.params.put_bool("ObdMultiplexingChanged", True)
+      self.params.put_bool("ObdMultiplexingChanged", True, block=True)
 
     dat = messaging.new_message('pandaStates', 1)
     dat.valid = True
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index a8374a00cd..d6d822c582 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -23,17 +23,12 @@ class SimulatedSensors:
   def send_imu_message(self, simulator_state: 'SimulatorState'):
     for _ in range(5):
       dat = messaging.new_message('accelerometer', valid=True)
-      dat.accelerometer.sensor = 4
-      dat.accelerometer.type = 0x10
       dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
       dat.accelerometer.init('acceleration')
       dat.accelerometer.acceleration.v = [simulator_state.imu.accelerometer.x, simulator_state.imu.accelerometer.y, simulator_state.imu.accelerometer.z]
       self.pm.send('accelerometer', dat)
 
-      # copied these numbers from locationd
       dat = messaging.new_message('gyroscope', valid=True)
-      dat.gyroscope.sensor = 5
-      dat.gyroscope.type = 0x10
       dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
       dat.gyroscope.init('gyroUncalibrated')
       dat.gyroscope.gyroUncalibrated.v = [simulator_state.imu.gyroscope.x, simulator_state.imu.gyroscope.y, simulator_state.imu.gyroscope.z]
@@ -92,11 +87,12 @@ class SimulatedSensors:
 
     # dmonitoringd output
     dat = messaging.new_message('driverMonitoringState', valid=True)
-    dat.driverMonitoringState = {
-      "faceDetected": True,
-      "isDistracted": False,
-      "awarenessStatus": 1.,
-    }
+    dm = dat.driverMonitoringState
+    dm.alertLevel = log.DriverMonitoringState.AlertLevel.none
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision
+    dm.visionPolicyState.faceDetected = True
+    dm.visionPolicyState.isDistracted = False
+    dm.visionPolicyState.awarenessPercent = 100
     self.pm.send('driverMonitoringState', dat)
 
   def send_camera_images(self, world: 'World'):
diff --git a/uv.lock b/uv.lock
index 153c8c44e2..dc51d2a45e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2,13 +2,21 @@ version = 1
 revision = 3
 requires-python = ">=3.12.3, <3.13"
 
+[[package]]
+name = "acados"
+version = "0.2.2"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#25933c81c7db5573afe38f012f52befc15cdb804" }
+dependencies = [
+    { name = "numpy" },
+]
+
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.6.1"
+version = "2.6.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/26/30/f84a107a9c4331c14b2b586036f40965c128aa4fee4dda5d3d51cb14ad54/aiohappyeyeballs-2.6.1.tar.gz", hash = "sha256:c3f9d0113123803ccadfdf3f0faa505bc78e6a72d1cc4806cbd719826e943558", size = 22760, upload-time = "2025-03-12T01:42:48.764Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/33/c6/61a2d7b7572279226bb2e7f61d7a19ca7c90da0329c93fa0d560cbf288d8/aiohappyeyeballs-2.6.2.tar.gz", hash = "sha256:e202810ee718bd01fc6ef49e8ea53d023d5cb6b581076d7925aa499fa55dbe64", size = 22591, upload-time = "2026-05-20T15:12:24.631Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/0f/15/5bf3b99495fb160b63f95972b81750f18f7f4e02ad051373b669d17d44f2/aiohappyeyeballs-2.6.1-py3-none-any.whl", hash = "sha256:f349ba8f4b75cb25c99c5c2d84e997e485204d2902a9597802b0371f09331fb8", size = 15265, upload-time = "2025-03-12T01:42:47.083Z" },
+    { url = "https://files.pythonhosted.org/packages/5f/fc/a7bf5b6e4e617b45f90f2d9d2a68519c249c81dd4fc2658c7a2a61c4f4b7/aiohappyeyeballs-2.6.2-py3-none-any.whl", hash = "sha256:4708045e2d7a6c6bdf8aafa8ed39649eaf926a4543b54560659129e3365953c4", size = 15062, upload-time = "2026-05-20T15:12:23.328Z" },
 ]
 
 [[package]]
@@ -113,40 +121,33 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/c8/b9/275df9607f7fb44317ccb1d4be74827185c0d410f52b6e2cd770fe209118/av-16.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:f49243b1d27c91cd8c66fdba90a674e344eb8eb917264f36117bf2b6879118fd", size = 31752045, upload-time = "2026-01-11T09:57:45.106Z" },
 ]
 
