diff --git a/SConstruct b/SConstruct
index 5944541b5b..50f8f1c040 100644
--- a/SConstruct
+++ b/SConstruct
@@ -215,6 +215,7 @@ if arch != "Darwin":
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
diff --git a/release/files_common b/release/files_common
index 60923e7246..a1a225d67e 100644
--- a/release/files_common
+++ b/release/files_common
@@ -214,6 +214,7 @@ selfdrive/controls/lib/vehicle_model.py
 selfdrive/controls/lib/speed_smoother.py
 selfdrive/controls/lib/fcw.py
 selfdrive/controls/lib/long_mpc.py
+selfdrive/controls/lib/long_mpc_model.py
 selfdrive/controls/lib/gps_helpers.py
 
 selfdrive/controls/lib/cluster/*
@@ -234,6 +235,14 @@ selfdrive/controls/lib/longitudinal_mpc/generator.cpp
 selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
 selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c
 
+selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/*
+selfdrive/controls/lib/longitudinal_mpc_model/.gitignore
+selfdrive/controls/lib/longitudinal_mpc_model/SConscript
+selfdrive/controls/lib/longitudinal_mpc_model/__init__.py
+selfdrive/controls/lib/longitudinal_mpc_model/generator.cpp
+selfdrive/controls/lib/longitudinal_mpc_model/libmpc_py.py
+selfdrive/controls/lib/longitudinal_mpc_model/longitudinal_mpc.c
+
 selfdrive/locationd/__init__.py
 selfdrive/locationd/.gitignore
 selfdrive/locationd/SConscript
diff --git a/selfdrive/controls/lib/long_mpc_model.py b/selfdrive/controls/lib/long_mpc_model.py
new file mode 100644
index 0000000000..0678ba2ded
--- /dev/null
+++ b/selfdrive/controls/lib/long_mpc_model.py
@@ -0,0 +1,77 @@
+import numpy as np
+import math
+
+from selfdrive.swaglog import cloudlog
+from common.realtime import sec_since_boot
+from selfdrive.controls.lib.longitudinal_mpc_model import libmpc_py
+
+
+class LongitudinalMpcModel():
+  def __init__(self):
+
+    self.setup_mpc()
+    self.v_mpc = 0.0
+    self.v_mpc_future = 0.0
+    self.a_mpc = 0.0
+    self.last_cloudlog_t = 0.0
+    self.ts = list(range(10))
+
+    self.valid = False
+
+  def setup_mpc(self, v_ego=0.0):
+    self.libmpc = libmpc_py.libmpc
+    self.libmpc.init(1.0, 1.0, 1.0, 1.0, 1.0)
+    self.libmpc.init_with_simulation(v_ego)
+
+    self.mpc_solution = libmpc_py.ffi.new("log_t *")
+    self.cur_state = libmpc_py.ffi.new("state_t *")
+
+    self.cur_state[0].x_ego = 0
+    self.cur_state[0].v_ego = 0
+    self.cur_state[0].a_ego = 0
+
+  def set_cur_state(self, v, a):
+    self.cur_state[0].x_ego = 0.0
+    self.cur_state[0].v_ego = v
+    self.cur_state[0].a_ego = a
+
+  def update(self, CS, model):
+    v_ego = CS.vEgo
+
+    longitudinal = model.longitudinal
+
+    if len(longitudinal.distances) == 0:
+      self.valid = False
+      return
+
+    x_poly = list(map(float, np.polyfit(self.ts, longitudinal.distances, 3)))
+    v_poly = list(map(float, np.polyfit(self.ts, longitudinal.speeds, 3)))
+    a_poly = list(map(float, np.polyfit(self.ts, longitudinal.accelerations, 3)))
+
+    # Calculate mpc
+    self.libmpc.run_mpc(self.cur_state, self.mpc_solution, x_poly, v_poly, a_poly)
+
+    # Get solution. MPC timestep is 0.2 s, so interpolation to 0.05 s is needed
+    self.v_mpc = self.mpc_solution[0].v_ego[1]
+    self.a_mpc = self.mpc_solution[0].a_ego[1]
+    self.v_mpc_future = self.mpc_solution[0].v_ego[10]
+    self.valid = True
+
+    # Reset if NaN or goes through lead car
+    nans = any(math.isnan(x) for x in self.mpc_solution[0].v_ego)
+
+    t = sec_since_boot()
+    if nans:
+      if t > self.last_cloudlog_t + 5.0:
+        self.last_cloudlog_t = t
+        cloudlog.warning("Longitudinal model mpc reset - backwards")
+
+      self.libmpc.init(1.0, 1.0, 1.0, 1.0, 1.0)
+      self.libmpc.init_with_simulation(v_ego)
+
+      self.cur_state[0].v_ego = v_ego
+      self.cur_state[0].a_ego = 0.0
+
+      self.v_mpc = v_ego
+      self.a_mpc = CS.aEgo
+      self.valid = False
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/.gitignore b/selfdrive/controls/lib/longitudinal_mpc_model/.gitignore
new file mode 100644
index 0000000000..f61a939cda
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/.gitignore
@@ -0,0 +1,2 @@
+generator
+lib_qp/
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/SConscript b/selfdrive/controls/lib/longitudinal_mpc_model/SConscript
new file mode 100644
index 0000000000..f474bf798f
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/SConscript
@@ -0,0 +1,31 @@
+Import('env', 'arch')
+
+
+cpp_path = [
+    "#phonelibs/acado/include",
+    "#phonelibs/acado/include/acado",
+    "#phonelibs/qpoases/INCLUDE",
+    "#phonelibs/qpoases/INCLUDE/EXTRAS",
+    "#phonelibs/qpoases/SRC/",
+    "#phonelibs/qpoases",
+    "lib_mpc_export"
+
+]
+
+mpc_files = [
+    "longitudinal_mpc.c",
+    Glob("lib_mpc_export/*.c"),
+    Glob("lib_mpc_export/*.cpp"),
+]
+
+interface_dir = Dir('lib_mpc_export')
+
+SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
+
+env.SharedLibrary('mpc', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
+
+# if arch != "aarch64":
+#     acado_libs = [File("#phonelibs/acado/x64/lib/libacado_toolkit.a"),
+#                   File("#phonelibs/acado/x64/lib/libacado_casadi.a"),
+#                   File("#phonelibs/acado/x64/lib/libacado_csparse.a")]
+#     env.Program('generator', 'generator.cpp', LIBS=acado_libs, CPPPATH=cpp_path)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/__init__.py b/selfdrive/controls/lib/longitudinal_mpc_model/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/generator.cpp b/selfdrive/controls/lib/longitudinal_mpc_model/generator.cpp
new file mode 100644
index 0000000000..129b52a760
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/generator.cpp
@@ -0,0 +1,99 @@
+#include <acado_code_generation.hpp>
+
+const int controlHorizon = 50;
+
+using namespace std;
+
+
+int main( )
+{
+  USING_NAMESPACE_ACADO
+
+
+  DifferentialEquation f;
+
+  DifferentialState x_ego, v_ego, a_ego, t;
+
+  OnlineData x_poly_r0, x_poly_r1, x_poly_r2, x_poly_r3;
+  OnlineData v_poly_r0, v_poly_r1, v_poly_r2, v_poly_r3;
+  OnlineData a_poly_r0, a_poly_r1, a_poly_r2, a_poly_r3;
+
+  Control j_ego;
+
+  // Equations of motion
+  f << dot(x_ego) == v_ego;
+  f << dot(v_ego) == a_ego;
+  f << dot(a_ego) == j_ego;
+  f << dot(t) == 1;
+
+  auto poly_x = x_poly_r0*(t*t*t) + x_poly_r1*(t*t) + x_poly_r2*t + x_poly_r3;
+  auto poly_v = v_poly_r0*(t*t*t) + v_poly_r1*(t*t) + v_poly_r2*t + v_poly_r3;
+  auto poly_a = a_poly_r0*(t*t*t) + a_poly_r1*(t*t) + a_poly_r2*t + a_poly_r3;
+
+  // Running cost
+  Function h;
+  h << x_ego - poly_x;
+  h << v_ego - poly_v;
+  h << a_ego - poly_a;
+  h << a_ego * (0.1 * v_ego + 1.0);
+  h << j_ego * (0.1 * v_ego + 1.0);
+
+  // Weights are defined in mpc.
+  BMatrix Q(5,5); Q.setAll(true);
+
+  // Terminal cost
+  Function hN;
+  hN << x_ego - poly_x;
+  hN << v_ego - poly_v;
+  hN << a_ego - poly_a;
+  hN << a_ego * (0.1 * v_ego + 1.0);
+
+  // Weights are defined in mpc.
+  BMatrix QN(4,4); QN.setAll(true);
+
+  // Non uniform time grid
+  // First 5 timesteps are 0.2, after that it's 0.6
+  DMatrix numSteps(20, 1);
+  for (int i = 0; i < 5; i++){
+    numSteps(i) = 1;
+  }
+  for (int i = 5; i < 20; i++){
+    numSteps(i) = 3;
+  }
+
+  // Setup Optimal Control Problem
+  const double tStart = 0.0;
+  const double tEnd   = 10.0;
+
+  OCP ocp( tStart, tEnd, numSteps);
+  ocp.subjectTo(f);
+
+  ocp.minimizeLSQ(Q, h);
+  ocp.minimizeLSQEndTerm(QN, hN);
+
+  //ocp.subjectTo( 0.0 <= v_ego);
+  ocp.setNOD(12);
+
+  OCPexport mpc(ocp);
+  mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
+  mpc.set( DISCRETIZATION_TYPE, MULTIPLE_SHOOTING );
+  mpc.set( INTEGRATOR_TYPE, INT_RK4 );
+  mpc.set( NUM_INTEGRATOR_STEPS, controlHorizon);
+  mpc.set( MAX_NUM_QP_ITERATIONS, 500);
+  mpc.set( CG_USE_VARIABLE_WEIGHTING_MATRIX, YES);
+
+  mpc.set( SPARSE_QP_SOLUTION, CONDENSING );
+  mpc.set( QP_SOLVER, QP_QPOASES );
+  mpc.set( HOTSTART_QP, YES );
+  mpc.set( GENERATE_TEST_FILE, NO);
+  mpc.set( GENERATE_MAKE_FILE, NO );
+  mpc.set( GENERATE_MATLAB_INTERFACE, NO );
+  mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
+
+  if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
+    exit( EXIT_FAILURE );
+
+  mpc.printDimensionsQP( );
+
+  return EXIT_SUCCESS;
+}
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_auxiliary_functions.c b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_auxiliary_functions.c
new file mode 100644
index 0000000000..6f0bb705c8
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_auxiliary_functions.c
@@ -0,0 +1,212 @@
+/*
+ *    This file was auto-generated using the ACADO Toolkit.
+ *    
+ *    While ACADO Toolkit is free software released under the terms of
+ *    the GNU Lesser General Public License (LGPL), the generated code
+ *    as such remains the property of the user who used ACADO Toolkit
+ *    to generate this code. In particular, user dependent data of the code
+ *    do not inherit the GNU LGPL license. On the other hand, parts of the
+ *    generated code that are a direct copy of source code from the
+ *    ACADO Toolkit or the software tools it is based on, remain, as derived
+ *    work, automatically covered by the LGPL license.
+ *    
+ *    ACADO Toolkit 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.
+ *    
+ */
+
+
+#include "acado_auxiliary_functions.h"
+
+#include <stdio.h>
+
+real_t* acado_getVariablesX( )
+{
+	return acadoVariables.x;
+}
+
+real_t* acado_getVariablesU( )
+{
+	return acadoVariables.u;
+}
+
+#if ACADO_NY > 0
+real_t* acado_getVariablesY( )
+{
+	return acadoVariables.y;
+}
+#endif
+
+#if ACADO_NYN > 0
+real_t* acado_getVariablesYN( )
+{
+	return acadoVariables.yN;
+}
+#endif
+
+real_t* acado_getVariablesX0( )
+{
+#if ACADO_INITIAL_VALUE_FIXED
+	return acadoVariables.x0;
+#else
+	return 0;
+#endif
+}
+
+/** Print differential variables. */
+void acado_printDifferentialVariables( )
+{
+	int i, j;
+	printf("\nDifferential variables:\n[\n");
+	for (i = 0; i < ACADO_N + 1; ++i)
+	{
+		for (j = 0; j < ACADO_NX; ++j)
+			printf("\t%e", acadoVariables.x[i * ACADO_NX + j]);
+		printf("\n");
+	}
+	printf("]\n\n");
+}
+
+/** Print control variables. */
+void acado_printControlVariables( )
+{
+	int i, j;
+	printf("\nControl variables:\n[\n");
+	for (i = 0; i < ACADO_N; ++i)
+	{
+		for (j = 0; j < ACADO_NU; ++j)
+			printf("\t%e", acadoVariables.u[i * ACADO_NU + j]);
+		printf("\n");
+	}
+	printf("]\n\n");
+}
+
+/** Print ACADO code generation notice. */
+void acado_printHeader( )
+{
+	printf(
+		"\nACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.\n"
+		"Copyright (C) 2008-2015 by Boris Houska, Hans Joachim Ferreau,\n" 
+		"Milan Vukov and Rien Quirynen, KU Leuven.\n"
+	);
+	
+	printf(
+		"Developed within the Optimization in Engineering Center (OPTEC) under\n"
+		"supervision of Moritz Diehl. All rights reserved.\n\n"
+		"ACADO Toolkit is distributed under the terms of the GNU Lesser\n"
+		"General Public License 3 in the hope that it will be useful,\n"
+		"but WITHOUT ANY WARRANTY; without even the implied warranty of\n"
+		"MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n"
+		"GNU Lesser General Public License for more details.\n\n"
+	);
+}
+
+#if !(defined _DSPACE)
+#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
+
+void acado_tic( acado_timer* t )
+{
+	QueryPerformanceFrequency(&t->freq);
+	QueryPerformanceCounter(&t->tic);
+}
+
+real_t acado_toc( acado_timer* t )
+{
+	QueryPerformanceCounter(&t->toc);
+	return ((t->toc.QuadPart - t->tic.QuadPart) / (real_t)t->freq.QuadPart);
+}
+
+
+#elif (defined __APPLE__)
+
+void acado_tic( acado_timer* t )
+{
+    /* read current clock cycles */
+    t->tic = mach_absolute_time();
+}
+
+real_t acado_toc( acado_timer* t )
+{
+
+    uint64_t duration; /* elapsed time in clock cycles*/
+    
+    t->toc = mach_absolute_time();
+    duration = t->toc - t->tic;
+    
+    /*conversion from clock cycles to nanoseconds*/
+    mach_timebase_info(&(t->tinfo));
+    duration *= t->tinfo.numer;
+    duration /= t->tinfo.denom;
+
+    return (real_t)duration / 1e9;
+}
+
+#else
+
+#if __STDC_VERSION__ >= 199901L
+/* C99 mode */
+
+/* read current time */
+void acado_tic( acado_timer* t )
+{
+	gettimeofday(&t->tic, 0);
+}
+
+/* return time passed since last call to tic on this timer */
+real_t acado_toc( acado_timer* t )
+{
+	struct timeval temp;
+	
+	gettimeofday(&t->toc, 0);
+    
+	if ((t->toc.tv_usec - t->tic.tv_usec) < 0)
+	{
+		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec - 1;
+		temp.tv_usec = 1000000 + t->toc.tv_usec - t->tic.tv_usec;
+	}
+	else
+	{
+		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec;
+		temp.tv_usec = t->toc.tv_usec - t->tic.tv_usec;
+	}
+	
+	return (real_t)temp.tv_sec + (real_t)temp.tv_usec / 1e6;
+}
+
+#else
+/* ANSI */
+
+/* read current time */
+void acado_tic( acado_timer* t )
+{
+	clock_gettime(CLOCK_MONOTONIC, &t->tic);
+}
+
+
+/* return time passed since last call to tic on this timer */
+real_t acado_toc( acado_timer* t )
+{
+	struct timespec temp;
+    
+	clock_gettime(CLOCK_MONOTONIC, &t->toc);	
+    
+	if ((t->toc.tv_nsec - t->tic.tv_nsec) < 0)
+	{
+		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec - 1;
+		temp.tv_nsec = 1000000000+t->toc.tv_nsec - t->tic.tv_nsec;
+	}
+	else
+	{
+		temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec;
+		temp.tv_nsec = t->toc.tv_nsec - t->tic.tv_nsec;
+	}
+	
+	return (real_t)temp.tv_sec + (real_t)temp.tv_nsec / 1e9;
+}
+
+#endif /* __STDC_VERSION__ >= 199901L */
+
+#endif /* (defined _WIN32 || _WIN64) */
+
+#endif
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_auxiliary_functions.h b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_auxiliary_functions.h
new file mode 100644
index 0000000000..b1be0a661c
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_auxiliary_functions.h
@@ -0,0 +1,138 @@
+/*
+ *    This file was auto-generated using the ACADO Toolkit.
+ *    
+ *    While ACADO Toolkit is free software released under the terms of
+ *    the GNU Lesser General Public License (LGPL), the generated code
+ *    as such remains the property of the user who used ACADO Toolkit
+ *    to generate this code. In particular, user dependent data of the code
+ *    do not inherit the GNU LGPL license. On the other hand, parts of the
+ *    generated code that are a direct copy of source code from the
+ *    ACADO Toolkit or the software tools it is based on, remain, as derived
+ *    work, automatically covered by the LGPL license.
+ *    
+ *    ACADO Toolkit 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.
+ *    
+ */
+
+
+#ifndef ACADO_AUXILIARY_FUNCTIONS_H
+#define ACADO_AUXILIARY_FUNCTIONS_H
+
+#include "acado_common.h"
+
+#ifndef __MATLAB__
+#ifdef __cplusplus
+extern "C"
+{
+#endif /* __cplusplus */
+#endif /* __MATLAB__ */
+
+/** Get pointer to the matrix with differential variables. */
+real_t* acado_getVariablesX( );
+
+/** Get pointer to the matrix with control variables. */
+real_t* acado_getVariablesU( );
+
+#if ACADO_NY > 0
+/** Get pointer to the matrix with references/measurements. */
+real_t* acado_getVariablesY( );
+#endif
+
+#if ACADO_NYN > 0
+/** Get pointer to the vector with references/measurement on the last node. */
+real_t* acado_getVariablesYN( );
+#endif
+
+/** Get pointer to the current state feedback vector. Only applicable for NMPC. */
+real_t* acado_getVariablesX0( );
+
+/** Print differential variables. */
+void acado_printDifferentialVariables( );
+
+/** Print control variables. */
+void acado_printControlVariables( );
+
+/** Print ACADO code generation notice. */
+void acado_printHeader( );
+
+/*
+ * A huge thanks goes to Alexander Domahidi from ETHZ, Switzerland, for 
+ * providing us with the following timing routines.
+ */
+
+#if !(defined _DSPACE)
+#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 acado_timer_
+{
+	LARGE_INTEGER tic;
+	LARGE_INTEGER toc;
+	LARGE_INTEGER freq;
+} acado_timer;
+
+
+#elif (defined __APPLE__)
+
+#include "unistd.h"
+#include <mach/mach_time.h>
+
+/** A structure for keeping internal timer data. */
+typedef struct acado_timer_
+{
+	uint64_t tic;
+	uint64_t toc;
+	mach_timebase_info_data_t tinfo;
+} acado_timer;
+
+#else
+
+/* Use POSIX clock_gettime() for timing on non-Windows machines. */
+#include <time.h>
+
+#if __STDC_VERSION__ >= 199901L
+/* C99 mode of operation. */
+
+#include <sys/stat.h>
+#include <sys/time.h>
+
+typedef struct acado_timer_
+{
+	struct timeval tic;
+	struct timeval toc;
+} acado_timer;
+
+#else
+/* ANSI C */
+
+/** A structure for keeping internal timer data. */
+typedef struct acado_timer_
+{
+	struct timespec tic;
+	struct timespec toc;
+} acado_timer;
+
+#endif /* __STDC_VERSION__ >= 199901L */
+
+#endif /* (defined _WIN32 || defined _WIN64) */
+
+/** A function for measurement of the current time. */
+void acado_tic( acado_timer* t );
+
+/** A function which returns the elapsed time. */
+real_t acado_toc( acado_timer* t );
+
+#endif
+
+#ifndef __MATLAB__
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+#endif /* __MATLAB__ */
+
+#endif /* ACADO_AUXILIARY_FUNCTIONS_H */
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_common.h b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_common.h
new file mode 100644
index 0000000000..cf8c42478c
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_common.h
@@ -0,0 +1,342 @@
+/*
+ *    This file was auto-generated using the ACADO Toolkit.
+ *    
+ *    While ACADO Toolkit is free software released under the terms of
+ *    the GNU Lesser General Public License (LGPL), the generated code
+ *    as such remains the property of the user who used ACADO Toolkit
+ *    to generate this code. In particular, user dependent data of the code
+ *    do not inherit the GNU LGPL license. On the other hand, parts of the
+ *    generated code that are a direct copy of source code from the
+ *    ACADO Toolkit or the software tools it is based on, remain, as derived
+ *    work, automatically covered by the LGPL license.
+ *    
+ *    ACADO Toolkit 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.
+ *    
+ */
+
+
+#ifndef ACADO_COMMON_H
+#define ACADO_COMMON_H
+
+#include <math.h>
+#include <string.h>
+
+#ifndef __MATLAB__
+#ifdef __cplusplus
+extern "C"
+{
+#endif /* __cplusplus */
+#endif /* __MATLAB__ */
+
+/** \defgroup ACADO ACADO CGT generated module. */
+/** @{ */
+
+/** qpOASES QP solver indicator. */
+#define ACADO_QPOASES  0
+#define ACADO_QPOASES3 1
+/** FORCES QP solver indicator.*/
+#define ACADO_FORCES   2
+/** qpDUNES QP solver indicator.*/
+#define ACADO_QPDUNES  3
+/** HPMPC QP solver indicator. */
+#define ACADO_HPMPC    4
+#define ACADO_GENERIC    5
+
+/** Indicator for determining the QP solver used by the ACADO solver code. */
+#define ACADO_QP_SOLVER ACADO_QPOASES
+
+#include "acado_qpoases_interface.hpp"
+
+
+/*
+ * Common definitions
+ */
+/** User defined block based condensing. */
+#define ACADO_BLOCK_CONDENSING 0
+/** Compute covariance matrix of the last state estimate. */
+#define ACADO_COMPUTE_COVARIANCE_MATRIX 0
+/** Flag indicating whether constraint values are hard-coded or not. */
+#define ACADO_HARDCODED_CONSTRAINT_VALUES 1
+/** Indicator for fixed initial state. */
+#define ACADO_INITIAL_STATE_FIXED 1
+/** Number of control/estimation intervals. */
+#define ACADO_N 20
+/** Number of online data values. */
+#define ACADO_NOD 12
+/** Number of path constraints. */
+#define ACADO_NPAC 0
+/** Number of control variables. */
+#define ACADO_NU 1
+/** Number of differential variables. */
+#define ACADO_NX 4
+/** Number of algebraic variables. */
+#define ACADO_NXA 0
+/** Number of differential derivative variables. */
+#define ACADO_NXD 0
+/** Number of references/measurements per node on the first N nodes. */
+#define ACADO_NY 5
+/** Number of references/measurements on the last (N + 1)st node. */
+#define ACADO_NYN 4
+/** Total number of QP optimization variables. */
+#define ACADO_QP_NV 24
+/** Number of Runge-Kutta stages per integration step. */
+#define ACADO_RK_NSTAGES 4
+/** Providing interface for arrival cost. */
+#define ACADO_USE_ARRIVAL_COST 0
+/** Indicator for usage of non-hard-coded linear terms in the objective. */
+#define ACADO_USE_LINEAR_TERMS 0
+/** Indicator for type of fixed weighting matrices. */
+#define ACADO_WEIGHTING_MATRICES_TYPE 2
+
+
+/*
+ * Globally used structure definitions
+ */
+
+/** The structure containing the user data.
+ * 
+ *  Via this structure the user "communicates" with the solver code.
+ */
+typedef struct ACADOvariables_
+{
+int dummy;
+/** Matrix of size: 21 x 4 (row major format)
+ * 
+ *  Matrix containing 21 differential variable vectors.
+ */
+real_t x[ 84 ];
+
+/** Column vector of size: 20
+ * 
+ *  Matrix containing 20 control variable vectors.
+ */
+real_t u[ 20 ];
+
+/** Matrix of size: 21 x 12 (row major format)
+ * 
+ *  Matrix containing 21 online data vectors.
+ */
+real_t od[ 252 ];
+
+/** Column vector of size: 100
+ * 
+ *  Matrix containing 20 reference/measurement vectors of size 5 for first 20 nodes.
+ */
+real_t y[ 100 ];
+
+/** Column vector of size: 4
+ * 
+ *  Reference/measurement vector for the 21. node.
+ */
+real_t yN[ 4 ];
+
+/** Matrix of size: 100 x 5 (row major format) */
+real_t W[ 500 ];
+
+/** Matrix of size: 4 x 4 (row major format) */
+real_t WN[ 16 ];
+
+/** Column vector of size: 4
+ * 
+ *  Current state feedback vector.
+ */
+real_t x0[ 4 ];
+
+
+} ACADOvariables;
+
+/** Private workspace used by the auto-generated code.
+ * 
+ *  Data members of this structure are private to the solver.
+ *  In other words, the user code should not modify values of this 
+ *  structure. 
+ */
+typedef struct ACADOworkspace_
+{
+real_t rk_ttt;
+
+/** Row vector of size: 37 */
+real_t rk_xxx[ 37 ];
+
+/** Matrix of size: 4 x 24 (row major format) */
+real_t rk_kkk[ 96 ];
+
+/** Row vector of size: 37 */
+real_t state[ 37 ];
+
+/** Column vector of size: 80 */
+real_t d[ 80 ];
+
+/** Column vector of size: 100 */
+real_t Dy[ 100 ];
+
+/** Column vector of size: 4 */
+real_t DyN[ 4 ];
+
+/** Matrix of size: 80 x 4 (row major format) */
+real_t evGx[ 320 ];
+
+/** Column vector of size: 80 */
+real_t evGu[ 80 ];
+
+/** Row vector of size: 17 */
+real_t objValueIn[ 17 ];
+
+/** Row vector of size: 30 */
+real_t objValueOut[ 30 ];
+
+/** Matrix of size: 80 x 4 (row major format) */
+real_t Q1[ 320 ];
+
+/** Matrix of size: 80 x 5 (row major format) */
+real_t Q2[ 400 ];
+
+/** Column vector of size: 20 */
+real_t R1[ 20 ];
+
+/** Matrix of size: 20 x 5 (row major format) */
+real_t R2[ 100 ];
+
+/** Column vector of size: 80 */
+real_t S1[ 80 ];
+
+/** Matrix of size: 4 x 4 (row major format) */
+real_t QN1[ 16 ];
+
+/** Matrix of size: 4 x 4 (row major format) */
+real_t QN2[ 16 ];
+
+/** Column vector of size: 4 */
+real_t Dx0[ 4 ];
+
+/** Matrix of size: 4 x 4 (row major format) */
+real_t T[ 16 ];
+
+/** Column vector of size: 840 */
+real_t E[ 840 ];
+
+/** Column vector of size: 840 */
+real_t QE[ 840 ];
+
+/** Matrix of size: 80 x 4 (row major format) */
+real_t QGx[ 320 ];
+
+/** Column vector of size: 80 */
+real_t Qd[ 80 ];
+
+/** Column vector of size: 84 */
+real_t QDy[ 84 ];
+
+/** Matrix of size: 20 x 4 (row major format) */
+real_t H10[ 80 ];
+
+/** Matrix of size: 24 x 24 (row major format) */
+real_t H[ 576 ];
+
+/** Column vector of size: 24 */
+real_t g[ 24 ];
+
+/** Column vector of size: 24 */
+real_t lb[ 24 ];
+
+/** Column vector of size: 24 */
+real_t ub[ 24 ];
+
+/** Column vector of size: 24 */
+real_t x[ 24 ];
+
+/** Column vector of size: 24 */
+real_t y[ 24 ];
+
+
+} ACADOworkspace;
+
+/* 
+ * Forward function declarations. 
+ */
+
+
+/** Performs the integration and sensitivity propagation for one shooting interval.
+ *
+ *  \param rk_eta Working array to pass the input values and return the results.
+ *  \param resetIntegrator The internal memory of the integrator can be reset.
+ *  \param rk_index Number of the shooting interval.
+ *
+ *  \return Status code of the integrator.
+ */
+int acado_integrate( real_t* const rk_eta, int resetIntegrator, int rk_index );
+
+/** Export of an ACADO symbolic function.
+ *
+ *  \param in Input to the exported function.
+ *  \param out Output of the exported function.
+ */
+void acado_rhs_forw(const real_t* in, real_t* out);
+
+/** Preparation step of the RTI scheme.
+ *
+ *  \return Status of the integration module. =0: OK, otherwise the error code.
+ */
+int acado_preparationStep(  );
+
+/** Feedback/estimation step of the RTI scheme.
+ *
+ *  \return Status code of the qpOASES QP solver.
+ */
+int acado_feedbackStep(  );
+
+/** Solver initialization. Must be called once before any other function call.
+ *
+ *  \return =0: OK, otherwise an error code of a QP solver.
+ */
+int acado_initializeSolver(  );
+
+/** Initialize shooting nodes by a forward simulation starting from the first node.
+ */
+void acado_initializeNodesByForwardSimulation(  );
+
+/** Shift differential variables vector by one interval.
+ *
+ *  \param strategy Shifting strategy: 1. Initialize node 21 with xEnd. 2. Initialize node 21 by forward simulation.
+ *  \param xEnd Value for the x vector on the last node. If =0 the old value is used.
+ *  \param uEnd Value for the u vector on the second to last node. If =0 the old value is used.
+ */
+void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd );
+
+/** Shift controls vector by one interval.
+ *
+ *  \param uEnd Value for the u vector on the second to last node. If =0 the old value is used.
+ */
+void acado_shiftControls( real_t* const uEnd );
+
+/** Get the KKT tolerance of the current iterate.
+ *
+ *  \return The KKT tolerance value.
+ */
+real_t acado_getKKT(  );
+
+/** Calculate the objective value.
+ *
+ *  \return Value of the objective function.
+ */
+real_t acado_getObjective(  );
+
+
+/* 
+ * Extern declarations. 
+ */
+
+extern ACADOworkspace acadoWorkspace;
+extern ACADOvariables acadoVariables;
+
+/** @} */
+
+#ifndef __MATLAB__
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+#endif /* __MATLAB__ */
+
+#endif /* ACADO_COMMON_H */
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_integrator.c b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_integrator.c
new file mode 100644
index 0000000000..7212295f98
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_integrator.c
@@ -0,0 +1,231 @@
+/*
+ *    This file was auto-generated using the ACADO Toolkit.
+ *    
+ *    While ACADO Toolkit is free software released under the terms of
+ *    the GNU Lesser General Public License (LGPL), the generated code
+ *    as such remains the property of the user who used ACADO Toolkit
+ *    to generate this code. In particular, user dependent data of the code
+ *    do not inherit the GNU LGPL license. On the other hand, parts of the
+ *    generated code that are a direct copy of source code from the
+ *    ACADO Toolkit or the software tools it is based on, remain, as derived
+ *    work, automatically covered by the LGPL license.
+ *    
+ *    ACADO Toolkit 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.
+ *    
+ */
+
+
+#include "acado_common.h"
+
+
+void acado_rhs_forw(const real_t* in, real_t* out)
+{
+const real_t* xd = in;
+const real_t* u = in + 24;
+
+/* Compute outputs: */
+out[0] = xd[1];
+out[1] = xd[2];
+out[2] = u[0];
+out[3] = (real_t)(1.0000000000000000e+00);
+out[4] = xd[8];
+out[5] = xd[9];
+out[6] = xd[10];
+out[7] = xd[11];
+out[8] = xd[12];
+out[9] = xd[13];
+out[10] = xd[14];
+out[11] = xd[15];
+out[12] = (real_t)(0.0000000000000000e+00);
+out[13] = (real_t)(0.0000000000000000e+00);
+out[14] = (real_t)(0.0000000000000000e+00);
+out[15] = (real_t)(0.0000000000000000e+00);
+out[16] = (real_t)(0.0000000000000000e+00);
+out[17] = (real_t)(0.0000000000000000e+00);
+out[18] = (real_t)(0.0000000000000000e+00);
+out[19] = (real_t)(0.0000000000000000e+00);
+out[20] = xd[21];
+out[21] = xd[22];
+out[22] = (real_t)(1.0000000000000000e+00);
+out[23] = (real_t)(0.0000000000000000e+00);
+}
+
+/* Fixed step size:0.2 */
+int acado_integrate( real_t* const rk_eta, int resetIntegrator, int rk_index )
+{
+int error;
+
+int run1;
+int numSteps[20] = {1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3};
+int numInts = numSteps[rk_index];
+acadoWorkspace.rk_ttt = 0.0000000000000000e+00;
+rk_eta[4] = 1.0000000000000000e+00;
+rk_eta[5] = 0.0000000000000000e+00;
+rk_eta[6] = 0.0000000000000000e+00;
+rk_eta[7] = 0.0000000000000000e+00;
+rk_eta[8] = 0.0000000000000000e+00;
+rk_eta[9] = 1.0000000000000000e+00;
+rk_eta[10] = 0.0000000000000000e+00;
+rk_eta[11] = 0.0000000000000000e+00;
+rk_eta[12] = 0.0000000000000000e+00;
+rk_eta[13] = 0.0000000000000000e+00;
+rk_eta[14] = 1.0000000000000000e+00;
+rk_eta[15] = 0.0000000000000000e+00;
+rk_eta[16] = 0.0000000000000000e+00;
+rk_eta[17] = 0.0000000000000000e+00;
+rk_eta[18] = 0.0000000000000000e+00;
+rk_eta[19] = 1.0000000000000000e+00;
+rk_eta[20] = 0.0000000000000000e+00;
+rk_eta[21] = 0.0000000000000000e+00;
+rk_eta[22] = 0.0000000000000000e+00;
+rk_eta[23] = 0.0000000000000000e+00;
+acadoWorkspace.rk_xxx[24] = rk_eta[24];
+acadoWorkspace.rk_xxx[25] = rk_eta[25];
+acadoWorkspace.rk_xxx[26] = rk_eta[26];
+acadoWorkspace.rk_xxx[27] = rk_eta[27];
+acadoWorkspace.rk_xxx[28] = rk_eta[28];
+acadoWorkspace.rk_xxx[29] = rk_eta[29];
+acadoWorkspace.rk_xxx[30] = rk_eta[30];
+acadoWorkspace.rk_xxx[31] = rk_eta[31];
+acadoWorkspace.rk_xxx[32] = rk_eta[32];
+acadoWorkspace.rk_xxx[33] = rk_eta[33];
+acadoWorkspace.rk_xxx[34] = rk_eta[34];
+acadoWorkspace.rk_xxx[35] = rk_eta[35];
+acadoWorkspace.rk_xxx[36] = rk_eta[36];
+
+for (run1 = 0; run1 < 1; ++run1)
+{
+for(run1 = 0; run1 < numInts; run1++ ) {
+acadoWorkspace.rk_xxx[0] = + rk_eta[0];
+acadoWorkspace.rk_xxx[1] = + rk_eta[1];
+acadoWorkspace.rk_xxx[2] = + rk_eta[2];
+acadoWorkspace.rk_xxx[3] = + rk_eta[3];
+acadoWorkspace.rk_xxx[4] = + rk_eta[4];
+acadoWorkspace.rk_xxx[5] = + rk_eta[5];
+acadoWorkspace.rk_xxx[6] = + rk_eta[6];
+acadoWorkspace.rk_xxx[7] = + rk_eta[7];
+acadoWorkspace.rk_xxx[8] = + rk_eta[8];
+acadoWorkspace.rk_xxx[9] = + rk_eta[9];
+acadoWorkspace.rk_xxx[10] = + rk_eta[10];
+acadoWorkspace.rk_xxx[11] = + rk_eta[11];
+acadoWorkspace.rk_xxx[12] = + rk_eta[12];
+acadoWorkspace.rk_xxx[13] = + rk_eta[13];
+acadoWorkspace.rk_xxx[14] = + rk_eta[14];
+acadoWorkspace.rk_xxx[15] = + rk_eta[15];
+acadoWorkspace.rk_xxx[16] = + rk_eta[16];
+acadoWorkspace.rk_xxx[17] = + rk_eta[17];
+acadoWorkspace.rk_xxx[18] = + rk_eta[18];
+acadoWorkspace.rk_xxx[19] = + rk_eta[19];
+acadoWorkspace.rk_xxx[20] = + rk_eta[20];
+acadoWorkspace.rk_xxx[21] = + rk_eta[21];
+acadoWorkspace.rk_xxx[22] = + rk_eta[22];
+acadoWorkspace.rk_xxx[23] = + rk_eta[23];
+acado_rhs_forw( acadoWorkspace.rk_xxx, acadoWorkspace.rk_kkk );
+acadoWorkspace.rk_xxx[0] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[0] + rk_eta[0];
+acadoWorkspace.rk_xxx[1] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[1] + rk_eta[1];
+acadoWorkspace.rk_xxx[2] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[2] + rk_eta[2];
+acadoWorkspace.rk_xxx[3] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[3] + rk_eta[3];
+acadoWorkspace.rk_xxx[4] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[4] + rk_eta[4];
+acadoWorkspace.rk_xxx[5] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[5] + rk_eta[5];
+acadoWorkspace.rk_xxx[6] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[6] + rk_eta[6];
+acadoWorkspace.rk_xxx[7] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[7] + rk_eta[7];
+acadoWorkspace.rk_xxx[8] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[8] + rk_eta[8];
+acadoWorkspace.rk_xxx[9] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[9] + rk_eta[9];
+acadoWorkspace.rk_xxx[10] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[10] + rk_eta[10];
+acadoWorkspace.rk_xxx[11] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[11] + rk_eta[11];
+acadoWorkspace.rk_xxx[12] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[12] + rk_eta[12];
+acadoWorkspace.rk_xxx[13] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[13] + rk_eta[13];
+acadoWorkspace.rk_xxx[14] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[14] + rk_eta[14];
+acadoWorkspace.rk_xxx[15] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[15] + rk_eta[15];
+acadoWorkspace.rk_xxx[16] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[16] + rk_eta[16];
+acadoWorkspace.rk_xxx[17] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[17] + rk_eta[17];
+acadoWorkspace.rk_xxx[18] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[18] + rk_eta[18];
+acadoWorkspace.rk_xxx[19] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[19] + rk_eta[19];
+acadoWorkspace.rk_xxx[20] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[20] + rk_eta[20];
+acadoWorkspace.rk_xxx[21] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[21] + rk_eta[21];
+acadoWorkspace.rk_xxx[22] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[22] + rk_eta[22];
+acadoWorkspace.rk_xxx[23] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[23] + rk_eta[23];
+acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 24 ]) );
+acadoWorkspace.rk_xxx[0] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[24] + rk_eta[0];
+acadoWorkspace.rk_xxx[1] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[25] + rk_eta[1];
+acadoWorkspace.rk_xxx[2] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[26] + rk_eta[2];
+acadoWorkspace.rk_xxx[3] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[27] + rk_eta[3];
+acadoWorkspace.rk_xxx[4] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[28] + rk_eta[4];
+acadoWorkspace.rk_xxx[5] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[29] + rk_eta[5];
+acadoWorkspace.rk_xxx[6] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[30] + rk_eta[6];
+acadoWorkspace.rk_xxx[7] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[31] + rk_eta[7];
+acadoWorkspace.rk_xxx[8] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[32] + rk_eta[8];
+acadoWorkspace.rk_xxx[9] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[33] + rk_eta[9];
+acadoWorkspace.rk_xxx[10] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[34] + rk_eta[10];
+acadoWorkspace.rk_xxx[11] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[35] + rk_eta[11];
+acadoWorkspace.rk_xxx[12] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[36] + rk_eta[12];
+acadoWorkspace.rk_xxx[13] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[37] + rk_eta[13];
+acadoWorkspace.rk_xxx[14] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[38] + rk_eta[14];
+acadoWorkspace.rk_xxx[15] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[39] + rk_eta[15];
+acadoWorkspace.rk_xxx[16] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[40] + rk_eta[16];
+acadoWorkspace.rk_xxx[17] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[41] + rk_eta[17];
+acadoWorkspace.rk_xxx[18] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[42] + rk_eta[18];
+acadoWorkspace.rk_xxx[19] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[43] + rk_eta[19];
+acadoWorkspace.rk_xxx[20] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[44] + rk_eta[20];
+acadoWorkspace.rk_xxx[21] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[45] + rk_eta[21];
+acadoWorkspace.rk_xxx[22] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[46] + rk_eta[22];
+acadoWorkspace.rk_xxx[23] = + (real_t)9.9999999999999964e-02*acadoWorkspace.rk_kkk[47] + rk_eta[23];
+acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 48 ]) );
+acadoWorkspace.rk_xxx[0] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[48] + rk_eta[0];
+acadoWorkspace.rk_xxx[1] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[49] + rk_eta[1];
+acadoWorkspace.rk_xxx[2] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[50] + rk_eta[2];
+acadoWorkspace.rk_xxx[3] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[51] + rk_eta[3];
+acadoWorkspace.rk_xxx[4] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[52] + rk_eta[4];
+acadoWorkspace.rk_xxx[5] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[53] + rk_eta[5];
+acadoWorkspace.rk_xxx[6] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[54] + rk_eta[6];
+acadoWorkspace.rk_xxx[7] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[55] + rk_eta[7];
+acadoWorkspace.rk_xxx[8] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[56] + rk_eta[8];
+acadoWorkspace.rk_xxx[9] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[57] + rk_eta[9];
+acadoWorkspace.rk_xxx[10] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[58] + rk_eta[10];
+acadoWorkspace.rk_xxx[11] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[59] + rk_eta[11];
+acadoWorkspace.rk_xxx[12] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[60] + rk_eta[12];
+acadoWorkspace.rk_xxx[13] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[61] + rk_eta[13];
+acadoWorkspace.rk_xxx[14] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[62] + rk_eta[14];
+acadoWorkspace.rk_xxx[15] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[63] + rk_eta[15];
+acadoWorkspace.rk_xxx[16] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[64] + rk_eta[16];
+acadoWorkspace.rk_xxx[17] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[65] + rk_eta[17];
+acadoWorkspace.rk_xxx[18] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[66] + rk_eta[18];
+acadoWorkspace.rk_xxx[19] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[67] + rk_eta[19];
+acadoWorkspace.rk_xxx[20] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[68] + rk_eta[20];
+acadoWorkspace.rk_xxx[21] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[69] + rk_eta[21];
+acadoWorkspace.rk_xxx[22] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[70] + rk_eta[22];
+acadoWorkspace.rk_xxx[23] = + (real_t)1.9999999999999993e-01*acadoWorkspace.rk_kkk[71] + rk_eta[23];
+acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 72 ]) );
+rk_eta[0] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[0] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[24] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[48] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[72];
+rk_eta[1] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[1] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[25] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[49] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[73];
+rk_eta[2] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[2] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[26] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[50] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[74];
+rk_eta[3] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[3] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[27] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[51] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[75];
+rk_eta[4] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[4] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[28] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[52] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[76];
+rk_eta[5] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[5] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[29] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[53] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[77];
+rk_eta[6] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[6] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[30] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[54] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[78];
+rk_eta[7] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[7] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[31] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[55] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[79];
+rk_eta[8] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[8] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[32] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[56] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[80];
+rk_eta[9] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[9] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[33] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[57] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[81];
+rk_eta[10] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[10] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[34] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[58] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[82];
+rk_eta[11] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[11] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[35] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[59] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[83];
+rk_eta[12] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[12] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[36] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[60] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[84];
+rk_eta[13] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[13] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[37] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[61] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[85];
+rk_eta[14] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[14] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[38] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[62] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[86];
+rk_eta[15] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[15] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[39] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[63] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[87];
+rk_eta[16] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[16] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[40] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[64] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[88];
+rk_eta[17] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[17] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[41] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[65] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[89];
+rk_eta[18] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[18] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[42] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[66] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[90];
+rk_eta[19] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[19] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[43] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[67] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[91];
+rk_eta[20] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[20] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[44] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[68] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[92];
+rk_eta[21] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[21] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[45] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[69] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[93];
+rk_eta[22] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[22] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[46] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[70] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[94];
+rk_eta[23] += + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[23] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[47] + (real_t)6.6666666666666638e-02*acadoWorkspace.rk_kkk[71] + (real_t)3.3333333333333319e-02*acadoWorkspace.rk_kkk[95];
+acadoWorkspace.rk_ttt += 1.0000000000000000e+00;
+}
+}
+error = 0;
+return error;
+}
+
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_qpoases_interface.cpp b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_qpoases_interface.cpp
new file mode 100644
index 0000000000..dd6fada460
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_qpoases_interface.cpp
@@ -0,0 +1,70 @@
+/*
+ *    This file was auto-generated using the ACADO Toolkit.
+ *    
+ *    While ACADO Toolkit is free software released under the terms of
+ *    the GNU Lesser General Public License (LGPL), the generated code
+ *    as such remains the property of the user who used ACADO Toolkit
+ *    to generate this code. In particular, user dependent data of the code
+ *    do not inherit the GNU LGPL license. On the other hand, parts of the
+ *    generated code that are a direct copy of source code from the
+ *    ACADO Toolkit or the software tools it is based on, remain, as derived
+ *    work, automatically covered by the LGPL license.
+ *    
+ *    ACADO Toolkit 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.
+ *    
+ */
+
+
+extern "C"
+{
+#include "acado_common.h"
+}
+
+#include "INCLUDE/QProblemB.hpp"
+
+#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1
+#include "INCLUDE/EXTRAS/SolutionAnalysis.hpp"
+#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */
+
+static int acado_nWSR;
+
+
+
+#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1
+static SolutionAnalysis acado_sa;
+#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */
+
+int acado_solve( void )
+{
+	acado_nWSR = QPOASES_NWSRMAX;
+
+	QProblemB qp( 24 );
+	
+	returnValue retVal = qp.init(acadoWorkspace.H, acadoWorkspace.g, acadoWorkspace.lb, acadoWorkspace.ub, acado_nWSR, acadoWorkspace.y);
+
+    qp.getPrimalSolution( acadoWorkspace.x );
+    qp.getDualSolution( acadoWorkspace.y );
+	
+#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1
+
+	if (retVal != SUCCESSFUL_RETURN)
+		return (int)retVal;
+		
+	retVal = acado_sa.getHessianInverse( &qp,var );
+
+#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */
+
+	return (int)retVal;
+}
+
+int acado_getNWSR( void )
+{
+	return acado_nWSR;
+}
+
+const char* acado_getErrorString( int error )
+{
+	return MessageHandling::getErrorString( error );
+}
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_qpoases_interface.hpp b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_qpoases_interface.hpp
new file mode 100644
index 0000000000..cc7d1e1c00
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_qpoases_interface.hpp
@@ -0,0 +1,65 @@
+/*
+ *    This file was auto-generated using the ACADO Toolkit.
+ *    
+ *    While ACADO Toolkit is free software released under the terms of
+ *    the GNU Lesser General Public License (LGPL), the generated code
+ *    as such remains the property of the user who used ACADO Toolkit
+ *    to generate this code. In particular, user dependent data of the code
+ *    do not inherit the GNU LGPL license. On the other hand, parts of the
+ *    generated code that are a direct copy of source code from the
+ *    ACADO Toolkit or the software tools it is based on, remain, as derived
+ *    work, automatically covered by the LGPL license.
+ *    
+ *    ACADO Toolkit 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.
+ *    
+ */
+
+
+#ifndef QPOASES_HEADER
+#define QPOASES_HEADER
+
+#ifdef PC_DEBUG
+#include <stdio.h>
+#endif /* PC_DEBUG */
+
+#include <math.h>
+
+#ifdef __cplusplus
+#define EXTERNC extern "C"
+#else
+#define EXTERNC
+#endif
+
+/*
+ * A set of options for qpOASES
+ */
+
+/** Maximum number of optimization variables. */
+#define QPOASES_NVMAX      24
+/** Maximum number of constraints. */
+#define QPOASES_NCMAX      0
+/** Maximum number of working set recalculations. */
+#define QPOASES_NWSRMAX    500
+/** Print level for qpOASES. */
+#define QPOASES_PRINTLEVEL PL_NONE
+/** The value of EPS */
+#define QPOASES_EPS        2.221e-16
+/** Internally used floating point type */
+typedef double real_t;
+
+/*
+ * Forward function declarations
+ */
+
+/** A function that calls the QP solver */
+EXTERNC int acado_solve( void );
+
+/** Get the number of active set changes */
+EXTERNC int acado_getNWSR( void );
+
+/** Get the error string. */
+const char* acado_getErrorString( int error );
+
+#endif /* QPOASES_HEADER */
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_solver.c b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_solver.c
new file mode 100644
index 0000000000..411d47b603
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/acado_solver.c
@@ -0,0 +1,4944 @@
+/*
+ *    This file was auto-generated using the ACADO Toolkit.
+ *    
+ *    While ACADO Toolkit is free software released under the terms of
+ *    the GNU Lesser General Public License (LGPL), the generated code
+ *    as such remains the property of the user who used ACADO Toolkit
+ *    to generate this code. In particular, user dependent data of the code
+ *    do not inherit the GNU LGPL license. On the other hand, parts of the
+ *    generated code that are a direct copy of source code from the
+ *    ACADO Toolkit or the software tools it is based on, remain, as derived
+ *    work, automatically covered by the LGPL license.
+ *    
+ *    ACADO Toolkit 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.
+ *    
+ */
+
+
+#include "acado_common.h"
+
+
+
+
+/******************************************************************************/
+/*                                                                            */
+/* ACADO code generation                                                      */
+/*                                                                            */
+/******************************************************************************/
+
+
+int acado_modelSimulation(  )
+{
+int ret;
+
+int lRun1;
+ret = 0;
+for (lRun1 = 0; lRun1 < 20; ++lRun1)
+{
+acadoWorkspace.state[0] = acadoVariables.x[lRun1 * 4];
+acadoWorkspace.state[1] = acadoVariables.x[lRun1 * 4 + 1];
+acadoWorkspace.state[2] = acadoVariables.x[lRun1 * 4 + 2];
+acadoWorkspace.state[3] = acadoVariables.x[lRun1 * 4 + 3];
+
+acadoWorkspace.state[24] = acadoVariables.u[lRun1];
+acadoWorkspace.state[25] = acadoVariables.od[lRun1 * 12];
+acadoWorkspace.state[26] = acadoVariables.od[lRun1 * 12 + 1];
+acadoWorkspace.state[27] = acadoVariables.od[lRun1 * 12 + 2];
+acadoWorkspace.state[28] = acadoVariables.od[lRun1 * 12 + 3];
+acadoWorkspace.state[29] = acadoVariables.od[lRun1 * 12 + 4];
+acadoWorkspace.state[30] = acadoVariables.od[lRun1 * 12 + 5];
+acadoWorkspace.state[31] = acadoVariables.od[lRun1 * 12 + 6];
+acadoWorkspace.state[32] = acadoVariables.od[lRun1 * 12 + 7];
+acadoWorkspace.state[33] = acadoVariables.od[lRun1 * 12 + 8];
+acadoWorkspace.state[34] = acadoVariables.od[lRun1 * 12 + 9];
+acadoWorkspace.state[35] = acadoVariables.od[lRun1 * 12 + 10];
+acadoWorkspace.state[36] = acadoVariables.od[lRun1 * 12 + 11];
+
+ret = acado_integrate(acadoWorkspace.state, 1, lRun1);
+
+acadoWorkspace.d[lRun1 * 4] = acadoWorkspace.state[0] - acadoVariables.x[lRun1 * 4 + 4];
+acadoWorkspace.d[lRun1 * 4 + 1] = acadoWorkspace.state[1] - acadoVariables.x[lRun1 * 4 + 5];
+acadoWorkspace.d[lRun1 * 4 + 2] = acadoWorkspace.state[2] - acadoVariables.x[lRun1 * 4 + 6];
+acadoWorkspace.d[lRun1 * 4 + 3] = acadoWorkspace.state[3] - acadoVariables.x[lRun1 * 4 + 7];
+
+acadoWorkspace.evGx[lRun1 * 16] = acadoWorkspace.state[4];
+acadoWorkspace.evGx[lRun1 * 16 + 1] = acadoWorkspace.state[5];
+acadoWorkspace.evGx[lRun1 * 16 + 2] = acadoWorkspace.state[6];
+acadoWorkspace.evGx[lRun1 * 16 + 3] = acadoWorkspace.state[7];
+acadoWorkspace.evGx[lRun1 * 16 + 4] = acadoWorkspace.state[8];
+acadoWorkspace.evGx[lRun1 * 16 + 5] = acadoWorkspace.state[9];
+acadoWorkspace.evGx[lRun1 * 16 + 6] = acadoWorkspace.state[10];
+acadoWorkspace.evGx[lRun1 * 16 + 7] = acadoWorkspace.state[11];
+acadoWorkspace.evGx[lRun1 * 16 + 8] = acadoWorkspace.state[12];
+acadoWorkspace.evGx[lRun1 * 16 + 9] = acadoWorkspace.state[13];
+acadoWorkspace.evGx[lRun1 * 16 + 10] = acadoWorkspace.state[14];
+acadoWorkspace.evGx[lRun1 * 16 + 11] = acadoWorkspace.state[15];
+acadoWorkspace.evGx[lRun1 * 16 + 12] = acadoWorkspace.state[16];
+acadoWorkspace.evGx[lRun1 * 16 + 13] = acadoWorkspace.state[17];
+acadoWorkspace.evGx[lRun1 * 16 + 14] = acadoWorkspace.state[18];
+acadoWorkspace.evGx[lRun1 * 16 + 15] = acadoWorkspace.state[19];
+
+acadoWorkspace.evGu[lRun1 * 4] = acadoWorkspace.state[20];
+acadoWorkspace.evGu[lRun1 * 4 + 1] = acadoWorkspace.state[21];
+acadoWorkspace.evGu[lRun1 * 4 + 2] = acadoWorkspace.state[22];
+acadoWorkspace.evGu[lRun1 * 4 + 3] = acadoWorkspace.state[23];
+}
+return ret;
+}
+
+void acado_evaluateLSQ(const real_t* in, real_t* out)
+{
+const real_t* xd = in;
+const real_t* u = in + 4;
+const real_t* od = in + 5;
+
+/* Compute outputs: */
+out[0] = (xd[0]-((((od[0]*((xd[3]*xd[3])*xd[3]))+(od[1]*(xd[3]*xd[3])))+(od[2]*xd[3]))+od[3]));
+out[1] = (xd[1]-((((od[4]*((xd[3]*xd[3])*xd[3]))+(od[5]*(xd[3]*xd[3])))+(od[6]*xd[3]))+od[7]));
+out[2] = (xd[2]-((((od[8]*((xd[3]*xd[3])*xd[3]))+(od[9]*(xd[3]*xd[3])))+(od[10]*xd[3]))+od[11]));
+out[3] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
+out[4] = (u[0]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
+out[5] = (real_t)(1.0000000000000000e+00);
+out[6] = (real_t)(0.0000000000000000e+00);
+out[7] = (real_t)(0.0000000000000000e+00);
+out[8] = ((real_t)(0.0000000000000000e+00)-(((od[0]*(((xd[3]+xd[3])*xd[3])+(xd[3]*xd[3])))+(od[1]*(xd[3]+xd[3])))+od[2]));
+out[9] = (real_t)(0.0000000000000000e+00);
+out[10] = (real_t)(1.0000000000000000e+00);
+out[11] = (real_t)(0.0000000000000000e+00);
+out[12] = ((real_t)(0.0000000000000000e+00)-(((od[4]*(((xd[3]+xd[3])*xd[3])+(xd[3]*xd[3])))+(od[5]*(xd[3]+xd[3])))+od[6]));
+out[13] = (real_t)(0.0000000000000000e+00);
+out[14] = (real_t)(0.0000000000000000e+00);
+out[15] = (real_t)(1.0000000000000000e+00);
+out[16] = ((real_t)(0.0000000000000000e+00)-(((od[8]*(((xd[3]+xd[3])*xd[3])+(xd[3]*xd[3])))+(od[9]*(xd[3]+xd[3])))+od[10]));
+out[17] = (real_t)(0.0000000000000000e+00);
+out[18] = (xd[2]*(real_t)(1.0000000000000001e-01));
+out[19] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
+out[20] = (real_t)(0.0000000000000000e+00);
+out[21] = (real_t)(0.0000000000000000e+00);
+out[22] = (u[0]*(real_t)(1.0000000000000001e-01));
+out[23] = (real_t)(0.0000000000000000e+00);
+out[24] = (real_t)(0.0000000000000000e+00);
+out[25] = (real_t)(0.0000000000000000e+00);
+out[26] = (real_t)(0.0000000000000000e+00);
+out[27] = (real_t)(0.0000000000000000e+00);
+out[28] = (real_t)(0.0000000000000000e+00);
+out[29] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
+}
+
+void acado_evaluateLSQEndTerm(const real_t* in, real_t* out)
+{
+const real_t* xd = in;
+const real_t* od = in + 4;
+
+/* Compute outputs: */
+out[0] = (xd[0]-((((od[0]*((xd[3]*xd[3])*xd[3]))+(od[1]*(xd[3]*xd[3])))+(od[2]*xd[3]))+od[3]));
+out[1] = (xd[1]-((((od[4]*((xd[3]*xd[3])*xd[3]))+(od[5]*(xd[3]*xd[3])))+(od[6]*xd[3]))+od[7]));
+out[2] = (xd[2]-((((od[8]*((xd[3]*xd[3])*xd[3]))+(od[9]*(xd[3]*xd[3])))+(od[10]*xd[3]))+od[11]));
+out[3] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
+out[4] = (real_t)(1.0000000000000000e+00);
+out[5] = (real_t)(0.0000000000000000e+00);
+out[6] = (real_t)(0.0000000000000000e+00);
+out[7] = ((real_t)(0.0000000000000000e+00)-(((od[0]*(((xd[3]+xd[3])*xd[3])+(xd[3]*xd[3])))+(od[1]*(xd[3]+xd[3])))+od[2]));
+out[8] = (real_t)(0.0000000000000000e+00);
+out[9] = (real_t)(1.0000000000000000e+00);
+out[10] = (real_t)(0.0000000000000000e+00);
+out[11] = ((real_t)(0.0000000000000000e+00)-(((od[4]*(((xd[3]+xd[3])*xd[3])+(xd[3]*xd[3])))+(od[5]*(xd[3]+xd[3])))+od[6]));
+out[12] = (real_t)(0.0000000000000000e+00);
+out[13] = (real_t)(0.0000000000000000e+00);
+out[14] = (real_t)(1.0000000000000000e+00);
+out[15] = ((real_t)(0.0000000000000000e+00)-(((od[8]*(((xd[3]+xd[3])*xd[3])+(xd[3]*xd[3])))+(od[9]*(xd[3]+xd[3])))+od[10]));
+out[16] = (real_t)(0.0000000000000000e+00);
+out[17] = (xd[2]*(real_t)(1.0000000000000001e-01));
+out[18] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
+out[19] = (real_t)(0.0000000000000000e+00);
+}
+
+void acado_setObjQ1Q2( real_t* const tmpFx, real_t* const tmpObjS, real_t* const tmpQ1, real_t* const tmpQ2 )
+{
+tmpQ2[0] = + tmpFx[0]*tmpObjS[0] + tmpFx[4]*tmpObjS[5] + tmpFx[8]*tmpObjS[10] + tmpFx[12]*tmpObjS[15] + tmpFx[16]*tmpObjS[20];
+tmpQ2[1] = + tmpFx[0]*tmpObjS[1] + tmpFx[4]*tmpObjS[6] + tmpFx[8]*tmpObjS[11] + tmpFx[12]*tmpObjS[16] + tmpFx[16]*tmpObjS[21];
+tmpQ2[2] = + tmpFx[0]*tmpObjS[2] + tmpFx[4]*tmpObjS[7] + tmpFx[8]*tmpObjS[12] + tmpFx[12]*tmpObjS[17] + tmpFx[16]*tmpObjS[22];
+tmpQ2[3] = + tmpFx[0]*tmpObjS[3] + tmpFx[4]*tmpObjS[8] + tmpFx[8]*tmpObjS[13] + tmpFx[12]*tmpObjS[18] + tmpFx[16]*tmpObjS[23];
+tmpQ2[4] = + tmpFx[0]*tmpObjS[4] + tmpFx[4]*tmpObjS[9] + tmpFx[8]*tmpObjS[14] + tmpFx[12]*tmpObjS[19] + tmpFx[16]*tmpObjS[24];
+tmpQ2[5] = + tmpFx[1]*tmpObjS[0] + tmpFx[5]*tmpObjS[5] + tmpFx[9]*tmpObjS[10] + tmpFx[13]*tmpObjS[15] + tmpFx[17]*tmpObjS[20];
+tmpQ2[6] = + tmpFx[1]*tmpObjS[1] + tmpFx[5]*tmpObjS[6] + tmpFx[9]*tmpObjS[11] + tmpFx[13]*tmpObjS[16] + tmpFx[17]*tmpObjS[21];
+tmpQ2[7] = + tmpFx[1]*tmpObjS[2] + tmpFx[5]*tmpObjS[7] + tmpFx[9]*tmpObjS[12] + tmpFx[13]*tmpObjS[17] + tmpFx[17]*tmpObjS[22];
+tmpQ2[8] = + tmpFx[1]*tmpObjS[3] + tmpFx[5]*tmpObjS[8] + tmpFx[9]*tmpObjS[13] + tmpFx[13]*tmpObjS[18] + tmpFx[17]*tmpObjS[23];
+tmpQ2[9] = + tmpFx[1]*tmpObjS[4] + tmpFx[5]*tmpObjS[9] + tmpFx[9]*tmpObjS[14] + tmpFx[13]*tmpObjS[19] + tmpFx[17]*tmpObjS[24];
+tmpQ2[10] = + tmpFx[2]*tmpObjS[0] + tmpFx[6]*tmpObjS[5] + tmpFx[10]*tmpObjS[10] + tmpFx[14]*tmpObjS[15] + tmpFx[18]*tmpObjS[20];
+tmpQ2[11] = + tmpFx[2]*tmpObjS[1] + tmpFx[6]*tmpObjS[6] + tmpFx[10]*tmpObjS[11] + tmpFx[14]*tmpObjS[16] + tmpFx[18]*tmpObjS[21];
+tmpQ2[12] = + tmpFx[2]*tmpObjS[2] + tmpFx[6]*tmpObjS[7] + tmpFx[10]*tmpObjS[12] + tmpFx[14]*tmpObjS[17] + tmpFx[18]*tmpObjS[22];
+tmpQ2[13] = + tmpFx[2]*tmpObjS[3] + tmpFx[6]*tmpObjS[8] + tmpFx[10]*tmpObjS[13] + tmpFx[14]*tmpObjS[18] + tmpFx[18]*tmpObjS[23];
+tmpQ2[14] = + tmpFx[2]*tmpObjS[4] + tmpFx[6]*tmpObjS[9] + tmpFx[10]*tmpObjS[14] + tmpFx[14]*tmpObjS[19] + tmpFx[18]*tmpObjS[24];
+tmpQ2[15] = + tmpFx[3]*tmpObjS[0] + tmpFx[7]*tmpObjS[5] + tmpFx[11]*tmpObjS[10] + tmpFx[15]*tmpObjS[15] + tmpFx[19]*tmpObjS[20];
+tmpQ2[16] = + tmpFx[3]*tmpObjS[1] + tmpFx[7]*tmpObjS[6] + tmpFx[11]*tmpObjS[11] + tmpFx[15]*tmpObjS[16] + tmpFx[19]*tmpObjS[21];
+tmpQ2[17] = + tmpFx[3]*tmpObjS[2] + tmpFx[7]*tmpObjS[7] + tmpFx[11]*tmpObjS[12] + tmpFx[15]*tmpObjS[17] + tmpFx[19]*tmpObjS[22];
+tmpQ2[18] = + tmpFx[3]*tmpObjS[3] + tmpFx[7]*tmpObjS[8] + tmpFx[11]*tmpObjS[13] + tmpFx[15]*tmpObjS[18] + tmpFx[19]*tmpObjS[23];
+tmpQ2[19] = + tmpFx[3]*tmpObjS[4] + tmpFx[7]*tmpObjS[9] + tmpFx[11]*tmpObjS[14] + tmpFx[15]*tmpObjS[19] + tmpFx[19]*tmpObjS[24];
+tmpQ1[0] = + tmpQ2[0]*tmpFx[0] + tmpQ2[1]*tmpFx[4] + tmpQ2[2]*tmpFx[8] + tmpQ2[3]*tmpFx[12] + tmpQ2[4]*tmpFx[16];
+tmpQ1[1] = + tmpQ2[0]*tmpFx[1] + tmpQ2[1]*tmpFx[5] + tmpQ2[2]*tmpFx[9] + tmpQ2[3]*tmpFx[13] + tmpQ2[4]*tmpFx[17];
+tmpQ1[2] = + tmpQ2[0]*tmpFx[2] + tmpQ2[1]*tmpFx[6] + tmpQ2[2]*tmpFx[10] + tmpQ2[3]*tmpFx[14] + tmpQ2[4]*tmpFx[18];
+tmpQ1[3] = + tmpQ2[0]*tmpFx[3] + tmpQ2[1]*tmpFx[7] + tmpQ2[2]*tmpFx[11] + tmpQ2[3]*tmpFx[15] + tmpQ2[4]*tmpFx[19];
+tmpQ1[4] = + tmpQ2[5]*tmpFx[0] + tmpQ2[6]*tmpFx[4] + tmpQ2[7]*tmpFx[8] + tmpQ2[8]*tmpFx[12] + tmpQ2[9]*tmpFx[16];
+tmpQ1[5] = + tmpQ2[5]*tmpFx[1] + tmpQ2[6]*tmpFx[5] + tmpQ2[7]*tmpFx[9] + tmpQ2[8]*tmpFx[13] + tmpQ2[9]*tmpFx[17];
+tmpQ1[6] = + tmpQ2[5]*tmpFx[2] + tmpQ2[6]*tmpFx[6] + tmpQ2[7]*tmpFx[10] + tmpQ2[8]*tmpFx[14] + tmpQ2[9]*tmpFx[18];
+tmpQ1[7] = + tmpQ2[5]*tmpFx[3] + tmpQ2[6]*tmpFx[7] + tmpQ2[7]*tmpFx[11] + tmpQ2[8]*tmpFx[15] + tmpQ2[9]*tmpFx[19];
+tmpQ1[8] = + tmpQ2[10]*tmpFx[0] + tmpQ2[11]*tmpFx[4] + tmpQ2[12]*tmpFx[8] + tmpQ2[13]*tmpFx[12] + tmpQ2[14]*tmpFx[16];
+tmpQ1[9] = + tmpQ2[10]*tmpFx[1] + tmpQ2[11]*tmpFx[5] + tmpQ2[12]*tmpFx[9] + tmpQ2[13]*tmpFx[13] + tmpQ2[14]*tmpFx[17];
+tmpQ1[10] = + tmpQ2[10]*tmpFx[2] + tmpQ2[11]*tmpFx[6] + tmpQ2[12]*tmpFx[10] + tmpQ2[13]*tmpFx[14] + tmpQ2[14]*tmpFx[18];
+tmpQ1[11] = + tmpQ2[10]*tmpFx[3] + tmpQ2[11]*tmpFx[7] + tmpQ2[12]*tmpFx[11] + tmpQ2[13]*tmpFx[15] + tmpQ2[14]*tmpFx[19];
+tmpQ1[12] = + tmpQ2[15]*tmpFx[0] + tmpQ2[16]*tmpFx[4] + tmpQ2[17]*tmpFx[8] + tmpQ2[18]*tmpFx[12] + tmpQ2[19]*tmpFx[16];
+tmpQ1[13] = + tmpQ2[15]*tmpFx[1] + tmpQ2[16]*tmpFx[5] + tmpQ2[17]*tmpFx[9] + tmpQ2[18]*tmpFx[13] + tmpQ2[19]*tmpFx[17];
+tmpQ1[14] = + tmpQ2[15]*tmpFx[2] + tmpQ2[16]*tmpFx[6] + tmpQ2[17]*tmpFx[10] + tmpQ2[18]*tmpFx[14] + tmpQ2[19]*tmpFx[18];
+tmpQ1[15] = + tmpQ2[15]*tmpFx[3] + tmpQ2[16]*tmpFx[7] + tmpQ2[17]*tmpFx[11] + tmpQ2[18]*tmpFx[15] + tmpQ2[19]*tmpFx[19];
+}
+
+void acado_setObjR1R2( real_t* const tmpFu, real_t* const tmpObjS, real_t* const tmpR1, real_t* const tmpR2 )
+{
+tmpR2[0] = + tmpFu[0]*tmpObjS[0] + tmpFu[1]*tmpObjS[5] + tmpFu[2]*tmpObjS[10] + tmpFu[3]*tmpObjS[15] + tmpFu[4]*tmpObjS[20];
+tmpR2[1] = + tmpFu[0]*tmpObjS[1] + tmpFu[1]*tmpObjS[6] + tmpFu[2]*tmpObjS[11] + tmpFu[3]*tmpObjS[16] + tmpFu[4]*tmpObjS[21];
+tmpR2[2] = + tmpFu[0]*tmpObjS[2] + tmpFu[1]*tmpObjS[7] + tmpFu[2]*tmpObjS[12] + tmpFu[3]*tmpObjS[17] + tmpFu[4]*tmpObjS[22];
+tmpR2[3] = + tmpFu[0]*tmpObjS[3] + tmpFu[1]*tmpObjS[8] + tmpFu[2]*tmpObjS[13] + tmpFu[3]*tmpObjS[18] + tmpFu[4]*tmpObjS[23];
+tmpR2[4] = + tmpFu[0]*tmpObjS[4] + tmpFu[1]*tmpObjS[9] + tmpFu[2]*tmpObjS[14] + tmpFu[3]*tmpObjS[19] + tmpFu[4]*tmpObjS[24];
+tmpR1[0] = + tmpR2[0]*tmpFu[0] + tmpR2[1]*tmpFu[1] + tmpR2[2]*tmpFu[2] + tmpR2[3]*tmpFu[3] + tmpR2[4]*tmpFu[4];
+}
+
+void acado_setObjQN1QN2( real_t* const tmpFx, real_t* const tmpObjSEndTerm, real_t* const tmpQN1, real_t* const tmpQN2 )
+{
+tmpQN2[0] = + tmpFx[0]*tmpObjSEndTerm[0] + tmpFx[4]*tmpObjSEndTerm[4] + tmpFx[8]*tmpObjSEndTerm[8] + tmpFx[12]*tmpObjSEndTerm[12];
+tmpQN2[1] = + tmpFx[0]*tmpObjSEndTerm[1] + tmpFx[4]*tmpObjSEndTerm[5] + tmpFx[8]*tmpObjSEndTerm[9] + tmpFx[12]*tmpObjSEndTerm[13];
+tmpQN2[2] = + tmpFx[0]*tmpObjSEndTerm[2] + tmpFx[4]*tmpObjSEndTerm[6] + tmpFx[8]*tmpObjSEndTerm[10] + tmpFx[12]*tmpObjSEndTerm[14];
+tmpQN2[3] = + tmpFx[0]*tmpObjSEndTerm[3] + tmpFx[4]*tmpObjSEndTerm[7] + tmpFx[8]*tmpObjSEndTerm[11] + tmpFx[12]*tmpObjSEndTerm[15];
+tmpQN2[4] = + tmpFx[1]*tmpObjSEndTerm[0] + tmpFx[5]*tmpObjSEndTerm[4] + tmpFx[9]*tmpObjSEndTerm[8] + tmpFx[13]*tmpObjSEndTerm[12];
+tmpQN2[5] = + tmpFx[1]*tmpObjSEndTerm[1] + tmpFx[5]*tmpObjSEndTerm[5] + tmpFx[9]*tmpObjSEndTerm[9] + tmpFx[13]*tmpObjSEndTerm[13];
+tmpQN2[6] = + tmpFx[1]*tmpObjSEndTerm[2] + tmpFx[5]*tmpObjSEndTerm[6] + tmpFx[9]*tmpObjSEndTerm[10] + tmpFx[13]*tmpObjSEndTerm[14];
+tmpQN2[7] = + tmpFx[1]*tmpObjSEndTerm[3] + tmpFx[5]*tmpObjSEndTerm[7] + tmpFx[9]*tmpObjSEndTerm[11] + tmpFx[13]*tmpObjSEndTerm[15];
+tmpQN2[8] = + tmpFx[2]*tmpObjSEndTerm[0] + tmpFx[6]*tmpObjSEndTerm[4] + tmpFx[10]*tmpObjSEndTerm[8] + tmpFx[14]*tmpObjSEndTerm[12];
+tmpQN2[9] = + tmpFx[2]*tmpObjSEndTerm[1] + tmpFx[6]*tmpObjSEndTerm[5] + tmpFx[10]*tmpObjSEndTerm[9] + tmpFx[14]*tmpObjSEndTerm[13];
+tmpQN2[10] = + tmpFx[2]*tmpObjSEndTerm[2] + tmpFx[6]*tmpObjSEndTerm[6] + tmpFx[10]*tmpObjSEndTerm[10] + tmpFx[14]*tmpObjSEndTerm[14];
+tmpQN2[11] = + tmpFx[2]*tmpObjSEndTerm[3] + tmpFx[6]*tmpObjSEndTerm[7] + tmpFx[10]*tmpObjSEndTerm[11] + tmpFx[14]*tmpObjSEndTerm[15];
+tmpQN2[12] = + tmpFx[3]*tmpObjSEndTerm[0] + tmpFx[7]*tmpObjSEndTerm[4] + tmpFx[11]*tmpObjSEndTerm[8] + tmpFx[15]*tmpObjSEndTerm[12];
+tmpQN2[13] = + tmpFx[3]*tmpObjSEndTerm[1] + tmpFx[7]*tmpObjSEndTerm[5] + tmpFx[11]*tmpObjSEndTerm[9] + tmpFx[15]*tmpObjSEndTerm[13];
+tmpQN2[14] = + tmpFx[3]*tmpObjSEndTerm[2] + tmpFx[7]*tmpObjSEndTerm[6] + tmpFx[11]*tmpObjSEndTerm[10] + tmpFx[15]*tmpObjSEndTerm[14];
+tmpQN2[15] = + tmpFx[3]*tmpObjSEndTerm[3] + tmpFx[7]*tmpObjSEndTerm[7] + tmpFx[11]*tmpObjSEndTerm[11] + tmpFx[15]*tmpObjSEndTerm[15];
+tmpQN1[0] = + tmpQN2[0]*tmpFx[0] + tmpQN2[1]*tmpFx[4] + tmpQN2[2]*tmpFx[8] + tmpQN2[3]*tmpFx[12];
+tmpQN1[1] = + tmpQN2[0]*tmpFx[1] + tmpQN2[1]*tmpFx[5] + tmpQN2[2]*tmpFx[9] + tmpQN2[3]*tmpFx[13];
+tmpQN1[2] = + tmpQN2[0]*tmpFx[2] + tmpQN2[1]*tmpFx[6] + tmpQN2[2]*tmpFx[10] + tmpQN2[3]*tmpFx[14];
+tmpQN1[3] = + tmpQN2[0]*tmpFx[3] + tmpQN2[1]*tmpFx[7] + tmpQN2[2]*tmpFx[11] + tmpQN2[3]*tmpFx[15];
+tmpQN1[4] = + tmpQN2[4]*tmpFx[0] + tmpQN2[5]*tmpFx[4] + tmpQN2[6]*tmpFx[8] + tmpQN2[7]*tmpFx[12];
+tmpQN1[5] = + tmpQN2[4]*tmpFx[1] + tmpQN2[5]*tmpFx[5] + tmpQN2[6]*tmpFx[9] + tmpQN2[7]*tmpFx[13];
+tmpQN1[6] = + tmpQN2[4]*tmpFx[2] + tmpQN2[5]*tmpFx[6] + tmpQN2[6]*tmpFx[10] + tmpQN2[7]*tmpFx[14];
+tmpQN1[7] = + tmpQN2[4]*tmpFx[3] + tmpQN2[5]*tmpFx[7] + tmpQN2[6]*tmpFx[11] + tmpQN2[7]*tmpFx[15];
+tmpQN1[8] = + tmpQN2[8]*tmpFx[0] + tmpQN2[9]*tmpFx[4] + tmpQN2[10]*tmpFx[8] + tmpQN2[11]*tmpFx[12];
+tmpQN1[9] = + tmpQN2[8]*tmpFx[1] + tmpQN2[9]*tmpFx[5] + tmpQN2[10]*tmpFx[9] + tmpQN2[11]*tmpFx[13];
+tmpQN1[10] = + tmpQN2[8]*tmpFx[2] + tmpQN2[9]*tmpFx[6] + tmpQN2[10]*tmpFx[10] + tmpQN2[11]*tmpFx[14];
+tmpQN1[11] = + tmpQN2[8]*tmpFx[3] + tmpQN2[9]*tmpFx[7] + tmpQN2[10]*tmpFx[11] + tmpQN2[11]*tmpFx[15];
+tmpQN1[12] = + tmpQN2[12]*tmpFx[0] + tmpQN2[13]*tmpFx[4] + tmpQN2[14]*tmpFx[8] + tmpQN2[15]*tmpFx[12];
+tmpQN1[13] = + tmpQN2[12]*tmpFx[1] + tmpQN2[13]*tmpFx[5] + tmpQN2[14]*tmpFx[9] + tmpQN2[15]*tmpFx[13];
+tmpQN1[14] = + tmpQN2[12]*tmpFx[2] + tmpQN2[13]*tmpFx[6] + tmpQN2[14]*tmpFx[10] + tmpQN2[15]*tmpFx[14];
+tmpQN1[15] = + tmpQN2[12]*tmpFx[3] + tmpQN2[13]*tmpFx[7] + tmpQN2[14]*tmpFx[11] + tmpQN2[15]*tmpFx[15];
+}
+
+void acado_evaluateObjective(  )
+{
+int runObj;
+for (runObj = 0; runObj < 20; ++runObj)
+{
+acadoWorkspace.objValueIn[0] = acadoVariables.x[runObj * 4];
+acadoWorkspace.objValueIn[1] = acadoVariables.x[runObj * 4 + 1];
+acadoWorkspace.objValueIn[2] = acadoVariables.x[runObj * 4 + 2];
+acadoWorkspace.objValueIn[3] = acadoVariables.x[runObj * 4 + 3];
+acadoWorkspace.objValueIn[4] = acadoVariables.u[runObj];
+acadoWorkspace.objValueIn[5] = acadoVariables.od[runObj * 12];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[runObj * 12 + 1];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 12 + 2];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 12 + 3];
+acadoWorkspace.objValueIn[9] = acadoVariables.od[runObj * 12 + 4];
+acadoWorkspace.objValueIn[10] = acadoVariables.od[runObj * 12 + 5];
+acadoWorkspace.objValueIn[11] = acadoVariables.od[runObj * 12 + 6];
+acadoWorkspace.objValueIn[12] = acadoVariables.od[runObj * 12 + 7];
+acadoWorkspace.objValueIn[13] = acadoVariables.od[runObj * 12 + 8];
+acadoWorkspace.objValueIn[14] = acadoVariables.od[runObj * 12 + 9];
+acadoWorkspace.objValueIn[15] = acadoVariables.od[runObj * 12 + 10];
+acadoWorkspace.objValueIn[16] = acadoVariables.od[runObj * 12 + 11];
+
+acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
+acadoWorkspace.Dy[runObj * 5] = acadoWorkspace.objValueOut[0];
+acadoWorkspace.Dy[runObj * 5 + 1] = acadoWorkspace.objValueOut[1];
+acadoWorkspace.Dy[runObj * 5 + 2] = acadoWorkspace.objValueOut[2];
+acadoWorkspace.Dy[runObj * 5 + 3] = acadoWorkspace.objValueOut[3];
+acadoWorkspace.Dy[runObj * 5 + 4] = acadoWorkspace.objValueOut[4];
+
+acado_setObjQ1Q2( &(acadoWorkspace.objValueOut[ 5 ]), &(acadoVariables.W[ runObj * 25 ]), &(acadoWorkspace.Q1[ runObj * 16 ]), &(acadoWorkspace.Q2[ runObj * 20 ]) );
+
+acado_setObjR1R2( &(acadoWorkspace.objValueOut[ 25 ]), &(acadoVariables.W[ runObj * 25 ]), &(acadoWorkspace.R1[ runObj ]), &(acadoWorkspace.R2[ runObj * 5 ]) );
+
+}
+acadoWorkspace.objValueIn[0] = acadoVariables.x[80];
+acadoWorkspace.objValueIn[1] = acadoVariables.x[81];
+acadoWorkspace.objValueIn[2] = acadoVariables.x[82];
+acadoWorkspace.objValueIn[3] = acadoVariables.x[83];
+acadoWorkspace.objValueIn[4] = acadoVariables.od[240];
+acadoWorkspace.objValueIn[5] = acadoVariables.od[241];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[242];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[243];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[244];
+acadoWorkspace.objValueIn[9] = acadoVariables.od[245];
+acadoWorkspace.objValueIn[10] = acadoVariables.od[246];
+acadoWorkspace.objValueIn[11] = acadoVariables.od[247];
+acadoWorkspace.objValueIn[12] = acadoVariables.od[248];
+acadoWorkspace.objValueIn[13] = acadoVariables.od[249];