+[[package]]
+name = "bootstrap-icons"
+version = "1.10.5.0"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#d7e41838af9320328dd7102f9288a94f0cf0fa9f" }
+
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#346fa1e479d7324d446f32b2cbe2913897372745" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#12916f9f84848239e5a69a8c5a282f3dcb0d86a3" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#b4fd14982cbff568be0e021f55c0ef90c29da934" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#a75eb83bd98440e890261f82aa8dcfbda0b0a206" }
 
 [[package]]
-name = "casadi"
-version = "3.7.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/92/62/1e98662024915ecb09c6894c26a3f497f4afa66570af3f53db4651fc45f1/casadi-3.7.2.tar.gz", hash = "sha256:b4d7bd8acdc4180306903ae1c9eddaf41be2a3ae2fa7154c57174ae64acdc60d", size = 6053600, upload-time = "2025-09-10T10:05:49.521Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/65/c8/689d085447b1966f42bdb8aa4fbebef49a09697dbee32ab02a865c17ac1b/casadi-3.7.2-cp312-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:309ea41a69c9230390d349b0dd899c6a19504d1904c0756bef463e47fb5c8f9a", size = 47116756, upload-time = "2025-09-10T07:53:00.931Z" },
-    { url = "https://files.pythonhosted.org/packages/1e/c0/3c4704394a6fd4dfb2123a4fd71ba64a001f340670a3eba45be7a19ac736/casadi-3.7.2-cp312-none-macosx_11_0_arm64.whl", hash = "sha256:6033381234db810b2247d16c6352e679a009ec4365d04008fc768866e011ed58", size = 42293718, upload-time = "2025-09-10T08:07:16.415Z" },
-    { url = "https://files.pythonhosted.org/packages/f3/24/4cf05469ddf8544da5e92f359f96d716a97e7482999f085a632bc4ef344a/casadi-3.7.2-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:732f2804d0766454bb75596339e4f2da6662ffb669621da0f630ed4af9e83d6a", size = 47276175, upload-time = "2025-09-10T08:08:09.29Z" },
-    { url = "https://files.pythonhosted.org/packages/82/08/b5f57fea03128efd5c860673b6ac44776352e6c1af862b8177f4c503fffe/casadi-3.7.2-cp312-none-manylinux2014_i686.whl", hash = "sha256:cf17298ff0c162735bdf9bf72b765c636ae732130604017a3b52e26e35402857", size = 72430454, upload-time = "2025-09-10T08:09:10.781Z" },
-    { url = "https://files.pythonhosted.org/packages/24/ab/d7233c915b12c005655437c6c4cf0ae46cbbb2b20d743cb5e4881ad3104a/casadi-3.7.2-cp312-none-manylinux2014_x86_64.whl", hash = "sha256:cde616930fa1440ad66f1850670399423edd37354eed9b12e74b3817b98d1187", size = 75568903, upload-time = "2025-09-10T08:10:07.108Z" },
-    { url = "https://files.pythonhosted.org/packages/3e/b9/5b984124f539656efdf079f3d8f09d73667808ec8d0546e6bce6dc60ade6/casadi-3.7.2-cp312-none-win_amd64.whl", hash = "sha256:81d677d2b020c1307c1eb25eae15686e5de199bb066828c3eaabdfaaaf457ffd", size = 50991347, upload-time = "2025-09-10T08:10:46.629Z" },
-]
+name = "catch2"
+version = "2.13.10"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#7287b4c99d23fdd87e66f9941b0e35ece6b4d91b" }
 
 [[package]]
 name = "certifi"
-version = "2026.4.22"
+version = "2026.5.20"
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#15791161bd7a752ef821ad6d999a364b13d6e9ca" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#035fb711541a6d8609bb57b26c2f31813c743eb3" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#af4a30c3930c5e19cf8cea128e342686ba283624" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11#0443a506c32eadfec2071a7c163c38c6c7b81d66" }
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#a615ec26d971cc4cca9a1a426e2c996760fe3c7f" }
 
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb#23132cff0d629bf69590e23b6a682950433aaec8" }
 
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 [[package]]
@@ -745,12 +751,14 @@ name = "openpilot"
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 source = { editable = "." }
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 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#10f97237e00e5fabf3c1fa54a2ca1a1da39de461" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#40b29e8e88a69802e8afc4f71f5c955bc2d5c74c" }
 
 [[package]]
 name = "zstandard"
@@ -1665,4 +1656,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#eb147476324db97737c31cd63e71a4f44b0d0723" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#13015596466eb68825f109ad0d5aefa6330cc495" }