+acadoWorkspace.objValueIn[14] = acadoVariables.od[250];
+acadoWorkspace.objValueIn[15] = acadoVariables.od[251];
+acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
+
+acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0];
+acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1];
+acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2];
+acadoWorkspace.DyN[3] = acadoWorkspace.objValueOut[3];
+
+acado_setObjQN1QN2( &(acadoWorkspace.objValueOut[ 4 ]), acadoVariables.WN, acadoWorkspace.QN1, acadoWorkspace.QN2 );
+
+}
+
+void acado_multGxd( real_t* const dOld, real_t* const Gx1, real_t* const dNew )
+{
+dNew[0] += + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2] + Gx1[3]*dOld[3];
+dNew[1] += + Gx1[4]*dOld[0] + Gx1[5]*dOld[1] + Gx1[6]*dOld[2] + Gx1[7]*dOld[3];
+dNew[2] += + Gx1[8]*dOld[0] + Gx1[9]*dOld[1] + Gx1[10]*dOld[2] + Gx1[11]*dOld[3];
+dNew[3] += + Gx1[12]*dOld[0] + Gx1[13]*dOld[1] + Gx1[14]*dOld[2] + Gx1[15]*dOld[3];
+}
+
+void acado_moveGxT( real_t* const Gx1, real_t* const Gx2 )
+{
+Gx2[0] = Gx1[0];
+Gx2[1] = Gx1[1];
+Gx2[2] = Gx1[2];
+Gx2[3] = Gx1[3];
+Gx2[4] = Gx1[4];
+Gx2[5] = Gx1[5];
+Gx2[6] = Gx1[6];
+Gx2[7] = Gx1[7];
+Gx2[8] = Gx1[8];
+Gx2[9] = Gx1[9];
+Gx2[10] = Gx1[10];
+Gx2[11] = Gx1[11];
+Gx2[12] = Gx1[12];
+Gx2[13] = Gx1[13];
+Gx2[14] = Gx1[14];
+Gx2[15] = Gx1[15];
+}
+
+void acado_multGxGx( real_t* const Gx1, real_t* const Gx2, real_t* const Gx3 )
+{
+Gx3[0] = + Gx1[0]*Gx2[0] + Gx1[1]*Gx2[4] + Gx1[2]*Gx2[8] + Gx1[3]*Gx2[12];
+Gx3[1] = + Gx1[0]*Gx2[1] + Gx1[1]*Gx2[5] + Gx1[2]*Gx2[9] + Gx1[3]*Gx2[13];
+Gx3[2] = + Gx1[0]*Gx2[2] + Gx1[1]*Gx2[6] + Gx1[2]*Gx2[10] + Gx1[3]*Gx2[14];
+Gx3[3] = + Gx1[0]*Gx2[3] + Gx1[1]*Gx2[7] + Gx1[2]*Gx2[11] + Gx1[3]*Gx2[15];
+Gx3[4] = + Gx1[4]*Gx2[0] + Gx1[5]*Gx2[4] + Gx1[6]*Gx2[8] + Gx1[7]*Gx2[12];
+Gx3[5] = + Gx1[4]*Gx2[1] + Gx1[5]*Gx2[5] + Gx1[6]*Gx2[9] + Gx1[7]*Gx2[13];
+Gx3[6] = + Gx1[4]*Gx2[2] + Gx1[5]*Gx2[6] + Gx1[6]*Gx2[10] + Gx1[7]*Gx2[14];
+Gx3[7] = + Gx1[4]*Gx2[3] + Gx1[5]*Gx2[7] + Gx1[6]*Gx2[11] + Gx1[7]*Gx2[15];
+Gx3[8] = + Gx1[8]*Gx2[0] + Gx1[9]*Gx2[4] + Gx1[10]*Gx2[8] + Gx1[11]*Gx2[12];
+Gx3[9] = + Gx1[8]*Gx2[1] + Gx1[9]*Gx2[5] + Gx1[10]*Gx2[9] + Gx1[11]*Gx2[13];
+Gx3[10] = + Gx1[8]*Gx2[2] + Gx1[9]*Gx2[6] + Gx1[10]*Gx2[10] + Gx1[11]*Gx2[14];
+Gx3[11] = + Gx1[8]*Gx2[3] + Gx1[9]*Gx2[7] + Gx1[10]*Gx2[11] + Gx1[11]*Gx2[15];
+Gx3[12] = + Gx1[12]*Gx2[0] + Gx1[13]*Gx2[4] + Gx1[14]*Gx2[8] + Gx1[15]*Gx2[12];
+Gx3[13] = + Gx1[12]*Gx2[1] + Gx1[13]*Gx2[5] + Gx1[14]*Gx2[9] + Gx1[15]*Gx2[13];
+Gx3[14] = + Gx1[12]*Gx2[2] + Gx1[13]*Gx2[6] + Gx1[14]*Gx2[10] + Gx1[15]*Gx2[14];
+Gx3[15] = + Gx1[12]*Gx2[3] + Gx1[13]*Gx2[7] + Gx1[14]*Gx2[11] + Gx1[15]*Gx2[15];
+}
+
+void acado_multGxGu( real_t* const Gx1, real_t* const Gu1, real_t* const Gu2 )
+{
+Gu2[0] = + Gx1[0]*Gu1[0] + Gx1[1]*Gu1[1] + Gx1[2]*Gu1[2] + Gx1[3]*Gu1[3];
+Gu2[1] = + Gx1[4]*Gu1[0] + Gx1[5]*Gu1[1] + Gx1[6]*Gu1[2] + Gx1[7]*Gu1[3];
+Gu2[2] = + Gx1[8]*Gu1[0] + Gx1[9]*Gu1[1] + Gx1[10]*Gu1[2] + Gx1[11]*Gu1[3];
+Gu2[3] = + Gx1[12]*Gu1[0] + Gx1[13]*Gu1[1] + Gx1[14]*Gu1[2] + Gx1[15]*Gu1[3];
+}
+
+void acado_moveGuE( real_t* const Gu1, real_t* const Gu2 )
+{
+Gu2[0] = Gu1[0];
+Gu2[1] = Gu1[1];
+Gu2[2] = Gu1[2];
+Gu2[3] = Gu1[3];
+}
+
+void acado_setBlockH11( int iRow, int iCol, real_t* const Gu1, real_t* const Gu2 )
+{
+acadoWorkspace.H[(iRow * 24 + 96) + (iCol + 4)] += + Gu1[0]*Gu2[0] + Gu1[1]*Gu2[1] + Gu1[2]*Gu2[2] + Gu1[3]*Gu2[3];
+}
+
+void acado_setBlockH11_R1( int iRow, int iCol, real_t* const R11 )
+{
+acadoWorkspace.H[(iRow * 24 + 96) + (iCol + 4)] = R11[0];
+}
+
+void acado_zeroBlockH11( int iRow, int iCol )
+{
+acadoWorkspace.H[(iRow * 24 + 96) + (iCol + 4)] = 0.0000000000000000e+00;
+}
+
+void acado_copyHTH( int iRow, int iCol )
+{
+acadoWorkspace.H[(iRow * 24 + 96) + (iCol + 4)] = acadoWorkspace.H[(iCol * 24 + 96) + (iRow + 4)];
+}
+
+void acado_multQ1d( real_t* const Gx1, real_t* const dOld, real_t* const dNew )
+{
+dNew[0] = + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2] + Gx1[3]*dOld[3];
+dNew[1] = + Gx1[4]*dOld[0] + Gx1[5]*dOld[1] + Gx1[6]*dOld[2] + Gx1[7]*dOld[3];
+dNew[2] = + Gx1[8]*dOld[0] + Gx1[9]*dOld[1] + Gx1[10]*dOld[2] + Gx1[11]*dOld[3];
+dNew[3] = + Gx1[12]*dOld[0] + Gx1[13]*dOld[1] + Gx1[14]*dOld[2] + Gx1[15]*dOld[3];
+}
+
+void acado_multQN1d( real_t* const QN1, real_t* const dOld, real_t* const dNew )
+{
+dNew[0] = + acadoWorkspace.QN1[0]*dOld[0] + acadoWorkspace.QN1[1]*dOld[1] + acadoWorkspace.QN1[2]*dOld[2] + acadoWorkspace.QN1[3]*dOld[3];
+dNew[1] = + acadoWorkspace.QN1[4]*dOld[0] + acadoWorkspace.QN1[5]*dOld[1] + acadoWorkspace.QN1[6]*dOld[2] + acadoWorkspace.QN1[7]*dOld[3];
+dNew[2] = + acadoWorkspace.QN1[8]*dOld[0] + acadoWorkspace.QN1[9]*dOld[1] + acadoWorkspace.QN1[10]*dOld[2] + acadoWorkspace.QN1[11]*dOld[3];
+dNew[3] = + acadoWorkspace.QN1[12]*dOld[0] + acadoWorkspace.QN1[13]*dOld[1] + acadoWorkspace.QN1[14]*dOld[2] + acadoWorkspace.QN1[15]*dOld[3];
+}
+
+void acado_multRDy( real_t* const R2, real_t* const Dy1, real_t* const RDy1 )
+{
+RDy1[0] = + R2[0]*Dy1[0] + R2[1]*Dy1[1] + R2[2]*Dy1[2] + R2[3]*Dy1[3] + R2[4]*Dy1[4];
+}
+
+void acado_multQDy( real_t* const Q2, real_t* const Dy1, real_t* const QDy1 )
+{
+QDy1[0] = + Q2[0]*Dy1[0] + Q2[1]*Dy1[1] + Q2[2]*Dy1[2] + Q2[3]*Dy1[3] + Q2[4]*Dy1[4];
+QDy1[1] = + Q2[5]*Dy1[0] + Q2[6]*Dy1[1] + Q2[7]*Dy1[2] + Q2[8]*Dy1[3] + Q2[9]*Dy1[4];
+QDy1[2] = + Q2[10]*Dy1[0] + Q2[11]*Dy1[1] + Q2[12]*Dy1[2] + Q2[13]*Dy1[3] + Q2[14]*Dy1[4];
+QDy1[3] = + Q2[15]*Dy1[0] + Q2[16]*Dy1[1] + Q2[17]*Dy1[2] + Q2[18]*Dy1[3] + Q2[19]*Dy1[4];
+}
+
+void acado_multEQDy( real_t* const E1, real_t* const QDy1, real_t* const U1 )
+{
+U1[0] += + E1[0]*QDy1[0] + E1[1]*QDy1[1] + E1[2]*QDy1[2] + E1[3]*QDy1[3];
+}
+
+void acado_multQETGx( real_t* const E1, real_t* const Gx1, real_t* const H101 )
+{
+H101[0] += + E1[0]*Gx1[0] + E1[1]*Gx1[4] + E1[2]*Gx1[8] + E1[3]*Gx1[12];
+H101[1] += + E1[0]*Gx1[1] + E1[1]*Gx1[5] + E1[2]*Gx1[9] + E1[3]*Gx1[13];
+H101[2] += + E1[0]*Gx1[2] + E1[1]*Gx1[6] + E1[2]*Gx1[10] + E1[3]*Gx1[14];
+H101[3] += + E1[0]*Gx1[3] + E1[1]*Gx1[7] + E1[2]*Gx1[11] + E1[3]*Gx1[15];
+}
+
+void acado_zeroBlockH10( real_t* const H101 )
+{
+{ int lCopy; for (lCopy = 0; lCopy < 4; lCopy++) H101[ lCopy ] = 0; }
+}
+
+void acado_multEDu( real_t* const E1, real_t* const U1, real_t* const dNew )
+{
+dNew[0] += + E1[0]*U1[0];
+dNew[1] += + E1[1]*U1[0];
+dNew[2] += + E1[2]*U1[0];
+dNew[3] += + E1[3]*U1[0];
+}
+
+void acado_zeroBlockH00(  )
+{
+acadoWorkspace.H[0] = 0.0000000000000000e+00;
+acadoWorkspace.H[1] = 0.0000000000000000e+00;
+acadoWorkspace.H[2] = 0.0000000000000000e+00;
+acadoWorkspace.H[3] = 0.0000000000000000e+00;
+acadoWorkspace.H[24] = 0.0000000000000000e+00;
+acadoWorkspace.H[25] = 0.0000000000000000e+00;
+acadoWorkspace.H[26] = 0.0000000000000000e+00;
+acadoWorkspace.H[27] = 0.0000000000000000e+00;
+acadoWorkspace.H[48] = 0.0000000000000000e+00;
+acadoWorkspace.H[49] = 0.0000000000000000e+00;
+acadoWorkspace.H[50] = 0.0000000000000000e+00;
+acadoWorkspace.H[51] = 0.0000000000000000e+00;
+acadoWorkspace.H[72] = 0.0000000000000000e+00;
+acadoWorkspace.H[73] = 0.0000000000000000e+00;
+acadoWorkspace.H[74] = 0.0000000000000000e+00;
+acadoWorkspace.H[75] = 0.0000000000000000e+00;
+}
+
+void acado_multCTQC( real_t* const Gx1, real_t* const Gx2 )
+{
+acadoWorkspace.H[0] += + Gx1[0]*Gx2[0] + Gx1[4]*Gx2[4] + Gx1[8]*Gx2[8] + Gx1[12]*Gx2[12];
+acadoWorkspace.H[1] += + Gx1[0]*Gx2[1] + Gx1[4]*Gx2[5] + Gx1[8]*Gx2[9] + Gx1[12]*Gx2[13];
+acadoWorkspace.H[2] += + Gx1[0]*Gx2[2] + Gx1[4]*Gx2[6] + Gx1[8]*Gx2[10] + Gx1[12]*Gx2[14];
+acadoWorkspace.H[3] += + Gx1[0]*Gx2[3] + Gx1[4]*Gx2[7] + Gx1[8]*Gx2[11] + Gx1[12]*Gx2[15];
+acadoWorkspace.H[24] += + Gx1[1]*Gx2[0] + Gx1[5]*Gx2[4] + Gx1[9]*Gx2[8] + Gx1[13]*Gx2[12];
+acadoWorkspace.H[25] += + Gx1[1]*Gx2[1] + Gx1[5]*Gx2[5] + Gx1[9]*Gx2[9] + Gx1[13]*Gx2[13];
+acadoWorkspace.H[26] += + Gx1[1]*Gx2[2] + Gx1[5]*Gx2[6] + Gx1[9]*Gx2[10] + Gx1[13]*Gx2[14];
+acadoWorkspace.H[27] += + Gx1[1]*Gx2[3] + Gx1[5]*Gx2[7] + Gx1[9]*Gx2[11] + Gx1[13]*Gx2[15];
+acadoWorkspace.H[48] += + Gx1[2]*Gx2[0] + Gx1[6]*Gx2[4] + Gx1[10]*Gx2[8] + Gx1[14]*Gx2[12];
+acadoWorkspace.H[49] += + Gx1[2]*Gx2[1] + Gx1[6]*Gx2[5] + Gx1[10]*Gx2[9] + Gx1[14]*Gx2[13];
+acadoWorkspace.H[50] += + Gx1[2]*Gx2[2] + Gx1[6]*Gx2[6] + Gx1[10]*Gx2[10] + Gx1[14]*Gx2[14];
+acadoWorkspace.H[51] += + Gx1[2]*Gx2[3] + Gx1[6]*Gx2[7] + Gx1[10]*Gx2[11] + Gx1[14]*Gx2[15];
+acadoWorkspace.H[72] += + Gx1[3]*Gx2[0] + Gx1[7]*Gx2[4] + Gx1[11]*Gx2[8] + Gx1[15]*Gx2[12];
+acadoWorkspace.H[73] += + Gx1[3]*Gx2[1] + Gx1[7]*Gx2[5] + Gx1[11]*Gx2[9] + Gx1[15]*Gx2[13];
+acadoWorkspace.H[74] += + Gx1[3]*Gx2[2] + Gx1[7]*Gx2[6] + Gx1[11]*Gx2[10] + Gx1[15]*Gx2[14];
+acadoWorkspace.H[75] += + Gx1[3]*Gx2[3] + Gx1[7]*Gx2[7] + Gx1[11]*Gx2[11] + Gx1[15]*Gx2[15];
+}
+
+void acado_macCTSlx( real_t* const C0, real_t* const g0 )
+{
+g0[0] += 0.0;
+;
+g0[1] += 0.0;
+;
+g0[2] += 0.0;
+;
+g0[3] += 0.0;
+;
+}
+
+void acado_macETSlu( real_t* const E0, real_t* const g1 )
+{
+g1[0] += 0.0;
+;
+}
+
+void acado_condensePrep(  )
+{
+acado_moveGuE( acadoWorkspace.evGu, acadoWorkspace.E );
+acado_moveGxT( &(acadoWorkspace.evGx[ 16 ]), acadoWorkspace.T );
+acado_multGxd( acadoWorkspace.d, &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.d[ 4 ]) );
+acado_multGxGx( acadoWorkspace.T, acadoWorkspace.evGx, &(acadoWorkspace.evGx[ 16 ]) );
+
+acado_multGxGu( acadoWorkspace.T, acadoWorkspace.E, &(acadoWorkspace.E[ 4 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 4 ]), &(acadoWorkspace.E[ 8 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 32 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 4 ]), &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.d[ 8 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.evGx[ 32 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.E[ 12 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 8 ]), &(acadoWorkspace.E[ 16 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 8 ]), &(acadoWorkspace.E[ 20 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 48 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 8 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.d[ 12 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.evGx[ 48 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.E[ 24 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.E[ 28 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 20 ]), &(acadoWorkspace.E[ 32 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 12 ]), &(acadoWorkspace.E[ 36 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 64 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.d[ 16 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.evGx[ 64 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.E[ 40 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.E[ 44 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.E[ 48 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.E[ 52 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 16 ]), &(acadoWorkspace.E[ 56 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 80 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 16 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.d[ 20 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.evGx[ 80 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.E[ 60 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.E[ 64 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.E[ 68 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.E[ 72 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 56 ]), &(acadoWorkspace.E[ 76 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 20 ]), &(acadoWorkspace.E[ 80 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 96 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 20 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.d[ 24 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.evGx[ 96 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.E[ 84 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.E[ 88 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.E[ 92 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.E[ 96 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.E[ 100 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 80 ]), &(acadoWorkspace.E[ 104 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 24 ]), &(acadoWorkspace.E[ 108 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 112 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.d[ 28 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.evGx[ 112 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.E[ 112 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.E[ 116 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.E[ 120 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.E[ 124 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.E[ 128 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.E[ 132 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.E[ 136 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 28 ]), &(acadoWorkspace.E[ 140 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 128 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 28 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.d[ 32 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.evGx[ 128 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.E[ 144 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.E[ 148 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.E[ 152 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.E[ 156 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.E[ 160 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.E[ 164 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.E[ 168 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 140 ]), &(acadoWorkspace.E[ 172 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 32 ]), &(acadoWorkspace.E[ 176 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 32 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.d[ 36 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.evGx[ 144 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.E[ 180 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.E[ 184 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.E[ 188 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.E[ 192 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.E[ 196 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.E[ 200 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.E[ 204 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.E[ 208 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 176 ]), &(acadoWorkspace.E[ 212 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 36 ]), &(acadoWorkspace.E[ 216 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 160 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.d[ 40 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.evGx[ 160 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.E[ 220 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.E[ 224 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.E[ 228 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.E[ 232 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.E[ 236 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.E[ 240 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.E[ 244 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.E[ 248 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.E[ 252 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.E[ 256 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 40 ]), &(acadoWorkspace.E[ 260 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 176 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 40 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.d[ 44 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.evGx[ 176 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.E[ 264 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.E[ 268 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.E[ 272 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.E[ 276 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.E[ 280 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.E[ 284 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.E[ 288 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.E[ 292 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.E[ 296 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.E[ 300 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 260 ]), &(acadoWorkspace.E[ 304 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 44 ]), &(acadoWorkspace.E[ 308 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 192 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 44 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.d[ 48 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.evGx[ 192 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.E[ 312 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.E[ 316 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.E[ 320 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.E[ 324 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.E[ 328 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.E[ 332 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.E[ 336 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.E[ 340 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.E[ 344 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.E[ 348 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.E[ 352 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 308 ]), &(acadoWorkspace.E[ 356 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 48 ]), &(acadoWorkspace.E[ 360 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 208 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.d[ 52 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.evGx[ 208 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.E[ 364 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.E[ 368 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.E[ 372 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.E[ 376 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.E[ 380 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.E[ 384 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.E[ 388 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.E[ 392 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.E[ 396 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.E[ 400 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.E[ 404 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.E[ 408 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.E[ 412 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 52 ]), &(acadoWorkspace.E[ 416 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 224 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 52 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.d[ 56 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.evGx[ 224 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.E[ 420 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.E[ 424 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.E[ 428 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.E[ 432 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.E[ 436 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.E[ 440 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.E[ 444 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.E[ 448 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.E[ 452 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.E[ 456 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.E[ 460 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.E[ 464 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.E[ 468 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 416 ]), &(acadoWorkspace.E[ 472 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 56 ]), &(acadoWorkspace.E[ 476 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 240 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 56 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.d[ 60 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.evGx[ 240 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.E[ 480 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.E[ 484 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.E[ 488 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.E[ 492 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.E[ 496 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.E[ 500 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.E[ 504 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.E[ 508 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.E[ 512 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.E[ 516 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.E[ 520 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.E[ 524 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.E[ 528 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.E[ 532 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 476 ]), &(acadoWorkspace.E[ 536 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 60 ]), &(acadoWorkspace.E[ 540 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 256 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 60 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.d[ 64 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.evGx[ 256 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.E[ 544 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.E[ 548 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.E[ 552 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.E[ 556 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.E[ 560 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.E[ 564 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.E[ 568 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.E[ 572 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.E[ 576 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.E[ 580 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.E[ 584 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.E[ 588 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.E[ 592 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.E[ 596 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.E[ 600 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.E[ 604 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 64 ]), &(acadoWorkspace.E[ 608 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 272 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 64 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.d[ 68 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.evGx[ 272 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.E[ 612 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.E[ 616 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.E[ 620 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.E[ 624 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.E[ 628 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.E[ 632 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.E[ 636 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.E[ 640 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.E[ 644 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.E[ 648 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.E[ 652 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.E[ 656 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.E[ 660 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.E[ 664 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.E[ 668 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.E[ 672 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 608 ]), &(acadoWorkspace.E[ 676 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 68 ]), &(acadoWorkspace.E[ 680 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 288 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 68 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.d[ 72 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.evGx[ 288 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.E[ 684 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.E[ 688 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.E[ 692 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.E[ 696 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.E[ 700 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.E[ 704 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.E[ 708 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.E[ 712 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.E[ 716 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.E[ 720 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.E[ 724 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.E[ 728 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.E[ 732 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.E[ 736 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.E[ 740 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.E[ 744 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.E[ 748 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 680 ]), &(acadoWorkspace.E[ 752 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 72 ]), &(acadoWorkspace.E[ 756 ]) );
+
+acado_moveGxT( &(acadoWorkspace.evGx[ 304 ]), acadoWorkspace.T );
+acado_multGxd( &(acadoWorkspace.d[ 72 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.d[ 76 ]) );
+acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.evGx[ 304 ]) );
+
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.E[ 760 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.E[ 764 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.E[ 768 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.E[ 772 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.E[ 776 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.E[ 780 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.E[ 784 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.E[ 788 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.E[ 792 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.E[ 796 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.E[ 800 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.E[ 804 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.E[ 808 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.E[ 812 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.E[ 816 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.E[ 820 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.E[ 824 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.E[ 828 ]) );
+acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.E[ 832 ]) );
+
+acado_moveGuE( &(acadoWorkspace.evGu[ 76 ]), &(acadoWorkspace.E[ 836 ]) );
+
+acado_multGxGx( &(acadoWorkspace.Q1[ 16 ]), acadoWorkspace.evGx, acadoWorkspace.QGx );
+acado_multGxGx( &(acadoWorkspace.Q1[ 32 ]), &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.QGx[ 16 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.QGx[ 32 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.QGx[ 48 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.QGx[ 64 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.QGx[ 80 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.QGx[ 96 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.QGx[ 112 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.QGx[ 128 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.QGx[ 160 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.QGx[ 176 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.QGx[ 192 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.QGx[ 208 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.QGx[ 224 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.QGx[ 240 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.QGx[ 256 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.QGx[ 272 ]) );
+acado_multGxGx( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.QGx[ 288 ]) );
+acado_multGxGx( acadoWorkspace.QN1, &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.QGx[ 304 ]) );
+
+acado_multGxGu( &(acadoWorkspace.Q1[ 16 ]), acadoWorkspace.E, acadoWorkspace.QE );
+acado_multGxGu( &(acadoWorkspace.Q1[ 32 ]), &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.QE[ 4 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 32 ]), &(acadoWorkspace.E[ 8 ]), &(acadoWorkspace.QE[ 8 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 12 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.QE[ 16 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.E[ 20 ]), &(acadoWorkspace.QE[ 20 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 24 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.QE[ 28 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.QE[ 32 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 36 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 40 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QE[ 44 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 48 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.QE[ 52 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.E[ 56 ]), &(acadoWorkspace.QE[ 56 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 60 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 64 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QE[ 68 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 72 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.QE[ 76 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.E[ 80 ]), &(acadoWorkspace.QE[ 80 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 84 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 88 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 92 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 96 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.QE[ 100 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.QE[ 104 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 108 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 112 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 116 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 120 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 124 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QE[ 128 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 132 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.QE[ 136 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.E[ 140 ]), &(acadoWorkspace.QE[ 140 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 144 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 148 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 152 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 156 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 160 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QE[ 164 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 168 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.QE[ 172 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.E[ 176 ]), &(acadoWorkspace.QE[ 176 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 180 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 184 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 188 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 192 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 196 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 200 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 204 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.QE[ 208 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.QE[ 212 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 220 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 224 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 228 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 232 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 236 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 240 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 244 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QE[ 248 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 252 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.E[ 260 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 264 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 268 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 272 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 276 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 280 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 284 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 288 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 292 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QE[ 296 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.E[ 308 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 312 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 316 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 320 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 324 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 328 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 332 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 336 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 340 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 344 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 364 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 368 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 372 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 376 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 380 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 384 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 388 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 392 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 396 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.E[ 416 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 420 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 424 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 428 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 432 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 436 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 440 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 444 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 448 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 452 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.E[ 476 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 480 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 484 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 488 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 492 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 496 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 500 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 504 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 508 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 512 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 544 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 548 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 552 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 556 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 560 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 564 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 568 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 572 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 576 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.E[ 608 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 612 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 616 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 620 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 624 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 628 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 632 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 636 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 640 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 644 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.E[ 680 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 684 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 688 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 692 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 696 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 700 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 704 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 708 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 712 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 716 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_multGxGu( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 760 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 764 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 768 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 772 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 776 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 780 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 784 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 788 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 792 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 796 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 800 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 804 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 808 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 812 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 816 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 820 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QE[ 824 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 828 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 832 ]), &(acadoWorkspace.QE[ 832 ]) );
+acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ 836 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_zeroBlockH00(  );
+acado_multCTQC( acadoWorkspace.evGx, acadoWorkspace.QGx );
+acado_multCTQC( &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.QGx[ 16 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.QGx[ 32 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.QGx[ 48 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.QGx[ 64 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.QGx[ 80 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.QGx[ 96 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.QGx[ 112 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.QGx[ 128 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.QGx[ 160 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.QGx[ 176 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.QGx[ 192 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.QGx[ 208 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.QGx[ 224 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.QGx[ 240 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.QGx[ 256 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.QGx[ 272 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.QGx[ 288 ]) );
+acado_multCTQC( &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.QGx[ 304 ]) );
+
+acado_zeroBlockH10( acadoWorkspace.H10 );
+acado_multQETGx( acadoWorkspace.QE, acadoWorkspace.evGx, acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 4 ]), &(acadoWorkspace.evGx[ 16 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 12 ]), &(acadoWorkspace.evGx[ 32 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 24 ]), &(acadoWorkspace.evGx[ 48 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 40 ]), &(acadoWorkspace.evGx[ 64 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 60 ]), &(acadoWorkspace.evGx[ 80 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 84 ]), &(acadoWorkspace.evGx[ 96 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 112 ]), &(acadoWorkspace.evGx[ 112 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 144 ]), &(acadoWorkspace.evGx[ 128 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 180 ]), &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 220 ]), &(acadoWorkspace.evGx[ 160 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 264 ]), &(acadoWorkspace.evGx[ 176 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 312 ]), &(acadoWorkspace.evGx[ 192 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 364 ]), &(acadoWorkspace.evGx[ 208 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 420 ]), &(acadoWorkspace.evGx[ 224 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 480 ]), &(acadoWorkspace.evGx[ 240 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 544 ]), &(acadoWorkspace.evGx[ 256 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 612 ]), &(acadoWorkspace.evGx[ 272 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 684 ]), &(acadoWorkspace.evGx[ 288 ]), acadoWorkspace.H10 );
+acado_multQETGx( &(acadoWorkspace.QE[ 760 ]), &(acadoWorkspace.evGx[ 304 ]), acadoWorkspace.H10 );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 8 ]), &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 16 ]), &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 28 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 44 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 64 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 88 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 116 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 148 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 184 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 224 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 268 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 316 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 368 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 424 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 484 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 548 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 616 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 688 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 764 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 4 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 20 ]), &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 32 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 48 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 68 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 92 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 120 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 152 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 188 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 228 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 272 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 320 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 372 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 428 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 488 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 552 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 620 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 692 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 768 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 8 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 36 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 52 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 72 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 96 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 124 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 156 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 192 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 232 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 276 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 324 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 376 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 432 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 492 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 556 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 624 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 696 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 772 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 12 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 56 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 76 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 100 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 128 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 160 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 196 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 236 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 280 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 328 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 380 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 436 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 496 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 560 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 628 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 700 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 776 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 16 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 80 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 104 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 132 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 164 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 200 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 240 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 284 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 332 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 384 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 440 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 500 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 564 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 632 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 704 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 780 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 20 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 108 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 136 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 168 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 204 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 244 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 288 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 336 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 388 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 444 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 504 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 568 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 636 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 708 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 784 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 24 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 140 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 172 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 208 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 248 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 292 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 340 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 392 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 448 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 508 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 572 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 640 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 712 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 788 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 28 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 176 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 212 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 252 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 296 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 344 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 396 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 452 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 512 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 576 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 644 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 716 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 792 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 32 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 216 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 256 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 300 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 348 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 400 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 456 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 516 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 580 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 648 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 720 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 796 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 36 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 40 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 260 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.H10[ 40 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 304 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 40 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 352 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 40 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 404 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 40 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 460 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 40 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 520 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 40 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 584 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 40 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 652 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 40 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 724 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 40 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 800 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 40 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 44 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 308 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.H10[ 44 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 356 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 44 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 408 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 44 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 464 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 44 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 524 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 44 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 588 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 44 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 656 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 44 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 728 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 44 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 804 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 44 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 48 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 360 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.H10[ 48 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 412 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 48 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 468 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 48 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 528 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 48 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 592 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 48 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 660 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 48 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 732 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 48 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 808 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 48 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 52 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 416 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.H10[ 52 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 472 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 52 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 532 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 52 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 596 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 52 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 664 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 52 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 736 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 52 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 812 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 52 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 56 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 476 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.H10[ 56 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 536 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 56 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 600 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 56 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 668 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 56 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 740 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 56 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 816 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 56 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 60 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 540 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.H10[ 60 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 604 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 60 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 672 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 60 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 744 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 60 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 820 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 60 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 64 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 608 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.H10[ 64 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 676 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 64 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 748 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 64 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 824 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 64 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 68 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 680 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.H10[ 68 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 752 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 68 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 828 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 68 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 72 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 756 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.H10[ 72 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 832 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 72 ]) );
+acado_zeroBlockH10( &(acadoWorkspace.H10[ 76 ]) );
+acado_multQETGx( &(acadoWorkspace.QE[ 836 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.H10[ 76 ]) );
+
+acadoWorkspace.H[4] = acadoWorkspace.H10[0];
+acadoWorkspace.H[5] = acadoWorkspace.H10[4];
+acadoWorkspace.H[6] = acadoWorkspace.H10[8];
+acadoWorkspace.H[7] = acadoWorkspace.H10[12];
+acadoWorkspace.H[8] = acadoWorkspace.H10[16];
+acadoWorkspace.H[9] = acadoWorkspace.H10[20];
+acadoWorkspace.H[10] = acadoWorkspace.H10[24];
+acadoWorkspace.H[11] = acadoWorkspace.H10[28];
+acadoWorkspace.H[12] = acadoWorkspace.H10[32];
+acadoWorkspace.H[13] = acadoWorkspace.H10[36];
+acadoWorkspace.H[14] = acadoWorkspace.H10[40];
+acadoWorkspace.H[15] = acadoWorkspace.H10[44];
+acadoWorkspace.H[16] = acadoWorkspace.H10[48];
+acadoWorkspace.H[17] = acadoWorkspace.H10[52];
+acadoWorkspace.H[18] = acadoWorkspace.H10[56];
+acadoWorkspace.H[19] = acadoWorkspace.H10[60];
+acadoWorkspace.H[20] = acadoWorkspace.H10[64];
+acadoWorkspace.H[21] = acadoWorkspace.H10[68];
+acadoWorkspace.H[22] = acadoWorkspace.H10[72];
+acadoWorkspace.H[23] = acadoWorkspace.H10[76];
+acadoWorkspace.H[28] = acadoWorkspace.H10[1];
+acadoWorkspace.H[29] = acadoWorkspace.H10[5];
+acadoWorkspace.H[30] = acadoWorkspace.H10[9];
+acadoWorkspace.H[31] = acadoWorkspace.H10[13];
+acadoWorkspace.H[32] = acadoWorkspace.H10[17];
+acadoWorkspace.H[33] = acadoWorkspace.H10[21];
+acadoWorkspace.H[34] = acadoWorkspace.H10[25];
+acadoWorkspace.H[35] = acadoWorkspace.H10[29];
+acadoWorkspace.H[36] = acadoWorkspace.H10[33];
+acadoWorkspace.H[37] = acadoWorkspace.H10[37];
+acadoWorkspace.H[38] = acadoWorkspace.H10[41];
+acadoWorkspace.H[39] = acadoWorkspace.H10[45];
+acadoWorkspace.H[40] = acadoWorkspace.H10[49];
+acadoWorkspace.H[41] = acadoWorkspace.H10[53];
+acadoWorkspace.H[42] = acadoWorkspace.H10[57];
+acadoWorkspace.H[43] = acadoWorkspace.H10[61];
+acadoWorkspace.H[44] = acadoWorkspace.H10[65];
+acadoWorkspace.H[45] = acadoWorkspace.H10[69];
+acadoWorkspace.H[46] = acadoWorkspace.H10[73];
+acadoWorkspace.H[47] = acadoWorkspace.H10[77];
+acadoWorkspace.H[52] = acadoWorkspace.H10[2];
+acadoWorkspace.H[53] = acadoWorkspace.H10[6];
+acadoWorkspace.H[54] = acadoWorkspace.H10[10];
+acadoWorkspace.H[55] = acadoWorkspace.H10[14];
+acadoWorkspace.H[56] = acadoWorkspace.H10[18];
+acadoWorkspace.H[57] = acadoWorkspace.H10[22];
+acadoWorkspace.H[58] = acadoWorkspace.H10[26];
+acadoWorkspace.H[59] = acadoWorkspace.H10[30];
+acadoWorkspace.H[60] = acadoWorkspace.H10[34];
+acadoWorkspace.H[61] = acadoWorkspace.H10[38];
+acadoWorkspace.H[62] = acadoWorkspace.H10[42];
+acadoWorkspace.H[63] = acadoWorkspace.H10[46];
+acadoWorkspace.H[64] = acadoWorkspace.H10[50];
+acadoWorkspace.H[65] = acadoWorkspace.H10[54];
+acadoWorkspace.H[66] = acadoWorkspace.H10[58];
+acadoWorkspace.H[67] = acadoWorkspace.H10[62];
+acadoWorkspace.H[68] = acadoWorkspace.H10[66];
+acadoWorkspace.H[69] = acadoWorkspace.H10[70];
+acadoWorkspace.H[70] = acadoWorkspace.H10[74];
+acadoWorkspace.H[71] = acadoWorkspace.H10[78];
+acadoWorkspace.H[76] = acadoWorkspace.H10[3];
+acadoWorkspace.H[77] = acadoWorkspace.H10[7];
+acadoWorkspace.H[78] = acadoWorkspace.H10[11];
+acadoWorkspace.H[79] = acadoWorkspace.H10[15];
+acadoWorkspace.H[80] = acadoWorkspace.H10[19];
+acadoWorkspace.H[81] = acadoWorkspace.H10[23];
+acadoWorkspace.H[82] = acadoWorkspace.H10[27];
+acadoWorkspace.H[83] = acadoWorkspace.H10[31];
+acadoWorkspace.H[84] = acadoWorkspace.H10[35];
+acadoWorkspace.H[85] = acadoWorkspace.H10[39];
+acadoWorkspace.H[86] = acadoWorkspace.H10[43];
+acadoWorkspace.H[87] = acadoWorkspace.H10[47];
+acadoWorkspace.H[88] = acadoWorkspace.H10[51];
+acadoWorkspace.H[89] = acadoWorkspace.H10[55];
+acadoWorkspace.H[90] = acadoWorkspace.H10[59];
+acadoWorkspace.H[91] = acadoWorkspace.H10[63];
+acadoWorkspace.H[92] = acadoWorkspace.H10[67];
+acadoWorkspace.H[93] = acadoWorkspace.H10[71];
+acadoWorkspace.H[94] = acadoWorkspace.H10[75];
+acadoWorkspace.H[95] = acadoWorkspace.H10[79];
+
+acado_setBlockH11_R1( 0, 0, acadoWorkspace.R1 );
+acado_setBlockH11( 0, 0, acadoWorkspace.E, acadoWorkspace.QE );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.QE[ 4 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 12 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 24 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 40 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 60 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 84 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 112 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 144 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 180 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 220 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 264 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 312 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 364 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 420 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 480 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 544 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 612 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 684 ]) );
+acado_setBlockH11( 0, 0, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 760 ]) );
+
+acado_zeroBlockH11( 0, 1 );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.QE[ 8 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 16 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 28 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 44 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 64 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 88 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 116 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 148 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 184 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 224 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 268 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 316 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 368 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 424 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 484 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 548 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 616 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 688 ]) );
+acado_setBlockH11( 0, 1, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 764 ]) );
+
+acado_zeroBlockH11( 0, 2 );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QE[ 20 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 32 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 48 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 68 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 92 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 120 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 152 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 188 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 228 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 272 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 320 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 372 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 428 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 488 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 552 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 620 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 692 ]) );
+acado_setBlockH11( 0, 2, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 768 ]) );
+
+acado_zeroBlockH11( 0, 3 );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QE[ 36 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 52 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 72 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 96 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 124 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 156 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 192 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 232 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 276 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 324 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 376 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 432 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 492 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 556 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 624 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 696 ]) );
+acado_setBlockH11( 0, 3, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 772 ]) );
+
+acado_zeroBlockH11( 0, 4 );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QE[ 56 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 76 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 100 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 128 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 160 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 196 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 236 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 280 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 328 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 380 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 436 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 496 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 560 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 628 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 700 ]) );
+acado_setBlockH11( 0, 4, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 776 ]) );
+
+acado_zeroBlockH11( 0, 5 );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QE[ 80 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 104 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 132 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 164 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 200 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 240 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 284 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 332 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 384 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 440 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 500 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 564 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 632 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 704 ]) );
+acado_setBlockH11( 0, 5, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 780 ]) );
+
+acado_zeroBlockH11( 0, 6 );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QE[ 108 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 136 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 168 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 204 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 244 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 288 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 336 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 388 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 444 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 504 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 568 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 636 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 708 ]) );
+acado_setBlockH11( 0, 6, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 784 ]) );
+
+acado_zeroBlockH11( 0, 7 );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QE[ 140 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 172 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 208 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 248 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 292 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 340 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 392 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 448 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 508 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 572 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 640 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 712 ]) );
+acado_setBlockH11( 0, 7, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 788 ]) );
+
+acado_zeroBlockH11( 0, 8 );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QE[ 176 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 212 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 252 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 296 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 344 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 396 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 452 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 512 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 576 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 644 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 716 ]) );
+acado_setBlockH11( 0, 8, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 792 ]) );
+
+acado_zeroBlockH11( 0, 9 );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_setBlockH11( 0, 9, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 796 ]) );
+
+acado_zeroBlockH11( 0, 10 );
+acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 0, 10, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 0, 11 );
+acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 0, 11, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 0, 12 );
+acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 0, 12, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 0, 13 );
+acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 0, 13, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 0, 14 );
+acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 0, 14, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 0, 15 );
+acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 0, 15, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 0, 16 );
+acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 0, 16, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 0, 17 );
+acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 0, 17, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 0, 18 );
+acado_setBlockH11( 0, 18, &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 0, 18, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 0, 19 );
+acado_setBlockH11( 0, 19, &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 1, 1, &(acadoWorkspace.R1[ 1 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 8 ]), &(acadoWorkspace.QE[ 8 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.QE[ 16 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.QE[ 28 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QE[ 44 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 64 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 88 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 116 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 148 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 184 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 224 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 268 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 316 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 368 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 424 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 484 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 548 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 616 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 688 ]) );
+acado_setBlockH11( 1, 1, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 764 ]) );
+
+acado_zeroBlockH11( 1, 2 );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.QE[ 20 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.QE[ 32 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QE[ 48 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 68 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 92 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 120 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 152 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 188 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 228 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 272 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 320 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 372 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 428 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 488 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 552 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 620 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 692 ]) );
+acado_setBlockH11( 1, 2, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 768 ]) );
+
+acado_zeroBlockH11( 1, 3 );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.QE[ 36 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QE[ 52 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 72 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 96 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 124 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 156 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 192 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 232 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 276 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 324 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 376 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 432 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 492 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 556 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 624 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 696 ]) );
+acado_setBlockH11( 1, 3, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 772 ]) );
+
+acado_zeroBlockH11( 1, 4 );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QE[ 56 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 76 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 100 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 128 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 160 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 196 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 236 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 280 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 328 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 380 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 436 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 496 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 560 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 628 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 700 ]) );
+acado_setBlockH11( 1, 4, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 776 ]) );
+
+acado_zeroBlockH11( 1, 5 );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QE[ 80 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 104 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 132 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 164 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 200 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 240 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 284 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 332 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 384 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 440 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 500 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 564 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 632 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 704 ]) );
+acado_setBlockH11( 1, 5, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 780 ]) );
+
+acado_zeroBlockH11( 1, 6 );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QE[ 108 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 136 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 168 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 204 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 244 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 288 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 336 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 388 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 444 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 504 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 568 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 636 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 708 ]) );
+acado_setBlockH11( 1, 6, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 784 ]) );
+
+acado_zeroBlockH11( 1, 7 );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QE[ 140 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 172 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 208 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 248 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 292 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 340 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 392 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 448 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 508 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 572 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 640 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 712 ]) );
+acado_setBlockH11( 1, 7, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 788 ]) );
+
+acado_zeroBlockH11( 1, 8 );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QE[ 176 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 212 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 252 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 296 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 344 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 396 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 452 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 512 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 576 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 644 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 716 ]) );
+acado_setBlockH11( 1, 8, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 792 ]) );
+
+acado_zeroBlockH11( 1, 9 );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_setBlockH11( 1, 9, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 796 ]) );
+
+acado_zeroBlockH11( 1, 10 );
+acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 1, 10, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 1, 11 );
+acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 1, 11, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 1, 12 );
+acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 1, 12, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 1, 13 );
+acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 1, 13, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 1, 14 );
+acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 1, 14, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 1, 15 );
+acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 1, 15, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 1, 16 );
+acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 1, 16, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 1, 17 );
+acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 1, 17, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 1, 18 );
+acado_setBlockH11( 1, 18, &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 1, 18, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 1, 19 );
+acado_setBlockH11( 1, 19, &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 2, 2, &(acadoWorkspace.R1[ 2 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 20 ]), &(acadoWorkspace.QE[ 20 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.QE[ 32 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 48 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QE[ 68 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 92 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 120 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 152 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 188 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 228 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 272 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 320 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 372 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 428 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 488 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 552 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 620 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 692 ]) );
+acado_setBlockH11( 2, 2, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 768 ]) );
+
+acado_zeroBlockH11( 2, 3 );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.QE[ 36 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 52 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QE[ 72 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 96 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 124 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 156 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 192 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 232 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 276 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 324 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 376 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 432 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 492 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 556 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 624 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 696 ]) );
+acado_setBlockH11( 2, 3, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 772 ]) );
+
+acado_zeroBlockH11( 2, 4 );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QE[ 56 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QE[ 76 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 100 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 128 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 160 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 196 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 236 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 280 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 328 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 380 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 436 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 496 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 560 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 628 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 700 ]) );
+acado_setBlockH11( 2, 4, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 776 ]) );
+
+acado_zeroBlockH11( 2, 5 );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QE[ 80 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 104 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 132 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 164 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 200 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 240 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 284 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 332 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 384 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 440 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 500 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 564 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 632 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 704 ]) );
+acado_setBlockH11( 2, 5, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 780 ]) );
+
+acado_zeroBlockH11( 2, 6 );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QE[ 108 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 136 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 168 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 204 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 244 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 288 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 336 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 388 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 444 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 504 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 568 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 636 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 708 ]) );
+acado_setBlockH11( 2, 6, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 784 ]) );
+
+acado_zeroBlockH11( 2, 7 );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QE[ 140 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 172 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 208 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 248 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 292 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 340 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 392 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 448 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 508 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 572 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 640 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 712 ]) );
+acado_setBlockH11( 2, 7, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 788 ]) );
+
+acado_zeroBlockH11( 2, 8 );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QE[ 176 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 212 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 252 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 296 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 344 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 396 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 452 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 512 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 576 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 644 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 716 ]) );
+acado_setBlockH11( 2, 8, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 792 ]) );
+
+acado_zeroBlockH11( 2, 9 );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_setBlockH11( 2, 9, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 796 ]) );
+
+acado_zeroBlockH11( 2, 10 );
+acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 2, 10, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 2, 11 );
+acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 2, 11, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 2, 12 );
+acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 2, 12, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 2, 13 );
+acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 2, 13, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 2, 14 );
+acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 2, 14, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 2, 15 );
+acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 2, 15, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 2, 16 );
+acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 2, 16, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 2, 17 );
+acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 2, 17, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 2, 18 );
+acado_setBlockH11( 2, 18, &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 2, 18, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 2, 19 );
+acado_setBlockH11( 2, 19, &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 3, 3, &(acadoWorkspace.R1[ 3 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QE[ 36 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.QE[ 52 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 72 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 96 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 124 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 156 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 192 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 232 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 276 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 324 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 376 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 432 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 492 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 556 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 624 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 696 ]) );
+acado_setBlockH11( 3, 3, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 772 ]) );
+
+acado_zeroBlockH11( 3, 4 );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.QE[ 56 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 76 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 100 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 128 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 160 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 196 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 236 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 280 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 328 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 380 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 436 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 496 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 560 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 628 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 700 ]) );
+acado_setBlockH11( 3, 4, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 776 ]) );
+
+acado_zeroBlockH11( 3, 5 );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QE[ 80 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 104 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 132 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 164 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 200 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 240 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 284 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 332 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 384 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 440 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 500 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 564 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 632 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 704 ]) );
+acado_setBlockH11( 3, 5, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 780 ]) );
+
+acado_zeroBlockH11( 3, 6 );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QE[ 108 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 136 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 168 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 204 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 244 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 288 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 336 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 388 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 444 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 504 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 568 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 636 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 708 ]) );
+acado_setBlockH11( 3, 6, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 784 ]) );
+
+acado_zeroBlockH11( 3, 7 );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QE[ 140 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 172 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 208 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 248 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 292 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 340 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 392 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 448 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 508 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 572 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 640 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 712 ]) );
+acado_setBlockH11( 3, 7, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 788 ]) );
+
+acado_zeroBlockH11( 3, 8 );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QE[ 176 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 212 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 252 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 296 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 344 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 396 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 452 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 512 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 576 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 644 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 716 ]) );
+acado_setBlockH11( 3, 8, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 792 ]) );
+
+acado_zeroBlockH11( 3, 9 );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_setBlockH11( 3, 9, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 796 ]) );
+
+acado_zeroBlockH11( 3, 10 );
+acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 3, 10, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 3, 11 );
+acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 3, 11, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 3, 12 );
+acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 3, 12, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 3, 13 );
+acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 3, 13, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 3, 14 );
+acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 3, 14, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 3, 15 );
+acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 3, 15, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 3, 16 );
+acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 3, 16, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 3, 17 );
+acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 3, 17, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 3, 18 );
+acado_setBlockH11( 3, 18, &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 3, 18, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 3, 19 );
+acado_setBlockH11( 3, 19, &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 4, 4, &(acadoWorkspace.R1[ 4 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 56 ]), &(acadoWorkspace.QE[ 56 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.QE[ 76 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.QE[ 100 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QE[ 128 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 160 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 196 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 236 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 280 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 328 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 380 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 436 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 496 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 560 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 628 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 700 ]) );
+acado_setBlockH11( 4, 4, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 776 ]) );
+
+acado_zeroBlockH11( 4, 5 );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.QE[ 80 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.QE[ 104 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QE[ 132 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 164 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 200 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 240 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 284 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 332 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 384 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 440 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 500 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 564 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 632 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 704 ]) );
+acado_setBlockH11( 4, 5, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 780 ]) );
+
+acado_zeroBlockH11( 4, 6 );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.QE[ 108 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QE[ 136 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 168 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 204 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 244 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 288 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 336 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 388 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 444 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 504 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 568 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 636 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 708 ]) );
+acado_setBlockH11( 4, 6, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 784 ]) );
+
+acado_zeroBlockH11( 4, 7 );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QE[ 140 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 172 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 208 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 248 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 292 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 340 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 392 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 448 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 508 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 572 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 640 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 712 ]) );
+acado_setBlockH11( 4, 7, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 788 ]) );
+
+acado_zeroBlockH11( 4, 8 );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QE[ 176 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 212 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 252 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 296 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 344 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 396 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 452 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 512 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 576 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 644 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 716 ]) );
+acado_setBlockH11( 4, 8, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 792 ]) );
+
+acado_zeroBlockH11( 4, 9 );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_setBlockH11( 4, 9, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 796 ]) );
+
+acado_zeroBlockH11( 4, 10 );
+acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 4, 10, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 4, 11 );
+acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 4, 11, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 4, 12 );
+acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 4, 12, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 4, 13 );
+acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 4, 13, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 4, 14 );
+acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 4, 14, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 4, 15 );
+acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 4, 15, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 4, 16 );
+acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 4, 16, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 4, 17 );
+acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 4, 17, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 4, 18 );
+acado_setBlockH11( 4, 18, &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 4, 18, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 4, 19 );
+acado_setBlockH11( 4, 19, &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 5, 5, &(acadoWorkspace.R1[ 5 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 80 ]), &(acadoWorkspace.QE[ 80 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.QE[ 104 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 132 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QE[ 164 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 200 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 240 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 284 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 332 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 384 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 440 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 500 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 564 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 632 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 704 ]) );
+acado_setBlockH11( 5, 5, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 780 ]) );
+
+acado_zeroBlockH11( 5, 6 );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.QE[ 108 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 136 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QE[ 168 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 204 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 244 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 288 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 336 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 388 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 444 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 504 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 568 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 636 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 708 ]) );
+acado_setBlockH11( 5, 6, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 784 ]) );
+
+acado_zeroBlockH11( 5, 7 );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QE[ 140 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QE[ 172 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 208 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 248 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 292 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 340 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 392 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 448 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 508 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 572 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 640 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 712 ]) );
+acado_setBlockH11( 5, 7, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 788 ]) );
+
+acado_zeroBlockH11( 5, 8 );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QE[ 176 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 212 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 252 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 296 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 344 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 396 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 452 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 512 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 576 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 644 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 716 ]) );
+acado_setBlockH11( 5, 8, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 792 ]) );
+
+acado_zeroBlockH11( 5, 9 );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_setBlockH11( 5, 9, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 796 ]) );
+
+acado_zeroBlockH11( 5, 10 );
+acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 5, 10, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 5, 11 );
+acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 5, 11, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 5, 12 );
+acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 5, 12, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 5, 13 );
+acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 5, 13, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 5, 14 );
+acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 5, 14, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 5, 15 );
+acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 5, 15, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 5, 16 );
+acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 5, 16, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 5, 17 );
+acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 5, 17, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 5, 18 );
+acado_setBlockH11( 5, 18, &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 5, 18, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 5, 19 );
+acado_setBlockH11( 5, 19, &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 6, 6, &(acadoWorkspace.R1[ 6 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QE[ 108 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.QE[ 136 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 168 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 204 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 244 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 288 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 336 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 388 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 444 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 504 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 568 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 636 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 708 ]) );
+acado_setBlockH11( 6, 6, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 784 ]) );
+
+acado_zeroBlockH11( 6, 7 );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.QE[ 140 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 172 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 208 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 248 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 292 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 340 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 392 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 448 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 508 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 572 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 640 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 712 ]) );
+acado_setBlockH11( 6, 7, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 788 ]) );
+
+acado_zeroBlockH11( 6, 8 );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QE[ 176 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 212 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 252 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 296 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 344 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 396 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 452 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 512 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 576 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 644 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 716 ]) );
+acado_setBlockH11( 6, 8, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 792 ]) );
+
+acado_zeroBlockH11( 6, 9 );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_setBlockH11( 6, 9, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 796 ]) );
+
+acado_zeroBlockH11( 6, 10 );
+acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 6, 10, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 6, 11 );
+acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 6, 11, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 6, 12 );
+acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 6, 12, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 6, 13 );
+acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 6, 13, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 6, 14 );
+acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 6, 14, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 6, 15 );
+acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 6, 15, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 6, 16 );
+acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 6, 16, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 6, 17 );
+acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 6, 17, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 6, 18 );
+acado_setBlockH11( 6, 18, &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 6, 18, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 6, 19 );
+acado_setBlockH11( 6, 19, &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 7, 7, &(acadoWorkspace.R1[ 7 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 140 ]), &(acadoWorkspace.QE[ 140 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.QE[ 172 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.QE[ 208 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QE[ 248 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 292 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 340 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 392 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 448 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 508 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 572 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 640 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 712 ]) );
+acado_setBlockH11( 7, 7, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 788 ]) );
+
+acado_zeroBlockH11( 7, 8 );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.QE[ 176 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.QE[ 212 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QE[ 252 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 296 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 344 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 396 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 452 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 512 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 576 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 644 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 716 ]) );
+acado_setBlockH11( 7, 8, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 792 ]) );
+
+acado_zeroBlockH11( 7, 9 );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_setBlockH11( 7, 9, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 796 ]) );
+
+acado_zeroBlockH11( 7, 10 );
+acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 7, 10, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 7, 11 );
+acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 7, 11, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 7, 12 );
+acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 7, 12, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 7, 13 );
+acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 7, 13, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 7, 14 );
+acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 7, 14, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 7, 15 );
+acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 7, 15, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 7, 16 );
+acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 7, 16, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 7, 17 );
+acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 7, 17, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 7, 18 );
+acado_setBlockH11( 7, 18, &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 7, 18, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 7, 19 );
+acado_setBlockH11( 7, 19, &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 8, 8, &(acadoWorkspace.R1[ 8 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 176 ]), &(acadoWorkspace.QE[ 176 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.QE[ 212 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 252 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QE[ 296 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 344 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 396 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 452 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 512 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 576 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 644 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 716 ]) );
+acado_setBlockH11( 8, 8, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 792 ]) );
+
+acado_zeroBlockH11( 8, 9 );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_setBlockH11( 8, 9, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 796 ]) );
+
+acado_zeroBlockH11( 8, 10 );
+acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 8, 10, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 8, 11 );
+acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 8, 11, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 8, 12 );
+acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 8, 12, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 8, 13 );
+acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 8, 13, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 8, 14 );
+acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 8, 14, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 8, 15 );
+acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 8, 15, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 8, 16 );
+acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 8, 16, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 8, 17 );
+acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 8, 17, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 8, 18 );
+acado_setBlockH11( 8, 18, &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 8, 18, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 8, 19 );
+acado_setBlockH11( 8, 19, &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 9, 9, &(acadoWorkspace.R1[ 9 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QE[ 216 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.QE[ 256 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 300 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 348 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 400 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 456 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 516 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 580 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 648 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 720 ]) );
+acado_setBlockH11( 9, 9, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 796 ]) );
+
+acado_zeroBlockH11( 9, 10 );
+acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 9, 10, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 9, 11 );
+acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 9, 11, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 9, 12 );
+acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 9, 12, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 9, 13 );
+acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 9, 13, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 9, 14 );
+acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 9, 14, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 9, 15 );
+acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 9, 15, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 9, 16 );
+acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 9, 16, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 9, 17 );
+acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 9, 17, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 9, 18 );
+acado_setBlockH11( 9, 18, &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 9, 18, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 9, 19 );
+acado_setBlockH11( 9, 19, &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 10, 10, &(acadoWorkspace.R1[ 10 ]) );
+acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 260 ]), &(acadoWorkspace.QE[ 260 ]) );
+acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.QE[ 304 ]) );
+acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.QE[ 352 ]) );
+acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QE[ 404 ]) );
+acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 460 ]) );
+acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 520 ]) );
+acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 584 ]) );
+acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 652 ]) );
+acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 724 ]) );
+acado_setBlockH11( 10, 10, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 800 ]) );
+
+acado_zeroBlockH11( 10, 11 );
+acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 10, 11, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 10, 12 );
+acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 10, 12, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 10, 13 );
+acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 10, 13, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 10, 14 );
+acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 10, 14, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 10, 15 );
+acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 10, 15, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 10, 16 );
+acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 10, 16, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 10, 17 );
+acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 10, 17, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 10, 18 );
+acado_setBlockH11( 10, 18, &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 10, 18, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 10, 19 );
+acado_setBlockH11( 10, 19, &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 11, 11, &(acadoWorkspace.R1[ 11 ]) );
+acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 308 ]), &(acadoWorkspace.QE[ 308 ]) );
+acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.QE[ 356 ]) );
+acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 408 ]) );
+acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QE[ 464 ]) );
+acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 524 ]) );
+acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 588 ]) );
+acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 656 ]) );
+acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 728 ]) );
+acado_setBlockH11( 11, 11, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 804 ]) );
+
+acado_zeroBlockH11( 11, 12 );
+acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 11, 12, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 11, 13 );
+acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 11, 13, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 11, 14 );
+acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 11, 14, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 11, 15 );
+acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 11, 15, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 11, 16 );
+acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 11, 16, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 11, 17 );
+acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 11, 17, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 11, 18 );
+acado_setBlockH11( 11, 18, &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 11, 18, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 11, 19 );
+acado_setBlockH11( 11, 19, &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 12, 12, &(acadoWorkspace.R1[ 12 ]) );
+acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QE[ 360 ]) );
+acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.QE[ 412 ]) );
+acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 468 ]) );
+acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 528 ]) );
+acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 592 ]) );
+acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 660 ]) );
+acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 732 ]) );
+acado_setBlockH11( 12, 12, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 808 ]) );
+
+acado_zeroBlockH11( 12, 13 );
+acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 12, 13, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 12, 14 );
+acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 12, 14, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 12, 15 );
+acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 12, 15, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 12, 16 );
+acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 12, 16, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 12, 17 );
+acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 12, 17, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 12, 18 );
+acado_setBlockH11( 12, 18, &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 12, 18, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 12, 19 );
+acado_setBlockH11( 12, 19, &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 13, 13, &(acadoWorkspace.R1[ 13 ]) );
+acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 416 ]), &(acadoWorkspace.QE[ 416 ]) );
+acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.QE[ 472 ]) );
+acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.QE[ 532 ]) );
+acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QE[ 596 ]) );
+acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 664 ]) );
+acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 736 ]) );
+acado_setBlockH11( 13, 13, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 812 ]) );
+
+acado_zeroBlockH11( 13, 14 );
+acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 13, 14, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 13, 15 );
+acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 13, 15, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 13, 16 );
+acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 13, 16, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 13, 17 );
+acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 13, 17, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 13, 18 );
+acado_setBlockH11( 13, 18, &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 13, 18, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 13, 19 );
+acado_setBlockH11( 13, 19, &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 14, 14, &(acadoWorkspace.R1[ 14 ]) );
+acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 476 ]), &(acadoWorkspace.QE[ 476 ]) );
+acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.QE[ 536 ]) );
+acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 600 ]) );
+acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QE[ 668 ]) );
+acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 740 ]) );
+acado_setBlockH11( 14, 14, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 816 ]) );
+
+acado_zeroBlockH11( 14, 15 );
+acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 14, 15, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 14, 16 );
+acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 14, 16, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 14, 17 );
+acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 14, 17, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 14, 18 );
+acado_setBlockH11( 14, 18, &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 14, 18, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 14, 19 );
+acado_setBlockH11( 14, 19, &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 15, 15, &(acadoWorkspace.R1[ 15 ]) );
+acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QE[ 540 ]) );
+acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.QE[ 604 ]) );
+acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 672 ]) );
+acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 744 ]) );
+acado_setBlockH11( 15, 15, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 820 ]) );
+
+acado_zeroBlockH11( 15, 16 );
+acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 15, 16, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 15, 17 );
+acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 15, 17, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 15, 18 );
+acado_setBlockH11( 15, 18, &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 15, 18, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 15, 19 );
+acado_setBlockH11( 15, 19, &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 16, 16, &(acadoWorkspace.R1[ 16 ]) );
+acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 608 ]), &(acadoWorkspace.QE[ 608 ]) );
+acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.QE[ 676 ]) );
+acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.QE[ 748 ]) );
+acado_setBlockH11( 16, 16, &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QE[ 824 ]) );
+
+acado_zeroBlockH11( 16, 17 );
+acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 16, 17, &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 16, 18 );
+acado_setBlockH11( 16, 18, &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 16, 18, &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 16, 19 );
+acado_setBlockH11( 16, 19, &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 17, 17, &(acadoWorkspace.R1[ 17 ]) );
+acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 680 ]), &(acadoWorkspace.QE[ 680 ]) );
+acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.QE[ 752 ]) );
+acado_setBlockH11( 17, 17, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 828 ]) );
+
+acado_zeroBlockH11( 17, 18 );
+acado_setBlockH11( 17, 18, &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 17, 18, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 17, 19 );
+acado_setBlockH11( 17, 19, &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 18, 18, &(acadoWorkspace.R1[ 18 ]) );
+acado_setBlockH11( 18, 18, &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QE[ 756 ]) );
+acado_setBlockH11( 18, 18, &(acadoWorkspace.E[ 832 ]), &(acadoWorkspace.QE[ 832 ]) );
+
+acado_zeroBlockH11( 18, 19 );
+acado_setBlockH11( 18, 19, &(acadoWorkspace.E[ 832 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+acado_setBlockH11_R1( 19, 19, &(acadoWorkspace.R1[ 19 ]) );
+acado_setBlockH11( 19, 19, &(acadoWorkspace.E[ 836 ]), &(acadoWorkspace.QE[ 836 ]) );
+
+
+acado_copyHTH( 1, 0 );
+acado_copyHTH( 2, 0 );
+acado_copyHTH( 2, 1 );
+acado_copyHTH( 3, 0 );
+acado_copyHTH( 3, 1 );
+acado_copyHTH( 3, 2 );
+acado_copyHTH( 4, 0 );
+acado_copyHTH( 4, 1 );
+acado_copyHTH( 4, 2 );
+acado_copyHTH( 4, 3 );
+acado_copyHTH( 5, 0 );
+acado_copyHTH( 5, 1 );
+acado_copyHTH( 5, 2 );
+acado_copyHTH( 5, 3 );
+acado_copyHTH( 5, 4 );
+acado_copyHTH( 6, 0 );
+acado_copyHTH( 6, 1 );
+acado_copyHTH( 6, 2 );
+acado_copyHTH( 6, 3 );
+acado_copyHTH( 6, 4 );
+acado_copyHTH( 6, 5 );
+acado_copyHTH( 7, 0 );
+acado_copyHTH( 7, 1 );
+acado_copyHTH( 7, 2 );
+acado_copyHTH( 7, 3 );
+acado_copyHTH( 7, 4 );
+acado_copyHTH( 7, 5 );
+acado_copyHTH( 7, 6 );
+acado_copyHTH( 8, 0 );
+acado_copyHTH( 8, 1 );
+acado_copyHTH( 8, 2 );
+acado_copyHTH( 8, 3 );
+acado_copyHTH( 8, 4 );
+acado_copyHTH( 8, 5 );
+acado_copyHTH( 8, 6 );
+acado_copyHTH( 8, 7 );
+acado_copyHTH( 9, 0 );
+acado_copyHTH( 9, 1 );
+acado_copyHTH( 9, 2 );
+acado_copyHTH( 9, 3 );
+acado_copyHTH( 9, 4 );
+acado_copyHTH( 9, 5 );
+acado_copyHTH( 9, 6 );
+acado_copyHTH( 9, 7 );
+acado_copyHTH( 9, 8 );
+acado_copyHTH( 10, 0 );
+acado_copyHTH( 10, 1 );
+acado_copyHTH( 10, 2 );
+acado_copyHTH( 10, 3 );
+acado_copyHTH( 10, 4 );
+acado_copyHTH( 10, 5 );
+acado_copyHTH( 10, 6 );
+acado_copyHTH( 10, 7 );
+acado_copyHTH( 10, 8 );
+acado_copyHTH( 10, 9 );
+acado_copyHTH( 11, 0 );
+acado_copyHTH( 11, 1 );
+acado_copyHTH( 11, 2 );
+acado_copyHTH( 11, 3 );
+acado_copyHTH( 11, 4 );
+acado_copyHTH( 11, 5 );
+acado_copyHTH( 11, 6 );
+acado_copyHTH( 11, 7 );
+acado_copyHTH( 11, 8 );
+acado_copyHTH( 11, 9 );
+acado_copyHTH( 11, 10 );
+acado_copyHTH( 12, 0 );
+acado_copyHTH( 12, 1 );
+acado_copyHTH( 12, 2 );
+acado_copyHTH( 12, 3 );
+acado_copyHTH( 12, 4 );
+acado_copyHTH( 12, 5 );
+acado_copyHTH( 12, 6 );
+acado_copyHTH( 12, 7 );
+acado_copyHTH( 12, 8 );
+acado_copyHTH( 12, 9 );
+acado_copyHTH( 12, 10 );
+acado_copyHTH( 12, 11 );
+acado_copyHTH( 13, 0 );
+acado_copyHTH( 13, 1 );
+acado_copyHTH( 13, 2 );
+acado_copyHTH( 13, 3 );
+acado_copyHTH( 13, 4 );
+acado_copyHTH( 13, 5 );
+acado_copyHTH( 13, 6 );
+acado_copyHTH( 13, 7 );
+acado_copyHTH( 13, 8 );
+acado_copyHTH( 13, 9 );
+acado_copyHTH( 13, 10 );
+acado_copyHTH( 13, 11 );
+acado_copyHTH( 13, 12 );
+acado_copyHTH( 14, 0 );
+acado_copyHTH( 14, 1 );
+acado_copyHTH( 14, 2 );
+acado_copyHTH( 14, 3 );
+acado_copyHTH( 14, 4 );
+acado_copyHTH( 14, 5 );
+acado_copyHTH( 14, 6 );
+acado_copyHTH( 14, 7 );
+acado_copyHTH( 14, 8 );
+acado_copyHTH( 14, 9 );
+acado_copyHTH( 14, 10 );
+acado_copyHTH( 14, 11 );
+acado_copyHTH( 14, 12 );
+acado_copyHTH( 14, 13 );
+acado_copyHTH( 15, 0 );
+acado_copyHTH( 15, 1 );
+acado_copyHTH( 15, 2 );
+acado_copyHTH( 15, 3 );
+acado_copyHTH( 15, 4 );
+acado_copyHTH( 15, 5 );
+acado_copyHTH( 15, 6 );
+acado_copyHTH( 15, 7 );
+acado_copyHTH( 15, 8 );
+acado_copyHTH( 15, 9 );
+acado_copyHTH( 15, 10 );
+acado_copyHTH( 15, 11 );
+acado_copyHTH( 15, 12 );
+acado_copyHTH( 15, 13 );
+acado_copyHTH( 15, 14 );
+acado_copyHTH( 16, 0 );
+acado_copyHTH( 16, 1 );
+acado_copyHTH( 16, 2 );
+acado_copyHTH( 16, 3 );
+acado_copyHTH( 16, 4 );
+acado_copyHTH( 16, 5 );
+acado_copyHTH( 16, 6 );
+acado_copyHTH( 16, 7 );
+acado_copyHTH( 16, 8 );
+acado_copyHTH( 16, 9 );
+acado_copyHTH( 16, 10 );
+acado_copyHTH( 16, 11 );
+acado_copyHTH( 16, 12 );
+acado_copyHTH( 16, 13 );
+acado_copyHTH( 16, 14 );
+acado_copyHTH( 16, 15 );
+acado_copyHTH( 17, 0 );
+acado_copyHTH( 17, 1 );
+acado_copyHTH( 17, 2 );
+acado_copyHTH( 17, 3 );
+acado_copyHTH( 17, 4 );
+acado_copyHTH( 17, 5 );
+acado_copyHTH( 17, 6 );
+acado_copyHTH( 17, 7 );
+acado_copyHTH( 17, 8 );
+acado_copyHTH( 17, 9 );
+acado_copyHTH( 17, 10 );
+acado_copyHTH( 17, 11 );
+acado_copyHTH( 17, 12 );
+acado_copyHTH( 17, 13 );
+acado_copyHTH( 17, 14 );
+acado_copyHTH( 17, 15 );
+acado_copyHTH( 17, 16 );
+acado_copyHTH( 18, 0 );
+acado_copyHTH( 18, 1 );
+acado_copyHTH( 18, 2 );
+acado_copyHTH( 18, 3 );
+acado_copyHTH( 18, 4 );
+acado_copyHTH( 18, 5 );
+acado_copyHTH( 18, 6 );
+acado_copyHTH( 18, 7 );
+acado_copyHTH( 18, 8 );
+acado_copyHTH( 18, 9 );
+acado_copyHTH( 18, 10 );
+acado_copyHTH( 18, 11 );
+acado_copyHTH( 18, 12 );
+acado_copyHTH( 18, 13 );
+acado_copyHTH( 18, 14 );
+acado_copyHTH( 18, 15 );
+acado_copyHTH( 18, 16 );
+acado_copyHTH( 18, 17 );
+acado_copyHTH( 19, 0 );
+acado_copyHTH( 19, 1 );
+acado_copyHTH( 19, 2 );
+acado_copyHTH( 19, 3 );
+acado_copyHTH( 19, 4 );
+acado_copyHTH( 19, 5 );
+acado_copyHTH( 19, 6 );
+acado_copyHTH( 19, 7 );
+acado_copyHTH( 19, 8 );
+acado_copyHTH( 19, 9 );
+acado_copyHTH( 19, 10 );
+acado_copyHTH( 19, 11 );
+acado_copyHTH( 19, 12 );
+acado_copyHTH( 19, 13 );
+acado_copyHTH( 19, 14 );
+acado_copyHTH( 19, 15 );
+acado_copyHTH( 19, 16 );
+acado_copyHTH( 19, 17 );
+acado_copyHTH( 19, 18 );
+
+acadoWorkspace.H[96] = acadoWorkspace.H10[0];
+acadoWorkspace.H[97] = acadoWorkspace.H10[1];
+acadoWorkspace.H[98] = acadoWorkspace.H10[2];
+acadoWorkspace.H[99] = acadoWorkspace.H10[3];
+acadoWorkspace.H[120] = acadoWorkspace.H10[4];
+acadoWorkspace.H[121] = acadoWorkspace.H10[5];
+acadoWorkspace.H[122] = acadoWorkspace.H10[6];
+acadoWorkspace.H[123] = acadoWorkspace.H10[7];
+acadoWorkspace.H[144] = acadoWorkspace.H10[8];
+acadoWorkspace.H[145] = acadoWorkspace.H10[9];
+acadoWorkspace.H[146] = acadoWorkspace.H10[10];
+acadoWorkspace.H[147] = acadoWorkspace.H10[11];
+acadoWorkspace.H[168] = acadoWorkspace.H10[12];
+acadoWorkspace.H[169] = acadoWorkspace.H10[13];
+acadoWorkspace.H[170] = acadoWorkspace.H10[14];
+acadoWorkspace.H[171] = acadoWorkspace.H10[15];
+acadoWorkspace.H[192] = acadoWorkspace.H10[16];
+acadoWorkspace.H[193] = acadoWorkspace.H10[17];
+acadoWorkspace.H[194] = acadoWorkspace.H10[18];
+acadoWorkspace.H[195] = acadoWorkspace.H10[19];
+acadoWorkspace.H[216] = acadoWorkspace.H10[20];
+acadoWorkspace.H[217] = acadoWorkspace.H10[21];
+acadoWorkspace.H[218] = acadoWorkspace.H10[22];
+acadoWorkspace.H[219] = acadoWorkspace.H10[23];
+acadoWorkspace.H[240] = acadoWorkspace.H10[24];
+acadoWorkspace.H[241] = acadoWorkspace.H10[25];
+acadoWorkspace.H[242] = acadoWorkspace.H10[26];
+acadoWorkspace.H[243] = acadoWorkspace.H10[27];
+acadoWorkspace.H[264] = acadoWorkspace.H10[28];
+acadoWorkspace.H[265] = acadoWorkspace.H10[29];
+acadoWorkspace.H[266] = acadoWorkspace.H10[30];
+acadoWorkspace.H[267] = acadoWorkspace.H10[31];
+acadoWorkspace.H[288] = acadoWorkspace.H10[32];
+acadoWorkspace.H[289] = acadoWorkspace.H10[33];
+acadoWorkspace.H[290] = acadoWorkspace.H10[34];
+acadoWorkspace.H[291] = acadoWorkspace.H10[35];
+acadoWorkspace.H[312] = acadoWorkspace.H10[36];
+acadoWorkspace.H[313] = acadoWorkspace.H10[37];
+acadoWorkspace.H[314] = acadoWorkspace.H10[38];
+acadoWorkspace.H[315] = acadoWorkspace.H10[39];
+acadoWorkspace.H[336] = acadoWorkspace.H10[40];
+acadoWorkspace.H[337] = acadoWorkspace.H10[41];
+acadoWorkspace.H[338] = acadoWorkspace.H10[42];
+acadoWorkspace.H[339] = acadoWorkspace.H10[43];
+acadoWorkspace.H[360] = acadoWorkspace.H10[44];
+acadoWorkspace.H[361] = acadoWorkspace.H10[45];
+acadoWorkspace.H[362] = acadoWorkspace.H10[46];
+acadoWorkspace.H[363] = acadoWorkspace.H10[47];
+acadoWorkspace.H[384] = acadoWorkspace.H10[48];
+acadoWorkspace.H[385] = acadoWorkspace.H10[49];
+acadoWorkspace.H[386] = acadoWorkspace.H10[50];
+acadoWorkspace.H[387] = acadoWorkspace.H10[51];
+acadoWorkspace.H[408] = acadoWorkspace.H10[52];
+acadoWorkspace.H[409] = acadoWorkspace.H10[53];
+acadoWorkspace.H[410] = acadoWorkspace.H10[54];
+acadoWorkspace.H[411] = acadoWorkspace.H10[55];
+acadoWorkspace.H[432] = acadoWorkspace.H10[56];
+acadoWorkspace.H[433] = acadoWorkspace.H10[57];
+acadoWorkspace.H[434] = acadoWorkspace.H10[58];
+acadoWorkspace.H[435] = acadoWorkspace.H10[59];
+acadoWorkspace.H[456] = acadoWorkspace.H10[60];
+acadoWorkspace.H[457] = acadoWorkspace.H10[61];
+acadoWorkspace.H[458] = acadoWorkspace.H10[62];
+acadoWorkspace.H[459] = acadoWorkspace.H10[63];
+acadoWorkspace.H[480] = acadoWorkspace.H10[64];
+acadoWorkspace.H[481] = acadoWorkspace.H10[65];
+acadoWorkspace.H[482] = acadoWorkspace.H10[66];
+acadoWorkspace.H[483] = acadoWorkspace.H10[67];
+acadoWorkspace.H[504] = acadoWorkspace.H10[68];
+acadoWorkspace.H[505] = acadoWorkspace.H10[69];
+acadoWorkspace.H[506] = acadoWorkspace.H10[70];
+acadoWorkspace.H[507] = acadoWorkspace.H10[71];
+acadoWorkspace.H[528] = acadoWorkspace.H10[72];
+acadoWorkspace.H[529] = acadoWorkspace.H10[73];
+acadoWorkspace.H[530] = acadoWorkspace.H10[74];
+acadoWorkspace.H[531] = acadoWorkspace.H10[75];
+acadoWorkspace.H[552] = acadoWorkspace.H10[76];
+acadoWorkspace.H[553] = acadoWorkspace.H10[77];
+acadoWorkspace.H[554] = acadoWorkspace.H10[78];
+acadoWorkspace.H[555] = acadoWorkspace.H10[79];
+
+acado_multQ1d( &(acadoWorkspace.Q1[ 16 ]), acadoWorkspace.d, acadoWorkspace.Qd );
+acado_multQ1d( &(acadoWorkspace.Q1[ 32 ]), &(acadoWorkspace.d[ 4 ]), &(acadoWorkspace.Qd[ 4 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.d[ 8 ]), &(acadoWorkspace.Qd[ 8 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.Qd[ 12 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.d[ 16 ]), &(acadoWorkspace.Qd[ 16 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.d[ 20 ]), &(acadoWorkspace.Qd[ 20 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.Qd[ 24 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.d[ 28 ]), &(acadoWorkspace.Qd[ 28 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.d[ 32 ]), &(acadoWorkspace.Qd[ 32 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.Qd[ 36 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.d[ 40 ]), &(acadoWorkspace.Qd[ 40 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.d[ 44 ]), &(acadoWorkspace.Qd[ 44 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.Qd[ 48 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.d[ 52 ]), &(acadoWorkspace.Qd[ 52 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.d[ 56 ]), &(acadoWorkspace.Qd[ 56 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.d[ 60 ]), &(acadoWorkspace.Qd[ 60 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.d[ 64 ]), &(acadoWorkspace.Qd[ 64 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.d[ 68 ]), &(acadoWorkspace.Qd[ 68 ]) );
+acado_multQ1d( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.d[ 72 ]), &(acadoWorkspace.Qd[ 72 ]) );
+acado_multQN1d( acadoWorkspace.QN1, &(acadoWorkspace.d[ 76 ]), &(acadoWorkspace.Qd[ 76 ]) );
+
+acado_macCTSlx( acadoWorkspace.evGx, acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 16 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 32 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 48 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 64 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 80 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 96 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 112 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 128 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 160 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 176 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 192 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 208 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 224 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 240 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 256 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 272 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 288 ]), acadoWorkspace.g );
+acado_macCTSlx( &(acadoWorkspace.evGx[ 304 ]), acadoWorkspace.g );
+acado_macETSlu( acadoWorkspace.QE, &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 4 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 12 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 24 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 40 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 60 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 84 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 112 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 144 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 180 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 220 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 264 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 312 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 364 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 420 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 480 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 544 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 612 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 684 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 760 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 8 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 16 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 28 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 44 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 64 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 88 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 116 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 148 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 184 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 224 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 268 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 316 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 368 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 424 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 484 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 548 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 616 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 688 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 764 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 20 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 32 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 48 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 68 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 92 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 120 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 152 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 188 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 228 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 272 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 320 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 372 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 428 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 488 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 552 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 620 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 692 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 768 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 36 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 52 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 72 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 96 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 124 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 156 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 192 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 232 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 276 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 324 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 376 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 432 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 492 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 556 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 624 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 696 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 772 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 56 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 76 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 100 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 128 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 160 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 196 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 236 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 280 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 328 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 380 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 436 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 496 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 560 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 628 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 700 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 776 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 80 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 104 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 132 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 164 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 200 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 240 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 284 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 332 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 384 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 440 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 500 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 564 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 632 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 704 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 780 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 108 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 136 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 168 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 204 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 244 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 288 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 336 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 388 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 444 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 504 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 568 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 636 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 708 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 784 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 140 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 172 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 208 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 248 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 292 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 340 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 392 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 448 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 508 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 572 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 640 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 712 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 788 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 176 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 212 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 252 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 296 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 344 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 396 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 452 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 512 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 576 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 644 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 716 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 792 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 216 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 256 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 300 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 348 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 400 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 456 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 516 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 580 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 648 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 720 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 796 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 260 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 304 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 352 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 404 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 460 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 520 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 584 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 652 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 724 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 800 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 308 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 356 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 408 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 464 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 524 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 588 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 656 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 728 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 804 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 360 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 412 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 468 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 528 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 592 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 660 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 732 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 808 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 416 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 472 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 532 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 596 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 664 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 736 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 812 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 476 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 536 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 600 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 668 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 740 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 816 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 540 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 604 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 672 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 744 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 820 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 608 ]), &(acadoWorkspace.g[ 20 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 676 ]), &(acadoWorkspace.g[ 20 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 748 ]), &(acadoWorkspace.g[ 20 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 824 ]), &(acadoWorkspace.g[ 20 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 680 ]), &(acadoWorkspace.g[ 21 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 752 ]), &(acadoWorkspace.g[ 21 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 828 ]), &(acadoWorkspace.g[ 21 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 756 ]), &(acadoWorkspace.g[ 22 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 832 ]), &(acadoWorkspace.g[ 22 ]) );
+acado_macETSlu( &(acadoWorkspace.QE[ 836 ]), &(acadoWorkspace.g[ 23 ]) );
+acadoWorkspace.lb[4] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[0];
+acadoWorkspace.lb[5] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[1];
+acadoWorkspace.lb[6] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[2];
+acadoWorkspace.lb[7] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[3];
+acadoWorkspace.lb[8] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[4];
+acadoWorkspace.lb[9] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[5];
+acadoWorkspace.lb[10] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[6];
+acadoWorkspace.lb[11] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[7];
+acadoWorkspace.lb[12] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[8];
+acadoWorkspace.lb[13] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[9];
+acadoWorkspace.lb[14] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[10];
+acadoWorkspace.lb[15] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[11];
+acadoWorkspace.lb[16] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[12];
+acadoWorkspace.lb[17] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[13];
+acadoWorkspace.lb[18] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[14];
+acadoWorkspace.lb[19] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[15];
+acadoWorkspace.lb[20] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[16];
+acadoWorkspace.lb[21] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[17];
+acadoWorkspace.lb[22] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[18];
+acadoWorkspace.lb[23] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[19];
+acadoWorkspace.ub[4] = (real_t)1.0000000000000000e+12 - acadoVariables.u[0];
+acadoWorkspace.ub[5] = (real_t)1.0000000000000000e+12 - acadoVariables.u[1];
+acadoWorkspace.ub[6] = (real_t)1.0000000000000000e+12 - acadoVariables.u[2];
+acadoWorkspace.ub[7] = (real_t)1.0000000000000000e+12 - acadoVariables.u[3];
+acadoWorkspace.ub[8] = (real_t)1.0000000000000000e+12 - acadoVariables.u[4];
+acadoWorkspace.ub[9] = (real_t)1.0000000000000000e+12 - acadoVariables.u[5];
+acadoWorkspace.ub[10] = (real_t)1.0000000000000000e+12 - acadoVariables.u[6];
+acadoWorkspace.ub[11] = (real_t)1.0000000000000000e+12 - acadoVariables.u[7];
+acadoWorkspace.ub[12] = (real_t)1.0000000000000000e+12 - acadoVariables.u[8];
+acadoWorkspace.ub[13] = (real_t)1.0000000000000000e+12 - acadoVariables.u[9];
+acadoWorkspace.ub[14] = (real_t)1.0000000000000000e+12 - acadoVariables.u[10];
+acadoWorkspace.ub[15] = (real_t)1.0000000000000000e+12 - acadoVariables.u[11];
+acadoWorkspace.ub[16] = (real_t)1.0000000000000000e+12 - acadoVariables.u[12];
+acadoWorkspace.ub[17] = (real_t)1.0000000000000000e+12 - acadoVariables.u[13];
+acadoWorkspace.ub[18] = (real_t)1.0000000000000000e+12 - acadoVariables.u[14];
+acadoWorkspace.ub[19] = (real_t)1.0000000000000000e+12 - acadoVariables.u[15];
+acadoWorkspace.ub[20] = (real_t)1.0000000000000000e+12 - acadoVariables.u[16];
+acadoWorkspace.ub[21] = (real_t)1.0000000000000000e+12 - acadoVariables.u[17];
+acadoWorkspace.ub[22] = (real_t)1.0000000000000000e+12 - acadoVariables.u[18];
+acadoWorkspace.ub[23] = (real_t)1.0000000000000000e+12 - acadoVariables.u[19];
+
+}
+
+void acado_condenseFdb(  )
+{
+acadoWorkspace.Dx0[0] = acadoVariables.x0[0] - acadoVariables.x[0];
+acadoWorkspace.Dx0[1] = acadoVariables.x0[1] - acadoVariables.x[1];
+acadoWorkspace.Dx0[2] = acadoVariables.x0[2] - acadoVariables.x[2];
+acadoWorkspace.Dx0[3] = acadoVariables.x0[3] - acadoVariables.x[3];
+
+acadoWorkspace.Dy[0] -= acadoVariables.y[0];
+acadoWorkspace.Dy[1] -= acadoVariables.y[1];
+acadoWorkspace.Dy[2] -= acadoVariables.y[2];
+acadoWorkspace.Dy[3] -= acadoVariables.y[3];
+acadoWorkspace.Dy[4] -= acadoVariables.y[4];
+acadoWorkspace.Dy[5] -= acadoVariables.y[5];
+acadoWorkspace.Dy[6] -= acadoVariables.y[6];
+acadoWorkspace.Dy[7] -= acadoVariables.y[7];
+acadoWorkspace.Dy[8] -= acadoVariables.y[8];
+acadoWorkspace.Dy[9] -= acadoVariables.y[9];
+acadoWorkspace.Dy[10] -= acadoVariables.y[10];
+acadoWorkspace.Dy[11] -= acadoVariables.y[11];
+acadoWorkspace.Dy[12] -= acadoVariables.y[12];
+acadoWorkspace.Dy[13] -= acadoVariables.y[13];
+acadoWorkspace.Dy[14] -= acadoVariables.y[14];
+acadoWorkspace.Dy[15] -= acadoVariables.y[15];
+acadoWorkspace.Dy[16] -= acadoVariables.y[16];
+acadoWorkspace.Dy[17] -= acadoVariables.y[17];
+acadoWorkspace.Dy[18] -= acadoVariables.y[18];
+acadoWorkspace.Dy[19] -= acadoVariables.y[19];
+acadoWorkspace.Dy[20] -= acadoVariables.y[20];
+acadoWorkspace.Dy[21] -= acadoVariables.y[21];
+acadoWorkspace.Dy[22] -= acadoVariables.y[22];
+acadoWorkspace.Dy[23] -= acadoVariables.y[23];
+acadoWorkspace.Dy[24] -= acadoVariables.y[24];
+acadoWorkspace.Dy[25] -= acadoVariables.y[25];
+acadoWorkspace.Dy[26] -= acadoVariables.y[26];
+acadoWorkspace.Dy[27] -= acadoVariables.y[27];
+acadoWorkspace.Dy[28] -= acadoVariables.y[28];
+acadoWorkspace.Dy[29] -= acadoVariables.y[29];
+acadoWorkspace.Dy[30] -= acadoVariables.y[30];
+acadoWorkspace.Dy[31] -= acadoVariables.y[31];
+acadoWorkspace.Dy[32] -= acadoVariables.y[32];
+acadoWorkspace.Dy[33] -= acadoVariables.y[33];
+acadoWorkspace.Dy[34] -= acadoVariables.y[34];
+acadoWorkspace.Dy[35] -= acadoVariables.y[35];
+acadoWorkspace.Dy[36] -= acadoVariables.y[36];
+acadoWorkspace.Dy[37] -= acadoVariables.y[37];
+acadoWorkspace.Dy[38] -= acadoVariables.y[38];
+acadoWorkspace.Dy[39] -= acadoVariables.y[39];
+acadoWorkspace.Dy[40] -= acadoVariables.y[40];
+acadoWorkspace.Dy[41] -= acadoVariables.y[41];
+acadoWorkspace.Dy[42] -= acadoVariables.y[42];
+acadoWorkspace.Dy[43] -= acadoVariables.y[43];
+acadoWorkspace.Dy[44] -= acadoVariables.y[44];
+acadoWorkspace.Dy[45] -= acadoVariables.y[45];
+acadoWorkspace.Dy[46] -= acadoVariables.y[46];
+acadoWorkspace.Dy[47] -= acadoVariables.y[47];
+acadoWorkspace.Dy[48] -= acadoVariables.y[48];
+acadoWorkspace.Dy[49] -= acadoVariables.y[49];
+acadoWorkspace.Dy[50] -= acadoVariables.y[50];
+acadoWorkspace.Dy[51] -= acadoVariables.y[51];
+acadoWorkspace.Dy[52] -= acadoVariables.y[52];
+acadoWorkspace.Dy[53] -= acadoVariables.y[53];
+acadoWorkspace.Dy[54] -= acadoVariables.y[54];
+acadoWorkspace.Dy[55] -= acadoVariables.y[55];
+acadoWorkspace.Dy[56] -= acadoVariables.y[56];
+acadoWorkspace.Dy[57] -= acadoVariables.y[57];
+acadoWorkspace.Dy[58] -= acadoVariables.y[58];
+acadoWorkspace.Dy[59] -= acadoVariables.y[59];
+acadoWorkspace.Dy[60] -= acadoVariables.y[60];
+acadoWorkspace.Dy[61] -= acadoVariables.y[61];
+acadoWorkspace.Dy[62] -= acadoVariables.y[62];
+acadoWorkspace.Dy[63] -= acadoVariables.y[63];
+acadoWorkspace.Dy[64] -= acadoVariables.y[64];
+acadoWorkspace.Dy[65] -= acadoVariables.y[65];
+acadoWorkspace.Dy[66] -= acadoVariables.y[66];
+acadoWorkspace.Dy[67] -= acadoVariables.y[67];
+acadoWorkspace.Dy[68] -= acadoVariables.y[68];
+acadoWorkspace.Dy[69] -= acadoVariables.y[69];
+acadoWorkspace.Dy[70] -= acadoVariables.y[70];
+acadoWorkspace.Dy[71] -= acadoVariables.y[71];
+acadoWorkspace.Dy[72] -= acadoVariables.y[72];
+acadoWorkspace.Dy[73] -= acadoVariables.y[73];
+acadoWorkspace.Dy[74] -= acadoVariables.y[74];
+acadoWorkspace.Dy[75] -= acadoVariables.y[75];
+acadoWorkspace.Dy[76] -= acadoVariables.y[76];
+acadoWorkspace.Dy[77] -= acadoVariables.y[77];
+acadoWorkspace.Dy[78] -= acadoVariables.y[78];
+acadoWorkspace.Dy[79] -= acadoVariables.y[79];
+acadoWorkspace.Dy[80] -= acadoVariables.y[80];
+acadoWorkspace.Dy[81] -= acadoVariables.y[81];
+acadoWorkspace.Dy[82] -= acadoVariables.y[82];
+acadoWorkspace.Dy[83] -= acadoVariables.y[83];
+acadoWorkspace.Dy[84] -= acadoVariables.y[84];
+acadoWorkspace.Dy[85] -= acadoVariables.y[85];
+acadoWorkspace.Dy[86] -= acadoVariables.y[86];
+acadoWorkspace.Dy[87] -= acadoVariables.y[87];
+acadoWorkspace.Dy[88] -= acadoVariables.y[88];
+acadoWorkspace.Dy[89] -= acadoVariables.y[89];
+acadoWorkspace.Dy[90] -= acadoVariables.y[90];
+acadoWorkspace.Dy[91] -= acadoVariables.y[91];
+acadoWorkspace.Dy[92] -= acadoVariables.y[92];
+acadoWorkspace.Dy[93] -= acadoVariables.y[93];
+acadoWorkspace.Dy[94] -= acadoVariables.y[94];
+acadoWorkspace.Dy[95] -= acadoVariables.y[95];
+acadoWorkspace.Dy[96] -= acadoVariables.y[96];
+acadoWorkspace.Dy[97] -= acadoVariables.y[97];
+acadoWorkspace.Dy[98] -= acadoVariables.y[98];
+acadoWorkspace.Dy[99] -= acadoVariables.y[99];
+acadoWorkspace.DyN[0] -= acadoVariables.yN[0];
+acadoWorkspace.DyN[1] -= acadoVariables.yN[1];
+acadoWorkspace.DyN[2] -= acadoVariables.yN[2];
+acadoWorkspace.DyN[3] -= acadoVariables.yN[3];
+
+acado_multRDy( acadoWorkspace.R2, acadoWorkspace.Dy, &(acadoWorkspace.g[ 4 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 5 ]), &(acadoWorkspace.Dy[ 5 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 10 ]), &(acadoWorkspace.Dy[ 10 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 15 ]), &(acadoWorkspace.Dy[ 15 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 20 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 25 ]), &(acadoWorkspace.Dy[ 25 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 30 ]), &(acadoWorkspace.Dy[ 30 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 35 ]), &(acadoWorkspace.Dy[ 35 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 40 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 45 ]), &(acadoWorkspace.Dy[ 45 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 50 ]), &(acadoWorkspace.Dy[ 50 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 55 ]), &(acadoWorkspace.Dy[ 55 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 60 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 65 ]), &(acadoWorkspace.Dy[ 65 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 70 ]), &(acadoWorkspace.Dy[ 70 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 75 ]), &(acadoWorkspace.Dy[ 75 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 80 ]), &(acadoWorkspace.Dy[ 80 ]), &(acadoWorkspace.g[ 20 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 85 ]), &(acadoWorkspace.Dy[ 85 ]), &(acadoWorkspace.g[ 21 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 90 ]), &(acadoWorkspace.Dy[ 90 ]), &(acadoWorkspace.g[ 22 ]) );
+acado_multRDy( &(acadoWorkspace.R2[ 95 ]), &(acadoWorkspace.Dy[ 95 ]), &(acadoWorkspace.g[ 23 ]) );
+
+acado_multQDy( acadoWorkspace.Q2, acadoWorkspace.Dy, acadoWorkspace.QDy );
+acado_multQDy( &(acadoWorkspace.Q2[ 20 ]), &(acadoWorkspace.Dy[ 5 ]), &(acadoWorkspace.QDy[ 4 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 40 ]), &(acadoWorkspace.Dy[ 10 ]), &(acadoWorkspace.QDy[ 8 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 60 ]), &(acadoWorkspace.Dy[ 15 ]), &(acadoWorkspace.QDy[ 12 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 80 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.QDy[ 16 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 100 ]), &(acadoWorkspace.Dy[ 25 ]), &(acadoWorkspace.QDy[ 20 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 120 ]), &(acadoWorkspace.Dy[ 30 ]), &(acadoWorkspace.QDy[ 24 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 140 ]), &(acadoWorkspace.Dy[ 35 ]), &(acadoWorkspace.QDy[ 28 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 160 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.QDy[ 32 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 180 ]), &(acadoWorkspace.Dy[ 45 ]), &(acadoWorkspace.QDy[ 36 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 200 ]), &(acadoWorkspace.Dy[ 50 ]), &(acadoWorkspace.QDy[ 40 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 220 ]), &(acadoWorkspace.Dy[ 55 ]), &(acadoWorkspace.QDy[ 44 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 240 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.QDy[ 48 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 260 ]), &(acadoWorkspace.Dy[ 65 ]), &(acadoWorkspace.QDy[ 52 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 280 ]), &(acadoWorkspace.Dy[ 70 ]), &(acadoWorkspace.QDy[ 56 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 300 ]), &(acadoWorkspace.Dy[ 75 ]), &(acadoWorkspace.QDy[ 60 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 320 ]), &(acadoWorkspace.Dy[ 80 ]), &(acadoWorkspace.QDy[ 64 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 340 ]), &(acadoWorkspace.Dy[ 85 ]), &(acadoWorkspace.QDy[ 68 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 360 ]), &(acadoWorkspace.Dy[ 90 ]), &(acadoWorkspace.QDy[ 72 ]) );
+acado_multQDy( &(acadoWorkspace.Q2[ 380 ]), &(acadoWorkspace.Dy[ 95 ]), &(acadoWorkspace.QDy[ 76 ]) );
+
+acadoWorkspace.QDy[80] = + acadoWorkspace.QN2[0]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[1]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[2]*acadoWorkspace.DyN[2] + acadoWorkspace.QN2[3]*acadoWorkspace.DyN[3];
+acadoWorkspace.QDy[81] = + acadoWorkspace.QN2[4]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[5]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[6]*acadoWorkspace.DyN[2] + acadoWorkspace.QN2[7]*acadoWorkspace.DyN[3];
+acadoWorkspace.QDy[82] = + acadoWorkspace.QN2[8]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[9]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[10]*acadoWorkspace.DyN[2] + acadoWorkspace.QN2[11]*acadoWorkspace.DyN[3];
+acadoWorkspace.QDy[83] = + acadoWorkspace.QN2[12]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[13]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[14]*acadoWorkspace.DyN[2] + acadoWorkspace.QN2[15]*acadoWorkspace.DyN[3];
+
+acadoWorkspace.QDy[4] += acadoWorkspace.Qd[0];
+acadoWorkspace.QDy[5] += acadoWorkspace.Qd[1];
+acadoWorkspace.QDy[6] += acadoWorkspace.Qd[2];
+acadoWorkspace.QDy[7] += acadoWorkspace.Qd[3];
+acadoWorkspace.QDy[8] += acadoWorkspace.Qd[4];
+acadoWorkspace.QDy[9] += acadoWorkspace.Qd[5];
+acadoWorkspace.QDy[10] += acadoWorkspace.Qd[6];
+acadoWorkspace.QDy[11] += acadoWorkspace.Qd[7];
+acadoWorkspace.QDy[12] += acadoWorkspace.Qd[8];
+acadoWorkspace.QDy[13] += acadoWorkspace.Qd[9];
+acadoWorkspace.QDy[14] += acadoWorkspace.Qd[10];
+acadoWorkspace.QDy[15] += acadoWorkspace.Qd[11];
+acadoWorkspace.QDy[16] += acadoWorkspace.Qd[12];
+acadoWorkspace.QDy[17] += acadoWorkspace.Qd[13];
+acadoWorkspace.QDy[18] += acadoWorkspace.Qd[14];
+acadoWorkspace.QDy[19] += acadoWorkspace.Qd[15];
+acadoWorkspace.QDy[20] += acadoWorkspace.Qd[16];
+acadoWorkspace.QDy[21] += acadoWorkspace.Qd[17];
+acadoWorkspace.QDy[22] += acadoWorkspace.Qd[18];
+acadoWorkspace.QDy[23] += acadoWorkspace.Qd[19];
+acadoWorkspace.QDy[24] += acadoWorkspace.Qd[20];
+acadoWorkspace.QDy[25] += acadoWorkspace.Qd[21];
+acadoWorkspace.QDy[26] += acadoWorkspace.Qd[22];
+acadoWorkspace.QDy[27] += acadoWorkspace.Qd[23];
+acadoWorkspace.QDy[28] += acadoWorkspace.Qd[24];
+acadoWorkspace.QDy[29] += acadoWorkspace.Qd[25];
+acadoWorkspace.QDy[30] += acadoWorkspace.Qd[26];
+acadoWorkspace.QDy[31] += acadoWorkspace.Qd[27];
+acadoWorkspace.QDy[32] += acadoWorkspace.Qd[28];
+acadoWorkspace.QDy[33] += acadoWorkspace.Qd[29];
+acadoWorkspace.QDy[34] += acadoWorkspace.Qd[30];
+acadoWorkspace.QDy[35] += acadoWorkspace.Qd[31];
+acadoWorkspace.QDy[36] += acadoWorkspace.Qd[32];
+acadoWorkspace.QDy[37] += acadoWorkspace.Qd[33];
+acadoWorkspace.QDy[38] += acadoWorkspace.Qd[34];
+acadoWorkspace.QDy[39] += acadoWorkspace.Qd[35];
+acadoWorkspace.QDy[40] += acadoWorkspace.Qd[36];
+acadoWorkspace.QDy[41] += acadoWorkspace.Qd[37];
+acadoWorkspace.QDy[42] += acadoWorkspace.Qd[38];
+acadoWorkspace.QDy[43] += acadoWorkspace.Qd[39];
+acadoWorkspace.QDy[44] += acadoWorkspace.Qd[40];
+acadoWorkspace.QDy[45] += acadoWorkspace.Qd[41];
+acadoWorkspace.QDy[46] += acadoWorkspace.Qd[42];
+acadoWorkspace.QDy[47] += acadoWorkspace.Qd[43];
+acadoWorkspace.QDy[48] += acadoWorkspace.Qd[44];
+acadoWorkspace.QDy[49] += acadoWorkspace.Qd[45];
+acadoWorkspace.QDy[50] += acadoWorkspace.Qd[46];
+acadoWorkspace.QDy[51] += acadoWorkspace.Qd[47];
+acadoWorkspace.QDy[52] += acadoWorkspace.Qd[48];
+acadoWorkspace.QDy[53] += acadoWorkspace.Qd[49];
+acadoWorkspace.QDy[54] += acadoWorkspace.Qd[50];
+acadoWorkspace.QDy[55] += acadoWorkspace.Qd[51];
+acadoWorkspace.QDy[56] += acadoWorkspace.Qd[52];
+acadoWorkspace.QDy[57] += acadoWorkspace.Qd[53];
+acadoWorkspace.QDy[58] += acadoWorkspace.Qd[54];
+acadoWorkspace.QDy[59] += acadoWorkspace.Qd[55];
+acadoWorkspace.QDy[60] += acadoWorkspace.Qd[56];
+acadoWorkspace.QDy[61] += acadoWorkspace.Qd[57];
+acadoWorkspace.QDy[62] += acadoWorkspace.Qd[58];
+acadoWorkspace.QDy[63] += acadoWorkspace.Qd[59];
+acadoWorkspace.QDy[64] += acadoWorkspace.Qd[60];
+acadoWorkspace.QDy[65] += acadoWorkspace.Qd[61];
+acadoWorkspace.QDy[66] += acadoWorkspace.Qd[62];
+acadoWorkspace.QDy[67] += acadoWorkspace.Qd[63];
+acadoWorkspace.QDy[68] += acadoWorkspace.Qd[64];
+acadoWorkspace.QDy[69] += acadoWorkspace.Qd[65];
+acadoWorkspace.QDy[70] += acadoWorkspace.Qd[66];
+acadoWorkspace.QDy[71] += acadoWorkspace.Qd[67];
+acadoWorkspace.QDy[72] += acadoWorkspace.Qd[68];
+acadoWorkspace.QDy[73] += acadoWorkspace.Qd[69];
+acadoWorkspace.QDy[74] += acadoWorkspace.Qd[70];
+acadoWorkspace.QDy[75] += acadoWorkspace.Qd[71];
+acadoWorkspace.QDy[76] += acadoWorkspace.Qd[72];
+acadoWorkspace.QDy[77] += acadoWorkspace.Qd[73];
+acadoWorkspace.QDy[78] += acadoWorkspace.Qd[74];
+acadoWorkspace.QDy[79] += acadoWorkspace.Qd[75];
+acadoWorkspace.QDy[80] += acadoWorkspace.Qd[76];
+acadoWorkspace.QDy[81] += acadoWorkspace.Qd[77];
+acadoWorkspace.QDy[82] += acadoWorkspace.Qd[78];
+acadoWorkspace.QDy[83] += acadoWorkspace.Qd[79];
+
+acadoWorkspace.g[0] = + acadoWorkspace.evGx[0]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[4]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[8]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[12]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[16]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[20]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[24]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[28]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[32]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[36]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[40]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[44]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[48]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[52]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[56]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[60]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[64]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[68]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[72]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[76]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[80]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[84]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[88]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[92]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[96]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[100]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[104]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[108]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[112]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[116]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[120]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[124]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[128]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[132]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[136]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[140]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[144]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[148]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[152]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[156]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[160]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[164]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[168]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[172]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[176]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[180]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[184]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[188]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[192]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[196]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[200]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[204]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[208]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[212]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[216]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[220]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[224]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[228]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[232]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[236]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[240]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[244]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[248]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[252]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[256]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[260]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[264]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[268]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[272]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[276]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[280]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[284]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[288]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[292]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[296]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[300]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[304]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[308]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[312]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[316]*acadoWorkspace.QDy[83];
+acadoWorkspace.g[1] = + acadoWorkspace.evGx[1]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[5]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[9]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[13]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[17]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[21]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[25]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[29]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[33]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[37]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[41]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[45]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[49]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[53]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[57]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[61]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[65]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[69]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[73]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[77]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[81]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[85]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[89]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[93]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[97]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[101]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[105]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[109]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[113]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[117]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[121]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[125]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[129]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[133]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[137]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[141]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[145]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[149]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[153]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[157]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[161]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[165]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[169]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[173]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[177]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[181]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[185]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[189]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[193]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[197]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[201]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[205]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[209]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[213]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[217]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[221]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[225]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[229]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[233]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[237]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[241]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[245]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[249]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[253]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[257]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[261]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[265]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[269]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[273]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[277]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[281]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[285]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[289]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[293]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[297]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[301]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[305]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[309]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[313]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[317]*acadoWorkspace.QDy[83];
+acadoWorkspace.g[2] = + acadoWorkspace.evGx[2]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[6]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[10]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[14]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[18]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[22]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[26]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[30]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[34]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[38]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[42]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[46]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[50]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[54]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[58]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[62]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[66]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[70]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[74]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[78]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[82]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[86]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[90]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[94]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[98]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[102]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[106]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[110]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[114]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[118]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[122]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[126]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[130]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[134]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[138]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[142]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[146]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[150]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[154]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[158]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[162]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[166]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[170]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[174]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[178]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[182]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[186]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[190]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[194]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[198]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[202]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[206]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[210]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[214]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[218]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[222]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[226]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[230]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[234]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[238]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[242]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[246]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[250]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[254]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[258]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[262]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[266]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[270]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[274]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[278]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[282]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[286]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[290]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[294]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[298]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[302]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[306]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[310]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[314]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[318]*acadoWorkspace.QDy[83];
+acadoWorkspace.g[3] = + acadoWorkspace.evGx[3]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[7]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[11]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[15]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[19]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[23]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[27]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[31]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[35]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[39]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[43]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[47]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[51]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[55]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[59]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[63]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[67]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[71]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[75]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[79]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[83]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[87]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[91]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[95]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[99]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[103]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[107]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[111]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[115]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[119]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[123]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[127]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[131]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[135]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[139]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[143]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[147]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[151]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[155]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[159]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[163]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[167]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[171]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[175]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[179]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[183]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[187]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[191]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[195]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[199]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[203]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[207]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[211]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[215]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[219]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[223]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[227]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[231]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[235]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[239]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[243]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[247]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[251]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[255]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[259]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[263]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[267]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[271]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[275]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[279]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[283]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[287]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[291]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[295]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[299]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[303]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[307]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[311]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[315]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[319]*acadoWorkspace.QDy[83];
+
+
+acado_multEQDy( acadoWorkspace.E, &(acadoWorkspace.QDy[ 4 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.QDy[ 8 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.QDy[ 16 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.QDy[ 20 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 4 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 8 ]), &(acadoWorkspace.QDy[ 8 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.QDy[ 16 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.QDy[ 20 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 5 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 20 ]), &(acadoWorkspace.QDy[ 12 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.QDy[ 16 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.QDy[ 20 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 6 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.QDy[ 16 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.QDy[ 20 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 7 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 56 ]), &(acadoWorkspace.QDy[ 20 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 8 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 80 ]), &(acadoWorkspace.QDy[ 24 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 9 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.QDy[ 28 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 10 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 140 ]), &(acadoWorkspace.QDy[ 32 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 11 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 176 ]), &(acadoWorkspace.QDy[ 36 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 12 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.QDy[ 40 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 13 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 260 ]), &(acadoWorkspace.QDy[ 44 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 14 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 308 ]), &(acadoWorkspace.QDy[ 48 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 15 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.QDy[ 52 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 16 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 416 ]), &(acadoWorkspace.QDy[ 56 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 17 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 476 ]), &(acadoWorkspace.QDy[ 60 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 18 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.QDy[ 64 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 19 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 608 ]), &(acadoWorkspace.QDy[ 68 ]), &(acadoWorkspace.g[ 20 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 20 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 20 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 20 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 680 ]), &(acadoWorkspace.QDy[ 72 ]), &(acadoWorkspace.g[ 21 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 21 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 21 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.QDy[ 76 ]), &(acadoWorkspace.g[ 22 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 832 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 22 ]) );
+acado_multEQDy( &(acadoWorkspace.E[ 836 ]), &(acadoWorkspace.QDy[ 80 ]), &(acadoWorkspace.g[ 23 ]) );
+
+acadoWorkspace.lb[0] = acadoWorkspace.Dx0[0];
+acadoWorkspace.lb[1] = acadoWorkspace.Dx0[1];
+acadoWorkspace.lb[2] = acadoWorkspace.Dx0[2];
+acadoWorkspace.lb[3] = acadoWorkspace.Dx0[3];
+acadoWorkspace.ub[0] = acadoWorkspace.Dx0[0];
+acadoWorkspace.ub[1] = acadoWorkspace.Dx0[1];
+acadoWorkspace.ub[2] = acadoWorkspace.Dx0[2];
+acadoWorkspace.ub[3] = acadoWorkspace.Dx0[3];
+}
+
+void acado_expand(  )
+{
+acadoVariables.x[0] += acadoWorkspace.x[0];
+acadoVariables.x[1] += acadoWorkspace.x[1];
+acadoVariables.x[2] += acadoWorkspace.x[2];
+acadoVariables.x[3] += acadoWorkspace.x[3];
+
+acadoVariables.u[0] += acadoWorkspace.x[4];
+acadoVariables.u[1] += acadoWorkspace.x[5];
+acadoVariables.u[2] += acadoWorkspace.x[6];
+acadoVariables.u[3] += acadoWorkspace.x[7];
+acadoVariables.u[4] += acadoWorkspace.x[8];
+acadoVariables.u[5] += acadoWorkspace.x[9];
+acadoVariables.u[6] += acadoWorkspace.x[10];
+acadoVariables.u[7] += acadoWorkspace.x[11];
+acadoVariables.u[8] += acadoWorkspace.x[12];
+acadoVariables.u[9] += acadoWorkspace.x[13];
+acadoVariables.u[10] += acadoWorkspace.x[14];
+acadoVariables.u[11] += acadoWorkspace.x[15];
+acadoVariables.u[12] += acadoWorkspace.x[16];
+acadoVariables.u[13] += acadoWorkspace.x[17];
+acadoVariables.u[14] += acadoWorkspace.x[18];
+acadoVariables.u[15] += acadoWorkspace.x[19];
+acadoVariables.u[16] += acadoWorkspace.x[20];
+acadoVariables.u[17] += acadoWorkspace.x[21];
+acadoVariables.u[18] += acadoWorkspace.x[22];
+acadoVariables.u[19] += acadoWorkspace.x[23];
+
+acadoVariables.x[4] += + acadoWorkspace.evGx[0]*acadoWorkspace.x[0] + acadoWorkspace.evGx[1]*acadoWorkspace.x[1] + acadoWorkspace.evGx[2]*acadoWorkspace.x[2] + acadoWorkspace.evGx[3]*acadoWorkspace.x[3] + acadoWorkspace.d[0];
+acadoVariables.x[5] += + acadoWorkspace.evGx[4]*acadoWorkspace.x[0] + acadoWorkspace.evGx[5]*acadoWorkspace.x[1] + acadoWorkspace.evGx[6]*acadoWorkspace.x[2] + acadoWorkspace.evGx[7]*acadoWorkspace.x[3] + acadoWorkspace.d[1];
+acadoVariables.x[6] += + acadoWorkspace.evGx[8]*acadoWorkspace.x[0] + acadoWorkspace.evGx[9]*acadoWorkspace.x[1] + acadoWorkspace.evGx[10]*acadoWorkspace.x[2] + acadoWorkspace.evGx[11]*acadoWorkspace.x[3] + acadoWorkspace.d[2];
+acadoVariables.x[7] += + acadoWorkspace.evGx[12]*acadoWorkspace.x[0] + acadoWorkspace.evGx[13]*acadoWorkspace.x[1] + acadoWorkspace.evGx[14]*acadoWorkspace.x[2] + acadoWorkspace.evGx[15]*acadoWorkspace.x[3] + acadoWorkspace.d[3];
+acadoVariables.x[8] += + acadoWorkspace.evGx[16]*acadoWorkspace.x[0] + acadoWorkspace.evGx[17]*acadoWorkspace.x[1] + acadoWorkspace.evGx[18]*acadoWorkspace.x[2] + acadoWorkspace.evGx[19]*acadoWorkspace.x[3] + acadoWorkspace.d[4];
+acadoVariables.x[9] += + acadoWorkspace.evGx[20]*acadoWorkspace.x[0] + acadoWorkspace.evGx[21]*acadoWorkspace.x[1] + acadoWorkspace.evGx[22]*acadoWorkspace.x[2] + acadoWorkspace.evGx[23]*acadoWorkspace.x[3] + acadoWorkspace.d[5];
+acadoVariables.x[10] += + acadoWorkspace.evGx[24]*acadoWorkspace.x[0] + acadoWorkspace.evGx[25]*acadoWorkspace.x[1] + acadoWorkspace.evGx[26]*acadoWorkspace.x[2] + acadoWorkspace.evGx[27]*acadoWorkspace.x[3] + acadoWorkspace.d[6];
+acadoVariables.x[11] += + acadoWorkspace.evGx[28]*acadoWorkspace.x[0] + acadoWorkspace.evGx[29]*acadoWorkspace.x[1] + acadoWorkspace.evGx[30]*acadoWorkspace.x[2] + acadoWorkspace.evGx[31]*acadoWorkspace.x[3] + acadoWorkspace.d[7];
+acadoVariables.x[12] += + acadoWorkspace.evGx[32]*acadoWorkspace.x[0] + acadoWorkspace.evGx[33]*acadoWorkspace.x[1] + acadoWorkspace.evGx[34]*acadoWorkspace.x[2] + acadoWorkspace.evGx[35]*acadoWorkspace.x[3] + acadoWorkspace.d[8];
+acadoVariables.x[13] += + acadoWorkspace.evGx[36]*acadoWorkspace.x[0] + acadoWorkspace.evGx[37]*acadoWorkspace.x[1] + acadoWorkspace.evGx[38]*acadoWorkspace.x[2] + acadoWorkspace.evGx[39]*acadoWorkspace.x[3] + acadoWorkspace.d[9];
+acadoVariables.x[14] += + acadoWorkspace.evGx[40]*acadoWorkspace.x[0] + acadoWorkspace.evGx[41]*acadoWorkspace.x[1] + acadoWorkspace.evGx[42]*acadoWorkspace.x[2] + acadoWorkspace.evGx[43]*acadoWorkspace.x[3] + acadoWorkspace.d[10];
+acadoVariables.x[15] += + acadoWorkspace.evGx[44]*acadoWorkspace.x[0] + acadoWorkspace.evGx[45]*acadoWorkspace.x[1] + acadoWorkspace.evGx[46]*acadoWorkspace.x[2] + acadoWorkspace.evGx[47]*acadoWorkspace.x[3] + acadoWorkspace.d[11];
+acadoVariables.x[16] += + acadoWorkspace.evGx[48]*acadoWorkspace.x[0] + acadoWorkspace.evGx[49]*acadoWorkspace.x[1] + acadoWorkspace.evGx[50]*acadoWorkspace.x[2] + acadoWorkspace.evGx[51]*acadoWorkspace.x[3] + acadoWorkspace.d[12];
+acadoVariables.x[17] += + acadoWorkspace.evGx[52]*acadoWorkspace.x[0] + acadoWorkspace.evGx[53]*acadoWorkspace.x[1] + acadoWorkspace.evGx[54]*acadoWorkspace.x[2] + acadoWorkspace.evGx[55]*acadoWorkspace.x[3] + acadoWorkspace.d[13];
+acadoVariables.x[18] += + acadoWorkspace.evGx[56]*acadoWorkspace.x[0] + acadoWorkspace.evGx[57]*acadoWorkspace.x[1] + acadoWorkspace.evGx[58]*acadoWorkspace.x[2] + acadoWorkspace.evGx[59]*acadoWorkspace.x[3] + acadoWorkspace.d[14];
+acadoVariables.x[19] += + acadoWorkspace.evGx[60]*acadoWorkspace.x[0] + acadoWorkspace.evGx[61]*acadoWorkspace.x[1] + acadoWorkspace.evGx[62]*acadoWorkspace.x[2] + acadoWorkspace.evGx[63]*acadoWorkspace.x[3] + acadoWorkspace.d[15];
+acadoVariables.x[20] += + acadoWorkspace.evGx[64]*acadoWorkspace.x[0] + acadoWorkspace.evGx[65]*acadoWorkspace.x[1] + acadoWorkspace.evGx[66]*acadoWorkspace.x[2] + acadoWorkspace.evGx[67]*acadoWorkspace.x[3] + acadoWorkspace.d[16];
+acadoVariables.x[21] += + acadoWorkspace.evGx[68]*acadoWorkspace.x[0] + acadoWorkspace.evGx[69]*acadoWorkspace.x[1] + acadoWorkspace.evGx[70]*acadoWorkspace.x[2] + acadoWorkspace.evGx[71]*acadoWorkspace.x[3] + acadoWorkspace.d[17];
+acadoVariables.x[22] += + acadoWorkspace.evGx[72]*acadoWorkspace.x[0] + acadoWorkspace.evGx[73]*acadoWorkspace.x[1] + acadoWorkspace.evGx[74]*acadoWorkspace.x[2] + acadoWorkspace.evGx[75]*acadoWorkspace.x[3] + acadoWorkspace.d[18];
+acadoVariables.x[23] += + acadoWorkspace.evGx[76]*acadoWorkspace.x[0] + acadoWorkspace.evGx[77]*acadoWorkspace.x[1] + acadoWorkspace.evGx[78]*acadoWorkspace.x[2] + acadoWorkspace.evGx[79]*acadoWorkspace.x[3] + acadoWorkspace.d[19];
+acadoVariables.x[24] += + acadoWorkspace.evGx[80]*acadoWorkspace.x[0] + acadoWorkspace.evGx[81]*acadoWorkspace.x[1] + acadoWorkspace.evGx[82]*acadoWorkspace.x[2] + acadoWorkspace.evGx[83]*acadoWorkspace.x[3] + acadoWorkspace.d[20];
+acadoVariables.x[25] += + acadoWorkspace.evGx[84]*acadoWorkspace.x[0] + acadoWorkspace.evGx[85]*acadoWorkspace.x[1] + acadoWorkspace.evGx[86]*acadoWorkspace.x[2] + acadoWorkspace.evGx[87]*acadoWorkspace.x[3] + acadoWorkspace.d[21];
+acadoVariables.x[26] += + acadoWorkspace.evGx[88]*acadoWorkspace.x[0] + acadoWorkspace.evGx[89]*acadoWorkspace.x[1] + acadoWorkspace.evGx[90]*acadoWorkspace.x[2] + acadoWorkspace.evGx[91]*acadoWorkspace.x[3] + acadoWorkspace.d[22];
+acadoVariables.x[27] += + acadoWorkspace.evGx[92]*acadoWorkspace.x[0] + acadoWorkspace.evGx[93]*acadoWorkspace.x[1] + acadoWorkspace.evGx[94]*acadoWorkspace.x[2] + acadoWorkspace.evGx[95]*acadoWorkspace.x[3] + acadoWorkspace.d[23];
+acadoVariables.x[28] += + acadoWorkspace.evGx[96]*acadoWorkspace.x[0] + acadoWorkspace.evGx[97]*acadoWorkspace.x[1] + acadoWorkspace.evGx[98]*acadoWorkspace.x[2] + acadoWorkspace.evGx[99]*acadoWorkspace.x[3] + acadoWorkspace.d[24];
+acadoVariables.x[29] += + acadoWorkspace.evGx[100]*acadoWorkspace.x[0] + acadoWorkspace.evGx[101]*acadoWorkspace.x[1] + acadoWorkspace.evGx[102]*acadoWorkspace.x[2] + acadoWorkspace.evGx[103]*acadoWorkspace.x[3] + acadoWorkspace.d[25];
+acadoVariables.x[30] += + acadoWorkspace.evGx[104]*acadoWorkspace.x[0] + acadoWorkspace.evGx[105]*acadoWorkspace.x[1] + acadoWorkspace.evGx[106]*acadoWorkspace.x[2] + acadoWorkspace.evGx[107]*acadoWorkspace.x[3] + acadoWorkspace.d[26];
+acadoVariables.x[31] += + acadoWorkspace.evGx[108]*acadoWorkspace.x[0] + acadoWorkspace.evGx[109]*acadoWorkspace.x[1] + acadoWorkspace.evGx[110]*acadoWorkspace.x[2] + acadoWorkspace.evGx[111]*acadoWorkspace.x[3] + acadoWorkspace.d[27];
+acadoVariables.x[32] += + acadoWorkspace.evGx[112]*acadoWorkspace.x[0] + acadoWorkspace.evGx[113]*acadoWorkspace.x[1] + acadoWorkspace.evGx[114]*acadoWorkspace.x[2] + acadoWorkspace.evGx[115]*acadoWorkspace.x[3] + acadoWorkspace.d[28];
+acadoVariables.x[33] += + acadoWorkspace.evGx[116]*acadoWorkspace.x[0] + acadoWorkspace.evGx[117]*acadoWorkspace.x[1] + acadoWorkspace.evGx[118]*acadoWorkspace.x[2] + acadoWorkspace.evGx[119]*acadoWorkspace.x[3] + acadoWorkspace.d[29];
+acadoVariables.x[34] += + acadoWorkspace.evGx[120]*acadoWorkspace.x[0] + acadoWorkspace.evGx[121]*acadoWorkspace.x[1] + acadoWorkspace.evGx[122]*acadoWorkspace.x[2] + acadoWorkspace.evGx[123]*acadoWorkspace.x[3] + acadoWorkspace.d[30];
+acadoVariables.x[35] += + acadoWorkspace.evGx[124]*acadoWorkspace.x[0] + acadoWorkspace.evGx[125]*acadoWorkspace.x[1] + acadoWorkspace.evGx[126]*acadoWorkspace.x[2] + acadoWorkspace.evGx[127]*acadoWorkspace.x[3] + acadoWorkspace.d[31];
+acadoVariables.x[36] += + acadoWorkspace.evGx[128]*acadoWorkspace.x[0] + acadoWorkspace.evGx[129]*acadoWorkspace.x[1] + acadoWorkspace.evGx[130]*acadoWorkspace.x[2] + acadoWorkspace.evGx[131]*acadoWorkspace.x[3] + acadoWorkspace.d[32];
+acadoVariables.x[37] += + acadoWorkspace.evGx[132]*acadoWorkspace.x[0] + acadoWorkspace.evGx[133]*acadoWorkspace.x[1] + acadoWorkspace.evGx[134]*acadoWorkspace.x[2] + acadoWorkspace.evGx[135]*acadoWorkspace.x[3] + acadoWorkspace.d[33];
+acadoVariables.x[38] += + acadoWorkspace.evGx[136]*acadoWorkspace.x[0] + acadoWorkspace.evGx[137]*acadoWorkspace.x[1] + acadoWorkspace.evGx[138]*acadoWorkspace.x[2] + acadoWorkspace.evGx[139]*acadoWorkspace.x[3] + acadoWorkspace.d[34];
+acadoVariables.x[39] += + acadoWorkspace.evGx[140]*acadoWorkspace.x[0] + acadoWorkspace.evGx[141]*acadoWorkspace.x[1] + acadoWorkspace.evGx[142]*acadoWorkspace.x[2] + acadoWorkspace.evGx[143]*acadoWorkspace.x[3] + acadoWorkspace.d[35];
+acadoVariables.x[40] += + acadoWorkspace.evGx[144]*acadoWorkspace.x[0] + acadoWorkspace.evGx[145]*acadoWorkspace.x[1] + acadoWorkspace.evGx[146]*acadoWorkspace.x[2] + acadoWorkspace.evGx[147]*acadoWorkspace.x[3] + acadoWorkspace.d[36];
+acadoVariables.x[41] += + acadoWorkspace.evGx[148]*acadoWorkspace.x[0] + acadoWorkspace.evGx[149]*acadoWorkspace.x[1] + acadoWorkspace.evGx[150]*acadoWorkspace.x[2] + acadoWorkspace.evGx[151]*acadoWorkspace.x[3] + acadoWorkspace.d[37];
+acadoVariables.x[42] += + acadoWorkspace.evGx[152]*acadoWorkspace.x[0] + acadoWorkspace.evGx[153]*acadoWorkspace.x[1] + acadoWorkspace.evGx[154]*acadoWorkspace.x[2] + acadoWorkspace.evGx[155]*acadoWorkspace.x[3] + acadoWorkspace.d[38];
+acadoVariables.x[43] += + acadoWorkspace.evGx[156]*acadoWorkspace.x[0] + acadoWorkspace.evGx[157]*acadoWorkspace.x[1] + acadoWorkspace.evGx[158]*acadoWorkspace.x[2] + acadoWorkspace.evGx[159]*acadoWorkspace.x[3] + acadoWorkspace.d[39];
+acadoVariables.x[44] += + acadoWorkspace.evGx[160]*acadoWorkspace.x[0] + acadoWorkspace.evGx[161]*acadoWorkspace.x[1] + acadoWorkspace.evGx[162]*acadoWorkspace.x[2] + acadoWorkspace.evGx[163]*acadoWorkspace.x[3] + acadoWorkspace.d[40];
+acadoVariables.x[45] += + acadoWorkspace.evGx[164]*acadoWorkspace.x[0] + acadoWorkspace.evGx[165]*acadoWorkspace.x[1] + acadoWorkspace.evGx[166]*acadoWorkspace.x[2] + acadoWorkspace.evGx[167]*acadoWorkspace.x[3] + acadoWorkspace.d[41];
+acadoVariables.x[46] += + acadoWorkspace.evGx[168]*acadoWorkspace.x[0] + acadoWorkspace.evGx[169]*acadoWorkspace.x[1] + acadoWorkspace.evGx[170]*acadoWorkspace.x[2] + acadoWorkspace.evGx[171]*acadoWorkspace.x[3] + acadoWorkspace.d[42];
+acadoVariables.x[47] += + acadoWorkspace.evGx[172]*acadoWorkspace.x[0] + acadoWorkspace.evGx[173]*acadoWorkspace.x[1] + acadoWorkspace.evGx[174]*acadoWorkspace.x[2] + acadoWorkspace.evGx[175]*acadoWorkspace.x[3] + acadoWorkspace.d[43];
+acadoVariables.x[48] += + acadoWorkspace.evGx[176]*acadoWorkspace.x[0] + acadoWorkspace.evGx[177]*acadoWorkspace.x[1] + acadoWorkspace.evGx[178]*acadoWorkspace.x[2] + acadoWorkspace.evGx[179]*acadoWorkspace.x[3] + acadoWorkspace.d[44];
+acadoVariables.x[49] += + acadoWorkspace.evGx[180]*acadoWorkspace.x[0] + acadoWorkspace.evGx[181]*acadoWorkspace.x[1] + acadoWorkspace.evGx[182]*acadoWorkspace.x[2] + acadoWorkspace.evGx[183]*acadoWorkspace.x[3] + acadoWorkspace.d[45];
+acadoVariables.x[50] += + acadoWorkspace.evGx[184]*acadoWorkspace.x[0] + acadoWorkspace.evGx[185]*acadoWorkspace.x[1] + acadoWorkspace.evGx[186]*acadoWorkspace.x[2] + acadoWorkspace.evGx[187]*acadoWorkspace.x[3] + acadoWorkspace.d[46];
+acadoVariables.x[51] += + acadoWorkspace.evGx[188]*acadoWorkspace.x[0] + acadoWorkspace.evGx[189]*acadoWorkspace.x[1] + acadoWorkspace.evGx[190]*acadoWorkspace.x[2] + acadoWorkspace.evGx[191]*acadoWorkspace.x[3] + acadoWorkspace.d[47];
+acadoVariables.x[52] += + acadoWorkspace.evGx[192]*acadoWorkspace.x[0] + acadoWorkspace.evGx[193]*acadoWorkspace.x[1] + acadoWorkspace.evGx[194]*acadoWorkspace.x[2] + acadoWorkspace.evGx[195]*acadoWorkspace.x[3] + acadoWorkspace.d[48];
+acadoVariables.x[53] += + acadoWorkspace.evGx[196]*acadoWorkspace.x[0] + acadoWorkspace.evGx[197]*acadoWorkspace.x[1] + acadoWorkspace.evGx[198]*acadoWorkspace.x[2] + acadoWorkspace.evGx[199]*acadoWorkspace.x[3] + acadoWorkspace.d[49];
+acadoVariables.x[54] += + acadoWorkspace.evGx[200]*acadoWorkspace.x[0] + acadoWorkspace.evGx[201]*acadoWorkspace.x[1] + acadoWorkspace.evGx[202]*acadoWorkspace.x[2] + acadoWorkspace.evGx[203]*acadoWorkspace.x[3] + acadoWorkspace.d[50];
+acadoVariables.x[55] += + acadoWorkspace.evGx[204]*acadoWorkspace.x[0] + acadoWorkspace.evGx[205]*acadoWorkspace.x[1] + acadoWorkspace.evGx[206]*acadoWorkspace.x[2] + acadoWorkspace.evGx[207]*acadoWorkspace.x[3] + acadoWorkspace.d[51];
+acadoVariables.x[56] += + acadoWorkspace.evGx[208]*acadoWorkspace.x[0] + acadoWorkspace.evGx[209]*acadoWorkspace.x[1] + acadoWorkspace.evGx[210]*acadoWorkspace.x[2] + acadoWorkspace.evGx[211]*acadoWorkspace.x[3] + acadoWorkspace.d[52];
+acadoVariables.x[57] += + acadoWorkspace.evGx[212]*acadoWorkspace.x[0] + acadoWorkspace.evGx[213]*acadoWorkspace.x[1] + acadoWorkspace.evGx[214]*acadoWorkspace.x[2] + acadoWorkspace.evGx[215]*acadoWorkspace.x[3] + acadoWorkspace.d[53];
+acadoVariables.x[58] += + acadoWorkspace.evGx[216]*acadoWorkspace.x[0] + acadoWorkspace.evGx[217]*acadoWorkspace.x[1] + acadoWorkspace.evGx[218]*acadoWorkspace.x[2] + acadoWorkspace.evGx[219]*acadoWorkspace.x[3] + acadoWorkspace.d[54];
+acadoVariables.x[59] += + acadoWorkspace.evGx[220]*acadoWorkspace.x[0] + acadoWorkspace.evGx[221]*acadoWorkspace.x[1] + acadoWorkspace.evGx[222]*acadoWorkspace.x[2] + acadoWorkspace.evGx[223]*acadoWorkspace.x[3] + acadoWorkspace.d[55];
+acadoVariables.x[60] += + acadoWorkspace.evGx[224]*acadoWorkspace.x[0] + acadoWorkspace.evGx[225]*acadoWorkspace.x[1] + acadoWorkspace.evGx[226]*acadoWorkspace.x[2] + acadoWorkspace.evGx[227]*acadoWorkspace.x[3] + acadoWorkspace.d[56];
+acadoVariables.x[61] += + acadoWorkspace.evGx[228]*acadoWorkspace.x[0] + acadoWorkspace.evGx[229]*acadoWorkspace.x[1] + acadoWorkspace.evGx[230]*acadoWorkspace.x[2] + acadoWorkspace.evGx[231]*acadoWorkspace.x[3] + acadoWorkspace.d[57];
+acadoVariables.x[62] += + acadoWorkspace.evGx[232]*acadoWorkspace.x[0] + acadoWorkspace.evGx[233]*acadoWorkspace.x[1] + acadoWorkspace.evGx[234]*acadoWorkspace.x[2] + acadoWorkspace.evGx[235]*acadoWorkspace.x[3] + acadoWorkspace.d[58];
+acadoVariables.x[63] += + acadoWorkspace.evGx[236]*acadoWorkspace.x[0] + acadoWorkspace.evGx[237]*acadoWorkspace.x[1] + acadoWorkspace.evGx[238]*acadoWorkspace.x[2] + acadoWorkspace.evGx[239]*acadoWorkspace.x[3] + acadoWorkspace.d[59];
+acadoVariables.x[64] += + acadoWorkspace.evGx[240]*acadoWorkspace.x[0] + acadoWorkspace.evGx[241]*acadoWorkspace.x[1] + acadoWorkspace.evGx[242]*acadoWorkspace.x[2] + acadoWorkspace.evGx[243]*acadoWorkspace.x[3] + acadoWorkspace.d[60];
+acadoVariables.x[65] += + acadoWorkspace.evGx[244]*acadoWorkspace.x[0] + acadoWorkspace.evGx[245]*acadoWorkspace.x[1] + acadoWorkspace.evGx[246]*acadoWorkspace.x[2] + acadoWorkspace.evGx[247]*acadoWorkspace.x[3] + acadoWorkspace.d[61];
+acadoVariables.x[66] += + acadoWorkspace.evGx[248]*acadoWorkspace.x[0] + acadoWorkspace.evGx[249]*acadoWorkspace.x[1] + acadoWorkspace.evGx[250]*acadoWorkspace.x[2] + acadoWorkspace.evGx[251]*acadoWorkspace.x[3] + acadoWorkspace.d[62];
+acadoVariables.x[67] += + acadoWorkspace.evGx[252]*acadoWorkspace.x[0] + acadoWorkspace.evGx[253]*acadoWorkspace.x[1] + acadoWorkspace.evGx[254]*acadoWorkspace.x[2] + acadoWorkspace.evGx[255]*acadoWorkspace.x[3] + acadoWorkspace.d[63];
+acadoVariables.x[68] += + acadoWorkspace.evGx[256]*acadoWorkspace.x[0] + acadoWorkspace.evGx[257]*acadoWorkspace.x[1] + acadoWorkspace.evGx[258]*acadoWorkspace.x[2] + acadoWorkspace.evGx[259]*acadoWorkspace.x[3] + acadoWorkspace.d[64];
+acadoVariables.x[69] += + acadoWorkspace.evGx[260]*acadoWorkspace.x[0] + acadoWorkspace.evGx[261]*acadoWorkspace.x[1] + acadoWorkspace.evGx[262]*acadoWorkspace.x[2] + acadoWorkspace.evGx[263]*acadoWorkspace.x[3] + acadoWorkspace.d[65];
+acadoVariables.x[70] += + acadoWorkspace.evGx[264]*acadoWorkspace.x[0] + acadoWorkspace.evGx[265]*acadoWorkspace.x[1] + acadoWorkspace.evGx[266]*acadoWorkspace.x[2] + acadoWorkspace.evGx[267]*acadoWorkspace.x[3] + acadoWorkspace.d[66];
+acadoVariables.x[71] += + acadoWorkspace.evGx[268]*acadoWorkspace.x[0] + acadoWorkspace.evGx[269]*acadoWorkspace.x[1] + acadoWorkspace.evGx[270]*acadoWorkspace.x[2] + acadoWorkspace.evGx[271]*acadoWorkspace.x[3] + acadoWorkspace.d[67];
+acadoVariables.x[72] += + acadoWorkspace.evGx[272]*acadoWorkspace.x[0] + acadoWorkspace.evGx[273]*acadoWorkspace.x[1] + acadoWorkspace.evGx[274]*acadoWorkspace.x[2] + acadoWorkspace.evGx[275]*acadoWorkspace.x[3] + acadoWorkspace.d[68];
+acadoVariables.x[73] += + acadoWorkspace.evGx[276]*acadoWorkspace.x[0] + acadoWorkspace.evGx[277]*acadoWorkspace.x[1] + acadoWorkspace.evGx[278]*acadoWorkspace.x[2] + acadoWorkspace.evGx[279]*acadoWorkspace.x[3] + acadoWorkspace.d[69];
+acadoVariables.x[74] += + acadoWorkspace.evGx[280]*acadoWorkspace.x[0] + acadoWorkspace.evGx[281]*acadoWorkspace.x[1] + acadoWorkspace.evGx[282]*acadoWorkspace.x[2] + acadoWorkspace.evGx[283]*acadoWorkspace.x[3] + acadoWorkspace.d[70];
+acadoVariables.x[75] += + acadoWorkspace.evGx[284]*acadoWorkspace.x[0] + acadoWorkspace.evGx[285]*acadoWorkspace.x[1] + acadoWorkspace.evGx[286]*acadoWorkspace.x[2] + acadoWorkspace.evGx[287]*acadoWorkspace.x[3] + acadoWorkspace.d[71];
+acadoVariables.x[76] += + acadoWorkspace.evGx[288]*acadoWorkspace.x[0] + acadoWorkspace.evGx[289]*acadoWorkspace.x[1] + acadoWorkspace.evGx[290]*acadoWorkspace.x[2] + acadoWorkspace.evGx[291]*acadoWorkspace.x[3] + acadoWorkspace.d[72];
+acadoVariables.x[77] += + acadoWorkspace.evGx[292]*acadoWorkspace.x[0] + acadoWorkspace.evGx[293]*acadoWorkspace.x[1] + acadoWorkspace.evGx[294]*acadoWorkspace.x[2] + acadoWorkspace.evGx[295]*acadoWorkspace.x[3] + acadoWorkspace.d[73];
+acadoVariables.x[78] += + acadoWorkspace.evGx[296]*acadoWorkspace.x[0] + acadoWorkspace.evGx[297]*acadoWorkspace.x[1] + acadoWorkspace.evGx[298]*acadoWorkspace.x[2] + acadoWorkspace.evGx[299]*acadoWorkspace.x[3] + acadoWorkspace.d[74];
+acadoVariables.x[79] += + acadoWorkspace.evGx[300]*acadoWorkspace.x[0] + acadoWorkspace.evGx[301]*acadoWorkspace.x[1] + acadoWorkspace.evGx[302]*acadoWorkspace.x[2] + acadoWorkspace.evGx[303]*acadoWorkspace.x[3] + acadoWorkspace.d[75];
+acadoVariables.x[80] += + acadoWorkspace.evGx[304]*acadoWorkspace.x[0] + acadoWorkspace.evGx[305]*acadoWorkspace.x[1] + acadoWorkspace.evGx[306]*acadoWorkspace.x[2] + acadoWorkspace.evGx[307]*acadoWorkspace.x[3] + acadoWorkspace.d[76];
+acadoVariables.x[81] += + acadoWorkspace.evGx[308]*acadoWorkspace.x[0] + acadoWorkspace.evGx[309]*acadoWorkspace.x[1] + acadoWorkspace.evGx[310]*acadoWorkspace.x[2] + acadoWorkspace.evGx[311]*acadoWorkspace.x[3] + acadoWorkspace.d[77];
+acadoVariables.x[82] += + acadoWorkspace.evGx[312]*acadoWorkspace.x[0] + acadoWorkspace.evGx[313]*acadoWorkspace.x[1] + acadoWorkspace.evGx[314]*acadoWorkspace.x[2] + acadoWorkspace.evGx[315]*acadoWorkspace.x[3] + acadoWorkspace.d[78];
+acadoVariables.x[83] += + acadoWorkspace.evGx[316]*acadoWorkspace.x[0] + acadoWorkspace.evGx[317]*acadoWorkspace.x[1] + acadoWorkspace.evGx[318]*acadoWorkspace.x[2] + acadoWorkspace.evGx[319]*acadoWorkspace.x[3] + acadoWorkspace.d[79];
+
+acado_multEDu( acadoWorkspace.E, &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 4 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 4 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 8 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 8 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 8 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 12 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 12 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 16 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 12 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 20 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 12 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 24 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 16 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 28 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 16 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 32 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 16 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 36 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 16 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 40 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 20 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 44 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 20 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 48 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 20 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 52 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 20 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 56 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 20 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 60 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 24 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 64 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 24 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 68 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 24 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 72 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 24 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 76 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 24 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 80 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 24 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 84 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 28 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 88 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 28 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 92 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 28 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 96 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 28 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 100 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 28 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 104 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 28 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 108 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 28 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 112 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 32 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 116 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 32 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 120 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 32 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 124 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 32 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 128 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 32 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 132 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 32 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 136 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 32 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 140 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 32 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 144 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 36 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 148 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 36 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 152 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 36 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 156 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 36 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 160 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 36 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 164 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 36 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 168 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 36 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 172 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 36 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 176 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 36 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 180 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 40 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 184 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 40 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 188 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 40 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 192 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 40 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 196 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 40 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 200 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 40 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 204 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 40 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 208 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 40 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 212 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 40 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 216 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 40 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 220 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 224 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 228 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 232 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 236 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 240 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 244 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 248 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 252 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 256 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 260 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 44 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 264 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 268 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 272 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 276 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 280 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 284 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 288 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 292 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 296 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 300 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 304 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 308 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 48 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 312 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 316 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 320 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 324 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 328 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 332 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 336 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 340 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 344 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 348 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 352 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 356 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 360 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 52 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 364 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 368 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 372 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 376 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 380 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 384 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 388 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 392 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 396 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 400 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 404 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 408 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 412 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 416 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 56 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 420 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 424 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 428 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 432 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 436 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 440 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 444 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 448 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 452 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 456 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 460 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 464 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 468 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 472 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 476 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 60 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 480 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 484 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 488 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 492 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 496 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 500 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 504 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 508 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 512 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 516 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 520 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 524 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 528 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 532 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 536 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 540 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 64 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 544 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 548 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 552 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 556 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 560 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 564 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 568 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 572 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 576 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 580 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 584 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 588 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 592 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 596 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 600 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 604 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 608 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 68 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 612 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 616 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 620 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 628 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 632 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 636 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 640 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 644 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 648 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 652 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 656 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 660 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 664 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 668 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 672 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 676 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 680 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 72 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 684 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 688 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 692 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 696 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 700 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 704 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 708 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 712 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 716 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 720 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 724 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 728 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 732 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 736 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 740 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 744 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 748 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 752 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 756 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 76 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 760 ]), &(acadoWorkspace.x[ 4 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 764 ]), &(acadoWorkspace.x[ 5 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 768 ]), &(acadoWorkspace.x[ 6 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 772 ]), &(acadoWorkspace.x[ 7 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 776 ]), &(acadoWorkspace.x[ 8 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 780 ]), &(acadoWorkspace.x[ 9 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 784 ]), &(acadoWorkspace.x[ 10 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 788 ]), &(acadoWorkspace.x[ 11 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 792 ]), &(acadoWorkspace.x[ 12 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 796 ]), &(acadoWorkspace.x[ 13 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 800 ]), &(acadoWorkspace.x[ 14 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 804 ]), &(acadoWorkspace.x[ 15 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 808 ]), &(acadoWorkspace.x[ 16 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 812 ]), &(acadoWorkspace.x[ 17 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 816 ]), &(acadoWorkspace.x[ 18 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 820 ]), &(acadoWorkspace.x[ 19 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 824 ]), &(acadoWorkspace.x[ 20 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 828 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 832 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 80 ]) );
+acado_multEDu( &(acadoWorkspace.E[ 836 ]), &(acadoWorkspace.x[ 23 ]), &(acadoVariables.x[ 80 ]) );
+}
+
+int acado_preparationStep(  )
+{
+int ret;
+
+ret = acado_modelSimulation();
+acado_evaluateObjective(  );
+acado_condensePrep(  );
+return ret;
+}
+
+int acado_feedbackStep(  )
+{
+int tmp;
+
+acado_condenseFdb(  );
+
+tmp = acado_solve( );
+
+acado_expand(  );
+return tmp;
+}
+
+int acado_initializeSolver(  )
+{
+int ret;
+
+/* This is a function which must be called once before any other function call! */
+
+
+ret = 0;
+
+memset(&acadoWorkspace, 0, sizeof( acadoWorkspace ));
+return ret;
+}
+
+void acado_initializeNodesByForwardSimulation(  )
+{
+int index;
+for (index = 0; index < 20; ++index)
+{
+acadoWorkspace.state[0] = acadoVariables.x[index * 4];
+acadoWorkspace.state[1] = acadoVariables.x[index * 4 + 1];
+acadoWorkspace.state[2] = acadoVariables.x[index * 4 + 2];
+acadoWorkspace.state[3] = acadoVariables.x[index * 4 + 3];
+acadoWorkspace.state[24] = acadoVariables.u[index];
+acadoWorkspace.state[25] = acadoVariables.od[index * 12];
+acadoWorkspace.state[26] = acadoVariables.od[index * 12 + 1];
+acadoWorkspace.state[27] = acadoVariables.od[index * 12 + 2];
+acadoWorkspace.state[28] = acadoVariables.od[index * 12 + 3];
+acadoWorkspace.state[29] = acadoVariables.od[index * 12 + 4];
+acadoWorkspace.state[30] = acadoVariables.od[index * 12 + 5];
+acadoWorkspace.state[31] = acadoVariables.od[index * 12 + 6];
+acadoWorkspace.state[32] = acadoVariables.od[index * 12 + 7];
+acadoWorkspace.state[33] = acadoVariables.od[index * 12 + 8];
+acadoWorkspace.state[34] = acadoVariables.od[index * 12 + 9];
+acadoWorkspace.state[35] = acadoVariables.od[index * 12 + 10];
+acadoWorkspace.state[36] = acadoVariables.od[index * 12 + 11];
+
+acado_integrate(acadoWorkspace.state, index == 0, index);
+
+acadoVariables.x[index * 4 + 4] = acadoWorkspace.state[0];
+acadoVariables.x[index * 4 + 5] = acadoWorkspace.state[1];
+acadoVariables.x[index * 4 + 6] = acadoWorkspace.state[2];
+acadoVariables.x[index * 4 + 7] = acadoWorkspace.state[3];
+}
+}
+
+void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd )
+{
+int index;
+for (index = 0; index < 20; ++index)
+{
+acadoVariables.x[index * 4] = acadoVariables.x[index * 4 + 4];
+acadoVariables.x[index * 4 + 1] = acadoVariables.x[index * 4 + 5];
+acadoVariables.x[index * 4 + 2] = acadoVariables.x[index * 4 + 6];
+acadoVariables.x[index * 4 + 3] = acadoVariables.x[index * 4 + 7];
+}
+
+if (strategy == 1 && xEnd != 0)
+{
+acadoVariables.x[80] = xEnd[0];
+acadoVariables.x[81] = xEnd[1];
+acadoVariables.x[82] = xEnd[2];
+acadoVariables.x[83] = xEnd[3];
+}
+else if (strategy == 2) 
+{
+acadoWorkspace.state[0] = acadoVariables.x[80];
+acadoWorkspace.state[1] = acadoVariables.x[81];
+acadoWorkspace.state[2] = acadoVariables.x[82];
+acadoWorkspace.state[3] = acadoVariables.x[83];
+if (uEnd != 0)
+{
+acadoWorkspace.state[24] = uEnd[0];
+}
+else
+{
+acadoWorkspace.state[24] = acadoVariables.u[19];
+}
+acadoWorkspace.state[25] = acadoVariables.od[240];
+acadoWorkspace.state[26] = acadoVariables.od[241];
+acadoWorkspace.state[27] = acadoVariables.od[242];
+acadoWorkspace.state[28] = acadoVariables.od[243];
+acadoWorkspace.state[29] = acadoVariables.od[244];
+acadoWorkspace.state[30] = acadoVariables.od[245];
+acadoWorkspace.state[31] = acadoVariables.od[246];
+acadoWorkspace.state[32] = acadoVariables.od[247];
+acadoWorkspace.state[33] = acadoVariables.od[248];
+acadoWorkspace.state[34] = acadoVariables.od[249];
+acadoWorkspace.state[35] = acadoVariables.od[250];
+acadoWorkspace.state[36] = acadoVariables.od[251];
+
+acado_integrate(acadoWorkspace.state, 1, 19);
+
+acadoVariables.x[80] = acadoWorkspace.state[0];
+acadoVariables.x[81] = acadoWorkspace.state[1];
+acadoVariables.x[82] = acadoWorkspace.state[2];
+acadoVariables.x[83] = acadoWorkspace.state[3];
+}
+}
+
+void acado_shiftControls( real_t* const uEnd )
+{
+int index;
+for (index = 0; index < 19; ++index)
+{
+acadoVariables.u[index] = acadoVariables.u[index + 1];
+}
+
+if (uEnd != 0)
+{
+acadoVariables.u[19] = uEnd[0];
+}
+}
+
+real_t acado_getKKT(  )
+{
+real_t kkt;
+
+int index;
+real_t prd;
+
+kkt = + acadoWorkspace.g[0]*acadoWorkspace.x[0] + acadoWorkspace.g[1]*acadoWorkspace.x[1] + acadoWorkspace.g[2]*acadoWorkspace.x[2] + acadoWorkspace.g[3]*acadoWorkspace.x[3] + acadoWorkspace.g[4]*acadoWorkspace.x[4] + acadoWorkspace.g[5]*acadoWorkspace.x[5] + acadoWorkspace.g[6]*acadoWorkspace.x[6] + acadoWorkspace.g[7]*acadoWorkspace.x[7] + acadoWorkspace.g[8]*acadoWorkspace.x[8] + acadoWorkspace.g[9]*acadoWorkspace.x[9] + acadoWorkspace.g[10]*acadoWorkspace.x[10] + acadoWorkspace.g[11]*acadoWorkspace.x[11] + acadoWorkspace.g[12]*acadoWorkspace.x[12] + acadoWorkspace.g[13]*acadoWorkspace.x[13] + acadoWorkspace.g[14]*acadoWorkspace.x[14] + acadoWorkspace.g[15]*acadoWorkspace.x[15] + acadoWorkspace.g[16]*acadoWorkspace.x[16] + acadoWorkspace.g[17]*acadoWorkspace.x[17] + acadoWorkspace.g[18]*acadoWorkspace.x[18] + acadoWorkspace.g[19]*acadoWorkspace.x[19] + acadoWorkspace.g[20]*acadoWorkspace.x[20] + acadoWorkspace.g[21]*acadoWorkspace.x[21] + acadoWorkspace.g[22]*acadoWorkspace.x[22] + acadoWorkspace.g[23]*acadoWorkspace.x[23];
+kkt = fabs( kkt );
+for (index = 0; index < 24; ++index)
+{
+prd = acadoWorkspace.y[index];
+if (prd > 1e-12)
+kkt += fabs(acadoWorkspace.lb[index] * prd);
+else if (prd < -1e-12)
+kkt += fabs(acadoWorkspace.ub[index] * prd);
+}
+return kkt;
+}
+
+real_t acado_getObjective(  )
+{
+real_t objVal;
+
+int lRun1;
+/** Row vector of size: 5 */
+real_t tmpDy[ 5 ];
+
+/** Row vector of size: 4 */
+real_t tmpDyN[ 4 ];
+
+for (lRun1 = 0; lRun1 < 20; ++lRun1)
+{
+acadoWorkspace.objValueIn[0] = acadoVariables.x[lRun1 * 4];
+acadoWorkspace.objValueIn[1] = acadoVariables.x[lRun1 * 4 + 1];
+acadoWorkspace.objValueIn[2] = acadoVariables.x[lRun1 * 4 + 2];
+acadoWorkspace.objValueIn[3] = acadoVariables.x[lRun1 * 4 + 3];
+acadoWorkspace.objValueIn[4] = acadoVariables.u[lRun1];
+acadoWorkspace.objValueIn[5] = acadoVariables.od[lRun1 * 12];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[lRun1 * 12 + 1];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 12 + 2];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 12 + 3];
+acadoWorkspace.objValueIn[9] = acadoVariables.od[lRun1 * 12 + 4];
+acadoWorkspace.objValueIn[10] = acadoVariables.od[lRun1 * 12 + 5];
+acadoWorkspace.objValueIn[11] = acadoVariables.od[lRun1 * 12 + 6];
+acadoWorkspace.objValueIn[12] = acadoVariables.od[lRun1 * 12 + 7];
+acadoWorkspace.objValueIn[13] = acadoVariables.od[lRun1 * 12 + 8];
+acadoWorkspace.objValueIn[14] = acadoVariables.od[lRun1 * 12 + 9];
+acadoWorkspace.objValueIn[15] = acadoVariables.od[lRun1 * 12 + 10];
+acadoWorkspace.objValueIn[16] = acadoVariables.od[lRun1 * 12 + 11];
+
+acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
+acadoWorkspace.Dy[lRun1 * 5] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 5];
+acadoWorkspace.Dy[lRun1 * 5 + 1] = acadoWorkspace.objValueOut[1] - acadoVariables.y[lRun1 * 5 + 1];
+acadoWorkspace.Dy[lRun1 * 5 + 2] = acadoWorkspace.objValueOut[2] - acadoVariables.y[lRun1 * 5 + 2];
+acadoWorkspace.Dy[lRun1 * 5 + 3] = acadoWorkspace.objValueOut[3] - acadoVariables.y[lRun1 * 5 + 3];
+acadoWorkspace.Dy[lRun1 * 5 + 4] = acadoWorkspace.objValueOut[4] - acadoVariables.y[lRun1 * 5 + 4];
+}
+acadoWorkspace.objValueIn[0] = acadoVariables.x[80];
+acadoWorkspace.objValueIn[1] = acadoVariables.x[81];
+acadoWorkspace.objValueIn[2] = acadoVariables.x[82];
+acadoWorkspace.objValueIn[3] = acadoVariables.x[83];
+acadoWorkspace.objValueIn[4] = acadoVariables.od[240];
+acadoWorkspace.objValueIn[5] = acadoVariables.od[241];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[242];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[243];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[244];
+acadoWorkspace.objValueIn[9] = acadoVariables.od[245];
+acadoWorkspace.objValueIn[10] = acadoVariables.od[246];
+acadoWorkspace.objValueIn[11] = acadoVariables.od[247];
+acadoWorkspace.objValueIn[12] = acadoVariables.od[248];
+acadoWorkspace.objValueIn[13] = acadoVariables.od[249];
+acadoWorkspace.objValueIn[14] = acadoVariables.od[250];
+acadoWorkspace.objValueIn[15] = acadoVariables.od[251];
+acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
+acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0];
+acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1];
+acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2] - acadoVariables.yN[2];
+acadoWorkspace.DyN[3] = acadoWorkspace.objValueOut[3] - acadoVariables.yN[3];
+objVal = 0.0000000000000000e+00;
+for (lRun1 = 0; lRun1 < 20; ++lRun1)
+{
+tmpDy[0] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 5] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 10] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 15] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 20];
+tmpDy[1] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 1] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 6] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 11] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 16] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 21];
+tmpDy[2] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 2] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 7] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 12] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 17] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 22];
+tmpDy[3] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 3] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 8] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 13] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 18] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 23];
+tmpDy[4] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 4] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 9] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 14] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 19] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 24];
+objVal += + acadoWorkspace.Dy[lRun1 * 5]*tmpDy[0] + acadoWorkspace.Dy[lRun1 * 5 + 1]*tmpDy[1] + acadoWorkspace.Dy[lRun1 * 5 + 2]*tmpDy[2] + acadoWorkspace.Dy[lRun1 * 5 + 3]*tmpDy[3] + acadoWorkspace.Dy[lRun1 * 5 + 4]*tmpDy[4];
+}
+
+tmpDyN[0] = + acadoWorkspace.DyN[0]*acadoVariables.WN[0] + acadoWorkspace.DyN[1]*acadoVariables.WN[4] + acadoWorkspace.DyN[2]*acadoVariables.WN[8] + acadoWorkspace.DyN[3]*acadoVariables.WN[12];
+tmpDyN[1] = + acadoWorkspace.DyN[0]*acadoVariables.WN[1] + acadoWorkspace.DyN[1]*acadoVariables.WN[5] + acadoWorkspace.DyN[2]*acadoVariables.WN[9] + acadoWorkspace.DyN[3]*acadoVariables.WN[13];
+tmpDyN[2] = + acadoWorkspace.DyN[0]*acadoVariables.WN[2] + acadoWorkspace.DyN[1]*acadoVariables.WN[6] + acadoWorkspace.DyN[2]*acadoVariables.WN[10] + acadoWorkspace.DyN[3]*acadoVariables.WN[14];
+tmpDyN[3] = + acadoWorkspace.DyN[0]*acadoVariables.WN[3] + acadoWorkspace.DyN[1]*acadoVariables.WN[7] + acadoWorkspace.DyN[2]*acadoVariables.WN[11] + acadoWorkspace.DyN[3]*acadoVariables.WN[15];
+objVal += + acadoWorkspace.DyN[0]*tmpDyN[0] + acadoWorkspace.DyN[1]*tmpDyN[1] + acadoWorkspace.DyN[2]*tmpDyN[2] + acadoWorkspace.DyN[3]*tmpDyN[3];
+
+objVal *= 0.5;
+return objVal;
+}
+
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/libmpc_py.py b/selfdrive/controls/lib/longitudinal_mpc_model/libmpc_py.py
new file mode 100644
index 0000000000..a25dbb66d5
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/libmpc_py.py
@@ -0,0 +1,32 @@
+import os
+
+from cffi import FFI
+from common.ffi_wrapper import suffix
+
+mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
+libmpc_fn = os.path.join(mpc_dir, "libmpc"+suffix())
+
+ffi = FFI()
+ffi.cdef("""
+
+typedef struct {
+double x_ego, v_ego, a_ego;
+} state_t;
+
+
+typedef struct {
+double x_ego[21];
+double v_ego[21];
+double a_ego[21];
+double t[21];
+double j_ego[20];
+double cost;
+} log_t;
+
+
+void init(double xCost, double vCost, double aCost, double accelCost, double jerkCost);
+void init_with_simulation(double v_ego);
+int run_mpc(state_t * x0, log_t * solution, double x_poly[4], double v_poly[4], double a_poly[4]);
+""")
+
+libmpc = ffi.dlopen(libmpc_fn)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/longitudinal_mpc.c b/selfdrive/controls/lib/longitudinal_mpc_model/longitudinal_mpc.c
new file mode 100644
index 0000000000..39cff8f2a8
--- /dev/null
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/longitudinal_mpc.c
@@ -0,0 +1,141 @@
+#include "acado_common.h"
+#include "acado_auxiliary_functions.h"
+
+#include <stdio.h>
+#include <math.h>
+
+#define NX          ACADO_NX  /* Number of differential state variables.  */
+#define NXA         ACADO_NXA /* Number of algebraic variables. */
+#define NU          ACADO_NU  /* Number of control inputs. */
+#define NOD         ACADO_NOD  /* Number of online data values. */
+
+#define NY          ACADO_NY  /* Number of measurements/references on nodes 0..N - 1. */
+#define NYN         ACADO_NYN /* Number of measurements/references on node N. */
+
+#define N           ACADO_N   /* Number of intervals in the horizon. */
+
+ACADOvariables acadoVariables;
+ACADOworkspace acadoWorkspace;
+
+typedef struct {
+  double x_ego, v_ego, a_ego;
+} state_t;
+
+
+typedef struct {
+  double x_ego[N+1];
+  double v_ego[N+1];
+  double a_ego[N+1];
+  double t[N+1];
+  double j_ego[N];
+  double cost;
+} log_t;
+
+void init(double xCost, double vCost, double aCost, double accelCost, double jerkCost){
+  acado_initializeSolver();
+  int    i;
+  const int STEP_MULTIPLIER = 3;
+
+  /* Initialize the states and controls. */
+  for (i = 0; i < NX * (N + 1); ++i)  acadoVariables.x[ i ] = 0.0;
+  for (i = 0; i < NU * N; ++i)  acadoVariables.u[ i ] = 0.0;
+
+  /* Initialize the measurements/reference. */
+  for (i = 0; i < NY * N; ++i)  acadoVariables.y[ i ] = 0.0;
+  for (i = 0; i < NYN; ++i)  acadoVariables.yN[ i ] = 0.0;
+
+  /* MPC: initialize the current state feedback. */
+  for (i = 0; i < NX; ++i) acadoVariables.x0[ i ] = 0.0;
+  // Set weights
+
+  for (i = 0; i < N; i++) {
+    int f = 1;
+    if (i > 4){
+      f = STEP_MULTIPLIER;
+    }
+    // Setup diagonal entries
+    acadoVariables.W[NY*NY*i + (NY+1)*0] = xCost * f;
+    acadoVariables.W[NY*NY*i + (NY+1)*1] = vCost * f;
+    acadoVariables.W[NY*NY*i + (NY+1)*2] = aCost * f;
+    acadoVariables.W[NY*NY*i + (NY+1)*3] = accelCost * f;
+    acadoVariables.W[NY*NY*i + (NY+1)*4] = jerkCost * f;
+  }
+  acadoVariables.WN[(NYN+1)*0] = xCost * STEP_MULTIPLIER;
+  acadoVariables.WN[(NYN+1)*1] = vCost * STEP_MULTIPLIER;
+  acadoVariables.WN[(NYN+1)*2] = aCost * STEP_MULTIPLIER;
+  acadoVariables.WN[(NYN+1)*3] = accelCost * STEP_MULTIPLIER;
+
+}
+
+void init_with_simulation(double v_ego){
+  int i;
+
+  double x_ego = 0.0;
+
+  double dt = 0.2;
+  double t = 0.0;
+
+  for (i = 0; i < N + 1; ++i){
+    if (i > 4){
+      dt = 0.6;
+    }
+
+    acadoVariables.x[i*NX] = x_ego;
+    acadoVariables.x[i*NX+1] = v_ego;
+    acadoVariables.x[i*NX+2] = 0;
+    acadoVariables.x[i*NX+3] = t;
+
+    x_ego += v_ego * dt;
+    t += dt;
+  }
+
+  for (i = 0; i < NU * N; ++i)  acadoVariables.u[ i ] = 0.0;
+  for (i = 0; i < NY * N; ++i)  acadoVariables.y[ i ] = 0.0;
+  for (i = 0; i < NYN; ++i)  acadoVariables.yN[ i ] = 0.0;
+}
+
+int run_mpc(state_t * x0, log_t * solution,
+            double x_poly[4], double v_poly[4], double a_poly[4]){
+  int i;
+
+  for (i = 0; i < N + 1; ++i){
+    acadoVariables.od[i*NOD+0] = x_poly[0];
+    acadoVariables.od[i*NOD+1] = x_poly[1];
+    acadoVariables.od[i*NOD+2] = x_poly[2];
+    acadoVariables.od[i*NOD+3] = x_poly[3];
+
+    acadoVariables.od[i*NOD+4] = v_poly[0];
+    acadoVariables.od[i*NOD+5] = v_poly[1];
+    acadoVariables.od[i*NOD+6] = v_poly[2];
+    acadoVariables.od[i*NOD+7] = v_poly[3];
+
+    acadoVariables.od[i*NOD+8] = a_poly[0];
+    acadoVariables.od[i*NOD+9] = a_poly[1];
+    acadoVariables.od[i*NOD+10] = a_poly[2];
+    acadoVariables.od[i*NOD+11] = a_poly[3];
+  }
+
+  acadoVariables.x[0] = acadoVariables.x0[0] = x0->x_ego;
+  acadoVariables.x[1] = acadoVariables.x0[1] = x0->v_ego;
+  acadoVariables.x[2] = acadoVariables.x0[2] = x0->a_ego;
+  acadoVariables.x[3] = acadoVariables.x0[3] = 0;
+
+  acado_preparationStep();
+  acado_feedbackStep();
+
+  for (i = 0; i <= N; i++){
+    solution->x_ego[i] = acadoVariables.x[i*NX];
+    solution->v_ego[i] = acadoVariables.x[i*NX+1];
+    solution->a_ego[i] = acadoVariables.x[i*NX+2];
+    solution->t[i] = acadoVariables.x[i*NX+3];
+
+    if (i < N){
+      solution->j_ego[i] = acadoVariables.u[i];
+    }
+  }
+  solution->cost = acado_getObjective();
+
+  // Dont shift states here. Current solution is closer to next timestep than if
+  // we shift by 0.1 seconds.
+  return acado_getNWSR();
+}
diff --git a/selfdrive/debug/mpc/longitudinal_mpc_model.py b/selfdrive/debug/mpc/longitudinal_mpc_model.py
new file mode 100755
index 0000000000..1a1c00c653
--- /dev/null
+++ b/selfdrive/debug/mpc/longitudinal_mpc_model.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+import numpy as np
+
+import matplotlib.pyplot as plt
+
+from selfdrive.controls.lib.longitudinal_mpc_model import libmpc_py
+
+libmpc = libmpc_py.libmpc
+
+dt = 1
+speeds = [6.109375, 5.9765625, 6.6367188, 7.6875, 8.7578125, 9.4375, 10.21875, 11.070312, 11.679688, 12.21875]
+accelerations = [0.15405273, 0.39575195, 0.36669922, 0.29248047, 0.27856445, 0.27832031, 0.29736328, 0.22705078, 0.16003418, 0.15185547]
+ts = [t * dt for t in range(len(speeds))]
+
+# TODO: Get from actual model packet
+x = 0.0
+positions = []
+for v in speeds:
+  positions.append(x)
+  x += v * dt
+
+
+# Polyfit trajectories
+x_poly = list(map(float, np.polyfit(ts, positions, 3)))
+v_poly = list(map(float, np.polyfit(ts, speeds, 3)))
+a_poly = list(map(float, np.polyfit(ts, accelerations, 3)))
+
+x_poly = libmpc_py.ffi.new("double[4]", x_poly)
+v_poly = libmpc_py.ffi.new("double[4]", v_poly)
+a_poly = libmpc_py.ffi.new("double[4]", a_poly)
+
+cur_state = libmpc_py.ffi.new("state_t *")
+cur_state[0].x_ego = 0
+cur_state[0].v_ego = 10
+cur_state[0].a_ego = 0
+
+libmpc.init(1.0, 1.0, 1.0, 1.0, 1.0)
+
+mpc_solution = libmpc_py.ffi.new("log_t *")
+libmpc.init_with_simulation(cur_state[0].v_ego)
+
+libmpc.run_mpc(cur_state, mpc_solution, x_poly, v_poly, a_poly)
+
+# Converge to solution
+for _ in range(10):
+  libmpc.run_mpc(cur_state, mpc_solution, x_poly, v_poly, a_poly)
+
+
+ts_sol = list(mpc_solution[0].t)
+x_sol = list(mpc_solution[0].x_ego)
+v_sol = list(mpc_solution[0].v_ego)
+a_sol = list(mpc_solution[0].a_ego)
+
+
+plt.figure()
+plt.subplot(3, 1, 1)
+plt.plot(ts, positions, 'k--')
+plt.plot(ts_sol, x_sol)
+plt.ylabel('Position [m]')
+plt.xlabel('Time [s]')
+
+plt.subplot(3, 1, 2)
+plt.plot(ts, speeds, 'k--')
+plt.plot(ts_sol, v_sol)
+plt.xlabel('Time [s]')
+plt.ylabel('Speed [m/s]')
+
+plt.subplot(3, 1, 3)
+plt.plot(ts, accelerations, 'k--')
+plt.plot(ts_sol, a_sol)
+
+plt.xlabel('Time [s]')
+plt.ylabel('Acceleration [m/s^2]')
+
+plt.show()